Use offset instead of extending the line

tests/test_envs.py

@@ -1,5 +1,4 @@
 import gym
-import numpy as np
 import pytest
 
 import mujoco_maze
@@ -21,29 +20,3 @@ def test_point_maze(maze_id):
         assert env.reset().shape == (7,)
         s, _, _, _ = env.step(env.action_space.sample())
         assert s.shape == (7,)
-
-
-@pytest.mark.parametrize("maze_id", mujoco_maze.TaskRegistry.keys())
-def test_collision_lines(maze_id):
-    env = gym.make(f"Point{maze_id}-v0")
-    if maze_id == "UMaze":
-        assert len(env.unwrapped._collision.lines) == 16
-    structure = env.unwrapped._maze_structure
-    scaling = env.unwrapped._maze_size_scaling
-    init_x = env.unwrapped._init_torso_x
-    init_y = env.unwrapped._init_torso_y
-
-    def check_pos(pos):
-        x_orig = (pos.real + init_x) / scaling
-        y_orig = (pos.imag + init_y) / scaling
-        return structure[int(round(y_orig))][int(round(x_orig))]
-
-    for line in env.unwrapped._collision.lines:
-        mid = (line.p1 + line.p2) / 2
-        p2p1 = line.p2 - line.p1
-        cell1 = check_pos(mid + 0.1 * p2p1 * np.complex(0.0, -1.0))
-        cell2 = check_pos(mid + 0.1 * p2p1 * np.complex(0.0, 1.0))
-        if cell1.is_block():
-            assert not cell2.is_block()
-        else:
-            assert cell2.is_block()

tests/test_intersect.py

@@ -4,6 +4,19 @@ import pytest
 from mujoco_maze.maze_env_utils import Line
 
 
+@pytest.mark.parametrize(
+    "l1, l2, p, ans",
+    [
+        ((0.0, 0.0), (4.0, 4.0), (1.0, 3.0), 2.0 ** 0.5),
+        ((-3.0, -3.0), (0.0, 1.0), (-3.0, 1.0), 2.4),
+    ],
+)
+def test_distance(l1, l2, p, ans):
+    line = Line(l1, l2)
+    point = np.complex(*p)
+    assert abs(line.distance(point) - ans) <= 1e-8
+
+
 @pytest.mark.parametrize(
     "l1p1, l1p2, l2p1, l2p2, none",
     [
@@ -22,6 +35,7 @@ def test_intersect(l1p1, l1p2, l2p1, l2p2, none):
         assert i1 is None and i2 is None
     else:
         assert i1 is not None
+        i1 = np.array([i1.real, i1.imag])
         np.testing.assert_array_almost_equal(i1, np.array(i2))