fix(perception-module): faster comparison for orientation evaluation

Signed-off-by: Moritz Schweppenhäuser <[email protected]>
eclipse · Dec 5, 2024 · c295efa · c295efa
1 parent 103693c
commit c295efa
Showing 1 changed file with 11 additions and 11 deletions.
diff --git a/...se/mosaic/fed/application/ambassador/simulation/perception/errormodels/WallOcclusion.java b/...se/mosaic/fed/application/ambassador/simulation/perception/errormodels/WallOcclusion.java
@@ -77,16 +77,16 @@ private enum Orientation {
     }
 
     // Function to calculate the orientation of the triplet (px, py), (qx, qy), (rx, ry).
-    static Orientation orientation(double px, double py, double qx, double qy, double rx, double ry) {
+    static Orientation calcOrientation(double px, double py, double qx, double qy, double rx, double ry) {
         double val = (qy - py) * (rx - qx) - (qx - px) * (ry - qy);
-        if (MathUtils.isFuzzyEqual(val, 0d)) { // Collinear
+        if (Math.abs(val) <= MathUtils.EPSILON_D) { // Collinear
             return Orientation.COLLINEAR;
         }
         return (val > 0) ? Orientation.CLOCKWISE : Orientation.COUNTERCLOCKWISE; // Clockwise or Counterclockwise
     }
 
     // Function to check if point (qx, qy) lies on segment (px, py) to (rx, ry).
-    static boolean onSegment(double px, double py, double qx, double qy, double rx, double ry) {
+    static boolean isOnSegment(double px, double py, double qx, double qy, double rx, double ry) {
         return qx <= Math.max(px, rx)
                 && qx >= Math.min(px, rx)
                 && qy <= Math.max(py, ry)
@@ -96,21 +96,21 @@ static boolean onSegment(double px, double py, double qx, double qy, double rx,
     // Function to check if two lines (p1, q1) and (p2, q2) intersect.
     static boolean doIntersect(double p1x, double p1y, double q1x, double q1y,
                                double p2x, double p2y, double q2x, double q2y) {
-        Orientation o1 = orientation(p1x, p1y, q1x, q1y, p2x, p2y);
-        Orientation o2 = orientation(p1x, p1y, q1x, q1y, q2x, q2y);
-        Orientation o3 = orientation(p2x, p2y, q2x, q2y, p1x, p1y);
-        Orientation o4 = orientation(p2x, p2y, q2x, q2y, q1x, q1y);
+        Orientation o1 = calcOrientation(p1x, p1y, q1x, q1y, p2x, p2y);
+        Orientation o2 = calcOrientation(p1x, p1y, q1x, q1y, q2x, q2y);
+        Orientation o3 = calcOrientation(p2x, p2y, q2x, q2y, p1x, p1y);
+        Orientation o4 = calcOrientation(p2x, p2y, q2x, q2y, q1x, q1y);
 
         // General case
         if (o1 != o2 && o3 != o4) {
             return true;
         }
 
         // Special cases
-        if (o1 == Orientation.COLLINEAR && onSegment(p1x, p1y, p2x, p2y, q1x, q1y)) return true;
-        if (o2 == Orientation.COLLINEAR && onSegment(p1x, p1y, q2x, q2y, q1x, q1y)) return true;
-        if (o3 == Orientation.COLLINEAR && onSegment(p2x, p2y, p1x, p1y, q2x, q2y)) return true;
-        if (o4 == Orientation.COLLINEAR && onSegment(p2x, p2y, q1x, q1y, q2x, q2y)) return true;
+        if (o1 == Orientation.COLLINEAR && isOnSegment(p1x, p1y, p2x, p2y, q1x, q1y)) return true;
+        if (o2 == Orientation.COLLINEAR && isOnSegment(p1x, p1y, q2x, q2y, q1x, q1y)) return true;
+        if (o3 == Orientation.COLLINEAR && isOnSegment(p2x, p2y, p1x, p1y, q2x, q2y)) return true;
+        if (o4 == Orientation.COLLINEAR && isOnSegment(p2x, p2y, q1x, q1y, q2x, q2y)) return true;
 
         return false; // Doesn't fall in any of the above cases
     }