From 9069e97dce21ca0adf795b74b220247bde32471e Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Sun, 23 Jan 2022 15:12:27 +0100
Subject: [PATCH] Filter out triangles with NaN coordinates

Sorting a vector with such values gives invalid result because comparison with
NaN is always false.
---
 components/detournavigator/recastmeshbuilder.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp
index 0f7552aa77..08e7002cf8 100644
--- a/components/detournavigator/recastmeshbuilder.cpp
+++ b/components/detournavigator/recastmeshbuilder.cpp
@@ -20,6 +20,7 @@
 #include <array>
 #include <vector>
 #include <sstream>
+#include <cmath>
 
 namespace DetourNavigator
 {
@@ -40,6 +41,16 @@ namespace DetourNavigator
         {
             return static_cast<float>(cellSize) / (dataSize - 1);
         }
+
+        bool isNan(const RecastMeshTriangle& triangle)
+        {
+            for (std::size_t i = 0; i < 3; ++i)
+                if (std::isnan(triangle.mVertices[i].x())
+                    || std::isnan(triangle.mVertices[i].y())
+                    || std::isnan(triangle.mVertices[i].z()))
+                    return true;
+            return false;
+        }
     }
 
     Mesh makeMesh(std::vector<RecastMeshTriangle>&& triangles, const osg::Vec3f& shift)
@@ -264,6 +275,7 @@ namespace DetourNavigator
 
     std::shared_ptr<RecastMesh> RecastMeshBuilder::create(std::size_t generation, std::size_t revision) &&
     {
+        mTriangles.erase(std::remove_if(mTriangles.begin(), mTriangles.end(), isNan), mTriangles.end());
         std::sort(mTriangles.begin(), mTriangles.end());
         std::sort(mWater.begin(), mWater.end());
         Mesh mesh = makeMesh(std::move(mTriangles));