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Merge pull request #10378 from RandomShaper/nav-keep-start-end

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Guarantee start & end points are returned by Navigation2D
This commit is contained in:
Rémi Verschelde 2017-08-30 16:12:12 +02:00 committed by GitHub
commit 6611dfbd6c
1 changed files with 14 additions and 12 deletions
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26
scene/2d/navigation2d.cpp
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@ -476,7 +476,6 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vect
Polygon *left_poly = end_poly; Polygon *left_poly = end_poly;
Polygon *right_poly = end_poly; Polygon *right_poly = end_poly;
Polygon *p = end_poly; Polygon *p = end_poly;
path.push_back(end_point);
while (p) { while (p) {
@ -534,7 +533,7 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vect
left_poly = p; left_poly = p;
portal_left = apex_point; portal_left = apex_point;
portal_right = apex_point; portal_right = apex_point;
if (path[path.size() - 1].distance_to(apex_point) > CMP_EPSILON) if (!path.size() || path[path.size() - 1].distance_to(apex_point) > CMP_EPSILON)
path.push_back(apex_point); path.push_back(apex_point);
skip = true; skip = true;
//print_line("addpoint left"); //print_line("addpoint left");
@ -555,7 +554,7 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vect
right_poly = p; right_poly = p;
portal_right = apex_point; portal_right = apex_point;
portal_left = apex_point; portal_left = apex_point;
if (path[path.size() - 1].distance_to(apex_point) > CMP_EPSILON) if (!path.size() || path[path.size() - 1].distance_to(apex_point) > CMP_EPSILON)
path.push_back(apex_point); path.push_back(apex_point);
//print_line("addpoint right"); //print_line("addpoint right");
//print_line("***CLIP RIGHT"); //print_line("***CLIP RIGHT");
@ -568,16 +567,10 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vect
p = NULL; p = NULL;
} }
if (path[path.size() - 1].distance_to(begin_point) > CMP_EPSILON)
path.push_back(begin_point);
path.invert();
} else { } else {
//midpoints //midpoints
Polygon *p = end_poly; Polygon *p = end_poly;
path.push_back(end_point);
while (true) { while (true) {
int prev = p->prev_edge; int prev = p->prev_edge;
int prev_n = (p->prev_edge + 1) % p->edges.size(); int prev_n = (p->prev_edge + 1) % p->edges.size();
@ -587,11 +580,20 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vect
if (p == begin_poly) if (p == begin_poly)
break; break;
} }
}
if (path[path.size() - 1].distance_to(begin_point) > CMP_EPSILON) if (!path.size() || path[path.size() - 1].distance_squared_to(begin_point) > CMP_EPSILON) {
path.push_back(begin_point); path.push_back(begin_point); // Add the begin point
} else {
path[path.size() - 1] = begin_point; // Replace first midpoint by the exact begin point
}
path.invert(); path.invert();
if (path.size() <= 1 || path[path.size() - 1].distance_squared_to(end_point) > CMP_EPSILON) {
path.push_back(end_point); // Add the end point
} else {
path[path.size() - 1] = end_point; // Replace last midpoint by the exact end point
} }
return path; return path;