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Fix NavigationObstacle height 

Fixes NavigationObstacle height.

(cherry picked from commit 3f26191d16)
This commit is contained in:
smix8 2023-11-13 21:32:22 +01:00 committed by Yuri Sizov
parent 0cf4e79b48
commit b0179bba74
1 changed files with 2 additions and 0 deletions
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2
modules/navigation/nav_map.cpp
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@ -1116,6 +1116,7 @@ void NavMap::_update_rvo_obstacles_tree_2d() {
rvo_2d_vertices.reserve(_obstacle_vertices.size());
uint32_t _obstacle_avoidance_layers = obstacle->get_avoidance_layers();
real_t _obstacle_height = obstacle->get_height();
for (const Vector3 &_obstacle_vertex : _obstacle_vertices) {
rvo_2d_vertices.push_back(RVO2D::Vector2(_obstacle_vertex.x + _obstacle_position.x, _obstacle_vertex.z + _obstacle_position.z));
@ -1126,6 +1127,7 @@ void NavMap::_update_rvo_obstacles_tree_2d() {
for (size_t i = 0; i < rvo_2d_vertices.size(); i++) {
RVO2D::Obstacle2D *rvo_2d_obstacle = new RVO2D::Obstacle2D();
rvo_2d_obstacle->point_ = rvo_2d_vertices[i];
rvo_2d_obstacle->height_ = _obstacle_height;
rvo_2d_obstacle->elevation_ = _obstacle_position.y;
rvo_2d_obstacle->avoidance_layers_ = _obstacle_avoidance_layers;