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Make line-plane intersection tolerance independent of coordinate scale #291

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Make line-plane intersection tolerance independent of coordinate scale #291

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2 changes: 1 addition & 1 deletion spatialmath/geom3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1122,7 +1122,7 @@ def intersect_plane(

den = np.dot(self.w, plane.n)

if abs(den) > (tol * _eps):
if abs(den) > tol * _eps * np.linalg.norm(self.w) * np.linalg.norm(plane.n):
# P = -(np.cross(line.v, plane.n) + plane.d * line.w) / den
p = (np.cross(self.v, plane.n) - plane.d * self.w) / den

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34 changes: 34 additions & 0 deletions tests/test_geom3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,40 @@ def test_line_intersection_none(point, direction):


class Line3Test(unittest.TestCase):
def test_intersect_plane_coordinate_scale(self):
for line_scale, plane_scale in (
(1, 1),
(1e-8, 1e-8),
(-1e-8, 1e-8),
(1e-8, -1e-8),
(1e8, 1e8),
):
with self.subTest(line_scale=line_scale, plane_scale=plane_scale):
line = Line3.PointDir([1, 2, 3], [0, 0, line_scale])
plane = Plane3(plane_scale * np.array([0, 0, 1, -5]))
result = line.intersect_plane(plane)
self.assertIsNotNone(result)
nt.assert_allclose(result.p, [1, 2, 5])
nt.assert_allclose(line.point(result.lam).ravel(), result.p)

def test_intersect_plane_angular_tolerance(self):
for line_scale, plane_scale in ((1, 1), (1e-8, 1e-8), (1e8, 1e8)):
with self.subTest(line_scale=line_scale, plane_scale=plane_scale):
line = Line3.PointDir([0, 0, 0], line_scale * np.array([1, 0, 1e-9]))
plane = Plane3(plane_scale * np.array([0, 0, 1, -1]))
self.assertIsNone(line.intersect_plane(plane, tol=1e8))
result = line.intersect_plane(plane, tol=1)
self.assertIsNotNone(result)
nt.assert_allclose(result.p, [1e9, 0, 1])

def test_intersect_plane_parallel_scale(self):
for scale in (1e-8, 1, 1e8):
with self.subTest(scale=scale):
line = Line3.PointDir([1, 2, 3], [scale, 0, 0])
self.assertIsNone(
line.intersect_plane(Plane3([0, 0, scale, -5 * scale]))
)

# Primitives
def test_constructor1(self):
# construct from 6-vector
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