From ce6dcacb1171b40f68973f185732c542e6d162e0 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 18 Dec 2024 18:44:01 +0000
Subject: [PATCH] AP_Math: buidl fix for templates

---
 libraries/AP_Math/polygon.cpp | 40 +++++++++++++++++------------------
 libraries/AP_Math/vector2.cpp |  9 +-------
 2 files changed, 21 insertions(+), 28 deletions(-)

diff --git a/libraries/AP_Math/polygon.cpp b/libraries/AP_Math/polygon.cpp
index a53a82c253c18..0cca79f944246 100644
--- a/libraries/AP_Math/polygon.cpp
+++ b/libraries/AP_Math/polygon.cpp
@@ -118,6 +118,26 @@ bool Polygon_complete(const Vector2<T> *V, unsigned n)
     return (n >= 4 && V[n-1] == V[0]);
 }
 
+/*
+  return the closest distance that point p comes to an edge of closed
+  polygon V, defined by N points
+ */
+template <typename T>
+float Polygon_closest_distance_point(const Vector2<T> *V, unsigned N, const Vector2<T> &p)
+{
+    T closest_sq = std::numeric_limits<T>::max();
+    for (uint8_t i=0; i<N-1; i++) {
+        const Vector2<T> &v1 = V[i];
+        const Vector2<T> &v2 = V[i+1];
+
+        T dist_sq = Vector2<T>::closest_distance_between_line_and_point_squared(v1, v2, p);
+        if (dist_sq < closest_sq) {
+            closest_sq = dist_sq;
+        }
+    }
+    return sqrtF(closest_sq);
+}
+
 // Necessary to avoid linker errors
 template bool Polygon_outside<int32_t>(const Vector2l &P, const Vector2l *V, unsigned n);
 template bool Polygon_complete<int32_t>(const Vector2l *V, unsigned n);
@@ -196,23 +216,3 @@ float Polygon_closest_distance_line(const Vector2f *V, unsigned N, const Vector2
     }
     return sqrtf(closest_sq);
 }
-
-/*
-  return the closest distance that point p comes to an edge of closed
-  polygon V, defined by N points
- */
-template <typename T>
-float Polygon_closest_distance_point(const Vector2<T> *V, unsigned N, const Vector2<T> &p)
-{
-    T closest_sq = std::numeric_limits<T>::max();
-    for (uint8_t i=0; i<N-1; i++) {
-        const Vector2<T> &v1 = V[i];
-        const Vector2<T> &v2 = V[i+1];
-
-        T dist_sq = Vector2<T>::closest_distance_between_line_and_point_squared(v1, v2, p);
-        if (dist_sq < closest_sq) {
-            closest_sq = dist_sq;
-        }
-    }
-    return sqrtf(closest_sq);
-}
diff --git a/libraries/AP_Math/vector2.cpp b/libraries/AP_Math/vector2.cpp
index a7e5943a567f4..bffa80ab09ca1 100644
--- a/libraries/AP_Math/vector2.cpp
+++ b/libraries/AP_Math/vector2.cpp
@@ -20,13 +20,6 @@
 
 #include "AP_Math.h"
 
-template float Vector2f::closest_distance_between_line_and_point_squared(const Vector2f &w1,
-                                                              const Vector2f &w2,
-                                                              const Vector2f &p);
-template int32_t Vector2l::closest_distance_between_line_and_point_squared(const Vector2l &w1,
-                                                              const Vector2l &w2,
-                                                              const Vector2l &p);
-
 template <typename T>
 T Vector2<T>::length_squared() const
 {
@@ -464,4 +457,4 @@ template bool Vector2<long>::operator ==(const Vector2<long> &v) const;
 template bool Vector2<long>::operator !=(const Vector2<long> &v) const;
 template bool Vector2<int>::operator ==(const Vector2<int> &v) const;
 template bool Vector2<int>::operator !=(const Vector2<int> &v) const;
-
+template int Vector2<int>::closest_distance_between_line_and_point_squared(Vector2<int> const&, Vector2<int> const&, Vector2<int> const&);