Fix pathfinding funnel adding unwanted point #79228
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smix8
added
bug
topic:navigation
cherrypick:4.0
cherrypick:4.1
Fixes pathfinding funnel adding unwanted point due to precision issues.
Scony
approved these changes
Jul 27, 2023
YuriSizov
approved these changes
Aug 2, 2023
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Thanks! |
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Cherry-picked for 4.1.3. |
YuriSizov
removed
the
cherrypick:4.1
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Fixes pathfinding funnel adding unwanted point due to precision issues.
Fixes #74696.
The pathfinding postprocessing corridorfunnel can run into precision issues when points are directly on top of polygon edges or corners along the path corridor adding unwanted path points snapped to the polygon corners.
If this happens this is normally corrected within the next step for the next polygon that removes this unwanted point again by clipping the existing path. This correction does not happen for the point at the beginning closest to the end point due to apex overlap.
With the change in this pr the postprocessing checks and skips ahead to the next polygon should the final path point overlap with the last pathway edge. This avoids both the precision issue as well as adding a path point directly on the edge basically overlapping the end point.