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Add checks to NavigationAgent*D to account for overshoots #114195

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Add checks to NavigationAgent*D to account for overshoots #114195

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16 changes: 12 additions & 4 deletions scene/2d/navigation/navigation_agent_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -231,8 +231,11 @@ void NavigationAgent2D::_notification(int p_what) {
set_agent_parent(get_parent());
set_physics_process_internal(true);

if (agent_parent && avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
if (agent_parent) {
previous_origin = agent_parent->get_global_position();
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
}
}

#ifdef DEBUG_ENABLED
Expand Down Expand Up @@ -808,6 +811,8 @@ void NavigationAgent2D::_update_navigation() {
_transition_to_navigation_finished();
}
}

previous_origin = origin;
}

void NavigationAgent2D::_advance_waypoints(const Vector2 &p_origin) {
Expand Down Expand Up @@ -845,11 +850,14 @@ void NavigationAgent2D::_move_to_next_waypoint() {

bool NavigationAgent2D::_is_within_waypoint_distance(const Vector2 &p_origin) const {
const Vector<Vector2> &navigation_path = navigation_result->get_path();
return p_origin.distance_to(navigation_path[navigation_path_index]) < path_desired_distance;
Vector2 waypoint = navigation_path[navigation_path_index];
return p_origin.distance_to(waypoint) < path_desired_distance ||
waypoint.distance_squared_to(Geometry2D::get_closest_point_to_segment(waypoint, previous_origin, p_origin)) < path_desired_distance * path_desired_distance;
}

bool NavigationAgent2D::_is_within_target_distance(const Vector2 &p_origin) const {
return p_origin.distance_to(target_position) < target_desired_distance;
return p_origin.distance_to(target_position) < target_desired_distance ||
target_position.distance_squared_to(Geometry2D::get_closest_point_to_segment(target_position, previous_origin, p_origin)) < target_desired_distance * target_desired_distance;
}

void NavigationAgent2D::_trigger_waypoint_reached() {
Expand Down
2 changes: 2 additions & 0 deletions scene/2d/navigation/navigation_agent_2d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ class NavigationAgent2D : public Node {

Vector2 target_position;

Vector2 previous_origin;

Ref<NavigationPathQueryParameters2D> navigation_query;
Ref<NavigationPathQueryResult2D> navigation_result;
int navigation_path_index = 0;
Expand Down
19 changes: 15 additions & 4 deletions scene/3d/navigation/navigation_agent_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,8 +251,11 @@ void NavigationAgent3D::_notification(int p_what) {
set_agent_parent(get_parent());
set_physics_process_internal(true);

if (agent_parent && avoidance_enabled) {
NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
if (agent_parent) {
previous_origin = agent_parent->get_global_position();
if (avoidance_enabled) {
NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
}
}

#ifdef DEBUG_ENABLED
Expand Down Expand Up @@ -878,6 +881,8 @@ void NavigationAgent3D::_update_navigation() {
_transition_to_navigation_finished();
}
}

previous_origin = origin;
}

void NavigationAgent3D::_advance_waypoints(const Vector3 &p_origin) {
Expand Down Expand Up @@ -916,11 +921,17 @@ void NavigationAgent3D::_move_to_next_waypoint() {
bool NavigationAgent3D::_is_within_waypoint_distance(const Vector3 &p_origin) const {
const Vector<Vector3> &navigation_path = navigation_result->get_path();
Vector3 waypoint = navigation_path[navigation_path_index] - Vector3(0, path_height_offset, 0);
return p_origin.distance_to(waypoint) < path_desired_distance;
Vector3 flattened_origin = p_origin - Vector3(0, path_height_offset, 0);
Vector3 flattened_prev_origin = previous_origin - Vector3(0, path_height_offset, 0);
return p_origin.distance_to(waypoint) < path_desired_distance ||
waypoint.distance_squared_to(Geometry3D::get_closest_point_to_segment(waypoint, flattened_prev_origin, flattened_origin)) < path_desired_distance * path_desired_distance;
}

bool NavigationAgent3D::_is_within_target_distance(const Vector3 &p_origin) const {
return p_origin.distance_to(target_position) < target_desired_distance;
Vector3 flattened_origin = p_origin - Vector3(0, path_height_offset, 0);
Vector3 flattened_prev_origin = previous_origin - Vector3(0, path_height_offset, 0);
return p_origin.distance_to(target_position) < target_desired_distance ||
target_position.distance_squared_to(Geometry3D::get_closest_point_to_segment(target_position, flattened_prev_origin, flattened_origin)) < target_desired_distance * target_desired_distance;
}

void NavigationAgent3D::_trigger_waypoint_reached() {
Expand Down
2 changes: 2 additions & 0 deletions scene/3d/navigation/navigation_agent_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@ class NavigationAgent3D : public Node {

Vector3 target_position;

Vector3 previous_origin;

Ref<NavigationPathQueryParameters3D> navigation_query;
Ref<NavigationPathQueryResult3D> navigation_result;
int navigation_path_index = 0;
Expand Down
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