pathfinding

package
v1.0.7 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Aug 16, 2026 License: MIT Imports: 14 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	GROUND_HEIGHT_TOLERANCE = 0.05
	DEFAULT_HEIGHT_SEARCH   = 50.0
	// Z_OFFSET_FIND_HEIGHT matches AzerothCore SharedDefines.h
	Z_OFFSET_FIND_HEIGHT = 2.0
	// DEFAULT_COLLISION_HEIGHT matches AzerothCore ObjectDefines.h (most common model value)
	DEFAULT_COLLISION_HEIGHT = 2.03128
)
View Source 
const (
	VMAP_MAGIC     = "VMAP_3.0"
	VMAP_MAGIC_48  = "VMAP_4.8"
	INVALID_HEIGHT = -100000.0
	VMAP_mid       = 32.0 * 533.3333 // for internal <-> game conversion used inside vmaps

)

Constants from AC

View Source 
const (
	BIH_LEAF_MASK = 3 << 30
	BIH_BVH2_MASK = 1 << 29
)

BIH node encoding (from AC)

Variables

This section is empty.

Functions

This section is empty.

Types

type AABox 

type AABox struct {
	Low, High Vector3
}

AABox

func (AABox) IntersectRay 

func (b AABox) IntersectRay(ray Ray, maxDist *float32) bool

type BIH 

type BIH struct {
	// contains filtered or unexported fields
}

BIH simple port for ray intersect (for height we use downward)

type GroupModel 

type GroupModel struct {
	TriFlags uint32
	Mesh     []MeshTriangle
	Vertices []Vector3
	// contains filtered or unexported fields
}

GroupModel

type MMapManager 

type MMapManager struct {
	// contains filtered or unexported fields
}

MMapManager manages lazy loading of navigation meshes and their tiles. It is safe for concurrent use.

func NewMMapManager 

func NewMMapManager(mmapsDir string) *MMapManager

NewMMapManager creates a new MMapManager that reads files from mmapsDir.

func (*MMapManager) CreateQuery 

func (m *MMapManager) CreateQuery(mapID uint32) (*detour.DtNavMeshQuery, error)

CreateQuery creates a new DtNavMeshQuery for the given map. Each query instance is NOT thread-safe and should be used from a single goroutine.

func (*MMapManager) EnsureAllTilesLoaded 

func (m *MMapManager) EnsureAllTilesLoaded(mapID uint32) error

EnsureAllTilesLoaded loads every .mmtile present for the map to ensure complete nav graph (matches runtime server behavior for pathing).

func (*MMapManager) EnsureTileLoaded 

func (m *MMapManager) EnsureTileLoaded(mapID uint32, x, y int32) error

EnsureTileLoaded ensures the tile at (x, y) for the given map is loaded.

func (*MMapManager) GetNavMesh 

func (m *MMapManager) GetNavMesh(mapID uint32) (*detour.DtNavMesh, error)

GetNavMesh returns the nav mesh for the given map, loading it lazily if needed.

type MeshTriangle 

type MeshTriangle struct {
	// contains filtered or unexported fields
}

type ModelInstance 

type ModelInstance struct {
	// contains filtered or unexported fields
}

ModelInstance (simplified for height)

type ModelSpawn 

type ModelSpawn struct {
	Flags uint32
	ADTId uint16
	ID    uint32
	// contains filtered or unexported fields
}

ModelSpawn

type PathFinder 

type PathFinder struct {
	// contains filtered or unexported fields
}

PathFinder provides pathfinding capabilities using MMap data. Each PathFinder instance owns a DtNavMeshQuery which is NOT thread-safe. Use the pool-based PathFindingService for concurrent access.

func NewPathFinder 

func NewPathFinder(mmapMgr *MMapManager, terrainMgr *TerrainManager, vmapMgr *VMapManager, mapID uint32) (*PathFinder, error)

NewPathFinder creates a PathFinder for the given map.

func (*PathFinder) FindPath 

func (pf *PathFinder) FindPath(start, dest Point3D) (*PathResult, error)

FindPath computes a path from start to dest using smooth path generation.

func (*PathFinder) FindRandomPointAroundCircle 

func (pf *PathFinder) FindRandomPointAroundCircle(center Point3D, radius float32) (*PathResult, error)

FindRandomPointAroundCircle finds a random valid point within radius of the center.

func (*PathFinder) GetHeight 

func (pf *PathFinder) GetHeight(x, y, z float32) (float32, bool)

GetHeight returns the ground Z at (x,y), preferring vmap collision when available. The incoming z is the "pre-correction" value (e.g. poly height or input Z from smooth path). We replicate WorldObject::GetMapHeight by adding Z_OFFSET_FIND_HEIGHT to the search origin.

func (*PathFinder) HaveTile 

func (pf *PathFinder) HaveTile(p Point3D) bool

HaveTile checks whether the tile containing the game position is loaded in the navmesh.

type PathFindingService 

type PathFindingService struct {
	// contains filtered or unexported fields
}

PathFindingService is a thread-safe service that manages a pool of PathFinder instances.

func NewPathFindingService 

func NewPathFindingService(mmapsDir, mapsDir string) *PathFindingService

NewPathFindingService creates a new PathFindingService from separate mmaps and maps directories. For convenience when using a single ac-data root containing mmaps/, maps/, vmaps/ subdirectories, prefer NewPathFindingServiceFromDataDir instead.

func NewPathFindingServiceFromDataDir 

func NewPathFindingServiceFromDataDir(dataDir string) *PathFindingService

NewPathFindingServiceFromDataDir creates a PathFindingService from a single data directory root (e.g. ac-data/) that is expected to contain:

  • mmaps/
  • maps/
  • vmaps/ (optional, for accurate height)

Subdirectories are resolved automatically.

func NewPathFindingServiceWithMMapMgr 

func NewPathFindingServiceWithMMapMgr(mmapMgr *MMapManager, terrainMgr *TerrainManager, vmapMgr *VMapManager) *PathFindingService

NewPathFindingServiceWithMMapMgr creates a new PathFindingService using an existing MMapManager (and optional terrain/vmap).

func (*PathFindingService) FindPath 

func (s *PathFindingService) FindPath(mapID uint32, start, dest Point3D) (*PathResult, error)

FindPath finds a path from start to dest within the same map.

func (*PathFindingService) FindRandomPath 

func (s *PathFindingService) FindRandomPath(mapID uint32, center Point3D, radius float32) (*PathResult, error)

FindRandomPath finds a random valid path within radius of center.

func (*PathFindingService) GetHeight 

func (s *PathFindingService) GetHeight(mapID uint32, x, y, z float32) (float32, bool)

GetHeight returns the ground height (Z) at (x,y) using best available source: vmap collision first, terrain next, then navmesh poly as a fallback. This provides values aligned with what path correction and AC use.

func (*PathFindingService) GetTerrainHeight 

func (s *PathFindingService) GetTerrainHeight(mapID uint32, x, y float32) (float32, bool)

GetTerrainHeight returns the raw map grid height at (x,y), without using the caller's Z hint or navmesh poly height. Bot movement uses this for final path Z snapping so downhill terrain can pull dense wander samples down.

type PathResult 

type PathResult struct {
	Type   PathType
	Points []Point3D
}

PathResult contains the output of a pathfinding query.

func (*PathResult) PathLength 

func (r *PathResult) PathLength() float32

PathLength computes the total length of the path.

type PathType 

type PathType uint32

PathType describes the result status of a pathfinding query. 

const (
	PathfindBlank            PathType = 0x00
	PathfindNormal           PathType = 0x01
	PathfindShortcut         PathType = 0x02
	PathfindIncomplete       PathType = 0x04
	PathfindNopath           PathType = 0x08
	PathfindNotUsingPath     PathType = 0x10
	PathfindShort            PathType = 0x20
	PathfindFarFromPolyStart PathType = 0x40
	PathfindFarFromPolyEnd   PathType = 0x80
)

type Point3D 

type Point3D struct {
	X, Y, Z float32
}

Point3D represents a 3D point in game coordinates.

type Ray 

type Ray struct {
	Origin, Direction Vector3
}

Ray

func NewRay 

func NewRay(origin, dir Vector3) Ray

type StaticMapTree 

type StaticMapTree struct {
	// contains filtered or unexported fields
}

StaticMapTree minimal port focused on height.

func (*StaticMapTree) InitMap 

func (s *StaticMapTree) InitMap(fname string) bool

func (*StaticMapTree) LoadMapTile 

func (s *StaticMapTree) LoadMapTile(tileX, tileY uint32) error

type TerrainManager 

type TerrainManager struct {
	// contains filtered or unexported fields
}

TerrainManager manages lazy loading of .map terrain data for height queries. It is safe for concurrent use.

func NewTerrainManager 

func NewTerrainManager(mapsDir string) *TerrainManager

NewTerrainManager creates a TerrainManager reading .map files from mapsDir.

func (*TerrainManager) EnsureGridLoaded 

func (tm *TerrainManager) EnsureGridLoaded(mapID uint32, gx, gy int32) error

EnsureGridLoaded forces load for a grid (useful for preloading).

func (*TerrainManager) GetGridHeight 

func (tm *TerrainManager) GetGridHeight(mapID uint32, x, y float32) (float32, bool)

GetGridHeight returns the raw interpolated grid height (no z check).

func (*TerrainManager) GetHeight 

func (tm *TerrainManager) GetHeight(mapID uint32, x, y, z float32) (float32, bool)

GetHeight returns the terrain height at (x, y) using the same interpolation as AzerothCore GridTerrainData. Matches AC: only returns the grid height if the search z is not below it by more than tolerance.

func (*TerrainManager) GetLiquidStatus 

func (tm *TerrainManager) GetLiquidStatus(mapID uint32, x, y, z float32) uint8

GetLiquidStatus is a simplified stub; full liquid not required for basic Z alignment now.

type VMapManager 

type VMapManager struct {
	// contains filtered or unexported fields
}

VMapManager manages vmap data per map for height queries.

func NewVMapManager 

func NewVMapManager(vmapsDir string) *VMapManager

func (*VMapManager) GetHeight 

func (vm *VMapManager) GetHeight(mapID uint32, x, y, z float32, maxSearch float32) (float32, bool)

GetHeight returns ground height by downward ray using vmap if available, else -inf.

type Vector3 

type Vector3 struct {
	X, Y, Z float32
}

Vector3 simple

func (Vector3) Add 

func (v Vector3) Add(o Vector3) Vector3

func (Vector3) Cross 

func (v Vector3) Cross(o Vector3) Vector3

func (Vector3) Dot 

func (v Vector3) Dot(o Vector3) float32

func (Vector3) Mul 

func (v Vector3) Mul(s float32) Vector3

func (Vector3) Sub 

func (v Vector3) Sub(o Vector3) Vector3

type WorldModel 

type WorldModel struct {
	RootWMOID uint32
	// contains filtered or unexported fields
}

WorldModel simplified

Source Files

View all Source files

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.