From 35119988379e65c9508c8e3ec1a85173dea1647f Mon Sep 17 00:00:00 2001
From: Kawe Mazidjatari <48657826+Mauler125@users.noreply.github.com>
Date: Tue, 2 Jul 2024 01:20:55 +0200
Subject: [PATCH] Recast: fix sliced path finder bug

See https://github.com/recastnavigation/recastnavigation/issues/438
---
 src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp b/src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp
index 63a71cd0..ff5c63fa 100644
--- a/src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp
+++ b/src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp
@@ -1363,9 +1363,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters,
 			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
 				continue;
 			
+			unsigned char crossSide = 0; // See https://github.com/recastnavigation/recastnavigation/issues/438
+
+			if (bestTile->links[i].side != 0xff)
+				crossSide = bestTile->links[i].side >> 1;
 
 			// get the neighbor node
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0);
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
 			if (!neighbourNode)
 			{
 				m_query.status |= DT_OUT_OF_NODES;