Tested versions

• Reproducible on v4.4.1.stable.official [49a5bc7]

System information

Godot v4.4.1.stable - macOS Sonoma (14.7.6) - Multi-window, 2 monitors - Metal (Forward+) - integrated Apple M3 Max (Apple9) - Apple M3 Max (16 threads)

Issue description

When using a NavigationAgent3D to navigate a relatively dense NavigationMesh, with NavigationAgent3D.target_desired_distance significantly lower than NavigationAgent3D.path_desired_distance, the NavigationAgent3D can prematurely finish navigating far outside of the target_desired_distance.

The issue is in NavigationAgent3D::_is_within_waypoint_distance(), it only compares the waypoint against path_desired_distance, even when evaluating for the last waypoint.

The following change handles the case, and results in the navigation finishing significantly closer to the final waypoint.

@@ -854,7 +854,8 @@ void NavigationAgent3D::_move_to_next_waypoint() {
 bool NavigationAgent3D::_is_within_waypoint_distance(const Vector3 &p_origin) const {
 	const Vector<Vector3> &navigation_path = navigation_result->get_path();
 	Vector3 waypoint = navigation_path[navigation_path_index] - Vector3(0, path_height_offset, 0);
-	return p_origin.distance_to(waypoint) < path_desired_distance;
+	return p_origin.distance_to(waypoint) <
+			(_is_last_waypoint() ? target_desired_distance : path_desired_distance);
 }
 
 bool NavigationAgent3D::_is_within_target_distance(const Vector3 &p_origin) const {

Steps to reproduce

See the MRP, but you use a dense navmesh, then using an agent with a low target_desired_distance (I'm using 0.15 in the MRP), attempt to navigate to a point that ends near multiple sections in the navmesh.

If you're using the MRP, just click the button. You'll see we stop well outside the target_desired_distance

EDIT: Improved sceenshots with player capsule position in first comment below. I forgot to include the capsule position in the label in the MRP.

With the patch above, applied to 4.4.1, we stop much closer:

Minimal reproduction project (MRP)

navigation-agent-finishes-early-issue.zip