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Merge branch 'master' into project/spaceship-installation

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Emma Broman
2021-12-14 16:09:29 +01:00
parent bf830f185f c7b47fc2c0
commit 276ea540cd
1 changed files with 5 additions and 2 deletions
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7
src/navigation/pathcurves/avoidcollisioncurve.cpp
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@@ -80,8 +80,11 @@ AvoidCollisionCurve::AvoidCollisionCurve(const Waypoint& start, const Waypoint&
const glm::dvec3 startToEnd = end.position() - start.position();
if (glm::length(startToEnd) > 0.0) {
// Add point for moving out if the end state is in opposite direction
// Add point for moving out if the end state is far away and in opposite direction.
// This helps with avoiding fast rotation in the center of the path
const double maxRadius = std::max(startNodeRadius, endNodeRadius);
bool nodesAreDifferent = start.nodeIdentifier() != end.nodeIdentifier();
if (glm::length(startToEnd) > 0.5 * maxRadius && nodesAreDifferent) {
double cosAngleToTarget = glm::dot(normalize(-startViewDir), normalize(startToEnd));
bool targetInOppositeDirection = cosAngleToTarget > 0.7;