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fix: patrol navigation now first targets the closest point on the path

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Sara 2025-07-21 15:50:26 +02:00
parent 9517588415
commit c05d3aa28f
4 changed files with 20 additions and 14 deletions
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18
modules/wave_survival/patrol_path.cpp
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@ -45,20 +45,26 @@ Vector3 PatrolPath::point_at_unchecked(int const index) const {
return this->path.get(index)->get_global_position();
}
int PatrolPath::get_closest_point(Vector3 global_position) {
Vector3 PatrolPath::get_closest_point(Vector3 global_position, int *idx) {
int best_choice_idx{ -1 };
float best_choice_distance{ Math::INF };
Vector3 point{ 0, 0, 0 };
for (int i{ 0 }; i < point_count(); ++i) {
int const next_idx{ (i + 1) % point_count() };
Vector3 const current{ point_at(i) };
Vector3 const next{ point_at_unchecked(next_idx) };
Vector3 const path_direction{ (next - current).normalized() };
Vector3 const direction{ (global_position - current).normalized() };
float const distance{ global_position.distance_squared_to(next) };
if (path_direction.dot(direction) > 1.0 && distance < best_choice_distance) {
best_choice_idx = next_idx;
Vector3 const difference{ global_position - current };
Vector3 const closest{ current + path_direction.dot(difference) * path_direction };
float const distance{ global_position.distance_squared_to(closest) };
if (distance < best_choice_distance) {
best_choice_idx = i;
best_choice_distance = distance;
point = closest;
}
}
return best_choice_idx;
if (idx) {
*idx = best_choice_idx;
}
return point;
}