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Fix wrong distance calculation in NavMeshQueries3D::_query_task_build_path_corridor #101968

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merged 1 commit into from
Jan 24, 2025
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Fix wrong distance calculation in NavMeshQueries3D::_query_task_build_path_corridor #101968

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4 changes: 2 additions & 2 deletions modules/navigation/3d/nav_mesh_queries_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,7 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
if ((p_navigation_layers & owner->get_navigation_layers()) != 0) {
Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end };
const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly.entry, pathway);
const real_t new_traveled_distance = least_cost_poly.entry.distance_squared_to(new_entry) * poly_travel_cost + poly_enter_cost + least_cost_poly.traveled_distance;
const real_t new_traveled_distance = least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost + poly_enter_cost + least_cost_poly.traveled_distance;

// Check if the neighbor polygon has already been processed.
gd::NavigationPoly &neighbor_poly = navigation_polys[connection.polygon->id];
Expand All @@ -310,7 +310,7 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
neighbor_poly.back_navigation_edge_pathway_end = connection.pathway_end;
neighbor_poly.traveled_distance = new_traveled_distance;
neighbor_poly.distance_to_destination =
new_entry.distance_squared_to(end_point) *
new_entry.distance_to(end_point) *
owner->get_travel_cost();
neighbor_poly.entry = new_entry;

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