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Merge pull request #79228 from smix8/fix_funnel_4.x

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Fix pathfinding funnel adding unwanted point
This commit is contained in:
Yuri Sizov 2023-08-02 21:36:46 +02:00
commit d7f07820aa
1 changed files with 11 additions and 0 deletions
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11
modules/navigation/nav_map.cpp
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@ -431,6 +431,17 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
if (p_optimize) {
// Set the apex poly/point to the end point
gd::NavigationPoly *apex_poly = &navigation_polys[least_cost_id];
Vector3 back_pathway[2] = { apex_poly->back_navigation_edge_pathway_start, apex_poly->back_navigation_edge_pathway_end };
const Vector3 back_edge_closest_point = Geometry3D::get_closest_point_to_segment(end_point, back_pathway);
if (end_point.is_equal_approx(back_edge_closest_point)) {
// The end point is basically on top of the last crossed edge, funneling around the corners would at best do nothing.
// At worst it would add an unwanted path point before the last point due to precision issues so skip to the next polygon.
if (apex_poly->back_navigation_poly_id != -1) {
apex_poly = &navigation_polys[apex_poly->back_navigation_poly_id];
}
}
Vector3 apex_point = end_point;
gd::NavigationPoly *left_poly = apex_poly;