From 81ece926db2902722da0b789e4b775f35b88d2f6 Mon Sep 17 00:00:00 2001
From: Andrew White <andrewh@cdw.com>
Date: Mon, 27 Jul 2026 21:05:56 -0500
Subject: [PATCH] fix: nearest_point_on_segment returns negative/beyond-length
 distances

---
 .../omni/ext/mobility_gen/utils/path_utils.py                 | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/path_utils.py b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/path_utils.py
index fc851a6..0997226 100644
--- a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/path_utils.py
+++ b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/path_utils.py
@@ -35,9 +35,9 @@ def nearest_point_on_segment(a: np.ndarray, b: np.ndarray, c: np.ndarray):
     a2b_norm = a2b / (a2b_mag + 1e-6)
     dist = np.dot(a2c, a2b_norm)
     if dist < 0:
-        return a, dist
+        return a, 0.0
     elif dist > a2b_mag:
-        return b, dist
+        return b, a2b_mag
     else:
         return a + a2b_norm * dist, dist