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Fix agents with disabled avoidance getting added to avoidance simulation

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Fixes that agents with disabled avoidance were getting added to avoidance simulation.

(cherry picked from commit 64ce93cee9)
This commit is contained in:
smix8 2023-03-14 04:20:57 +01:00 • committed by Yuri Sizov
parent f089782411
commit ac1b26c7c5
1 changed files with 3 additions and 3 deletions
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6
modules/navigation/nav_map.cpp
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@ -894,9 +894,9 @@ void NavMap::sync() {
if (agents_dirty) {
// cannot use LocalVector here as RVO library expects std::vector to build KdTree
std::vector<RVO::Agent *> raw_agents;
raw_agents.reserve(agents.size());
for (NavAgent *agent : agents) {
raw_agents.push_back(agent->get_agent());
raw_agents.reserve(controlled_agents.size());
for (NavAgent *controlled_agent : controlled_agents) {
raw_agents.push_back(controlled_agent->get_agent());
}
rvo.buildAgentTree(raw_agents);
}