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fixed comms LOS obstruction by obstacles

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This commit is contained in:
Kevin Dee
2025-12-24 16:00:42 -08:00
parent 14e372ae55
commit 50eaad9504
4 changed files with 135 additions and 43 deletions
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81
geometries/@rectangularPrism/containsLine.m
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@@ -9,33 +9,66 @@ function c = containsLine(obj, pos1, pos2)
end
d = pos2 - pos1;
% edge case where the line is parallel to the geometry
if abs(d) < 1e-12
% check if it happens to start or end inside or outside of
% the geometry
if obj.contains(pos1) || obj.contains(pos2)
c = true;
else
c = false;
end
% endpoint contained (trivial case)
if obj.contains(pos1) || obj.contains(pos2)
c = true;
return;
end
tmin = -inf;
tmax = inf;
% Standard case
% parameterize the line segment to check for an intersection
tMin = 0;
tMax = 1;
for ii = 1:3
t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii);
tmin = max(tmin, min(t1, t2));
tmax = min(tmax, max(t1, t2));
if tmin > tmax
c = false;
return;
% line is parallel to geometry
if abs(d(ii)) < 1e-12
if pos1(ii) < obj.minCorner(ii) || pos1(ii) > obj.maxCorner(ii)
c = false;
return;
end
else
t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
t2 = (obj.maxCorner(ii) - pos1(ii)) / d(ii);
tLow = min(t1, t2);
tHigh = max(t1, t2);
tMin = max(tMin, tLow);
tMax = min(tMax, tHigh);
if tMin > tMax
c = false;
return;
end
end
end
c = true;
c = (tmax >= 0) && (tmin <= 1);
end
% if abs(d) < 1e-12
% % check if it happens to start or end inside or outside of
% % the geometry
% if obj.contains(pos1) || obj.contains(pos2)
% c = true;
% else
% c = false;
% end
% return;
% end
%
% tMin = -inf;
% tMax = inf;
%
% % Standard case
% for ii = 1:3
% t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
% t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii);
% tMin = max(tMin, min(t1, t2));
% tMax = min(tMax, max(t1, t2));
% if tMin > tMax
% c = false;
% return;
% end
% end
%
% c = (tMax >= 0) && (tMin <= 1);
end