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Merge pull request #93227 from oshman99/master 

Fix closest edge and face check in `NavigationServer3D.map_get_closest_point_to_segment`
This commit is contained in:
Rémi Verschelde 2024-06-17 14:31:52 +02:00
parent 3421c9fab5 4ed747e255
commit 0ca0b462e5
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GPG Key ID: C3336907360768E1
1 changed files with 13 additions and 17 deletions
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30
modules/navigation/nav_map.cpp
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@ -627,24 +627,20 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
closest_point_d = d;
}
}
}
// If segment does not itersect face, check the distance from segment's endpoints.
else if (!use_collision) {
const Vector3 p_from_closest = f.get_closest_point_to(p_from);
const real_t d_p_from = p_from.distance_to(p_from_closest);
if (closest_point_d > d_p_from) {
closest_point = p_from_closest;
closest_point_d = d_p_from;
}
if (use_collision == false) {
for (size_t point_id = 0; point_id < p.points.size(); point_id += 1) {
Vector3 a, b;
Geometry3D::get_closest_points_between_segments(
p_from,
p_to,
p.points[point_id].pos,
p.points[(point_id + 1) % p.points.size()].pos,
a,
b);
const real_t d = a.distance_to(b);
if (d < closest_point_d) {
closest_point_d = d;
closest_point = b;
const Vector3 p_to_closest = f.get_closest_point_to(p_to);
const real_t d_p_to = p_to.distance_to(p_to_closest);
if (closest_point_d > d_p_to) {
closest_point = p_to_closest;
closest_point_d = d_p_to;
}
}
}