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Line3: increase test coverage (backport #813) #835

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d420c43
Line3: increase test coverage (#813)
ahcorde Aug 21, 2026
1719039
Fixed merge
ahcorde Aug 26, 2026
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34 changes: 20 additions & 14 deletions include/gz/math/Line3.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,10 @@ namespace gz::math
const double _x2, const double _y2,
const double _z = 0)
{
this->pts[0].Set(_x1, _y1, _z);
this->pts[1].Set(_x2, _y2, _z);
this->pts[0].Set(
static_cast<T>(_x1), static_cast<T>(_y1), static_cast<T>(_z));
this->pts[1].Set(
static_cast<T>(_x2), static_cast<T>(_y2), static_cast<T>(_z));
}

/// \brief Set the start and end point of the line segment
Expand All @@ -119,8 +121,10 @@ namespace gz::math
const double _z1, const double _x2,
const double _y2, const double _z2)
{
this->pts[0].Set(_x1, _y1, _z1);
this->pts[1].Set(_x2, _y2, _z2);
this->pts[0].Set(
static_cast<T>(_x1), static_cast<T>(_y1), static_cast<T>(_z1));
this->pts[1].Set(
static_cast<T>(_x2), static_cast<T>(_y2), static_cast<T>(_z2));
}

/// \brief Get the direction of the line
Expand All @@ -134,7 +138,7 @@ namespace gz::math
/// \return The length of the line.
public: T Length() const
{
return this->pts[0].Distance(this->pts[1]);
return static_cast<T>(this->pts[0].Distance(this->pts[1]));
}

/// \brief Get the shortest line between this line and the
Expand Down Expand Up @@ -214,7 +218,8 @@ namespace gz::math
double mua = clamp(numer / denom, 0.0, 1.0);
double mub = clamp((d1343 + d4321 * mua) / d4343, 0.0, 1.0);

_result.Set(this->pts[0] + (p21 * mua), _line[0] + (p43 * mub));
_result.Set(this->pts[0] + (p21 * static_cast<T>(mua)),
_line[0] + (p43 * static_cast<T>(mub)));

return true;
}
Expand All @@ -229,13 +234,13 @@ namespace gz::math
auto ptTo1 = _pt - this->pts[1];

// Point is projected beyond pt0 or the line has length 0
if (ptTo0.Dot(line) <= 0.0)
if (ptTo0.Dot(line) <= static_cast<T>(0))
{
return ptTo0.Length();
}

// Point is projected beyond pt1
if (ptTo1.Dot(line) >= 0.0)
if (ptTo1.Dot(line) >= static_cast<T>(0))
{
return ptTo1.Length();
}
Expand Down Expand Up @@ -341,18 +346,19 @@ namespace gz::math
public: bool Within(const math::Vector3<T> &_pt,
double _epsilon = 1e-6) const
{
auto eps = static_cast<T>(_epsilon);
return _pt.X() <= std::max(this->pts[0].X(),
this->pts[1].X()) + _epsilon &&
this->pts[1].X()) + eps &&
_pt.X() >= std::min(this->pts[0].X(),
this->pts[1].X()) - _epsilon &&
this->pts[1].X()) - eps &&
_pt.Y() <= std::max(this->pts[0].Y(),
this->pts[1].Y()) + _epsilon &&
this->pts[1].Y()) + eps &&
_pt.Y() >= std::min(this->pts[0].Y(),
this->pts[1].Y()) - _epsilon &&
this->pts[1].Y()) - eps &&
_pt.Z() <= std::max(this->pts[0].Z(),
this->pts[1].Z()) + _epsilon &&
this->pts[1].Z()) + eps &&
_pt.Z() >= std::min(this->pts[0].Z(),
this->pts[1].Z()) - _epsilon;
this->pts[1].Z()) - eps;
}

/// \brief Equality operator.
Expand Down
33 changes: 33 additions & 0 deletions src/Line3_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,10 @@ using namespace gz;
/////////////////////////////////////////////////
TEST(Line3Test, Constructor)
{
math::Line3d lineDefault;
EXPECT_EQ(lineDefault[0], math::Vector3d::Zero);
EXPECT_EQ(lineDefault[1], math::Vector3d::Zero);

math::Line3d lineA(0, 0, 10, 10);
EXPECT_DOUBLE_EQ(lineA[0].X(), 0.0);
EXPECT_DOUBLE_EQ(lineA[0].Y(), 0.0);
Expand Down Expand Up @@ -88,6 +92,10 @@ TEST(Line3Test, Set)
EXPECT_DOUBLE_EQ(lineA[1].X(), 5.0);
EXPECT_DOUBLE_EQ(lineA[1].Y(), 6.0);
EXPECT_DOUBLE_EQ(lineA[1].Z(), 7.0);

lineA.Set(math::Vector3d(20, 21, 22), math::Vector3d(23, 24, 25));
EXPECT_EQ(lineA[0], math::Vector3d(20, 21, 22));
EXPECT_EQ(lineA[1], math::Vector3d(23, 24, 25));
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -344,6 +352,17 @@ TEST(Line3Test, Intersect)

EXPECT_TRUE(line.Intersect(math::Line3d(0, -1, 0, 0, 0.1, 0)));
EXPECT_TRUE(line.Intersect(math::Line3d(0, 1, 0, 0, 1.1, 0)));

// Parallel non-overlapping lines
EXPECT_FALSE(line.Intersect(math::Line3d(0, 2, 0, 0, 3, 0)));
EXPECT_FALSE(line.Intersect(math::Line3d(0, 2, 0, 0, 3, 0), pt));

// Parallel overlapping line where _line[0] is within this line
EXPECT_TRUE(line.Intersect(math::Line3d(0, 0.5, 0, 0, 2, 0), pt));
EXPECT_EQ(pt, math::Vector3d(0, 0.5, 0));

// Skew non-intersecting lines
EXPECT_FALSE(line.Intersect(math::Line3d(1, 0, 1, 1, 1, 1), pt));
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -371,3 +390,17 @@ TEST(Line3Test, Coplanar)
EXPECT_FALSE(line.Coplanar(math::Line3d(1, 0, 0, 1, 1, 1)));
EXPECT_FALSE(line.Coplanar(math::Line3d(1, 0, 1, 2, 0, 0)));
}

/////////////////////////////////////////////////
TEST(Line3Test, TemplateTypes)
{
math::Line3i lineI(0, 0, 0, 10, 10, 10);
EXPECT_EQ(lineI[0], math::Vector3i(0, 0, 0));
EXPECT_EQ(lineI[1], math::Vector3i(10, 10, 10));

math::Line3f lineF(0.0f, 0.0f, 0.0f, 10.0f, 10.0f, 10.0f);
EXPECT_FLOAT_EQ(lineF[0].X(), 0.0f);
EXPECT_FLOAT_EQ(lineF[1].Y(), 10.0f);
EXPECT_NEAR(lineF.Length(), 17.320508f, 1e-4f);
}

30 changes: 28 additions & 2 deletions src/python_pybind11/test/Line3_TEST.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@

import math
import unittest
from gz.math8 import Line3d
from gz.math8 import Vector3d
from gz.math8 import Line3d, Line3f, Line3i
from gz.math8 import Vector3d, Vector3i


class TestLine3d(unittest.TestCase):
Expand Down Expand Up @@ -80,6 +80,10 @@ def test_set(self):
self.assertAlmostEqual(line_a[1].y(), 6.0)
self.assertAlmostEqual(line_a[1].z(), 7.0)

line_a.set(Vector3d(20, 21, 22), Vector3d(23, 24, 25))
self.assertEqual(line_a[0], Vector3d(20, 21, 22))
self.assertEqual(line_a[1], Vector3d(23, 24, 25))

def test_length(self):
line_a = Line3d(0, 0, 0, 10, 10, 10)
self.assertAlmostEqual(line_a.length(), math.sqrt(300), delta=1e-10)
Expand Down Expand Up @@ -225,6 +229,17 @@ def test_interesct(self):
self.assertTrue(line.intersect(Line3d(0, -1, 0, 0, 0.1, 0)))
self.assertTrue(line.intersect(Line3d(0, 1, 0, 0, 1.1, 0)))

# Parallel non-overlapping lines
self.assertFalse(line.intersect(Line3d(0, 2, 0, 0, 3, 0)))
self.assertFalse(line.intersect(Line3d(0, 2, 0, 0, 3, 0), pt))

# Parallel overlapping line where _line[0] is within this line
self.assertTrue(line.intersect(Line3d(0, 0.5, 0, 0, 2, 0), pt))
self.assertEqual(pt, Vector3d(0, 0.5, 0))

# Skew non-intersecting lines
self.assertFalse(line.intersect(Line3d(1, 0, 1, 1, 1, 1), pt))

def test_parallel(self):
line = Line3d(0, 0, 0, 0, 1, 0)
self.assertTrue(line.parallel(Line3d(1, 0, 0, 1, 1, 0)))
Expand All @@ -245,6 +260,17 @@ def test_coplanar(self):
self.assertFalse(line.coplanar(Line3d(1, 0, 0, 1, 1, 1)))
self.assertFalse(line.coplanar(Line3d(1, 0, 1, 2, 0, 0)))

def test_template_types(self):
line_i = Line3i(0, 0, 0, 10, 10, 10)
self.assertEqual(line_i[0], Vector3i(0, 0, 0))
self.assertEqual(line_i[1], Vector3i(10, 10, 10))

line_f = Line3f(0.0, 0.0, 0.0, 10.0, 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(), 17.320508, delta=1e-4)


if __name__ == '__main__':
unittest.main()

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