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Merge pull request #93541 from oshman99/fixing-navmap-pr

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`NavigationServer3D.map_get_closest_point_to_segment` - add an additional shortest distance check
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Rémi Verschelde 2024-06-29 19:54:02 +02:00
commit f1402645ac
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1 changed files with 20 additions and 0 deletions
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20
modules/navigation/nav_map.cpp
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@ -644,6 +644,26 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
} }
} }
} }
// Finally, check for a case when shortest distance is between some point located on a face's edge and some point located on a line segment.
if (!use_collision) {
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;
}
}
}
} }
return closest_point; return closest_point;