Merge remote-tracking branch 'origin/AINavMesh' into chaos-ai

# Conflicts:
#	FightSystem_Core/src/de/steamwar/fightsystem/ai/AI.java
#	FightSystem_Core/src/de/steamwar/fightsystem/ai/LixfelAI.java

FightSystem_Core/src/de/steamwar/fightsystem/FightSystem.java

@@ -22,6 +22,7 @@ package de.steamwar.fightsystem;
 import com.comphenix.tinyprotocol.TinyProtocol;
 import de.steamwar.core.Core;
 import de.steamwar.fightsystem.ai.LixfelAI;
+import de.steamwar.fightsystem.ai.navmesh.NavMesh;
 import de.steamwar.fightsystem.commands.*;
 import de.steamwar.fightsystem.countdown.*;
 import de.steamwar.fightsystem.event.HellsBells;
@@ -42,6 +43,7 @@ import de.steamwar.fightsystem.utils.*;
 import de.steamwar.fightsystem.winconditions.*;
 import de.steamwar.message.Message;
 import de.steamwar.sql.SchematicNode;
+import de.steamwar.sql.SteamwarUser;
 import org.bukkit.Bukkit;
 import org.bukkit.plugin.java.JavaPlugin;
 
@@ -167,6 +169,14 @@ public class FightSystem extends JavaPlugin {
         }else if(Config.mode == ArenaMode.PREPARE) {
             Fight.getUnrotated().setSchem(SchematicNode.getSchematicNode(Config.PrepareSchemID));
         }
+
+        FightStatistics.unrank();
+        FightWorld.forceLoad();
+
+        Bukkit.getScheduler().runTask(getPlugin(), () -> {
+            new LixfelAI(Fight.getBlueTeam(), "Lixfel.AI");
+            new LixfelAI(Fight.getRedTeam(), "YoyoNow.AI");
+        });
     }
 
     @Override

FightSystem_Core/src/de/steamwar/fightsystem/ai/AI.java

@@ -120,6 +120,22 @@ public abstract class AI {
         Chat.broadcastChat("PARTICIPANT_CHAT", team.getColoredName(), entity.getName(), message);
     }
 
+    protected Vector toAIPosition(Vector location) {
+        Region extend = team.getExtendRegion();
+        if(Fight.getUnrotated() == team)
+            return new Vector(
+                    location.getX() - extend.getMinX(),
+                    location.getY() - team.getSchemRegion().getMinY(),
+                    location.getZ() - extend.getMinZ()
+            );
+        else
+            return new Vector(
+                    extend.getMaxX() - location.getX(),
+                    location.getY() - team.getSchemRegion().getMinY(),
+                    extend.getMaxZ() - location.getZ()
+            );
+    }
+
     protected Vector getPosition() {
         Location location = entity.getLocation();
         Region extend = team.getExtendRegion();
@@ -209,15 +225,17 @@ public abstract class AI {
             public void run() {
                 Location location = entity.getLocation();
                 Location target = translate(pos, false);
-                if(Math.abs(location.getX() - target.getX()) > 1.9 || Math.abs(location.getY() - target.getY()) > 1.9 || Math.abs(location.getZ() - target.getZ()) > 1.9) {
+                /*
+                if(Math.abs(location.getX() - target.getX()) > 1 || Math.abs(location.getY() - target.getY()) > 1.2 || Math.abs(location.getZ() - target.getZ()) > 1) {
                     FightSystem.getPlugin().getLogger().log(Level.INFO, () -> entity.getName() + ": Overdistance movement " + location.toVector() + " " + target.toVector());
                     return;
                 }
+                 */
 
                 if(!team.getFightPlayer(entity).canEntern() && !team.getExtendRegion().inRegion(target))
                     return;
 
-                entity.teleport(target, PlayerTeleportEvent.TeleportCause.COMMAND);
+                entity.teleport(target, PlayerTeleportEvent.TeleportCause.PLUGIN);
             }
         });
     }

FightSystem_Core/src/de/steamwar/fightsystem/ai/LixfelAI.java

@@ -19,11 +19,15 @@
 
 package de.steamwar.fightsystem.ai;
 
+import de.steamwar.entity.REntityServer;
 import de.steamwar.fightsystem.Config;
+import de.steamwar.fightsystem.ai.navmesh.NavMesh;
 import de.steamwar.fightsystem.fight.FightTeam;
 import de.steamwar.fightsystem.states.FightState;
 import de.steamwar.sql.SchematicNode;
 import de.steamwar.sql.SteamwarUser;
+import org.bukkit.Material;
+import org.bukkit.entity.Player;
 import org.bukkit.util.Vector;
 
 import java.util.*;
@@ -31,51 +35,39 @@ import java.util.function.Function;
 
 public class LixfelAI extends AI {
 
-    private Random random;
+    private final Random random = new Random();
-    private LixfelPathplanner pathplanner;
+    private final REntityServer entityServer = new REntityServer();
-    private Action action;
+    private final FightTeam team;
+    private final NavMesh navMesh;
 
     public LixfelAI(FightTeam team, String user) {
         super(team, SteamwarUser.get(user));
+        this.team = team;
+        navMesh = new NavMesh(team, entityServer);
     }
 
     @Override
     public SchematicNode chooseSchematic() {
-        random = new Random();
+        if (false) {
-
             List<SchematicNode> publics = SchematicNode.getAllSchematicsOfType(0, Config.SchematicType.toDB());
-        SchematicNode schem = publics.get(random.nextInt(publics.size()));
+            SchematicNode schem = publics.get(new Random().nextInt(publics.size()));
-        schem = publics.stream().filter(s -> s.getName().equals("TheUnderground")).findAny().orElse(schem);
-
-        pathplanner = new LixfelPathplanner(schem);
-
-        action = new BlockAction(Collections.emptyList(), Collections.singletonList(new Vector(25, 15, 25)),
-                new MoveToRangeAction(new Vector(21, 15, 24),
-                        new FunctionAction(ai -> {
-                            setReady();
-                            return FightState.getFightState() == FightState.PRE_RUNNING;
-                        },
-                                new WaitAction(420,
-                                        new BlockAction(Collections.emptyList(), Collections.singletonList(new Vector(21, 15, 24)),
-                                                new FunctionAction(ai -> FightState.getFightState() == FightState.RUNNING,
-                                                        new ChooseCannonAction(
-                                                                new Cannon(new Vector(11,25,11), 10,23,14, 12,23,14, 10,23,12, 12,23,12, 12,24,15, 10,24,14, 12,23,15, 12,24,14, 11,24,12, 10,24,15, 12,24,12, 10,23,15, 10,24,12),
-                                                                new Cannon(new Vector(39,25,11), 38,24,15, 38,23,12, 40,23,14, 40,24,12, 40,23,15, 40,24,14, 39,24,12, 38,23,14, 40,24,15, 40,23,12, 38,23,15, 38,24,12, 38,24,14),
-                                                                new Cannon(new Vector(12,18,11), 13,17,15, 13,17,16, 13,18,16, 13,18,14, 14,18,14, 14,17,15, 14,17,16, 14,18,16, 13,17,14, 14,17,14, 13,18,15, 14,18,15),
-                                                                new Cannon(new Vector(38,18,11), 37,18,14, 36,18,14, 36,17,15, 37,17,15, 37,18,15, 36,18,15, 36,17,14, 37,17,14, 36,17,16, 37,17,16, 36,18,16, 37,18,16),
-                                                                new Cannon(new Vector(8,9,16), 10,11,17, 10,8,19, 10,8,17, 11,8,19, 11,8,15, 10,8,15, 12,8,15, 10,10,15, 12,7,19, 11,10,15, 12,8,19, 12,7,15, 11,7,15, 10,9,17, 11,9,19, 12,9,19, 10,9,19, 10,7,17, 11,7,19, 10,7,15, 10,7,19, 10,10,17, 12,9,15, 10,9,15, 11,9,15, 12,10,19, 11,10,19, 12,10,15, 10,6,17, 10,10,19),
-                                                                new Cannon(null, 23,5,9, 23,6,9, 23,7,9, 23,8,9),
-                                                                new Cannon(null, 27,5,9, 27,6,9, 27,7,9, 27,8,9)
-                                                        )
-                                                )
-                                        )
-                                )
-                        )
-                )
-        );
-
             return schem;
         }
+        // return SchematicNode.byIdAndUser(SteamwarUser.get(0), 111476);
+        return SchematicNode.byIdAndUser(SteamwarUser.get(0), 98711);
+    }
+
+    @Override
+    public boolean acceptJoinRequest(Player player, FightTeam team) {
+        if (team == this.team) {
+            entityServer.addPlayer(player);
+        }
+        return super.acceptJoinRequest(player, team);
+    }
+
+    private Vector source = null;
+    private Vector destination = null;
+    private int index = 0;
 
     LixfelPathplanner getPathplanner() {
         return pathplanner;
@@ -87,167 +79,52 @@ public class LixfelAI extends AI {
 
     @Override
     protected void plan() {
-        action.plan(this);
+        setReady();
+
+        if (navMesh == null) return;
+        if (!getEntity().isOnGround() && getEntity().getLocation().getBlock().getType() != Material.LADDER) return;
+
+        if (source == null || destination == null) {
+            source = getEntity().getLocation().toVector();
+            List<Vector> walkableBlocks = navMesh.getWalkableBlocks(source);
+            if (walkableBlocks.isEmpty()) return;
+            destination = walkableBlocks.get(random.nextInt(walkableBlocks.size()));
+            index = 0;
         }
 
-    private abstract static class Action {
+        List<Vector> oldRoute = navMesh.path(source, destination);
-        private Action next;
+        navMesh.update(getEntity().getLocation().toVector());
-
+        List<Vector> path = navMesh.path(source, destination);
-        public Action(Action next) {
+        // TODO: New Route detection
-            this.next = next;
+        if (path.isEmpty()) {
-        }
+            source = null;
-
+            destination = null;
-        public abstract void plan(LixfelAI ai);
+            chat("no route");
-
-        public void setNext(Action followup) {
-            this.next = followup;
-        }
-
-        protected void next(LixfelAI ai) {
-            ai.setAction(next);
-            next.plan(ai);
-        }
-    }
-
-    private static class FunctionAction extends Action {
-
-        private final Function<LixfelAI, Boolean> action;
-        public FunctionAction(Function<LixfelAI, Boolean> action, Action followup) {
-            super(followup);
-            this.action = action;
-        }
-
-        @Override
-        public void plan(LixfelAI ai) {
-            if(action.apply(ai))
-                next(ai);
-        }
-    }
-
-    private static class WaitAction extends Action {
-
-        private int remaining;
-        public WaitAction(int ticks, Action followup) {
-            super(followup);
-            this.remaining = ticks;
-        }
-
-        @Override
-        public void plan(LixfelAI ai) {
-            if(--remaining == 0)
-                next(ai);
-        }
-    }
-
-    private static class MoveToRangeAction extends Action {
-
-        private final Vector target;
-        public MoveToRangeAction(Vector target, Action next) {
-            super(next);
-            this.target = target;
-        }
-
-        @Override
-        public void plan(LixfelAI ai) {
-            Vector position = ai.getPosition();
-            Vector eyePosition = new Vector(0, ai.getEntity().getEyeHeight(), 0).add(position);
-
-            if(eyePosition.distance(target) > 5) {
-                List<Vector> path = new ArrayList<>(ai.getPathplanner().planToRange(position, target, 5.0));
-                if(path.isEmpty())
-                    path.add(new Vector(0, 1, 0).add(position));
-
-                ai.move(path.get(0));
-            } else {
-                next(ai);
-            }
-        }
-    }
-
-    private static class BlockAction extends Action {
-        private final List<Vector> tntToPlace;
-        private final List<Vector> interactables;
-
-        public BlockAction(List<Vector> tntToPlace, List<Vector> interactables, Action followup) {
-            super(followup);
-            this.tntToPlace = new ArrayList<>(tntToPlace);
-            this.interactables = new ArrayList<>(interactables);
-        }
-
-        @Override
-        public void plan(LixfelAI ai) {
-            if(!tntToPlace.isEmpty()) {
-                if(outOfRange(ai, tntToPlace.get(0)))
             return;
+        }
+        if (!oldRoute.equals(path)) {
+            source = getEntity().getLocation().toVector();
+            index = 0;
+            chat("new route");
+            return;
+        }
+        if (index == 0) {
+            chat(source + " -> " + destination + " = " + path.size());
+        }
 
-                ai.setTNT(tntToPlace.remove(0));
+        if (index > path.size()) {
+            source = null;
+            destination = null;
+            chat("route cancelled");
             return;
         }
 
-            if(!interactables.isEmpty()) {
+        Vector location = path.get(index++);
-                if(outOfRange(ai, interactables.get(0)))
+        move(toAIPosition(location));
-                    return;
 
-                ai.interact(interactables.remove(0));
+        if (index == path.size()) {
-                return;
+            source = null;
-            }
+            destination = null;
-
-            next(ai);
-        }
-
-        private boolean outOfRange(LixfelAI ai, Vector location) {
-            Vector position = ai.getPosition();
-            Vector eyePosition = new Vector(0, ai.getEntity().getEyeHeight(), 0).add(position);
-            boolean outOfRange = eyePosition.distance(location) > 5;
-
-            if(outOfRange) {
-                List<Vector> path = new ArrayList<>(ai.getPathplanner().planToRange(position, location, 5.0));
-                if(path.isEmpty())
-                    path.add(new Vector(0, 1, 0).add(position));
-
-                System.out.println(ai.getEntity().getName() + ": " + position + "->" + path.get(0));
-                ai.move(path.get(0));
-            }
-
-            return outOfRange;
-        }
-    }
-
-    private static class ChooseCannonAction extends Action {
-
-        private final List<Cannon> cannons;
-        private final List<Cannon> shootingList = new ArrayList<>();
-
-        public ChooseCannonAction(Cannon... cannons) {
-            super(null);
-            this.cannons = Arrays.asList(cannons);
-            Collections.shuffle(this.cannons);
-        }
-
-        @Override
-        public void plan(LixfelAI ai) {
-            if(shootingList.isEmpty())
-                shootingList.addAll(cannons);
-
-            setNext(shootingList.remove(0).toAction(this));
-            next(ai);
-        }
-    }
-
-    private class Cannon {
-        private final Vector activator;
-        private final List<Vector> tnt = new ArrayList<>();
-
-        public Cannon(Vector activator, int... tntpos) {
-            this.activator = activator;
-
-            for(int i = 0; i < tntpos.length; i+=3) {
-                tnt.add(new Vector(tntpos[i], tntpos[i+1], tntpos[i+2]));
-            }
-        }
-
-        public BlockAction toAction(Action next) {
-            return new BlockAction(new ArrayList<>(tnt), activator == null ? Collections.emptyList() : Collections.singletonList(activator), next);
         }
     }
 }

FightSystem_Core/src/de/steamwar/fightsystem/ai/navmesh/NavMesh.java

@@ -0,0 +1,388 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2023  SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.navmesh;
+
+import de.steamwar.entity.RArmorStand;
+import de.steamwar.entity.REntity;
+import de.steamwar.entity.REntityServer;
+import de.steamwar.fightsystem.ArenaMode;
+import de.steamwar.fightsystem.FightSystem;
+import de.steamwar.fightsystem.fight.FightTeam;
+import de.steamwar.fightsystem.states.FightState;
+import de.steamwar.fightsystem.states.OneShotStateDependent;
+import org.bukkit.Bukkit;
+import org.bukkit.Material;
+import org.bukkit.World;
+import org.bukkit.block.Block;
+import org.bukkit.block.BlockFace;
+import org.bukkit.event.Listener;
+import org.bukkit.util.BoundingBox;
+import org.bukkit.util.Vector;
+import org.bukkit.util.VoxelShape;
+
+import java.util.*;
+import java.util.concurrent.atomic.AtomicReference;
+import java.util.function.BiConsumer;
+import java.util.stream.Collectors;
+
+public class NavMesh implements Listener {
+
+    private static final World WORLD = Bukkit.getWorlds().get(0);
+    private static final double PLAYER_JUMP_HEIGHT = 1.25;
+    private static final double PLAYER_HEIGHT = 1.8125;
+    private static final BoundingBox PLAYER_SHADOW = new BoundingBox(0.2, 0, 0.2, 0.8, 1, 0.8);
+    private static final Set<Pos> RELATIVE_BLOCKS_TO_CHECK = new HashSet<>();
+
+    static {
+        for (int y = -2; y <= 2; y++) {
+            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.NORTH.getDirection().setY(y)));
+            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.SOUTH.getDirection().setY(y)));
+            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.EAST.getDirection().setY(y)));
+            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.WEST.getDirection().setY(y)));
+        }
+        RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.UP.getDirection()));
+        RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.DOWN.getDirection()));
+    }
+
+    private FightTeam fightTeam;
+    private List<REntity> rEntities = new ArrayList<>();
+    private REntityServer entityServer;
+
+    public NavMesh(FightTeam fightTeam, REntityServer entityServer) {
+        this.fightTeam = fightTeam;
+        this.entityServer = entityServer;
+
+        new OneShotStateDependent(ArenaMode.All, FightState.PostSchemSetup, () -> {
+            Bukkit.getScheduler().runTaskLater(FightSystem.getPlugin(), () -> {
+                long time = System.currentTimeMillis();
+                fightTeam.getExtendRegion().forEach((x, y, z) -> {
+                    if (y < fightTeam.getSchemRegion().getMinY()) return;
+                    checkWalkable(x, y, z);
+                });
+                floorBlock.forEach(this::checkNeighbouring);
+                System.out.println(System.currentTimeMillis() - time + " ms");
+                /*
+                iterateWalkableBlocks((vector, ceilingOffset) -> {
+                    RArmorStand armorStand = new RArmorStand(entityServer, vector.toLocation(WORLD), RArmorStand.Size.MARKER);
+                    armorStand.setNoGravity(true);
+                    armorStand.setInvisible(true);
+                    armorStand.setDisplayName("+" + (ceilingOffset == null ? "∞" : ceilingOffset));
+                });
+                 */
+            }, 20);
+        });
+        new OneShotStateDependent(ArenaMode.All, FightState.Spectate, () -> {
+            floorBlock.clear();
+        });
+    }
+
+    private static class Pos {
+        private int x;
+        private int y;
+        private int z;
+
+        public Pos(int x, int y, int z) {
+            this.x = x;
+            this.y = y;
+            this.z = z;
+        }
+
+        public Pos(Vector vector) {
+            this.x = vector.getBlockX();
+            this.y = vector.getBlockY();
+            this.z = vector.getBlockZ();
+        }
+
+        @Override
+        public String toString() {
+            return x + "," + y + "," + z;
+        }
+
+        @Override
+        public boolean equals(Object o) {
+            if (this == o) return true;
+            if (!(o instanceof Pos)) return false;
+            Pos pos = (Pos) o;
+            return x == pos.x && y == pos.y && z == pos.z;
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(x, y, z);
+        }
+
+        public Vector toVector() {
+            return new Vector(x, y, z);
+        }
+
+        public Pos add(Pos pos) {
+            return new Pos(x + pos.x, y + pos.y, z + pos.z);
+        }
+
+        public Pos subtract(Pos pos) {
+            return new Pos(x - pos.x, y - pos.y, z - pos.z);
+        }
+    }
+
+    private Map<Pos, Double> floorBlock = new HashMap<>();
+    private Map<Pos, Double> ceilingOffset = new HashMap<>();
+    private Map<Pos, Set<Pos>> neighbourConnections = new HashMap<>();
+    private Map<Pos, Set<Pos>> reverseNeighbourConnections = new HashMap<>();
+
+    private void checkWalkable(int x, int y, int z) {
+        Pos pos = new Pos(x, y, z);
+        floorBlock.remove(pos);
+        ceilingOffset.remove(pos);
+
+        Block block = WORLD.getBlockAt(x, y, z);
+        VoxelShape floor = block.getCollisionShape();
+        if (block.getType() != Material.LADDER && !overlaps(floor, 0, 0, 0)) return;
+
+        Double floorHeight = null;
+        for (BoundingBox box : floor.getBoundingBoxes()) {
+            double by = box.getMaxY();
+            if (!overlaps(floor, 0, by, 0)) {
+                if (floorHeight == null) {
+                    floorHeight = by;
+                } else {
+                    floorHeight = Math.min(floorHeight, by);
+                }
+            }
+        }
+        if (floorHeight == null) return;
+
+        Double ceilingOffset = null;
+        for (int cy = y + 1; cy < fightTeam.getExtendRegion().getMaxY(); cy++) {
+            VoxelShape current = WORLD.getBlockAt(x, cy, z).getCollisionShape();
+            if (!overlaps(current, 0, 0, 0)) continue;
+
+            Double ceilingHeight = null;
+            for (BoundingBox box : current.getBoundingBoxes()) {
+                double by = box.getMinY();
+                if (!overlaps(current, 0, -(1 - by), 0)) {
+                    if (ceilingHeight == null) {
+                        ceilingHeight = by;
+                    } else {
+                        ceilingHeight = Math.max(ceilingHeight, by);
+                    }
+                }
+            }
+            if (ceilingHeight != null) {
+                ceilingOffset = cy - y + ceilingHeight - floorHeight;
+            }
+            break;
+        }
+
+        if (ceilingOffset != null && ceilingOffset < PLAYER_HEIGHT) return;
+
+        floorBlock.put(pos, y + floorHeight);
+        this.ceilingOffset.put(pos, ceilingOffset);
+    }
+
+    private void checkNeighbouring(Pos pos, double posFloorHeight) {
+        Set<Pos> connections = neighbourConnections.remove(pos);
+        if (connections != null) {
+            connections.forEach(p -> {
+                reverseNeighbourConnections.getOrDefault(pos.add(p), Collections.emptySet()).remove(pos);
+            });
+        }
+
+        for (Pos relativeCheck : RELATIVE_BLOCKS_TO_CHECK) {
+            Pos other = new Pos(pos.x + relativeCheck.x, pos.y + relativeCheck.y, pos.z + relativeCheck.z);
+            Double otherFloorHeight = floorBlock.get(other);
+            if (otherFloorHeight == null) continue;
+            if (otherFloorHeight > posFloorHeight && otherFloorHeight - posFloorHeight > PLAYER_JUMP_HEIGHT) continue;
+            // double floorDiff = Math.abs(posFloorHeight - otherFloorHeight);
+            // if (floorDiff > PLAYER_JUMP_HEIGHT) continue;
+
+            Double posCeilingOffset = ceilingOffset.get(pos);
+            Double otherCeilingOffset = ceilingOffset.get(other);
+            if (posCeilingOffset == null && otherCeilingOffset == null) {
+                neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
+                reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
+                continue;
+            }
+
+            if (posCeilingOffset != null && otherCeilingOffset == null) {
+                if (posFloorHeight + posCeilingOffset - otherFloorHeight >= PLAYER_HEIGHT) {
+                    neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
+                    reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
+                }
+                continue;
+            }
+            if (otherCeilingOffset != null && posCeilingOffset == null) {
+                if (otherFloorHeight + otherCeilingOffset - posFloorHeight >= PLAYER_HEIGHT) {
+                    neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
+                    reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
+                }
+                continue;
+            }
+
+            if (posFloorHeight + posCeilingOffset - otherFloorHeight >= PLAYER_HEIGHT && otherFloorHeight + otherCeilingOffset - posFloorHeight >= PLAYER_HEIGHT) {
+                neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
+                reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
+            }
+        }
+    }
+
+    private boolean overlaps(VoxelShape voxelShape, double x, double y, double z) {
+        PLAYER_SHADOW.shift(x, y, z);
+        boolean overlaps = voxelShape.overlaps(PLAYER_SHADOW);
+        PLAYER_SHADOW.shift(-x, -y, -z);
+        return overlaps;
+    }
+
+    private void iterateWalkableBlocks(BiConsumer<Vector, Double> consumer) {
+        floorBlock.forEach((pos, aDouble) -> {
+            Vector vector = new Vector(pos.x + 0.5, aDouble, pos.z + 0.5);
+            consumer.accept(vector, ceilingOffset.get(pos));
+        });
+    }
+
+    private Pos toPos(Vector vector) {
+        Pos pos = new Pos(vector);
+        if (floorBlock.containsKey(pos)) return pos;
+        pos = new Pos(pos.x, pos.y - 1, pos.z);
+        if (floorBlock.containsKey(pos)) return pos;
+        return null;
+    }
+
+    public void update(Vector posVector) {
+        Pos pos = toPos(posVector);
+        if (pos == null) return;
+
+        for (int x = -2; x <= 2; x++) {
+            for (int z = -2; z <= 2; z++) {
+                for (int y = fightTeam.getSchemRegion().getMinY(); y <= pos.y + 2; y++) {
+                    checkWalkable(pos.x + x, y, pos.z + z);
+                }
+            }
+        }
+        floorBlock.forEach(this::checkNeighbouring);
+    }
+
+    public List<Vector> getAllWalkableBlocks() {
+        return floorBlock.keySet().stream().map(Pos::toVector).collect(Collectors.toList());
+    }
+
+    public List<Vector> getWalkableBlocks(Vector fromVector) {
+        Pos from = toPos(fromVector);
+        if (from == null) {
+            return Collections.emptyList();
+        }
+
+        Set<Pos> checked = new HashSet<>();
+        List<Pos> checking = new ArrayList<>();
+        checking.add(from);
+        while (!checking.isEmpty()) {
+            Pos pos = checking.remove(0);
+            checked.add(pos);
+
+            neighbourConnections.getOrDefault(pos, new HashSet<>()).forEach(p -> {
+                Pos n = pos.add(p);
+                if (checked.contains(n)) return;
+                if (checking.contains(n)) return;
+                checking.add(n);
+            });
+        }
+
+        return checked.stream().map(Pos::toVector).collect(Collectors.toList());
+    }
+
+    public List<Vector> path(Vector fromVector, Vector toVector) {
+        rEntities.forEach(REntity::die);
+        rEntities.clear();
+
+        Pos from = toPos(fromVector);
+        Pos to = toPos(toVector);
+        if (from == null || to == null) {
+            return Collections.emptyList();
+        }
+        if (from.equals(to)) {
+            return Collections.emptyList();
+        }
+
+        List<Pos> checking = new ArrayList<>(Arrays.asList(to));
+        Map<Pos, Pos> route = new HashMap<>();
+        while (!checking.isEmpty()) {
+            Set<Pos> toCheck = new HashSet<>();
+            for (Pos pos : checking) {
+                boolean foundFrom = false;
+                Set<Pos> successors = reverseNeighbourConnections.get(pos);
+                for (Pos p : successors) {
+                    if (route.containsKey(p)) continue;
+                    route.put(p, pos);
+                    toCheck.add(p);
+                    foundFrom = p.equals(from);
+                    if (foundFrom) break;
+                }
+
+                if (foundFrom) {
+                    List<Pos> path = new ArrayList<>();
+                    path.add(from);
+
+                    while (path.get(path.size() - 1) != to) {
+                        path.add(route.get(path.get(path.size() - 1)));
+                    }
+
+                    for (int i = path.size() - 1; i > 0; i--) {
+                        Pos current = path.get(i);
+                        Pos last = path.get(i - 1);
+                        if (last.y > current.y) {
+                            path.set(i, new Pos(current.x, last.y, current.z));
+                        }
+                    }
+
+                    List<Vector> vectors = path.stream().map(p -> {
+                        Double floorHeight = floorBlock.get(p);
+                        if (p.y > (floorHeight == null ? p.y : floorHeight)) floorHeight = null;
+                        return new Vector(p.x + 0.5, floorHeight == null ? p.y : floorHeight, p.z + 0.5);
+                    }).collect(Collectors.toList());
+
+                    AtomicReference<Vector> last = new AtomicReference<>();
+                    vectors.forEach(vector -> {
+                        RArmorStand armorStand = new RArmorStand(entityServer, vector.toLocation(WORLD), RArmorStand.Size.MARKER);
+                        armorStand.setInvisible(true);
+                        armorStand.setNoGravity(true);
+                        armorStand.setDisplayName("+");
+                        rEntities.add(armorStand);
+
+                        if (true) return;
+                        Vector lastVector = last.getAndSet(vector);
+                        if (lastVector == null) return;
+                        lastVector = lastVector.clone().add(vector).divide(new Vector(2, 2, 2));
+                        armorStand = new RArmorStand(entityServer, lastVector.toLocation(WORLD), RArmorStand.Size.MARKER);
+                        armorStand.setInvisible(true);
+                        armorStand.setNoGravity(true);
+                        armorStand.setDisplayName("+");
+                        rEntities.add(armorStand);
+                    });
+
+                    return vectors;
+                }
+            }
+
+            checking.clear();
+            checking.addAll(toCheck);
+        }
+
+        return Collections.emptyList();
+    }
+}