From b0179bba74623b1ae4b32858b63090af7177fdfa Mon Sep 17 00:00:00 2001
From: smix8 <52464204+smix8@users.noreply.github.com>
Date: Mon, 13 Nov 2023 21:32:22 +0100
Subject: [PATCH] Fix NavigationObstacle height

Fixes NavigationObstacle height.

(cherry picked from commit 3f26191d167f6d5f767811d0042ceb4716bb3fec)
---
 modules/navigation/nav_map.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index f447b5f1687..3ff9127fc29 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -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;