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Fix heap-use-after-free in NavMap::get_path()
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@ -140,20 +140,17 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
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// This is an implementation of the A* algorithm.
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int least_cost_id = 0;
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int prev_least_cost_id = -1;
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bool found_route = false;
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const gd::Polygon *reachable_end = nullptr;
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float reachable_d = 1e30;
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bool is_reachable = true;
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gd::NavigationPoly *prev_least_cost_poly = nullptr;
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while (true) {
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// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
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for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
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gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
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const gd::Edge &edge = least_cost_poly->poly->edges[i];
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const gd::Edge &edge = navigation_polys[least_cost_id].poly->edges[i];
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// Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon.
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for (int connection_index = 0; connection_index < edge.connections.size(); connection_index++) {
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@ -164,17 +161,18 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
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continue;
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}
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const gd::NavigationPoly &least_cost_poly = navigation_polys[least_cost_id];
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float poly_enter_cost = 0.0;
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float poly_travel_cost = least_cost_poly->poly->owner->get_travel_cost();
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float poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost();
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if (prev_least_cost_poly != nullptr && (prev_least_cost_poly->poly->owner->get_self() != least_cost_poly->poly->owner->get_self())) {
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poly_enter_cost = least_cost_poly->poly->owner->get_enter_cost();
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if (prev_least_cost_id != -1 && (navigation_polys[prev_least_cost_id].poly->owner->get_self() != least_cost_poly.poly->owner->get_self())) {
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poly_enter_cost = least_cost_poly.poly->owner->get_enter_cost();
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}
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prev_least_cost_poly = least_cost_poly;
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prev_least_cost_id = least_cost_id;
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Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end };
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const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly->entry, pathway);
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const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly->traveled_distance;
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const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly.entry, pathway);
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const float new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance;
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int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon));
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