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Remove check for boundingsphere among child nodes when flying to small objects (closes #2257)

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Emma Broman
2023-06-09 11:38:25 +02:00
parent bb9a3e375d
commit 6fc113ed2e
1 changed files with 4 additions and 22 deletions
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26
src/navigation/pathnavigator.cpp
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@@ -404,35 +404,17 @@ double PathNavigator::findValidBoundingSphere(const SceneGraphNode* node) const
// than the interaction sphere of the node
double bs = n->boundingSphere();
double is = n->interactionSphere();
return is > bs ? is : bs;
return std::max(is, bs);
};
double result = sphere(node);
if (result < _minValidBoundingSphere) {
// If the bs of the target is too small, try to find a good value in a child node.
// Only check the closest children, to avoid deep traversal in the scene graph.
// Alsp. the chance to find a bounding sphere that represents the visual size of
// the target well is higher for these nodes
for (SceneGraphNode* child : node->children()) {
result = sphere(child);
if (result > _minValidBoundingSphere) {
LDEBUG(fmt::format(
"The scene graph node '{}' has no, or a very small, bounding sphere. "
"Using bounding sphere of child node '{}' in computations",
node->identifier(),
child->identifier()
));
return result;
}
}
LDEBUG(fmt::format(
"The scene graph node '{}' has no, or a very small, bounding sphere. Using "
"minimal value. This might lead to unexpected results",
node->identifier())
);
"minimal value of {}. This might lead to unexpected results",
node->identifier(), _minValidBoundingSphere
));
result = _minValidBoundingSphere;
}