AP_Math: fixed a bug in segment_intersection()

we could get an intercept point beyond the end of the segment
7 years ago · c3cf8f5435
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Math/vector2.cpp
+++ b/libraries/AP_Math/vector2.cpp
@ -160,7 +160,7 @@ bool Vector2<T>::segment_intersection(const Vector2<T>& seg1_start, const Vector
				@@ -160,7 +160,7 @@ bool Vector2<T>::segment_intersection(const Vector2<T>& seg1_start, const Vector
        // u = (q - p) * r / (r * s)
        float t = (ss2_ss1 % r2) / r1xr2;
        float u = q_pxr / r1xr2;
-        if ((u >= 0) && (u <= 1) && (t >= 0)) {
+        if ((u >= 0) && (u <= 1) && (t >= 0) && (t <= 1)) {
            // lines intersect
            // t can be any non-negative value because (p, p + r) is a ray
            // u must be between 0 and 1 because (q, q + s) is a line segment