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Fixed a bug that would incorrectly calculate the intersection points in SteerForSphericalObstacles #58

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Fixed a bug that would incorrectly calculate the intersection points in SteerForSphericalObstacles #58

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2 changes: 1 addition & 1 deletion 2D/Behaviors/SteerForSphericalObstacles2D.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -198,7 +198,7 @@ public static PathIntersection FindNextIntersectionWithSphere(Vehicle2D vehicle,
}

// use pythagorean theorem to calculate distance out of the sphere (if you do it 2D, the line through the circle would be a chord and we need half of its length)
var halfChord = Mathf.Sqrt(combinedRadius * combinedRadius + obstacleDistanceToPath * obstacleDistanceToPath);
var halfChord = Mathf.Sqrt(combinedRadius * combinedRadius - obstacleDistanceToPath * obstacleDistanceToPath);

// if the projected obstacle center lies opposite to the movement direction (aka "behind")
if (projectionLength < 0)
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2 changes: 1 addition & 1 deletion 3D/Behaviors/SteerForSphericalObstacles.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ public static PathIntersection FindNextIntersectionWithSphere(Vehicle vehicle, V
}

// use pythagorean theorem to calculate distance out of the sphere (if you do it 2D, the line through the circle would be a chord and we need half of its length)
var halfChord = Mathf.Sqrt(combinedRadius * combinedRadius + obstacleDistanceToPath * obstacleDistanceToPath);
var halfChord = Mathf.Sqrt(combinedRadius * combinedRadius - obstacleDistanceToPath * obstacleDistanceToPath);

// if the projected obstacle center lies opposite to the movement direction (aka "behind")
if (projectionLength < 0)
Expand Down