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NavMap2D: check if obstacles have avoidance enabled

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In NavMap2D::_update_rvo_obstacles_tree() check if the NavObstacle2D
has avoidance enabled before adding it to the tree.

This is the 2D fix for #108259
This commit is contained in:
David M. Lary
2025-07-04 10:30:49 -05:00
parent 9b22b41531
commit 780f3d5e3b
1 changed files with 3 additions and 0 deletions
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3
modules/navigation_2d/nav_map_2d.cpp
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@@ -444,6 +444,9 @@ void NavMap2D::_update_rvo_obstacles_tree() {
// The following block is modified copy from RVO2D::AddObstacle() // The following block is modified copy from RVO2D::AddObstacle()
// Obstacles are linked and depend on all other obstacles. // Obstacles are linked and depend on all other obstacles.
for (NavObstacle2D *obstacle : obstacles) { for (NavObstacle2D *obstacle : obstacles) {
if (!obstacle->is_avoidance_enabled()) {
continue;
}
const Vector2 &_obstacle_position = obstacle->get_position(); const Vector2 &_obstacle_position = obstacle->get_position();
const Vector<Vector2> &_obstacle_vertices = obstacle->get_vertices(); const Vector<Vector2> &_obstacle_vertices = obstacle->get_vertices();