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NavigationServer3D.map_get_closest_point_to_segment - add an additional shortest distance check

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For a case when shortest distance is between some point located on a face's
edge and some point located on a line segment.
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Artem 2024-06-24 13:57:46 +04:00 committed by Rémi Verschelde
parent 25de53e147
commit b8fc6b4979
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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;