diff options
Diffstat (limited to 'modules/navigation/nav_map.cpp')
| -rw-r--r-- | modules/navigation/nav_map.cpp | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 745c227fe5..737ccaf3cd 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -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; @@ -1049,7 +1060,8 @@ void NavMap::sync() { } // Update the update ID. - map_update_id = (map_update_id + 1) % 9999999; + // Some code treats 0 as a failure case, so we avoid returning 0. + map_update_id = map_update_id % 9999999 + 1; } // Do we have modified obstacle positions? |