Pathfinding!

assets/Config/settings.json

@@ -14,6 +14,7 @@
 
     "graphicsDebugDrawCollisionSpheres" : false,
     "graphicsDebugDrawPhysicsObjects" : false,
-    "graphicsDebugDrawMovementVectors" : false
+    "graphicsDebugDrawMovementVectors" : false,
+    "graphicsDebugDrawNavmesh" : true
 
 }

src/main/java/electrosphere/engine/LoadingThread.java

@@ -29,7 +29,7 @@ import electrosphere.game.server.saves.SaveUtils;
 import electrosphere.game.server.terrain.models.TerrainModification;
 import electrosphere.game.server.town.Town;
 import electrosphere.game.server.world.MacroData;
-import electrosphere.game.server.world.datacell.DataCellManager;
+import electrosphere.game.server.datacell.DataCellManager;
 import electrosphere.game.state.MicroSimulation;
 import electrosphere.logger.LoggerInterface;
 import electrosphere.main.Globals;
@@ -42,6 +42,9 @@ import electrosphere.renderer.ActorUtils;
 import electrosphere.renderer.Model;
 import electrosphere.renderer.RenderUtils;
 import electrosphere.engine.assetmanager.AssetDataStrings;
+import electrosphere.game.server.pathfinding.NavMeshPathfinder;
+import electrosphere.game.server.pathfinding.navmesh.NavCube;
+import electrosphere.game.server.pathfinding.navmesh.NavMesh;
 import java.util.Random;
 import java.util.concurrent.Semaphore;
 import java.util.concurrent.TimeUnit;
@@ -591,6 +594,13 @@ public class LoadingThread extends Thread {
         Entity bow = ItemUtils.spawnBasicItem("Bow");
         EntityUtils.getPosition(bow).set(1, 1, 2);
         
+        NavMeshPathfinder.navigatePointToPointInMesh(Globals.navMeshManager.getMeshes().get(0), new Vector3d(10,0,5), new Vector3d(5,0,10));
+        
+//        NavMesh mesh = new NavMesh();
+//        NavCube cube = new NavCube(5,0,0,10,5,5);
+//        mesh.addNode(cube);
+//        Globals.navMeshManager.addMesh(mesh);
+        
 //        Entity fallOak = FoliageUtils.spawnBasicFoliage("FallOak1");
 //        EntityUtils.getPosition(fallOak).set(1,0,3);
 //        

src/main/java/electrosphere/entity/types/waypoint/WaypointUtils.java

@@ -0,0 +1,9 @@
+package electrosphere.entity.types.waypoint;
+
+/**
+ *
+ * @author amaterasu
+ */
+public class WaypointUtils {
+    
+}

src/main/java/electrosphere/game/client/world/ClientWorldData.java

@@ -2,7 +2,7 @@ package electrosphere.game.client.world;
 
 import electrosphere.game.server.world.*;
 import electrosphere.game.server.terrain.manager.ServerTerrainManager;
-import electrosphere.game.server.world.datacell.ServerDataCell;
+import electrosphere.game.server.datacell.ServerDataCell;
 import java.util.List;
 import org.joml.Vector2f;
 import org.joml.Vector3f;

src/main/java/electrosphere/game/config/UserSettings.java

@@ -37,6 +37,7 @@ public class UserSettings {
     boolean graphicsDebugDrawCollisionSpheres;
     boolean graphicsDebugDrawPhysicsObjects;
     boolean graphicsDebugDrawMovementVectors;
+    boolean graphicsDebugDrawNavmesh;
     
     
     
@@ -88,6 +89,10 @@ public class UserSettings {
     public int getGraphicsPerformanceLODChunkRadius() {
         return graphicsPerformanceLODChunkRadius;
     }
+
+    public boolean graphicsDebugDrawNavmesh() {
+        return graphicsDebugDrawNavmesh;
+    }
     
     
     
@@ -116,6 +121,7 @@ public class UserSettings {
         rVal.graphicsDebugDrawCollisionSpheres = false;
         rVal.graphicsDebugDrawMovementVectors = false;
         rVal.graphicsDebugDrawPhysicsObjects = false;
+        rVal.graphicsDebugDrawNavmesh = false;
         rVal.graphicsPerformanceLODChunkRadius = 5;
         rVal.graphicsFOV = 90.0f;
         rVal.graphicsPerformanceDrawShadows = true;

src/main/java/electrosphere/game/server/datacell/DataCellManager.java

@@ -1,4 +1,4 @@
-package electrosphere.game.server.world.datacell;
+package electrosphere.game.server.datacell;
 
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;

src/main/java/electrosphere/game/server/datacell/EnvironmentGenerator.java

@@ -1,4 +1,4 @@
-package electrosphere.game.server.world.datacell;
+package electrosphere.game.server.datacell;
 
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;

src/main/java/electrosphere/game/server/datacell/ServerDataCell.java

@@ -1,4 +1,4 @@
-package electrosphere.game.server.world.datacell;
+package electrosphere.game.server.datacell;
 
 import electrosphere.entity.Entity;
 import electrosphere.entity.types.creature.CreatureUtils;
@@ -6,6 +6,8 @@ import electrosphere.entity.types.item.ItemUtils;
 import electrosphere.entity.types.structure.StructureUtils;
 import electrosphere.net.server.Player;
 import electrosphere.game.server.character.Character;
+import electrosphere.game.server.pathfinding.NavMeshUtils;
+import electrosphere.game.server.pathfinding.navmesh.NavMesh;
 import electrosphere.main.Globals;
 import electrosphere.net.parser.net.message.NetworkMessage;
 import java.util.LinkedList;
@@ -22,6 +24,7 @@ public class ServerDataCell {
     
     List<Entity> loadedEntities = new LinkedList();
     List<Player> activePlayers = new LinkedList();
+    NavMesh navMesh;
     
     
     /**
@@ -41,6 +44,7 @@ public class ServerDataCell {
             //else create from scratch
             EnvironmentGenerator.generatePlains(rVal.loadedEntities, worldX, worldY, Globals.serverTerrainManager.getRandomizerAtPoint(worldX, worldY));
         }
+        rVal.navMesh = NavMeshUtils.createMeshFromChunk(Globals.serverTerrainManager.getChunk(worldX, worldY),Globals.navMeshManager.getBlockerCache().getBlocker(worldX, worldY));
         return rVal;
     }
     

src/main/java/electrosphere/game/server/pathfinding/NavMeshManager.java

@@ -1,11 +1,16 @@
 package electrosphere.game.server.pathfinding;
 
+import electrosphere.game.server.pathfinding.blocker.NavBlocker;
+import electrosphere.game.server.pathfinding.blocker.NavTerrainBlockerCache;
 import electrosphere.game.server.pathfinding.navmesh.NavMesh;
+import electrosphere.game.server.pathfinding.navmesh.NavShape;
+import electrosphere.game.server.pathfinding.path.Waypoint;
 import electrosphere.game.server.terrain.manager.ServerTerrainChunk;
 import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
+import org.joml.Vector3d;
 
 /**
  *
@@ -15,6 +20,34 @@ public class NavMeshManager {
     
     List<NavMesh> meshes = new LinkedList();
     Map<ServerTerrainChunk,ChunkMeshList> chunkToMeshListMap = new HashMap();
+    NavTerrainBlockerCache blockerCache = new NavTerrainBlockerCache();
     
+    public NavMesh createNavMesh(){
+        NavMesh rVal = new NavMesh();
+        meshes.add(rVal);
+        return rVal;
+    }
+    
+    public void addMesh(NavMesh mesh){
+        meshes.add(mesh);
+    }
+    
+    public List<NavMesh> getMeshes(){
+        return meshes;
+    }
+    
+    public List<NavMesh> navigateMeshToMesh(NavMesh startMesh, NavMesh endMesh){
+        List<NavMesh> rVal = null;
+        return rVal;
+    }
+    
+    public NavBlocker getNavBlockerForChunk(int x, int y){
+        NavBlocker rVal = null;
+        return rVal;
+    }
+    
+    public NavTerrainBlockerCache getBlockerCache(){
+        return blockerCache;
+    }
     
 }

src/main/java/electrosphere/game/server/pathfinding/NavMeshPathfinder.java

@@ -0,0 +1,450 @@
+package electrosphere.game.server.pathfinding;
+
+import electrosphere.entity.Entity;
+import electrosphere.entity.EntityUtils;
+import electrosphere.game.server.pathfinding.navmesh.NavCube;
+import electrosphere.game.server.pathfinding.navmesh.NavMesh;
+import electrosphere.game.server.pathfinding.navmesh.NavShape;
+import electrosphere.game.server.pathfinding.path.Waypoint;
+import java.awt.geom.Line2D;
+import java.util.HashMap;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Map;
+import java.util.PriorityQueue;
+import org.joml.Vector3d;
+
+/**
+ *
+ * @author amaterasu
+ */
+public class NavMeshPathfinder {
+    
+    //TODO: add movement type mask to this function
+    public static List<Waypoint> navigatePointToPointInMesh(NavMesh mesh, Vector3d start, Vector3d end){
+        
+        List<Waypoint> rVal = new LinkedList();
+        
+        NavShape startNode = null;
+        NavShape endNode = null;
+        
+        for(NavShape node : mesh.getNodes()){
+            if(node.containsPoint(start.x, start.y, start.z)){
+                startNode = node;
+            }
+            if(node.containsPoint(end.x, end.y, end.z)){
+                endNode = node;
+            }
+            if(startNode != null && endNode != null){
+                break;
+            }
+        }
+        //if the start and end nodes aren't both present, exit
+        //need to do broadphase still
+        if(startNode == null || endNode == null){
+            return null;
+        }
+        
+        //theta *
+        List<NavShape> openSet = new LinkedList();
+        List<NavShape> closedSet = new LinkedList();
+        PriorityQueue<SetItem> pathItemsQueue = new PriorityQueue();
+        Map<NavShape,SetItem> pathItems = new HashMap();
+        
+        openSet.add(startNode);
+        SetItem startSetItem = new SetItem(null,startNode,0,start);
+        startSetItem.currentPos = start;
+        pathItems.put(startNode, startSetItem);
+        pathItemsQueue.add(startSetItem);
+        
+        while(!openSet.isEmpty()){
+            //get lowest cost item
+            SetItem currentItem = pathItemsQueue.poll();
+            NavShape currentNode = currentItem.getNode();
+            openSet.remove(currentNode);
+            
+            //return path if found end
+            if(currentNode == endNode){
+                System.out.println("Found path!");
+                //TODO: return path
+                while(currentItem != null){
+                    if(currentItem.node == endNode){
+                        Entity waypoint = EntityUtils.spawnDrawableEntity("Models/waypoint1.fbx");
+                        System.out.println(end);
+                        EntityUtils.getPosition(waypoint).set(end.x,end.y + 1,end.z);
+                        EntityUtils.getRotation(waypoint).rotateLocalX(-(float)Math.PI/2.0f);
+                    } else {
+                        Entity waypoint = EntityUtils.spawnDrawableEntity("Models/waypoint1.fbx");
+                        System.out.println(currentItem.currentPos);
+                        EntityUtils.getPosition(waypoint).set(currentItem.currentPos.x,currentItem.currentPos.y + 1,currentItem.currentPos.z);
+                        EntityUtils.getRotation(waypoint).rotateLocalX(-(float)Math.PI/2.0f);
+                    }
+                    currentItem = currentItem.parent;
+                }
+                break;
+            }
+            closedSet.add(currentNode);
+            for(NavShape neighbor : currentNode.getNodeNeighbors()){
+                if(!closedSet.contains(neighbor)){
+                    if(!openSet.contains(neighbor)){
+                        Vector3d centerPoint = calculateCenterOfShape(neighbor);
+                        SetItem newSetItem = new SetItem(currentItem,neighbor,currentItem.getCost() + (float)currentItem.currentPos.distance(centerPoint),centerPoint);
+                        pathItems.put(neighbor, newSetItem);
+                        pathItemsQueue.add(newSetItem);
+                        openSet.add(neighbor);
+                    }
+                    //update vertex
+                    updateVertices(currentItem, pathItems.get(neighbor),pathItemsQueue);
+                }
+            }
+        }
+        return null;
+    }
+    
+    static void updateVertices(SetItem current, SetItem neighbor, PriorityQueue<SetItem> queue){
+        // This part of the algorithm is the main difference between A* and Theta*
+        if(current.getParent() != null){
+            LOSResult losResult = null;
+            Vector3d neighborCenter = calculateCenterOfShape(neighbor.node);
+            if(current.getParent().currentPos == null){
+                current.getParent().currentPos = calculateCenterOfShape(current.getParent().node);
+            }
+            Vector3d parentPos = current.getParent().currentPos;
+            if((losResult = lineOfSight(current.getParent(), current, neighbor))==null){
+//                Vector3d neighborCenter = calculateCenterOfShape(neighbor.node);
+//                Vector3d parentPos = current.getParent().currentPos;
+                float dist = (float)neighborCenter.distance(parentPos);
+                // If there is line-of-sight between parent(s) and neighbor
+                // then ignore s and use the path from parent(s) to neighbor 
+                if(current.getParent().cost + dist < neighbor.cost){
+                    // c(s, neighbor) is the Euclidean distance from s to neighbor
+                    neighbor.cost = current.getParent().cost + dist;
+                    neighbor.parent = current.getParent();
+
+                    //update prio q
+                    queue.remove(neighbor);
+                    queue.add(neighbor);
+//                    if(neighbor in open){
+//                        open.remove(neighbor);
+//                    }
+//                    open.insert(neighbor, gScore(neighbor) + heuristic(neighbor));
+                }
+            } else {
+                //find midpoint
+//                Vector3d neighborCenter = calculateCenterOfShape(neighbor.node);
+//                Vector3d parentPos = current.getParent().currentPos;
+                if(losResult.hit){
+                    float distToMidpoint = (float)neighborCenter.distance(losResult.currentPos);
+                    float distToParent = (float)losResult.currentPos.distance(losResult.parentPos);
+                    float dist = distToMidpoint + distToParent;
+                    // If the length of the path from start to s and from s to 
+                    // neighbor is shorter than the shortest currently known distance
+                    // from start to neighbor, then update node with the new distance
+                    if(current.cost + dist < neighbor.cost){
+                        neighbor.cost = current.cost + dist;
+                        neighbor.parent = current;
+
+                        //update prio q
+                        queue.remove(neighbor);
+                        queue.add(neighbor);
+
+                        current.getParent().currentPos = losResult.parentPos;
+                        current.currentPos = losResult.currentPos;
+
+                    }
+                } else {
+                    float dist = (float)neighborCenter.distance(parentPos);
+                    // If there is line-of-sight between parent(s) and neighbor
+                    // then ignore s and use the path from parent(s) to neighbor 
+                    if(current.getParent().cost + dist < neighbor.cost){
+                        // c(s, neighbor) is the Euclidean distance from s to neighbor
+                        neighbor.cost = current.getParent().cost + dist;
+                        neighbor.parent = current.getParent();
+
+                        //update prio q
+                        queue.remove(neighbor);
+                        queue.add(neighbor);
+                    }
+                }
+            }
+        }
+    }
+    
+    static class LOSResult{
+        Vector3d parentPos;
+        Vector3d currentPos;
+        boolean hit;
+    }
+    
+    //calculates the line of sight ACROSS current FROM PARENT TO NEIGHBOR
+    static LOSResult lineOfSight(SetItem parent, SetItem current, SetItem neighbor){
+        if(parent.node instanceof NavCube && current.node instanceof NavCube && neighbor.node instanceof NavCube){
+            //get points on border of current and neighbor, this is one of the lines
+            double borderMinX = 0;
+            double borderMinZ = 0;
+            double borderMaxX = 0;
+            double borderMaxZ = 0;
+            NavCube parentCube = (NavCube)parent.node;
+            NavCube currentCube = (NavCube)current.node;
+            NavCube neighborCube = (NavCube)neighbor.node;
+            //resolve min/max pos
+//            Vector3d currentMin = currentCube.getMinPoint();
+//            Vector3d currentMax = currentCube.getMaxPoint();
+//            Vector3d neighborMin = neighborCube.getMinPoint();
+//            Vector3d neighborMax = neighborCube.getMaxPoint();
+            
+            BoxInternalBorder parentCurrentBorder = getBoxInternalBorder(parentCube.getMinPoint(),parentCube.getMaxPoint(),currentCube.getMinPoint(),currentCube.getMaxPoint());
+            BoxInternalBorder currentChildBorder = getBoxInternalBorder(currentCube.getMinPoint(),currentCube.getMaxPoint(),neighborCube.getMinPoint(),neighborCube.getMaxPoint());
+            
+            boolean intersectsParentBorder = Line2D.linesIntersect(
+                    parentCurrentBorder.minPoint.x, parentCurrentBorder.minPoint.z,
+                    parentCurrentBorder.maxPoint.x, parentCurrentBorder.maxPoint.z,
+                    neighbor.currentPos.x, neighbor.currentPos.z,
+                    parent.currentPos.x, parent.currentPos.z
+            );
+            boolean intersectsChildBorder = Line2D.linesIntersect(
+                    currentChildBorder.minPoint.x, currentChildBorder.minPoint.z,
+                    currentChildBorder.maxPoint.x, currentChildBorder.maxPoint.z,
+                    neighbor.currentPos.x, neighbor.currentPos.z,
+                    parent.currentPos.x, parent.currentPos.z
+            );
+            
+            LOSResult rVal = new LOSResult();
+            
+            if(intersectsParentBorder && intersectsChildBorder){
+                rVal.hit = false;
+            } else {
+                rVal.hit = true;
+//                rVal.currentPos = new Vector3d();
+                if(neighbor.currentPos.distance(currentChildBorder.minPoint) < neighbor.currentPos.distance(currentChildBorder.maxPoint)){
+                    rVal.currentPos = currentChildBorder.minPoint;
+                } else {
+                    rVal.currentPos = currentChildBorder.maxPoint;
+                }
+                if(parent.currentPos.distance(parentCurrentBorder.minPoint) < parent.currentPos.distance(parentCurrentBorder.maxPoint)){
+                    rVal.parentPos = parentCurrentBorder.minPoint;
+                } else {
+                    rVal.parentPos = parentCurrentBorder.maxPoint;
+                }
+            }
+            
+            return rVal;
+            
+            //the other line comes from earlier
+//            if(Line2D.linesIntersect(borderMinX, borderMinZ, borderMaxX, borderMaxZ, rayStart.x, rayStart.z, rayEnd.x, rayEnd.z)){
+//                return null;
+//            } else {
+//                double distMin = Line2D.ptLineDist(rayStart.x, rayStart.z, rayEnd.x, rayEnd.z, borderMinX, borderMinZ);
+//                double distMax = Line2D.ptLineDist(rayStart.x, rayStart.z, rayEnd.x, rayEnd.z, borderMaxX, borderMaxZ);
+//                if(distMin < distMax){
+//                    return new Vector3d(borderMinX, 0, borderMinZ);
+//                } else {
+//                    return new Vector3d(borderMaxX, 0, borderMaxZ);
+//                }
+//            }
+        }
+        return null;
+    }
+    
+    static class BoxInternalBorder {
+        Vector3d minPoint = new Vector3d();
+        Vector3d maxPoint = new Vector3d();
+    }
+    
+    static BoxInternalBorder getBoxInternalBorder(Vector3d currentMin, Vector3d currentMax, Vector3d neighborMin, Vector3d neighborMax){
+        BoxInternalBorder rVal = new BoxInternalBorder();
+        if(currentMin.x == neighborMax.x){
+            double targetX = currentMin.x;
+            if(currentMin.z >= neighborMin.z && currentMax.z <= neighborMax.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            } else if(neighborMin.z >= currentMin.z && neighborMax.z <= currentMax.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = neighborMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = neighborMax.z;
+            } else if(currentMin.z >= neighborMin.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = neighborMax.z;
+            } else if(neighborMin.z >= currentMin.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = neighborMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            } else {
+                //they all line up or something
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            }
+        }
+        if(currentMax.x == neighborMin.x){
+            double targetX = currentMax.x;
+            if(currentMin.z >= neighborMin.z && currentMax.z <= neighborMax.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            } else if(neighborMin.z >= currentMin.z && neighborMax.z <= currentMax.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = neighborMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = neighborMax.z;
+            } else if(currentMin.z >= neighborMin.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = neighborMax.z;
+            } else if(neighborMin.z >= currentMin.z){
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = neighborMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            } else {
+                //they all line up or something
+                rVal.minPoint.x = targetX;
+                rVal.minPoint.z = currentMin.z;
+                rVal.maxPoint.x = targetX;
+                rVal.maxPoint.z = currentMax.z;
+            }
+        }
+        if(currentMin.z == neighborMax.z){
+            double targetZ = currentMin.x;
+            if(currentMin.x >= neighborMin.x && currentMax.x <= neighborMax.x){
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(neighborMin.x >= currentMin.x && neighborMax.x <= currentMax.x){
+                rVal.minPoint.x = neighborMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = neighborMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(currentMin.x >= neighborMin.x){
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = neighborMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(neighborMin.x >= currentMin.x){
+                rVal.minPoint.x = neighborMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else {
+                //they all line up or something
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            }
+        }
+        if(currentMax.z == neighborMin.z){
+            double targetZ = currentMax.x;
+            if(currentMin.x >= neighborMin.x && currentMax.x <= neighborMax.x){
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(neighborMin.x >= currentMin.x && neighborMax.x <= currentMax.x){
+                rVal.minPoint.x = neighborMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = neighborMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(currentMin.x >= neighborMin.x){
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = neighborMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else if(neighborMin.x >= currentMin.x){
+                rVal.minPoint.x = neighborMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            } else {
+                //they all line up or something
+                rVal.minPoint.x = currentMin.x;
+                rVal.minPoint.z = targetZ;
+                rVal.maxPoint.x = currentMax.x;
+                rVal.maxPoint.z = targetZ;
+            }
+        }
+        return rVal;
+    }
+    
+//    static float lineDistCalc(SetItem current, SetItem target){
+//        float rVal = -1.0f;
+//        return rVal;
+//    }
+    
+    static Vector3d calculateCenterOfShape(NavShape shape){
+        Vector3d rVal = new Vector3d();
+        if(shape instanceof NavCube){
+            NavCube cube = (NavCube)shape;
+            rVal.add(cube.getMaxPoint()).add(cube.getMinPoint());
+            rVal.mul(0.5);
+        }
+        return rVal;
+    }
+    
+    
+    
+    static class SetItem implements Comparable {
+        SetItem parent;
+        NavShape node;
+        float cost;
+        //closest point from parent's parent
+        Vector3d currentPos;
+        
+        public SetItem(SetItem parent, NavShape node, float cost, Vector3d currentPos){
+            this.parent = parent;
+            this.node = node;
+            this.cost = cost;
+            this.currentPos = currentPos;
+        }
+
+        public SetItem getParent() {
+            return parent;
+        }
+
+        public NavShape getNode() {
+            return node;
+        }
+
+        public float getCost() {
+            return cost;
+        }
+
+        public void setCost(float cost) {
+            this.cost = cost;
+        }
+
+        @Override
+        public int compareTo(Object o) {
+            SetItem target = (SetItem)o;
+            if(this.cost < target.cost){
+                return -1;
+            }
+            if(this.cost > target.cost){
+                return 1;
+            }
+            return 0;
+        }
+
+        public Vector3d getCurrentPos() {
+            return currentPos;
+        }
+
+        public void setCurrentPos(Vector3d currentPos) {
+            this.currentPos = currentPos;
+        }
+        
+        
+        
+        
+    }
+}

src/main/java/electrosphere/game/server/pathfinding/NavMeshUtils.java

@@ -1,8 +1,16 @@
 package electrosphere.game.server.pathfinding;
 
+import electrosphere.game.server.pathfinding.blocker.NavBlocker;
+import electrosphere.game.server.pathfinding.navmesh.NavCube;
 import electrosphere.game.server.pathfinding.navmesh.NavMesh;
+import electrosphere.game.server.pathfinding.navmesh.NavShape;
 import electrosphere.game.server.terrain.manager.ServerTerrainChunk;
+import electrosphere.logger.LoggerInterface;
 import electrosphere.main.Globals;
+import java.util.LinkedList;
+import java.util.List;
+import org.joml.Vector2i;
+import org.joml.Vector4i;
 
 /**
  *
@@ -10,22 +18,341 @@ import electrosphere.main.Globals;
  */
 public class NavMeshUtils {
     
-    public static NavMesh createMeshFromChunk(ServerTerrainChunk chunk){
+    static float NAVMESH_PHASE_ONE_DISPARITY_TOLERANCE = 0.5f;
-        NavMesh rVal = new NavMesh();
+    static float NAVMESH_PHASE_TWO_DISPARITY_TOLERANCE = 0.5f;
+    public static NavMesh createMeshFromChunk(ServerTerrainChunk chunk, NavBlocker navBlocker){
+        NavMesh rVal = Globals.navMeshManager.createNavMesh();
         float[][] heightMap = chunk.getHeightMap();
-        for(int x = 0; x < Globals.serverTerrainManager.getChunkWidth(); x++){
+        boolean[][] navMeshGeneratorMask = navBlocker.getHeightfieldBlocker();
-            for(int y = 0; y < Globals.serverTerrainManager.getChunkWidth(); y++){
+        List<FirstPhaseBox> firstPassBoxes = new LinkedList();
+        int numInCurrent = 0;
+        float currentMin = 0;
+        float currentMax = 0;
+        int startPos = 0;
+        int endPos = 0;
+        for(int x = 0; x < Globals.serverTerrainManager.getAugmentedChunkWidth() - 1; x++){
+            numInCurrent = 0;
+            currentMin = 0;
+            currentMax = 0;
+            for(int y = 0; y < Globals.serverTerrainManager.getAugmentedChunkWidth(); y++){
                 //create node
-                
+                if(navMeshGeneratorMask[x][y]){
-                if(x > 0){
+                    if(numInCurrent > 0){
-                    //add back neighbor
+                        firstPassBoxes.add(new FirstPhaseBox(x,startPos,endPos,currentMin,currentMax));
+                    }
+                    numInCurrent = 0;
+                } else {
+                    if(numInCurrent == 0){
+                        currentMin = heightMap[x][y];
+                        currentMax = heightMap[x][y];
+                        startPos = y;
+                        endPos = y+1;
+                        numInCurrent = 1;
+                    } else {
+                        if(currentMin > heightMap[x][y]){
+                            if(currentMax - heightMap[x][y] < NAVMESH_PHASE_ONE_DISPARITY_TOLERANCE){
+                                currentMin = heightMap[x][y];
+                                endPos = y;
+                                numInCurrent++;
+                            } else {
+                                //expel previous rectangle
+                                firstPassBoxes.add(new FirstPhaseBox(x,startPos,endPos,currentMin,currentMax));
+                                //start new one
+                                currentMin = heightMap[x][y];
+                                currentMax = heightMap[x][y];
+                                startPos = y;
+                                endPos = y+1;
+                                numInCurrent = 1;
+                            }
+                        } else if(currentMax < heightMap[x][y]){
+                            if(heightMap[x][y] - currentMin < NAVMESH_PHASE_ONE_DISPARITY_TOLERANCE){
+                                currentMin = heightMap[x][y];
+                                endPos = y;
+                                numInCurrent++;
+                            } else {
+                                //expel previous rectangle
+                                firstPassBoxes.add(new FirstPhaseBox(x,startPos,endPos,currentMin,currentMax));
+                                //start new one
+                                currentMin = heightMap[x][y];
+                                currentMax = heightMap[x][y];
+                                startPos = y;
+                                endPos = y+1;
+                                numInCurrent = 1;
+                            }
+                        } else {
+                            endPos = y;
+                            numInCurrent++;
+                        }
+                    }
                 }
-                if(y > 0){
+//                if(x > 0){
-                    //add back neighbor
+//                    //add back neighbor
+//                }
+//                if(y > 0){
+//                    //add back neighbor
+//                }
+            }
+            
+            //close off last box on row
+//            FirstPhaseBox boxy = new FirstPhaseBox(1, 1, 1, 1, 1);
+            firstPassBoxes.add(new FirstPhaseBox(x,startPos,endPos,currentMin,currentMax));
+            
+            
+            
+        }
+        
+        //phase two
+        //???
+        List<SecondPhaseBox> secondPhaseBoxes = new LinkedList();
+        List<SecondPhaseBox> toRemove = new LinkedList();
+        for(FirstPhaseBox firstPhaseBox : firstPassBoxes){
+            SecondPhaseBox newBox = new SecondPhaseBox(
+                    firstPhaseBox.x,firstPhaseBox.yStart,
+                    firstPhaseBox.x+1,firstPhaseBox.yEnd,
+                    firstPhaseBox.minHeight,firstPhaseBox.maxHeight);
+//            System.out.println(
+//                    firstPhaseBox.x + " " + 
+//                    firstPhaseBox.yStart + " " +
+//                    (firstPhaseBox.x+1) + " " +
+//                    firstPhaseBox.yEnd + " " +
+//                    firstPhaseBox.minHeight + " " +
+//                    firstPhaseBox.maxHeight
+//            );
+//            System.out.println(
+//                    "(" + (newBox.boundMinX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth()) + ", " + 
+//                    (newBox.minHeight - 0.5f) + ", " + 
+//                    (newBox.boundMinY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth()) + ") (" + 
+//                    (newBox.boundMaxX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth()) + ", " + 
+//                    (newBox.maxHeight + 0.5f) + ", " + 
+//                    (newBox.boundMaxY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth()) + ")"
+//            );
+            toRemove.clear();
+            //TODO: iterate this backwards and check for x adjacency, if no adjacency end loop early
+            for(SecondPhaseBox interim : secondPhaseBoxes){
+                if(firstPhaseBox.yStart == interim.boundMinY && firstPhaseBox.yEnd == interim.boundMaxY && firstPhaseBox.x == interim.boundMaxX){
+                    for(SecondPhaseBox neighbor : interim.getNeighbors()){
+                        neighbor.removeNeighbor(interim);
+                        interim.removeNeighbor(neighbor);
+                        neighbor.addNeighbor(newBox);
+                        newBox.addNeighbor(neighbor);
+//                        System.out.println("ADD NEIGHBOR: " + neighbor.boundMaxX + " " + neighbor.boundMaxY + " " + neighbor.boundMinX + " " + neighbor.boundMinY);
+                    }
+                    toRemove.add(interim);
+                    newBox.setBoundMinX(interim.getBoundMinX());
+                    //TODO: calculate new min/max height
+                } else {
+                    //because of the way the rectangles are constructed, we can never have a neighbor along y axis
+                    //only neighbors will be behind us
+                    if(newBox.boundMinX == interim.boundMaxX && !toRemove.contains(interim)){
+                        if(
+                                (interim.boundMaxY < newBox.boundMaxY && interim.boundMaxY > newBox.boundMinY) ||
+                                (interim.boundMinY < newBox.boundMaxY && interim.boundMinY > newBox.boundMinY) ||
+                                (newBox.boundMaxY < interim.boundMaxY && newBox.boundMaxY > interim.boundMinY) ||
+                                (newBox.boundMinY < interim.boundMaxY && newBox.boundMinY > interim.boundMinY)
+                                ){
+//                            System.out.println("ADD INTERIM: " + interim.boundMaxX + " " + interim.boundMaxY + " " + interim.boundMinX + " " + interim.boundMinY);
+                            newBox.addNeighbor(interim);
+                            interim.addNeighbor(newBox);
+                        }
+                    }
                 }
             }
+            secondPhaseBoxes.removeAll(toRemove);
+            secondPhaseBoxes.add(newBox);
         }
+        
+        int id = 0;
+        for(SecondPhaseBox box : secondPhaseBoxes){
+            box.setId(id);
+//            System.out.println("getId:" + box.getId());
+            id++;
+//            System.out.println(
+//                    "(" + (box.boundMinX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth()) + ", " + 
+//                    (box.minHeight - 0.5f) + ", " + 
+//                    (box.boundMinY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth()) + ") (" + 
+//                    (box.boundMaxX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth() - 1) + ", " + 
+//                    (box.maxHeight + 0.5f) + ", " + 
+//                    (box.boundMaxY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth()) + ")"
+//            );
+//            System.out.println(box.neighbors.size());
+            //why the -1? I think the array fiddling above is causing the bounds to be off normally
+            //this fixes that
+            NavCube cube = new NavCube(
+                    box.boundMinX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth(),
+                    box.minHeight - 0.5f,
+                    box.boundMinY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth(),
+                    box.boundMaxX + chunk.getWorldX() * Globals.serverTerrainManager.getChunkWidth(),
+                    box.maxHeight + 0.5f,
+                    box.boundMaxY + chunk.getWorldY() * Globals.serverTerrainManager.getChunkWidth()
+            );
+            rVal.addNode(cube);
+        }
+        
+        id = 0;
+        for(NavShape shape : rVal.getNodes()){
+            NavCube cube = (NavCube)shape;
+            
+            SecondPhaseBox currentBox = secondPhaseBoxes.get(id);
+//            System.out.println("getId:" + currentBox.getId());
+            id++;
+            for(SecondPhaseBox neighbor : currentBox.getNeighbors()){
+                //TODO: solve bug where items are getting picked up from not in second phase boxes
+                if(!secondPhaseBoxes.contains(neighbor)){
+                    LoggerInterface.loggerGameLogic.WARNING("Found bad neighbor adjacency in navmesh generation");
+                    for(SecondPhaseBox newNeighbor : secondPhaseBoxes){
+                        if(newNeighbor.boundMaxX >= neighbor.boundMaxX &&
+                                newNeighbor.boundMaxY >= neighbor.boundMaxY &&
+                                newNeighbor.boundMinX <= neighbor.boundMinX &&
+                                newNeighbor.boundMinY <= neighbor.boundMinY
+                                ){
+                            cube.addNodeNeighbor(rVal.getNodes().get(newNeighbor.getId()));
+                            LoggerInterface.loggerGameLogic.WARNING("Managed to replace bad neighbor");
+                            break;
+                        }
+                    }
+//                    System.out.println("ERR!");
+//                    System.out.println(neighbor.boundMaxX + " " + neighbor.boundMaxY + " " + neighbor.boundMinX + " " + neighbor.boundMinY);
+                } else {
+                    cube.addNodeNeighbor(rVal.getNodes().get(neighbor.getId()));
+                }
+            }
+//            System.out.println(cube.getNodeNeighbors().size());
+        }
+//        System.out.println();
+//        System.out.println();
+//        System.out.println(secondPhaseBoxes.size());
+        
         return rVal;
     }
     
+    static class FirstPhaseBox {
+        int x;
+        int yStart;
+        int yEnd;
+        float minHeight;
+        float maxHeight;
+
+        public FirstPhaseBox(int x, int yStart, int yEnd, float minHeight, float maxHeight) {
+            this.x = x;
+            this.yStart = yStart;
+            this.yEnd = yEnd;
+            this.minHeight = minHeight;
+            this.maxHeight = maxHeight;
+        }
+
+        public int getX() {
+            return x;
+        }
+
+        public int getyStart() {
+            return yStart;
+        }
+
+        public int getyEnd() {
+            return yEnd;
+        }
+
+        public float getMinHeight() {
+            return minHeight;
+        }
+
+        public float getMaxHeight() {
+            return maxHeight;
+        }
+        
+        
+        
+    }
+    
+    static class SecondPhaseBox {
+        
+        float minHeight;
+        float maxHeight;
+        int boundMinX;
+        int boundMinY;
+        int boundMaxX;
+        int boundMaxY;
+        List<SecondPhaseBox> neighbors = new LinkedList();
+        int id = -1;
+        
+        SecondPhaseBox(int boundMinX, int boundMinY, int boundMaxX, int boundMaxY, float minHeight, float maxHeight){
+            this.boundMinX = boundMinX;
+            this.boundMinY = boundMinY;
+            
+            this.boundMaxX = boundMaxX;
+            this.boundMaxY = boundMaxY;
+            
+            this.minHeight = minHeight;
+            this.maxHeight = maxHeight;
+        }
+        
+        float getMinHeight(){
+            return minHeight;
+        }
+        float getMaxHeight(){
+            return maxHeight;
+        }
+
+        public int getBoundMinX() {
+            return boundMinX;
+        }
+
+        public int getBoundMinY() {
+            return boundMinY;
+        }
+
+        public int getBoundMaxX() {
+            return boundMaxX;
+        }
+
+        public int getBoundMaxY() {
+            return boundMaxY;
+        }
+
+        public void setMinHeight(float minHeight) {
+            this.minHeight = minHeight;
+        }
+
+        public void setMaxHeight(float maxHeight) {
+            this.maxHeight = maxHeight;
+        }
+
+        public void setBoundMinX(int boundMinX) {
+            this.boundMinX = boundMinX;
+        }
+
+        public void setBoundMinY(int boundMinY) {
+            this.boundMinY = boundMinY;
+        }
+
+        public void setBoundMaxX(int boundMaxX) {
+            this.boundMaxX = boundMaxX;
+        }
+
+        public void setBoundMaxY(int boundMaxY) {
+            this.boundMaxY = boundMaxY;
+        }
+
+        public List<SecondPhaseBox> getNeighbors() {
+            return neighbors;
+        }
+        
+        public void addNeighbor(SecondPhaseBox neighbor){
+            neighbors.add(neighbor);
+        }
+        
+        public void removeNeighbor(SecondPhaseBox neighbor){
+            neighbors.remove(neighbor);
+        }
+
+        public int getId() {
+            return id;
+        }
+
+        public void setId(int id) {
+            this.id = id;
+        }
+        
+    }
+    
 }

src/main/java/electrosphere/game/server/pathfinding/blocker/NavBlocker.java

@@ -0,0 +1,31 @@
+package electrosphere.game.server.pathfinding.blocker;
+
+import electrosphere.main.Globals;
+
+/**
+ *
+ * Why it's own class? in case we want to use separate logic for non-heightfield chunks later (dungeons mby)
+ * 
+ * @author amaterasu
+ */
+public class NavBlocker {
+    
+    boolean[][] heightfieldBlocker;
+    
+    public NavBlocker(){
+        heightfieldBlocker = new boolean[Globals.serverTerrainManager.getAugmentedChunkWidth()][Globals.serverTerrainManager.getAugmentedChunkWidth()];
+    }
+    
+    public NavBlocker(boolean[][] field){
+        heightfieldBlocker = field;
+    }
+    
+    public boolean[][] getHeightfieldBlocker(){
+        return heightfieldBlocker;
+    }
+    
+    public void setHeightfieldBlockerValue(int x, int y, boolean value){
+        heightfieldBlocker[x][y] = value;
+    }
+    
+}

src/main/java/electrosphere/game/server/pathfinding/blocker/NavTerrainBlockerCache.java

@@ -0,0 +1,59 @@
+package electrosphere.game.server.pathfinding.blocker;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+
+/**
+ *
+ * @author amaterasu
+ */
+/**
+ * A cache of the blocker fields for terrain meshes
+ */
+public class NavTerrainBlockerCache {
+    //Basic idea is we associate string that contains chunk x&y with elevation
+    //While we incur a penalty with converting ints -> string, think this will
+    //offset regenerating the array every time we want a new one
+    int cacheSize = 50;
+    HashMap<String, NavBlocker> navBlockerMapCache = new HashMap();
+    ArrayList<String> navBlockerMapCacheContents = new ArrayList();
+    
+    
+    public String getKey(int x, int y){
+        return x + "-" + y;
+    }
+    
+    public NavBlocker getBlocker(int x, int y){
+        NavBlocker rVal;
+        String key = getKey(x,y);
+        //if in cache
+        if(navBlockerMapCache.containsKey(key)){
+            navBlockerMapCacheContents.remove(key);
+            navBlockerMapCacheContents.add(0, key);
+            rVal = navBlockerMapCache.get(key);
+            return rVal;
+        } else {
+            //else fetch from sql if available
+            
+        }
+        //else, create an empty one I guess
+        rVal = new NavBlocker();
+        rVal.setHeightfieldBlockerValue(5,5,true);
+        rVal.setHeightfieldBlockerValue(6,5,true);
+        rVal.setHeightfieldBlockerValue(5,6,true);
+        rVal.setHeightfieldBlockerValue(6,6,true);
+        rVal.setHeightfieldBlockerValue(7,5,true);
+        rVal.setHeightfieldBlockerValue(11,5,true);
+        rVal.setHeightfieldBlockerValue(5,8,true);
+        rVal.setHeightfieldBlockerValue(5,22,true);
+        rVal.setHeightfieldBlockerValue(5,50,true);
+        if(navBlockerMapCache.size() > cacheSize){
+            String oldChunk = navBlockerMapCacheContents.remove(navBlockerMapCacheContents.size() - 1);
+            navBlockerMapCache.remove(oldChunk);
+        }
+        navBlockerMapCacheContents.add(0, key);
+        navBlockerMapCache.put(key, rVal);
+        return rVal;
+    }
+    
+}

src/main/java/electrosphere/game/server/pathfinding/navmesh/NavCube.java

@@ -19,7 +19,7 @@ public class NavCube extends NavShape {
     Vector3d minPoint;
     Vector3d maxPoint;
     
-    List<NavCube> neighbors = new LinkedList();
+    List<NavShape> neighbors = new LinkedList();
     
     
     public NavCube(double minX, double minY, double minZ, double maxX, double maxY, double maxZ){
@@ -28,12 +28,12 @@ public class NavCube extends NavShape {
     }
     
     @Override
-    public void addNeighbor(NavCube neighbor){
+    public void addNodeNeighbor(NavShape neighbor){
         neighbors.add(neighbor);
     }
     
     @Override
-    public List<NavCube> getNeighbors(){
+    public List<NavShape> getNodeNeighbors(){
         return neighbors;
     }
     
@@ -42,6 +42,13 @@ public class NavCube extends NavShape {
         return x >= minPoint.x && y >= minPoint.y && z >= minPoint.z && x <= maxPoint.x && y <= maxPoint.y && z <= maxPoint.z;
     }
     
+    public Vector3d getMinPoint(){
+        return minPoint;
+    }
+    
+    public Vector3d getMaxPoint(){
+        return maxPoint;
+    }
     
     
 }

src/main/java/electrosphere/game/server/pathfinding/navmesh/NavMesh.java

@@ -13,14 +13,14 @@ public class NavMesh {
     String method;
     
     List<NavShape> navNodes = new LinkedList();
-    List<NavMesh> neighbors = new LinkedList();
+    List<NavMesh> meshNeighbors = new LinkedList();
     
-    public void addNeighbor(NavMesh neighbor){
+    public void addMeshNeighbor(NavMesh neighbor){
-        neighbors.add(neighbor);
+        meshNeighbors.add(neighbor);
     }
     
-    public List<NavMesh> getNeighbors(){
+    public List<NavMesh> getMeshNeighbors(){
-        return neighbors;
+        return meshNeighbors;
     }
     
     public void addNode(NavShape node){

src/main/java/electrosphere/game/server/pathfinding/navmesh/NavShape.java

@@ -8,9 +8,9 @@ import java.util.List;
  */
 public abstract class NavShape {
     
-    public abstract void addNeighbor(NavCube neighbor);
+    public abstract void addNodeNeighbor(NavShape neighbor);
     
-    public abstract List<NavCube> getNeighbors();
+    public abstract List<NavShape> getNodeNeighbors();
     
     public abstract boolean containsPoint(double x, double y, double z);
     

src/main/java/electrosphere/game/server/saves/SaveUtils.java

@@ -3,7 +3,7 @@ package electrosphere.game.server.saves;
 import electrosphere.game.server.db.DatabaseUtils;
 import electrosphere.game.server.terrain.manager.ServerTerrainManager;
 import electrosphere.game.server.world.ServerWorldData;
-import electrosphere.game.server.world.datacell.DataCellManager;
+import electrosphere.game.server.datacell.DataCellManager;
 import electrosphere.main.Globals;
 import electrosphere.util.FileUtils;
 import java.util.LinkedList;

src/main/java/electrosphere/game/server/terrain/manager/ServerTerrainChunk.java

@@ -24,11 +24,11 @@ public class ServerTerrainChunk {
         this.randomizer = randomizer;
     }
     
-    public static ServerTerrainChunk getArenaChunk(int width){
+    public static ServerTerrainChunk getArenaChunk(int width, int x, int y){
         float[][] macroValues = new float[5][5];
         long[][] randomizer = new long[5][5];
         float[][] heightmap = new float[width + 1][width + 1];
-        ServerTerrainChunk rVal = new ServerTerrainChunk(0, 0, heightmap, macroValues, randomizer);
+        ServerTerrainChunk rVal = new ServerTerrainChunk(x, y, heightmap, macroValues, randomizer);
         return rVal;
     }
 

src/main/java/electrosphere/game/server/terrain/manager/ServerTerrainManager.java

@@ -296,7 +296,7 @@ public class ServerTerrainManager {
                 returnedChunk = elevationMapCache.get(key);
                 return returnedChunk;
             } else {
-                returnedChunk = ServerTerrainChunk.getArenaChunk(dynamicInterpolationRatio + 1);
+                returnedChunk = ServerTerrainChunk.getArenaChunk(dynamicInterpolationRatio + 1, x, y);
                 elevationMapCache.put(key, returnedChunk);
                 elevationMapCacheContents.add(key);
                 return returnedChunk;

src/main/java/electrosphere/game/server/world/ServerWorldData.java

@@ -1,7 +1,7 @@
 package electrosphere.game.server.world;
 
 import electrosphere.game.server.terrain.manager.ServerTerrainManager;
-import electrosphere.game.server.world.datacell.ServerDataCell;
+import electrosphere.game.server.datacell.ServerDataCell;
 import java.util.List;
 import org.joml.Vector3f;
 

src/main/java/electrosphere/main/Globals.java

@@ -33,7 +33,7 @@ import electrosphere.game.server.terrain.manager.ServerTerrainManager;
 import electrosphere.game.server.town.Town;
 import electrosphere.game.server.world.ServerWorldData;
 import electrosphere.game.server.world.MacroData;
-import electrosphere.game.server.world.datacell.DataCellManager;
+import electrosphere.game.server.datacell.DataCellManager;
 import electrosphere.game.state.MicroSimulation;
 import electrosphere.menu.Menu;
 import electrosphere.net.client.ClientNetworking;
@@ -46,6 +46,7 @@ import electrosphere.renderer.RenderingEngine;
 import electrosphere.renderer.ShaderProgram;
 import electrosphere.engine.assetmanager.AssetDataStrings;
 import electrosphere.engine.assetmanager.AssetManager;
+import electrosphere.game.server.pathfinding.NavMeshManager;
 import electrosphere.renderer.ui.WidgetManager;
 import electrosphere.renderer.ui.WidgetUtils;
 import electrosphere.renderer.ui.font.FontUtils;
@@ -242,6 +243,8 @@ public class Globals {
     //constant for how far in game units you have to move to load chunks
     public static DrawCellManager drawCellManager;
     
+    //navmesh manager
+    public static NavMeshManager navMeshManager;
     
     //famous fuckin last words, but temporary solution
     //global arraylist of values for the skybox colors
@@ -320,6 +323,8 @@ public class Globals {
         aiManager = new AIManager();
         //collision engine
         collisionEngine = new CollisionEngine();
+        //nav mesh manager
+        navMeshManager = new NavMeshManager();
         //game config
         gameConfigDefault = electrosphere.game.config.Config.loadDefaultConfig();
         gameConfigCurrent = gameConfigDefault;

src/main/java/electrosphere/renderer/RenderingEngine.java

@@ -7,6 +7,9 @@ import electrosphere.entity.EntityUtils;
 import electrosphere.entity.types.hitbox.HitboxData;
 import electrosphere.entity.types.hitbox.HitboxUtils;
 import electrosphere.game.config.creature.type.CollidableTemplate;
+import electrosphere.game.server.pathfinding.navmesh.NavCube;
+import electrosphere.game.server.pathfinding.navmesh.NavMesh;
+import electrosphere.game.server.pathfinding.navmesh.NavShape;
 import electrosphere.logger.LoggerInterface;
 import electrosphere.main.Globals;
 import static electrosphere.main.Main.deltaTime;
@@ -545,6 +548,31 @@ public class RenderingEngine {
             }
         }
         
+        if(Globals.userSettings.graphicsDebugDrawNavmesh()){
+            Model shapeGraphicsModel;
+            for(NavMesh mesh : Globals.navMeshManager.getMeshes()){
+                for(NavShape shape : mesh.getNodes()){
+                    if(shape instanceof NavCube){
+                        if((shapeGraphicsModel = Globals.assetManager.fetchModel("Models/unitcube.fbx")) != null){
+                            NavCube cube = (NavCube)shape;
+                            Vector3d position = new Vector3d(cube.getMinPoint()).add(cube.getMaxPoint()).mul(0.5);
+                            Vector3f scale = new Vector3f((float)(cube.getMaxPoint().x-cube.getMinPoint().x)/2,(float)(cube.getMaxPoint().y-cube.getMinPoint().y)/2,(float)(cube.getMaxPoint().z-cube.getMinPoint().z)/2);
+                            Quaternionf rotation = new Quaternionf();
+                            //calculate camera-modified vector3f
+                            Vector3f cameraModifiedPosition = new Vector3f((float)position.x,(float)position.y,(float)position.z).sub(CameraEntityUtils.getCameraCenter(Globals.playerCamera));
+                            modelTransformMatrix.identity();
+                            modelTransformMatrix.translate(cameraModifiedPosition);
+                            modelTransformMatrix.rotate(rotation);
+    //                            modelTransformMatrix.translate(template.getOffsetX(),template.getOffsetY(),template.getOffsetZ()); //center sphere
+                            modelTransformMatrix.scale(scale);
+                            shapeGraphicsModel.modelMatrix = modelTransformMatrix;
+                            shapeGraphicsModel.draw(true, true, false, true, true, true, true);
+                        }
+                    }
+                }
+            }
+        }
+        
         
         
 //        glBindVertexArray(0);