Line2: increase test coverage (backport #807) (#827)

(cherry picked from commit 268039c)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Steve Peters <scpeters@intrinsic.ai>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Author: 3 people

include/gz/math/Line2.hh

@@ -67,8 +67,8 @@ namespace gz::math
     /// \param[in] _y2 Y coordinate of the end point.
     public: void Set(double _x1, double _y1, double _x2, double _y2)
     {
-      this->pts[0].Set(_x1, _y1);
-      this->pts[1].Set(_x2, _y2);
+      this->pts[0].Set(static_cast<T>(_x1), static_cast<T>(_y1));
+      this->pts[1].Set(static_cast<T>(_x2), static_cast<T>(_y2));
     }
 
     /// \brief Return the cross product of this line and the given line.
@@ -253,10 +253,7 @@ namespace gz::math
     /// \return The length of the line.
     public: T Length() const
     {
-      return sqrt((this->pts[0].X() - this->pts[1].X()) *
-                  (this->pts[0].X() - this->pts[1].X()) +
-                  (this->pts[0].Y() - this->pts[1].Y()) *
-                  (this->pts[0].Y() - this->pts[1].Y()));
+      return static_cast<T>(this->pts[0].Distance(this->pts[1]));
     }
 
     /// \brief Get the slope of the line

src/Line2_TEST.cc

@@ -40,6 +40,49 @@ TEST(Line2Test, Constructor)
   EXPECT_NO_THROW(lineB[2].X());
   EXPECT_DOUBLE_EQ(lineB[2].X(), lineB[1].X());
   EXPECT_NO_THROW(lineA[0].X());
+
+  // Test Set method with Vector2
+  lineA.Set(math::Vector2d(5, 6), math::Vector2d(7, 8));
+  EXPECT_EQ(lineA[0], math::Vector2d(5, 6));
+  EXPECT_EQ(lineA[1], math::Vector2d(7, 8));
+}
+
+/////////////////////////////////////////////////
+TEST(Line2Test, CrossProduct)
+{
+  math::Line2d lineA(0, 0, 10, 0);
+  math::Line2d lineB(0, 0, 0, 10);
+  EXPECT_DOUBLE_EQ(lineA.CrossProduct(lineB), 100.0);
+
+  math::Vector2d pt(5, 5);
+  EXPECT_DOUBLE_EQ(lineA.CrossProduct(pt), 50.0);
+}
+
+/////////////////////////////////////////////////
+TEST(Line2Test, OnSegmentAndWithin)
+{
+  math::Line2d line(0, 0, 10, 10);
+
+  // Point on segment
+  math::Vector2d pt1(5, 5);
+  EXPECT_TRUE(line.Within(pt1));
+  EXPECT_TRUE(line.OnSegment(pt1));
+
+  // Point collinear with line, but outside segment bounds
+  math::Vector2d pt2(15, 15);
+  EXPECT_FALSE(line.Within(pt2));
+  EXPECT_FALSE(line.OnSegment(pt2));
+
+  // Point within bounding box of segment, but not collinear
+  math::Vector2d pt3(5, 6);
+  EXPECT_TRUE(line.Within(pt3));
+  EXPECT_FALSE(line.OnSegment(pt3));
+
+  // Endpoints
+  EXPECT_TRUE(line.Within(line[0]));
+  EXPECT_TRUE(line.OnSegment(line[0]));
+  EXPECT_TRUE(line.Within(line[1]));
+  EXPECT_TRUE(line.OnSegment(line[1]));
 }
 
 /////////////////////////////////////////////////
@@ -83,29 +126,34 @@ TEST(Line2Test, ParallelLine)
     // Line is always parallel with itself
     math::Line2d line(0, 0, 10, 0);
     EXPECT_TRUE(line.Parallel(line, 1e-10));
+    EXPECT_DOUBLE_EQ(line.CrossProduct(line), 0.0);
   }
 
   {
     // Degenerate line segment
     // Still expect Line is parallel with itself
     math::Line2d line(0, 0, 0, 0);
     EXPECT_TRUE(line.Parallel(line, 1e-10));
+    EXPECT_DOUBLE_EQ(line.CrossProduct(line), 0.0);
   }
 
   math::Line2d lineA(0, 0, 10, 0);
   math::Line2d lineB(0, 0, 10, 0);
   EXPECT_TRUE(lineA.Parallel(lineB, 1e-10));
+  EXPECT_DOUBLE_EQ(lineA.CrossProduct(lineB), 0.0);
 
   lineB.Set(0, 0, 0, 10);
   EXPECT_FALSE(lineA.Parallel(lineB));
 
   lineB.Set(0, 10, 10, 10);
   EXPECT_TRUE(lineA.Parallel(lineB));
+  EXPECT_DOUBLE_EQ(lineA.CrossProduct(lineB), 0.0);
 
   lineB.Set(0, 10, 10, 10.00001);
   EXPECT_FALSE(lineA.Parallel(lineB, 1e-10));
   EXPECT_FALSE(lineA.Parallel(lineB));
   EXPECT_TRUE(lineA.Parallel(lineB, 1e-3));
+  EXPECT_NEAR(lineA.CrossProduct(lineB), 0.0, 1e-3);
 }
 
 /////////////////////////////////////////////////
@@ -234,6 +282,28 @@ TEST(Line2Test, Intersect)
   lineB.Set(0, 10, 10, 0);
   EXPECT_TRUE(lineA.Intersect(lineB, pt));
   EXPECT_EQ(pt, math::Vector2d(5, 5));
+
+  // Collinear parallel non-overlapping lines
+  lineA.Set(0, 0, 10, 0);
+  lineB.Set(20, 0, 30, 0);
+  EXPECT_FALSE(lineA.Intersect(lineB, pt));
+  EXPECT_FALSE(lineA.Intersect(lineB));
+
+  // Collinear lines where lineB end point is within lineA but start point isn't
+  lineA.Set(0, 0, 10, 0);
+  lineB.Set(-5, 0, 5, 0);
+  EXPECT_TRUE(lineA.Intersect(lineB, pt));
+  EXPECT_EQ(pt, math::Vector2d(5, 0));
+
+  // Lines whose extensions intersect, but intersection Y is outside bounds
+  lineA.Set(-10, 0, 10, 0);
+  lineB.Set(0, 2, 0, 10);
+  EXPECT_FALSE(lineA.Intersect(lineB, pt));
+
+  // Lines whose extensions intersect, but intersection X is outside bounds
+  lineA.Set(0, -10, 0, 10);
+  lineB.Set(2, 0, 10, 0);
+  EXPECT_FALSE(lineA.Intersect(lineB, pt));
 }
 
 /////////////////////////////////////////////////
@@ -243,7 +313,9 @@ TEST(Line2Test, Equality)
   math::Line2d lineB(1, 2, 2, 2);
 
   EXPECT_TRUE(lineA != lineB);
+  EXPECT_FALSE(lineA == lineB);
   EXPECT_TRUE(lineA == lineA);
+  EXPECT_FALSE(lineA != lineA);
 
   lineB.Set(1, 1, 2, 1.1);
   EXPECT_FALSE(lineA == lineB);
@@ -266,3 +338,18 @@ TEST(Line2Test, OperatorStreamOut)
   stream << line;
   EXPECT_EQ(stream.str(), "0 1 2 3");
 }
+
+/////////////////////////////////////////////////
+TEST(Line2Test, TemplateTypes)
+{
+  math::Line2i lineI(0, 0, 10, 10);
+  EXPECT_EQ(lineI[0], math::Vector2i(0, 0));
+  EXPECT_EQ(lineI[1], math::Vector2i(10, 10));
+  EXPECT_EQ(lineI.Length(), 14);
+
+  math::Line2f lineF(0.0f, 0.0f, 10.0f, 10.0f);
+  EXPECT_FLOAT_EQ(lineF[0].X(), 0.0f);
+  EXPECT_FLOAT_EQ(lineF[1].Y(), 10.0f);
+  EXPECT_NEAR(lineF.Length(), 14.1421356f, 1e-4f);
+}
+

src/python_pybind11/test/Line2_TEST.py

@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from gz.math8 import Line2d
-from gz.math8 import Vector2d
+from gz.math8 import Line2d, Line2f, Line2i
+from gz.math8 import Vector2d, Vector2i
 
 
 class TestLine2d(unittest.TestCase):
@@ -35,6 +35,43 @@ def test_construction(self):
 
         self.assertAlmostEqual(line_b[2].x(), line_b[1].x())
 
+        # Test set method with Vector2d
+        line_a.set(Vector2d(5, 6), Vector2d(7, 8))
+        self.assertEqual(line_a[0], Vector2d(5, 6))
+        self.assertEqual(line_a[1], Vector2d(7, 8))
+
+    def test_cross_product(self):
+        line_a = Line2d(0, 0, 10, 0)
+        line_b = Line2d(0, 0, 0, 10)
+        self.assertAlmostEqual(line_a.cross_product(line_b), 100.0)
+
+        pt = Vector2d(5, 5)
+        self.assertAlmostEqual(line_a.cross_product(pt), 50.0)
+
+    def test_on_segment_and_within(self):
+        line = Line2d(0, 0, 10, 10)
+
+        # Point on segment
+        pt1 = Vector2d(5, 5)
+        self.assertTrue(line.within(pt1, 1e-6))
+        self.assertTrue(line.on_segment(pt1, 1e-6))
+
+        # Point collinear with line, but outside segment bounds
+        pt2 = Vector2d(15, 15)
+        self.assertFalse(line.within(pt2, 1e-6))
+        self.assertFalse(line.on_segment(pt2, 1e-6))
+
+        # Point within bounding box of segment, but not collinear
+        pt3 = Vector2d(5, 6)
+        self.assertTrue(line.within(pt3, 1e-6))
+        self.assertFalse(line.on_segment(pt3, 1e-6))
+
+        # Endpoints
+        self.assertTrue(line.within(line[0], 1e-6))
+        self.assertTrue(line.on_segment(line[0], 1e-6))
+        self.assertTrue(line.within(line[1], 1e-6))
+        self.assertTrue(line.on_segment(line[1], 1e-6))
+
     def test_length(self):
         line_a = Line2d(0, 0, 10, 10)
         self.assertAlmostEqual(line_a.length(), math.sqrt(200), delta=1e-10)
@@ -53,26 +90,31 @@ def test_parallel_line(self):
         # Line is always parallel with itself
         line = Line2d(0, 0, 10, 0)
         self.assertTrue(line.parallel(line, 1e-10))
+        self.assertAlmostEqual(line.cross_product(line), 0.0)
 
         # Degenerate line segment
         # Still expect Line is parallel with itself
         line = Line2d(0, 0, 0, 0)
         self.assertTrue(line.parallel(line, 1e-10))
+        self.assertAlmostEqual(line.cross_product(line), 0.0)
 
         line_a = Line2d(0, 0, 10, 0)
         line_b = Line2d(0, 0, 10, 0)
         self.assertTrue(line_a.parallel(line_b, 1e-10))
+        self.assertAlmostEqual(line_a.cross_product(line_b), 0.0)
 
         line_b.set(0, 0, 0, 10)
         self.assertFalse(line_a.parallel(line_b))
 
         line_b.set(0, 10, 10, 10)
         self.assertTrue(line_a.parallel(line_b))
+        self.assertAlmostEqual(line_a.cross_product(line_b), 0.0)
 
         line_b.set(0, 10, 10, 10.00001)
         self.assertFalse(line_a.parallel(line_b, 1e-10))
         self.assertFalse(line_a.parallel(line_b))
         self.assertTrue(line_a.parallel(line_b, 1e-3))
+        self.assertAlmostEqual(line_a.cross_product(line_b), 0.0, delta=1e-3)
 
     def test_collinear_line(self):
         # Line is always collinear with itself
@@ -187,12 +229,36 @@ def test_intersect(self):
         self.assertTrue(line_a.intersect(line_b, pt))
         self.assertEqual(pt, Vector2d(5, 5))
 
+        # Collinear parallel non-overlapping lines
+        line_a.set(0, 0, 10, 0)
+        line_b.set(20, 0, 30, 0)
+        self.assertFalse(line_a.intersect(line_b, pt))
+        self.assertFalse(line_a.intersect(line_b))
+
+        # Collinear lines where line_b end point is within line_a but start point is not
+        line_a.set(0, 0, 10, 0)
+        line_b.set(-5, 0, 5, 0)
+        self.assertTrue(line_a.intersect(line_b, pt))
+        self.assertEqual(pt, Vector2d(5, 0))
+
+        # Lines whose extensions intersect, but intersection Y is outside bounds
+        line_a.set(-10, 0, 10, 0)
+        line_b.set(0, 2, 0, 10)
+        self.assertFalse(line_a.intersect(line_b, pt))
+
+        # Lines whose extensions intersect, but intersection X is outside bounds
+        line_a.set(0, -10, 0, 10)
+        line_b.set(2, 0, 10, 0)
+        self.assertFalse(line_a.intersect(line_b, pt))
+
     def test_equality(self):
         line_a = Line2d(1, 1, 2, 1)
         line_b = Line2d(1, 2, 2, 2)
 
         self.assertTrue(line_a != line_b)
+        self.assertFalse(line_a == line_b)
         self.assertTrue(line_a == line_a)
+        self.assertFalse(line_a != line_a)
 
         line_b.set(1, 1, 2, 1.1)
         self.assertFalse(line_a == line_b)
@@ -210,6 +276,18 @@ def test_serialization(self):
         line = Line2d(0, 1, 2, 3)
         self.assertEqual(str(line), "0 1 2 3")
 
+    def test_template_types(self):
+        line_i = Line2i(0, 0, 10, 10)
+        self.assertEqual(line_i[0], Vector2i(0, 0))
+        self.assertEqual(line_i[1], Vector2i(10, 10))
+        self.assertEqual(line_i.length(), 14)
+
+        line_f = Line2f(0.0, 0.0, 10.0, 10.0)
+        self.assertAlmostEqual(line_f[0].x(), 0.0)
+        self.assertAlmostEqual(line_f[1].y(), 10.0)
+        self.assertAlmostEqual(line_f.length(), 14.1421356, delta=1e-4)
+
 
 if __name__ == '__main__':
     unittest.main()
+