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Merge pull request #56976 from dardanbujupaj/navigation-polygons

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Fix indexing of polygon points when building path
This commit is contained in:
Rémi Verschelde 2022-01-20 07:38:39 +01:00 committed by GitHub
commit f2a213a996
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1 changed files with 8 additions and 4 deletions
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12
modules/navigation/nav_map.cpp
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@ -92,9 +92,13 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
const gd::Polygon &p = polygons[i];
// For each point cast a face and check the distance between the origin/destination
for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_origin);
for (size_t point_id = 0; point_id < p.points.size(); point_id++) {
const Vector3 p1 = p.points[point_id].pos;
const Vector3 p2 = p.points[(point_id + 1) % p.points.size()].pos;
const Vector3 p3 = p.points[(point_id + 2) % p.points.size()].pos;
const Face3 face(p1, p2, p3);
Vector3 spoint = face.get_closest_point_to(p_origin);
float dpoint = spoint.distance_to(p_origin);
if (dpoint < begin_d) {
begin_d = dpoint;
@ -102,7 +106,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
begin_point = spoint;
}
spoint = f.get_closest_point_to(p_destination);
spoint = face.get_closest_point_to(p_destination);
dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
end_d = dpoint;