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SHAPE_POLY_SET: Fix segment collision testing 

It appears as though there was an optimization to skip testing segments if
one of their endpoints (and only the A point) was inside.  Unclear the reason
for this, but I'm going to assume that it was intended to optimize the case
where both points are inside (like the point case above it).
This commit is contained in:
Jon Evans 2021-04-04 20:12:45 -04:00
parent 5bc1e55272
commit 2c05d99d9f
2 changed files with 58 additions and 5 deletions
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8
libs/kimath/src/geometry/shape_poly_set.cpp
View File

@ -1725,11 +1725,9 @@ SEG::ecoord SHAPE_POLY_SET::SquaredDistanceToPolygon( VECTOR2I aPoint, int aPoly
SEG::ecoord SHAPE_POLY_SET::SquaredDistanceToPolygon( const SEG& aSegment, int aPolygonIndex, SEG::ecoord SHAPE_POLY_SET::SquaredDistanceToPolygon( const SEG& aSegment, int aPolygonIndex,
VECTOR2I* aNearest ) const VECTOR2I* aNearest ) const
{ {
// We calculate the min dist between the segment and each outline segment. However, if the // Check if the segment is fully-contained. If so, its midpoint is a good-enough nearest point.
// segment to test is inside the outline, and does not cross any edge, it can be seen outside if( containsSingle( aSegment.A, aPolygonIndex, 1 ) &&
// the polygon. Therefore test if a segment end is inside (testing only one end is enough). containsSingle( aSegment.B, aPolygonIndex, 1 ) )
// Use an accuracy of "1" to say that we don't care if it's exactly on the edge or not.
if( containsSingle( aSegment.A, aPolygonIndex, 1 ) )
{ {
if( aNearest ) if( aNearest )
*aNearest = ( aSegment.A + aSegment.B ) / 2; *aNearest = ( aSegment.A + aSegment.B ) / 2;

55
qa/libs/kimath/geometry/test_shape_poly_set_collision.cpp
View File

@ -22,6 +22,7 @@
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
*/ */
#include <tuple>
#include <unit_test_utils/unit_test_utils.h> #include <unit_test_utils/unit_test_utils.h>
#include <geometry/shape_line_chain.h> #include <geometry/shape_line_chain.h>
@ -41,6 +42,11 @@ struct CollisionFixture
// Vectors containing colliding and non-colliding points // Vectors containing colliding and non-colliding points
std::vector<VECTOR2I> collidingPoints, nonCollidingPoints; std::vector<VECTOR2I> collidingPoints, nonCollidingPoints;
// tuple of segment under test, collision result, and intersection point
typedef std::tuple<SEG, bool, VECTOR2I> SEG_CASE;
std::vector<SEG_CASE> segs;
/** /**
* Constructor * Constructor
*/ */
@ -67,6 +73,32 @@ struct CollisionFixture
// Inside the outline and inside a hole => outside the polygon // Inside the outline and inside a hole => outside the polygon
nonCollidingPoints.emplace_back( 15, 12 ); nonCollidingPoints.emplace_back( 15, 12 );
// Seg crossing the edge
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 90, 90 ), VECTOR2I( 110, 110 ) ),
true, VECTOR2I( 100, 100 ) ) );
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 110, 110 ), VECTOR2I( 90, 90 ) ),
true, VECTOR2I( 100, 100 ) ) );
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 50, -10 ), VECTOR2I( 50, 50 ) ),
true, VECTOR2I( 50, 0 ) ) );
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 50, 50 ), VECTOR2I( 50, -10 ) ),
true, VECTOR2I( 50, 0 ) ) );
// Seg fully inside
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 80, 80 ), VECTOR2I( 90, 90 ) ),
true, VECTOR2I( 85, 85 ) ) );
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 90, 90 ), VECTOR2I( 80, 80 ) ),
true, VECTOR2I( 85, 85 ) ) );
// Seg fully outside
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 110, 110 ), VECTOR2I( 120, 120 ) ),
false, VECTOR2I() ) );
// Seg touching
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 100, 100 ), VECTOR2I( 110, 110 ) ),
true, VECTOR2I( 100, 100 ) ) );
segs.emplace_back( std::make_tuple( SEG( VECTOR2I( 110, 110 ), VECTOR2I( 100, 100 ) ),
true, VECTOR2I( 100, 100 ) ) );
} }
~CollisionFixture() ~CollisionFixture()
@ -209,4 +241,27 @@ BOOST_AUTO_TEST_CASE( CollideVertexWithClearance )
} }
} }
/**
* Check that SHAPE_POLY_SET::Collide does the right thing for segments
*/
BOOST_AUTO_TEST_CASE( CollideSegments )
{
for( const SEG_CASE& testCase : segs )
{
SEG seg;
bool expectedResult;
VECTOR2I expectedLocation;
std::tie( seg, expectedResult, expectedLocation ) = testCase;
VECTOR2I location;
BOOST_CHECK( common.holeyPolySet.Collide( seg, 0, nullptr, &location ) == expectedResult );
if( expectedResult )
BOOST_REQUIRE_EQUAL( location, expectedLocation );
}
}
BOOST_AUTO_TEST_SUITE_END() BOOST_AUTO_TEST_SUITE_END()