wpt distance check reworked
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@ -116,7 +116,7 @@ public final class WaypointMatcherImpl implements WaypointMatcher {
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double r22 = x2 * x2 + y2 * y2;
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double r22 = x2 * x2 + y2 * y2;
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double radius = Math.abs(r12 < r22 ? y1 * dx - x1 * dy : y2 * dx - x2 * dy) / d;
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double radius = Math.abs(r12 < r22 ? y1 * dx - x1 * dy : y2 * dx - x2 * dy) / d;
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if (radius < mwp.radius) {
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if (radius <= mwp.radius) {
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double s1 = x1 * dx + y1 * dy;
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double s1 = x1 * dx + y1 * dy;
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double s2 = x2 * dx + y2 * dy;
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double s2 = x2 * dx + y2 * dy;
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