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Merge pull request #60242 from kleonc/navmap-reset-least_cost_id-3x

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Rémi Verschelde 2022-04-14 21:28:26 +02:00 committed by GitHub
commit 73d77bc1f5
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1 changed files with 5 additions and 4 deletions
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9
modules/navigation/nav_map.cpp
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@ -156,10 +156,10 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
while (found_route == false) { while (found_route == false) {
{ {
gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
// Takes the current least_cost_poly neighbors and compute the traveled_distance of each // Takes the current least_cost_poly neighbors and compute the traveled_distance of each
for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) { for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
const gd::Edge &edge = least_cost_poly->poly->edges[i]; const gd::Edge &edge = least_cost_poly->poly->edges[i];
if (!edge.other_polygon) if (!edge.other_polygon)
continue; continue;
@ -241,6 +241,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
navigation_polys.push_back(np); navigation_polys.push_back(np);
open_list.clear(); open_list.clear();
open_list.push_back(0); open_list.push_back(0);
least_cost_id = 0;
reachable_end = NULL; reachable_end = NULL;
@ -265,6 +266,8 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
} }
} }
ERR_BREAK(least_cost_id == -1);
// Stores the further reachable end polygon, in case our goal is not reachable. // Stores the further reachable end polygon, in case our goal is not reachable.
if (is_reachable) { if (is_reachable) {
float d = navigation_polys[least_cost_id].entry.distance_to(p_destination); float d = navigation_polys[least_cost_id].entry.distance_to(p_destination);
@ -274,8 +277,6 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
} }
} }
ERR_BREAK(least_cost_id == -1);
// Check if we reached the end // Check if we reached the end
if (navigation_polys[least_cost_id].poly == end_poly) { if (navigation_polys[least_cost_id].poly == end_poly) {
// Yep, done!! // Yep, done!!