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Guarantee start & end points are returned by Navigation2D

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So start and end points are unconditionally added to the returned point list, but first and last middle points are checked against them to avoid duplicates.

`CMP_EPSILON` was already providing a guarantee, but knowing you will get exactly the endpoints you provided is even better.
This commit is contained in:
Pedro J. Estébanez 2017-08-17 01:27:30 +02:00
parent 19aff15a1a
commit ef6e1252ae
1 changed files with 14 additions and 12 deletions
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26
scene/2d/navigation2d.cpp
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@ -534,7 +534,6 @@ debug path
Polygon *left_poly = end_poly;
Polygon *right_poly = end_poly;
Polygon *p = end_poly;
path.push_back(end_point);
while (p) {
@ -592,7 +591,7 @@ debug path
left_poly = p;
portal_left = 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);
skip = true;
//print_line("addpoint left");
@ -613,7 +612,7 @@ debug path
right_poly = p;
portal_right = 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);
//print_line("addpoint right");
//print_line("***CLIP RIGHT");
@ -626,16 +625,10 @@ debug path
p = NULL;
}
if (path[path.size() - 1].distance_to(begin_point) > CMP_EPSILON)
path.push_back(begin_point);
path.invert();
} else {
//midpoints
Polygon *p = end_poly;
path.push_back(end_point);
while (true) {
int prev = p->prev_edge;
int prev_n = (p->prev_edge + 1) % p->edges.size();
@ -645,11 +638,20 @@ debug path
if (p == begin_poly)
break;
}
}
if (path[path.size() - 1].distance_to(begin_point) > CMP_EPSILON)
path.push_back(begin_point);
if (!path.size() || path[path.size() - 1].distance_squared_to(begin_point) > CMP_EPSILON) {
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;