From fcea153947ec52366ba3a5aa0e89841f98d3ec59 Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Fri, 28 Apr 2023 13:30:08 +0200
Subject: [PATCH] Transform path coordinates outside findSmoothPath

---
 components/detournavigator/findsmoothpath.hpp | 7 +++----
 components/detournavigator/navigatorutils.hpp | 4 +++-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp
index 2e9ffa83be..eded2c9baa 100644
--- a/components/detournavigator/findsmoothpath.hpp
+++ b/components/detournavigator/findsmoothpath.hpp
@@ -253,7 +253,7 @@ namespace DetourNavigator
     template <class OutputIterator>
     Status findSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
         const float stepSize, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
-        const AreaCosts& areaCosts, const Settings& settings, float endTolerance, OutputIterator out)
+        const AreaCosts& areaCosts, const DetourSettings& settings, float endTolerance, OutputIterator out)
     {
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
@@ -274,7 +274,7 @@ namespace DetourNavigator
         if (endRef == 0)
             return Status::EndPolygonNotFound;
 
-        std::vector<dtPolyRef> polygonPath(settings.mDetour.mMaxPolygonPathSize);
+        std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
         const auto polygonPathSize
             = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter, polygonPath.data(), polygonPath.size());
 
@@ -285,9 +285,8 @@ namespace DetourNavigator
             return Status::Success;
 
         const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
-        auto outTransform = OutputTransformIterator<OutputIterator>(out, settings.mRecast);
         const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize,
-            polygonPath, *polygonPathSize, settings.mDetour.mMaxSmoothPathSize, outTransform);
+            polygonPath, *polygonPathSize, settings.mMaxSmoothPathSize, out);
 
         if (smoothStatus != Status::Success)
             return smoothStatus;
diff --git a/components/detournavigator/navigatorutils.hpp b/components/detournavigator/navigatorutils.hpp
index 473c2f11c9..1c9dbc5682 100644
--- a/components/detournavigator/navigatorutils.hpp
+++ b/components/detournavigator/navigatorutils.hpp
@@ -36,11 +36,13 @@ namespace DetourNavigator
         if (navMesh == nullptr)
             return Status::NavMeshNotFound;
         const Settings& settings = navigator.getSettings();
+        auto outTransform = OutputTransformIterator<OutputIterator>(out, settings.mRecast);
         const auto locked = navMesh->lock();
         return findSmoothPath(locked->getImpl(), locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
             toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
-            toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out);
+            toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings.mDetour, endTolerance,
+            outTransform);
     }
 
     /**