macro pathfinding progressive iteration fix

docs/src/progress/renderertodo.md

@@ -2120,6 +2120,8 @@ Fix projection matrix being sent to light manager
 (06/05/2025)
 voxel tests
 Physics work
+Debug rendering for facing vectors
+Fix progressive pathfinding iteration
 
 
 

src/main/java/electrosphere/client/ui/menu/debug/render/ImGuiRenderer.java

@@ -71,6 +71,9 @@ public class ImGuiRenderer {
                     if(ImGui.button("Draw Server Cell Colliders")){
                         Globals.gameConfigCurrent.getSettings().setGraphicsDebugDrawServerCellColliders(!Globals.gameConfigCurrent.getSettings().getGraphicsDebugDrawServerCellColliders());
                     }
+                    if(ImGui.button("Draw Server Facing Vectors")){
+                        Globals.gameConfigCurrent.getSettings().setGraphicsDebugDrawServerFacingVectors(!Globals.gameConfigCurrent.getSettings().getGraphicsDebugDrawServerFacingVectors());
+                    }
                     ImGui.unindent();
                 }
                 if(ImGui.collapsingHeader("OpenGL Details")){

src/main/java/electrosphere/data/settings/UserSettings.java

@@ -57,6 +57,7 @@ public class UserSettings {
     boolean graphicsDebugDrawMacroColliders;
     boolean graphicsDebugDrawClientCellColliders;
     boolean graphicsDebugDrawServerCellColliders;
+    boolean graphicsDebugDrawServerFacingVectors;
     //debug network
     boolean netRunNetMonitor;
 
@@ -256,6 +257,16 @@ public class UserSettings {
         this.graphicsDebugDrawServerCellColliders = graphicsDebugDrawServerCellColliders;
     }
 
+    public boolean getGraphicsDebugDrawServerFacingVectors() {
+        return graphicsDebugDrawServerFacingVectors;
+    }
+
+    public void setGraphicsDebugDrawServerFacingVectors(boolean graphicsDebugDrawServerFacingVectors) {
+        this.graphicsDebugDrawServerFacingVectors = graphicsDebugDrawServerFacingVectors;
+    }
+
+    
+
     
 
 

src/main/java/electrosphere/entity/state/movement/groundmove/ServerGroundMovementTree.java

@@ -35,6 +35,7 @@ import electrosphere.renderer.anim.Animation;
 import electrosphere.server.ai.AI;
 import electrosphere.server.datacell.utils.DataCellSearchUtils;
 import electrosphere.server.utils.ServerScriptUtils;
+import electrosphere.util.math.BasicMathUtils;
 import electrosphere.util.math.SpatialMathUtils;
 
 import java.util.LinkedList;
@@ -52,6 +53,16 @@ Behavior tree for movement in an entity
 */
 public class ServerGroundMovementTree implements BehaviorTree {
 
+    /**
+     * Denotes an invalid elevation to lerp non-body collidables towards
+     */
+    public static final double INVALID_ELEVATION = -1;
+
+    /**
+     * Amount to lerp non-body collidable elevation by
+     */
+    public static final double ELEVATION_LERP_FACTOR = 0.01;
+
     /**
      * Lock for handling threading with network messages
      */
@@ -86,6 +97,11 @@ public class ServerGroundMovementTree implements BehaviorTree {
 
     //the vector organizing the direction the entity will move in
     Vector3d movementVector = new Vector3d(1,0,0);
+
+    /**
+     * Target elevation for specifically non-body collidables to lerp to organically
+     */
+    private double collidableElevationTarget = -1;
     
     
     private ServerGroundMovementTree(Entity e, Object ... params){
@@ -106,8 +122,8 @@ public class ServerGroundMovementTree implements BehaviorTree {
      * @param facing The facing dir to start with
      */
     public void start(MovementRelativeFacing facing){
-        if(canStartMoving()){
+        if(this.canStartMoving()){
-            setFacing(facing);
+            this.setFacing(facing);
             state = MovementTreeState.STARTUP;
             //if we aren't the server, alert the server we intend to walk forward
             Vector3d position = EntityUtils.getPosition(parent);
@@ -241,11 +257,11 @@ public class ServerGroundMovementTree implements BehaviorTree {
                             //0 is startup
                             case 0: {
                                 // System.out.println("Receive move packet from client treestate " + message.gettreeState());
-                                start(ClientGroundMovementTree.getMovementRelativeFacingShortAsEnum((short)message.getpropertyValueInt()));
+                                this.start(ClientGroundMovementTree.getMovementRelativeFacingShortAsEnum((short)message.getpropertyValueInt()));
                             } break;
                             case 2: {
                                 // System.out.println("Receive move packet from client treestate " + message.gettreeState());
-                                slowdown();
+                                this.slowdown();
                             } break;
                             default: {
 
@@ -294,6 +310,9 @@ public class ServerGroundMovementTree implements BehaviorTree {
                     Vector3d velVec = new Vector3d(movementVector);
                     velVec.mul(velocity * Globals.engineState.timekeeper.getSimFrameTime() * Timekeeper.ENGINE_STEP_SIZE);
                     velVec.add(position);
+                    if(this.collidableElevationTarget != ServerGroundMovementTree.INVALID_ELEVATION){
+                        velVec.y = BasicMathUtils.lerp(position.y, this.collidableElevationTarget, ServerGroundMovementTree.ELEVATION_LERP_FACTOR);
+                    }
                     ServerEntityUtils.repositionEntity(parent, velVec);
                 } else {
                     body.enable();
@@ -346,6 +365,9 @@ public class ServerGroundMovementTree implements BehaviorTree {
                     Vector3d velVec = new Vector3d(movementVector);
                     velVec.mul(velocity * Globals.engineState.timekeeper.getSimFrameTime() * Timekeeper.ENGINE_STEP_SIZE);
                     velVec.add(position);
+                    if(this.collidableElevationTarget != ServerGroundMovementTree.INVALID_ELEVATION){
+                        velVec.y = BasicMathUtils.lerp(position.y, this.collidableElevationTarget, ServerGroundMovementTree.ELEVATION_LERP_FACTOR);
+                    }
                     ServerEntityUtils.repositionEntity(parent, velVec);
                 } else {
                     body.enable();
@@ -417,6 +439,9 @@ public class ServerGroundMovementTree implements BehaviorTree {
                     Vector3d velVec = new Vector3d(movementVector);
                     velVec.mul(velocity * Globals.engineState.timekeeper.getSimFrameTime() * Timekeeper.ENGINE_STEP_SIZE);
                     velVec.add(position);
+                    if(this.collidableElevationTarget != ServerGroundMovementTree.INVALID_ELEVATION){
+                        velVec.y = BasicMathUtils.lerp(position.y, this.collidableElevationTarget, ServerGroundMovementTree.ELEVATION_LERP_FACTOR);
+                    }
                     ServerEntityUtils.repositionEntity(parent, velVec);
                 } else {
                     body.enable();
@@ -880,4 +905,12 @@ public class ServerGroundMovementTree implements BehaviorTree {
         return entity.containsKey(EntityDataStrings.TREE_SERVERGROUNDMOVEMENTTREE);
     }
 
+    /**
+     * Sets the target elevation for non-body collidables to lerp to
+     * @param collidableElevationTarget The target elevation
+     */
+    public void setCollidableElevationTarget(double collidableElevationTarget){
+        this.collidableElevationTarget = collidableElevationTarget;
+    }
+
 }

src/main/java/electrosphere/entity/state/physicssync/upright/ClientAlwaysUprightTree.java

@@ -3,6 +3,7 @@ package electrosphere.entity.state.physicssync.upright;
 import org.joml.Quaterniond;
 import org.joml.Vector3d;
 import org.ode4j.ode.DBody;
+import org.ode4j.ode.DGeom;
 
 import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.PhysicsUtils;
@@ -12,6 +13,8 @@ import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.physicssync.ClientPhysicsSyncTree;
+import electrosphere.entity.types.creature.CreatureUtils;
+import electrosphere.util.math.SpatialMathUtils;
 
 public class ClientAlwaysUprightTree implements BehaviorTree {
 
@@ -45,6 +48,23 @@ public class ClientAlwaysUprightTree implements BehaviorTree {
             EntityUtils.getRotation(parent).set(sourceRotation);
             PhysicsUtils.synchronizeData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce);
         }
+        DGeom geom = PhysicsEntityUtils.getDGeom(parent);
+        if(geom != null){
+            Vector3d position = EntityUtils.getPosition(parent);
+            Quaterniond sourceRotation = new Quaterniond(EntityUtils.getRotation(parent));
+
+            //make sure rotation is vertical
+            // sourceRotation = sourceRotation.mul(0.001, 0.001, 0.001, 1).normalize();
+            //calculate rotation based on facing vector
+            if(CreatureUtils.getFacingVector(parent) != null){
+                Vector3d facingVector = CreatureUtils.getFacingVector(parent);
+                sourceRotation = new Quaterniond().rotationTo(SpatialMathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
+            }
+
+            EntityUtils.setPosition(parent, position);
+            EntityUtils.getRotation(parent).set(sourceRotation);
+            PhysicsUtils.setGeomTransform(Globals.clientState.clientSceneWrapper.getCollisionEngine(), position, sourceRotation, geom);
+        }
     }
 
     /**

src/main/java/electrosphere/entity/state/physicssync/upright/ServerAlwaysUprightTree.java

@@ -3,6 +3,7 @@ package electrosphere.entity.state.physicssync.upright;
 import org.joml.Quaterniond;
 import org.joml.Vector3d;
 import org.ode4j.ode.DBody;
+import org.ode4j.ode.DGeom;
 
 import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.PhysicsUtils;
@@ -55,6 +56,24 @@ public class ServerAlwaysUprightTree implements BehaviorTree {
             EntityUtils.getRotation(parent).set(sourceRotation);
             PhysicsUtils.synchronizeData(realm.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce);
         }
+        DGeom geom = PhysicsEntityUtils.getDGeom(parent);
+        if(geom != null){
+            Realm realm = Globals.serverState.realmManager.getEntityRealm(parent);
+            Vector3d position = EntityUtils.getPosition(parent);
+            Quaterniond sourceRotation = new Quaterniond(EntityUtils.getRotation(parent));
+
+            //make sure rotation is vertical
+            // sourceRotation = sourceRotation.mul(0.001, 0.001, 0.001, 1).normalize();
+            //calculate rotation based on facing vector
+            if(CreatureUtils.getFacingVector(parent) != null){
+                Vector3d facingVector = CreatureUtils.getFacingVector(parent);
+                sourceRotation = new Quaterniond().rotationTo(SpatialMathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
+            }
+
+            EntityUtils.setPosition(parent, position);
+            EntityUtils.getRotation(parent).set(sourceRotation);
+            PhysicsUtils.setGeomTransform(realm.getCollisionEngine(), position, sourceRotation, geom);
+        }
     }
 
     /**

src/main/java/electrosphere/renderer/pipelines/debug/DebugContentPipeline.java

@@ -1,5 +1,6 @@
 package electrosphere.renderer.pipelines.debug;
 
+import java.util.Collection;
 import java.util.LinkedList;
 import java.util.List;
 
@@ -39,6 +40,7 @@ import electrosphere.entity.EntityUtils;
 import electrosphere.entity.state.hitbox.HitboxCollectionState;
 import electrosphere.entity.state.hitbox.HitboxCollectionState.HitboxState;
 import electrosphere.entity.types.common.CommonEntityUtils;
+import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.renderer.OpenGLState;
 import electrosphere.renderer.RenderPipelineState;
 import electrosphere.renderer.RenderingEngine;
@@ -334,6 +336,18 @@ public class DebugContentPipeline implements RenderPipeline {
             }
         }
 
+        //
+        //Draw facing vectors
+        if(Globals.gameConfigCurrent.getSettings().getGraphicsDebugDrawServerFacingVectors()){
+            Realm realm = Globals.serverState.realmManager.first();
+            Collection<Entity> entities = realm.getDataCellManager().entityLookup(CameraEntityUtils.getCameraCenter(Globals.clientState.playerCamera), 100);
+            for(Entity ent : entities){
+                if(CreatureUtils.getFacingVector(ent) != null){
+                    DebugContentPipeline.renderTube(openGLState, renderPipelineState, modelTransformMatrix, EntityUtils.getPosition(ent), new Vector3d(EntityUtils.getPosition(ent)).add(CreatureUtils.getFacingVector(ent)), 0.3, AssetDataStrings.TEXTURE_BLUE_TRANSPARENT);
+                }
+            }
+        }
+
         //update pipeline state to use mats again
         renderPipelineState.setUseMaterial(true);
         
@@ -395,7 +409,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param physicsEntity The entity
      * @param template The template
      */
-    static void renderCollidable(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Entity physicsEntity, CollidableTemplate template){
+    private static void renderCollidable(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Entity physicsEntity, CollidableTemplate template){
         Model physicsGraphicsModel;
         if((boolean)physicsEntity.getData(EntityDataStrings.DATA_STRING_DRAW)){
             switch(template.getType()){
@@ -469,7 +483,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param hitboxState The hitbox collection state
      */
-    static void renderHitboxes(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, HitboxCollectionState hitboxState){
+    private static void renderHitboxes(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, HitboxCollectionState hitboxState){
         Model hitboxModel;
         for(DGeom geom : hitboxState.getGeometries()){
             if(geom instanceof DSphere){
@@ -527,7 +541,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param areaSelection The area selection
      */
-    static void renderAreaSelection(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, AreaSelection areaSelection, String texturePath){
+    private static void renderAreaSelection(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, AreaSelection areaSelection, String texturePath){
         Model model = Globals.assetManager.fetchModel(AssetDataStrings.UNITCUBE);
         if(model != null){
             Texture texture = Globals.assetManager.fetchTexture(texturePath);
@@ -553,7 +567,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param areaSelection The area selection
      */
-    static void renderPoint(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d point, double size, String texturePath){
+    private static void renderPoint(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d point, double size, String texturePath){
         Model model = Globals.assetManager.fetchModel(AssetDataStrings.UNITSPHERE);
         if(model != null){
             Texture texture = Globals.assetManager.fetchTexture(texturePath);
@@ -577,7 +591,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param areaSelection The area selection
      */
-    static void renderAABB(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, AABBd aabb, String texturePath){
+    private static void renderAABB(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, AABBd aabb, String texturePath){
         DebugContentPipeline.renderAABB(openGLState, renderPipelineState, modelTransformMatrix, new Vector3d(aabb.minX,aabb.minY,aabb.minZ), new Vector3d(aabb.maxX,aabb.maxY,aabb.maxZ), texturePath);
     }
 
@@ -588,7 +602,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param areaSelection The area selection
      */
-    static void renderAABB(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d start, Vector3d end, String texturePath){
+    private static void renderAABB(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d start, Vector3d end, String texturePath){
         Model model = Globals.assetManager.fetchModel(AssetDataStrings.UNITCUBE);
         if(model != null){
             Texture texture = Globals.assetManager.fetchTexture(texturePath);
@@ -612,7 +626,7 @@ public class DebugContentPipeline implements RenderPipeline {
      * @param modelTransformMatrix The model transform matrix
      * @param areaSelection The area selection
      */
-    static void renderTube(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d start, Vector3d end, double radius, String texturePath){
+    private static void renderTube(OpenGLState openGLState, RenderPipelineState renderPipelineState, Matrix4d modelTransformMatrix, Vector3d start, Vector3d end, double radius, String texturePath){
         Model model = Globals.assetManager.fetchModel(AssetDataStrings.UNITCYLINDER);
         if(model != null){
             Texture texture = Globals.assetManager.fetchTexture(texturePath);

src/main/java/electrosphere/server/ai/nodes/actions/move/CollidableElevationLerpNode.java

@@ -0,0 +1,55 @@
+package electrosphere.server.ai.nodes.actions.move;
+
+import org.joml.Vector3d;
+
+import electrosphere.collision.PhysicsEntityUtils;
+import electrosphere.entity.Entity;
+import electrosphere.entity.EntityUtils;
+import electrosphere.entity.state.movement.groundmove.ServerGroundMovementTree;
+import electrosphere.server.ai.blackboard.Blackboard;
+import electrosphere.server.ai.nodes.AITreeNode;
+import electrosphere.server.macro.structure.VirtualStructure;
+
+/**
+ * Lerps the elevation of non-body collidables
+ */
+public class CollidableElevationLerpNode implements AITreeNode {
+
+    /**
+     * The key to lookup the target under
+     */
+    private String targetKey;
+
+    /**
+     * Constructor
+     * @param targetKey The key to lookup the target under
+     */
+    public CollidableElevationLerpNode(String targetKey){
+        this.targetKey = targetKey;
+    }
+
+    @Override
+    public AITreeNodeResult evaluate(Entity entity, Blackboard blackboard) {
+        if(PhysicsEntityUtils.containsDGeom(entity)){
+            Object targetRaw = blackboard.get(this.targetKey);
+            Vector3d targetPos = null;
+            if(targetRaw == null){
+                throw new Error("Target undefined!");
+            }
+            if(targetRaw instanceof Vector3d){
+                targetPos = (Vector3d)targetRaw;
+            } else if(targetRaw instanceof Entity){
+                targetPos = EntityUtils.getPosition((Entity)targetRaw);
+            } else if(targetRaw instanceof VirtualStructure){
+                targetPos = ((VirtualStructure)targetRaw).getPos();
+            } else {
+                throw new Error("Unsupported target type " + targetRaw);
+            }
+            if(ServerGroundMovementTree.hasServerGroundMovementTree(entity)){
+                ServerGroundMovementTree tree = ServerGroundMovementTree.getServerGroundMovementTree(entity);
+                tree.setCollidableElevationTarget(targetPos.y);
+            }
+        }
+        return AITreeNodeResult.SUCCESS;
+    }
+}

src/main/java/electrosphere/server/ai/nodes/actions/move/FaceTargetNode.java

@@ -49,7 +49,8 @@ public class FaceTargetNode implements AITreeNode {
         Vector3d parentPos = EntityUtils.getPosition(entity);
         Quaterniond rotation = SpatialMathUtils.calculateRotationFromPointToPoint(parentPos, targetPos);
         EntityUtils.getRotation(entity).set(rotation);
-        CreatureUtils.setFacingVector(entity, CameraEntityUtils.getFacingVec(rotation));
+        Vector3d faceVec = CameraEntityUtils.getFacingVec(rotation);
+        CreatureUtils.setFacingVector(entity, faceVec);
         return AITreeNodeResult.SUCCESS;
     }
 

src/main/java/electrosphere/server/ai/nodes/plan/MacroPathfindingNode.java

@@ -25,12 +25,12 @@ public class MacroPathfindingNode implements AITreeNode {
     /**
      * The value used to check if the entity is close to a pathing point horizontally
      */
-    public static final double CLOSENESS_CHECK_BOUND_HORIZONTAL = 0.3f;
+    public static final double CLOSENESS_CHECK_BOUND_HORIZONTAL = 0.3;
 
     /**
      * The value used to check if the entity is close to a pathing point vertically
      */
-    public static final double CLOSENESS_CHECK_BOUND_VERTICAL = 0.7f;
+    public static final double CLOSENESS_CHECK_BOUND_VERTICAL = 0.7;
 
     /**
      * The blackboard key to lookup the target entity under
@@ -129,6 +129,8 @@ public class MacroPathfindingNode implements AITreeNode {
         ){
             pathingProgressiveData.setCurrentPoint(pathingProgressiveData.getCurrentPoint() + 1);
             currentPathPos = pathingProgressiveData.getPoints().get(pathingProgressiveData.getCurrentPoint());
+            vertDist = Math.abs(currentPathPos.y - entityPos.y);
+            horizontalDist = Math.sqrt((currentPathPos.x - entityPos.x) * (currentPathPos.x - entityPos.x) + (currentPathPos.z - entityPos.z) * (currentPathPos.z - entityPos.z));
         }
 
         //if we're close enough to the final pathing point, always path to actual final point

src/main/java/electrosphere/server/ai/nodes/plan/PathfindingNode.java

@@ -126,6 +126,8 @@ public class PathfindingNode implements AITreeNode {
         ){
             pathingProgressiveData.setCurrentPoint(pathingProgressiveData.getCurrentPoint() + 1);
             currentPathPos = pathingProgressiveData.getPoints().get(pathingProgressiveData.getCurrentPoint());
+            vertDist = Math.abs(currentPathPos.y - entityPos.y);
+            horizontalDist = Math.sqrt((currentPathPos.x - entityPos.x) * (currentPathPos.x - entityPos.x) + (currentPathPos.z - entityPos.z) * (currentPathPos.z - entityPos.z));
         }
 
         //if we're close enough to the final pathing point, always path to actual final point

src/main/java/electrosphere/server/ai/trees/creature/MacroMoveToTree.java

@@ -3,6 +3,7 @@ package electrosphere.server.ai.trees.creature;
 import electrosphere.entity.state.movement.groundmove.ClientGroundMovementTree.MovementRelativeFacing;
 import electrosphere.server.ai.blackboard.BlackboardKeys;
 import electrosphere.server.ai.nodes.AITreeNode;
+import electrosphere.server.ai.nodes.actions.move.CollidableElevationLerpNode;
 import electrosphere.server.ai.nodes.actions.move.FaceTargetNode;
 import electrosphere.server.ai.nodes.actions.move.MoveStartNode;
 import electrosphere.server.ai.nodes.actions.move.MoveStopNode;
@@ -53,7 +54,7 @@ public class MacroMoveToTree {
             new SequenceNode(
                 "MacroMoveToTree",
                 //check if in range of target
-            new TargetRangeCheckNode(dist, targetKey),
+                new TargetRangeCheckNode(dist, targetKey),
                 new DataDeleteNode(BlackboardKeys.PATHFINDING_POINT),
                 new DataDeleteNode(BlackboardKeys.PATHFINDING_DATA),
                 //if in range, stop moving fowards and return SUCCESS
@@ -65,6 +66,7 @@ public class MacroMoveToTree {
                 "MacroMoveToTree",
                 MacroPathfindingNode.createPathEntity(targetKey),
                 new FaceTargetNode(BlackboardKeys.PATHFINDING_POINT),
+                new CollidableElevationLerpNode(BlackboardKeys.PATHFINDING_POINT),
                 new RunnerNode(new MoveStartNode(MovementRelativeFacing.FORWARD))
             )
         );

src/main/java/electrosphere/server/ai/trees/creature/MoveToTree.java

@@ -3,6 +3,7 @@ package electrosphere.server.ai.trees.creature;
 import electrosphere.entity.state.movement.groundmove.ClientGroundMovementTree.MovementRelativeFacing;
 import electrosphere.server.ai.blackboard.BlackboardKeys;
 import electrosphere.server.ai.nodes.AITreeNode;
+import electrosphere.server.ai.nodes.actions.move.CollidableElevationLerpNode;
 import electrosphere.server.ai.nodes.actions.move.FaceTargetNode;
 import electrosphere.server.ai.nodes.actions.move.MoveStartNode;
 import electrosphere.server.ai.nodes.actions.move.MoveStopNode;
@@ -64,6 +65,7 @@ public class MoveToTree {
                 "MoveToTree",
                 PathfindingNode.createPathEntity(targetKey),
                 new FaceTargetNode(BlackboardKeys.PATHFINDING_POINT),
+                new CollidableElevationLerpNode(BlackboardKeys.PATHFINDING_POINT),
                 new RunnerNode(new MoveStartNode(MovementRelativeFacing.FORWARD))
             )
         );