mangos/src/game/MotionGenerators/PathFinder.cpp

/**
 * MaNGOS is a full featured server for World of Warcraft, supporting
 * the following clients: 1.12.x, 2.4.3, 3.3.5a, 4.3.4a and 5.4.8
 *
 * Copyright (C) 2005-2022 MaNGOS <https://getmangos.eu>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 * World of Warcraft, and all World of Warcraft or Warcraft art, images,
 * and lore are copyrighted by Blizzard Entertainment, Inc.
 */

#include "../recastnavigation/Detour/Include/DetourCommon.h"

#include "MoveMap.h"
#include "GridMap.h"
#include "Creature.h"
#include "Map.h"
#include "PathFinder.h"
#include "Log.h"

////////////////// PathFinder //////////////////
PathFinder::PathFinder(const Unit* owner) :
    m_polyLength(0), m_type(PATHFIND_BLANK),
    m_useStraightPath(false), m_forceDestination(false), m_pointPathLimit(MAX_POINT_PATH_LENGTH),
    m_sourceUnit(owner), m_navMesh(NULL), m_navMeshQuery(NULL)
{
    DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::PathFinder for %s \n", m_sourceUnit->GetGuidStr().c_str());

    memset(m_pathPolyRefs, 0, sizeof(m_pathPolyRefs));

    uint32 mapId = m_sourceUnit->GetMapId();

    if (MMAP::MMapFactory::IsPathfindingEnabled(mapId, owner))
    {
        MMAP::MMapManager* mmap = MMAP::MMapFactory::createOrGetMMapManager();
        m_navMesh = mmap->GetNavMesh(mapId);
        m_navMeshQuery = mmap->GetNavMeshQuery(mapId, m_sourceUnit->GetInstanceId());
    }

    createFilter();
}

PathFinder::~PathFinder()
{
    DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::~PathFinder() for %s \n", m_sourceUnit->GetGuidStr().c_str());
}

bool PathFinder::calculate(float destX, float destY, float destZ, bool forceDest)
{
    float x, y, z;
    m_sourceUnit->GetPosition(x, y, z);

    if (!MaNGOS::IsValidMapCoord(x,y,z) || !MaNGOS::IsValidMapCoord(destX, destY, destZ))
    {
        return false;
    }

    Vector3 start(x, y, z);
    setStartPosition(start);

    Vector3 dest(destX, destY, destZ);
    setEndPosition(dest);

    m_forceDestination = forceDest;

    DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate() for %s \n", m_sourceUnit->GetGuidStr().c_str());

    // make sure navMesh works - we can run on map w/o mmap
    // check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
    if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING) ||
        !HaveTile(start) || !HaveTile(dest))
    {
        BuildShortcut();
        m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
        return true;
    }

    updateFilter();

    BuildPolyPath(start, dest);
    return true;
}

dtPolyRef PathFinder::getPathPolyByPosition(const dtPolyRef* polyPath, uint32 polyPathSize, const float* point, float* distance) const
{
    if (!polyPath || !polyPathSize)
    {
        return INVALID_POLYREF;
    }

    dtPolyRef nearestPoly = INVALID_POLYREF;
    float minDist2d = FLT_MAX;
    float minDist3d = 0.0f;

    for (uint32 i = 0; i < polyPathSize; ++i)
    {
        float closestPoint[VERTEX_SIZE];

        if (dtStatusFailed(m_navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint, NULL)))
        {
            continue;
        }

        float d = dtVdist2DSqr(point, closestPoint);
        if (d < minDist2d)
        {
            minDist2d = d;
            nearestPoly = polyPath[i];
            minDist3d = dtVdistSqr(point, closestPoint);
        }

        if (minDist2d < 1.0f) // shortcut out - close enough for us
        {
            break;
        }
    }

    if (distance)
    {
        *distance = dtMathSqrtf(minDist3d);
    }

    return (minDist2d < 3.0f) ? nearestPoly : INVALID_POLYREF;
}

dtPolyRef PathFinder::getPolyByLocation(const float* point, float* distance) const
{
    // first we check the current path
    // if the current path doesn't contain the current poly,
    // we need to use the expensive navMesh.findNearestPoly
    dtPolyRef polyRef = getPathPolyByPosition(m_pathPolyRefs, m_polyLength, point, distance);
    if (polyRef != INVALID_POLYREF)
    {
        return polyRef;
    }

    // we don't have it in our old path
    // try to get it by findNearestPoly()
    // first try with low search box
    float extents[VERTEX_SIZE] = {3.0f, 5.0f, 3.0f};    // bounds of poly search area
    float closestPoint[VERTEX_SIZE] = {0.0f, 0.0f, 0.0f};
    if (dtStatusSucceed(m_navMeshQuery->findNearestPoly(point, extents, &m_filter, &polyRef, closestPoint)) && polyRef != INVALID_POLYREF)
    {
        *distance = dtVdist(closestPoint, point);
        return polyRef;
    }

    // still nothing ..
    // try with bigger search box
    extents[1] = 200.0f;
    if (dtStatusSucceed(m_navMeshQuery->findNearestPoly(point, extents, &m_filter, &polyRef, closestPoint)) && polyRef != INVALID_POLYREF)
    {
        *distance = dtVdist(closestPoint, point);
        return polyRef;
    }

    return INVALID_POLYREF;
}

void PathFinder::BuildPolyPath(const Vector3& startPos, const Vector3& endPos)
{
    // *** getting start/end poly logic ***

    float distToStartPoly, distToEndPoly;
    float startPoint[VERTEX_SIZE] = {startPos.y, startPos.z, startPos.x};
    float endPoint[VERTEX_SIZE] = {endPos.y, endPos.z, endPos.x};

    dtPolyRef startPoly = getPolyByLocation(startPoint, &distToStartPoly);
    dtPolyRef endPoly = getPolyByLocation(endPoint, &distToEndPoly);

    dtStatus dtResult;

    // we have a hole in our mesh
    // make shortcut path and mark it as NOPATH ( with flying exception )
    // its up to caller how he will use this info
    if (startPoly == INVALID_POLYREF || endPoly == INVALID_POLYREF)
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPoly == 0 || endPoly == 0) for %s\n", m_sourceUnit->GetGuidStr().c_str());
        BuildShortcut();

        if (m_sourceUnit->GetTypeId() == TYPEID_UNIT)
        {
            // Check for swimming or flying shortcut
            if ((startPoly == INVALID_POLYREF && m_sourceUnit->GetMap()->GetTerrain()->IsUnderWater(startPos.x, startPos.y, startPos.z)) ||
                (endPoly == INVALID_POLYREF && m_sourceUnit->GetMap()->GetTerrain()->IsUnderWater(endPos.x, endPos.y, endPos.z)))
            {
                m_type = m_sourceUnit->ToCreature()->CanSwim() ? PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH) : PATHFIND_NOPATH;
            }
            else
            {
                m_type = m_sourceUnit->ToCreature()->CanFly() ? PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH) : PATHFIND_NOPATH;
            }
        }
        else
        {
            m_type = PATHFIND_NOPATH;
        }

        return;
    }

    // we may need a better number here
    bool farFromPoly = (distToStartPoly > 7.0f || distToEndPoly > 7.0f);
    if (farFromPoly)
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: farFromPoly distToStartPoly=%.3f distToEndPoly=%.3f for %s\n",
                         distToStartPoly, distToEndPoly, m_sourceUnit->GetGuidStr().c_str());

        bool buildShotrcut = false;
        if (m_sourceUnit->GetTypeId() == TYPEID_UNIT)
        {
            const Creature* owner = m_sourceUnit->ToCreature();

            Vector3 p = (distToStartPoly > 7.0f) ? startPos : endPos;
            if (m_sourceUnit->GetMap()->GetTerrain()->IsUnderWater(p.x, p.y, p.z))
            {
                DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: underWater case for %s\n", m_sourceUnit->GetGuidStr().c_str());
                if (owner->CanSwim())
                {
                    buildShotrcut = true;
                }
            }
            else
            {
                DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: flying case for %s\n", m_sourceUnit->GetGuidStr().c_str());
                if (owner->CanFly())
                {
                    buildShotrcut = true;
                }
            }
        }

        if (buildShotrcut)
        {
            BuildShortcut();
            m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
            return;
        }
        else
        {
            float closestPoint[VERTEX_SIZE];
            // we may want to use closestPointOnPolyBoundary instead
            dtResult = m_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint, NULL);
            if (dtStatusSucceed(dtResult))
            {
                dtVcopy(endPoint, closestPoint);
                setActualEndPosition(Vector3(endPoint[2], endPoint[0], endPoint[1]));
            }

            m_type = PATHFIND_INCOMPLETE;
        }
    }

    // *** poly path generating logic ***

    // start and end are on same polygon
    // just need to move in straight line
    if (startPoly == endPoly)
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPoly == endPoly) for %s\n", m_sourceUnit->GetGuidStr().c_str());

        BuildShortcut();

        m_pathPolyRefs[0] = startPoly;
        m_polyLength = 1;

        m_type = farFromPoly ? PATHFIND_INCOMPLETE : PATHFIND_NORMAL;
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: path type %d for %s\n", m_type, m_sourceUnit->GetGuidStr().c_str());
        return;
    }

    // look for startPoly/endPoly in current path
    // TODO: we can merge it with getPathPolyByPosition() loop
    bool startPolyFound = false;
    bool endPolyFound = false;
    uint32 pathStartIndex, pathEndIndex;

    if (m_polyLength)
    {
        for (pathStartIndex = 0; pathStartIndex < m_polyLength; ++pathStartIndex)
        {
            // here to catch few bugs
            MANGOS_ASSERT(m_pathPolyRefs[pathStartIndex] != INVALID_POLYREF || m_sourceUnit->PrintEntryError("PathFinder::BuildPolyPath"));

            if (m_pathPolyRefs[pathStartIndex] == startPoly)
            {
                startPolyFound = true;
                break;
            }
        }

        for (pathEndIndex = m_polyLength - 1; pathEndIndex > pathStartIndex; --pathEndIndex)
            if (m_pathPolyRefs[pathEndIndex] == endPoly)
            {
                endPolyFound = true;
                break;
            }
    }

    if (startPolyFound && endPolyFound)
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPolyFound && endPolyFound) for %s\n", m_sourceUnit->GetGuidStr().c_str());

        // we moved along the path and the target did not move out of our old poly-path
        // our path is a simple subpath case, we have all the data we need
        // just "cut" it out

        m_polyLength = pathEndIndex - pathStartIndex + 1;
        memmove(m_pathPolyRefs, m_pathPolyRefs + pathStartIndex, m_polyLength * sizeof(dtPolyRef));
    }
    else if (startPolyFound && !endPolyFound)
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPolyFound && !endPolyFound) for %s\n", m_sourceUnit->GetGuidStr().c_str());

        // we are moving on the old path but target moved out
        // so we have atleast part of poly-path ready

        m_polyLength -= pathStartIndex;

        // try to adjust the suffix of the path instead of recalculating entire length
        // at given interval the target can not get too far from its last location
        // thus we have less poly to cover
        // sub-path of optimal path is optimal

        // take ~80% of the original length
        // TODO : play with the values here
        uint32 prefixPolyLength = uint32(m_polyLength * 0.8f + 0.5f);
        memmove(m_pathPolyRefs, m_pathPolyRefs + pathStartIndex, prefixPolyLength * sizeof(dtPolyRef));

        dtPolyRef suffixStartPoly = m_pathPolyRefs[prefixPolyLength - 1];

        // we need any point on our suffix start poly to generate poly-path, so we need last poly in prefix data
        float suffixEndPoint[VERTEX_SIZE];
        dtResult = m_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint, NULL);
        if (dtStatusFailed(dtResult))
        {
            // we can hit offmesh connection as last poly - closestPointOnPoly() don't like that
            // try to recover by using prev polyref
            --prefixPolyLength;
            suffixStartPoly = m_pathPolyRefs[prefixPolyLength - 1];
            dtResult = m_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint, NULL);
            if (dtStatusFailed(dtResult))
            {
                // suffixStartPoly is still invalid, error state
                BuildShortcut();
                m_type = PATHFIND_NOPATH;
                return;
            }
        }

        // generate suffix
        uint32 suffixPolyLength = 0;
        dtResult = m_navMeshQuery->findPath(
                       suffixStartPoly,    // start polygon
                       endPoly,            // end polygon
                       suffixEndPoint,     // start position
                       endPoint,           // end position
                       &m_filter,            // polygon search filter
                       m_pathPolyRefs + prefixPolyLength - 1,    // [out] path
                       (int*)&suffixPolyLength,
                       MAX_PATH_LENGTH - prefixPolyLength); // max number of polygons in output path

        if (!suffixPolyLength || dtStatusFailed(dtResult))
        {
            // this is probably an error state, but we'll leave it
            // and hopefully recover on the next Update
            // we still need to copy our preffix
            sLog.outError("%u's Path Build failed: 0 length path", m_sourceUnit->GetGUIDLow());
        }

        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ m_polyLength=%u prefixPolyLength=%u suffixPolyLength=%u for %s\n",
                         m_polyLength, prefixPolyLength, suffixPolyLength, m_sourceUnit->GetGuidStr().c_str());

        // new path = prefix + suffix - overlap
        m_polyLength = prefixPolyLength + suffixPolyLength - 1;
    }
    else
    {
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (!startPolyFound && !endPolyFound) for %s\n", m_sourceUnit->GetGuidStr().c_str());

        // either we have no path at all -> first run
        // or something went really wrong -> we aren't moving along the path to the target
        // just generate new path

        // free and invalidate old path data
        clear();

        dtResult = m_navMeshQuery->findPath(
                       startPoly,          // start polygon
                       endPoly,            // end polygon
                       startPoint,         // start position
                       endPoint,           // end position
                       &m_filter,           // polygon search filter
                       m_pathPolyRefs,     // [out] path
                       (int*)&m_polyLength,
                       MAX_PATH_LENGTH);   // max number of polygons in output path

        if (!m_polyLength || dtStatusFailed(dtResult))
        {
            // only happens if we passed bad data to findPath(), or navmesh is messed up
            sLog.outError("Path Build failed: 0 length path for %s", m_sourceUnit->GetGuidStr().c_str());
            BuildShortcut();
            m_type = PATHFIND_NOPATH;
            return;
        }
    }

    // by now we know what type of path we can get
    if (m_pathPolyRefs[m_polyLength - 1] == endPoly && !(m_type & PATHFIND_INCOMPLETE))
    {
        m_type = PATHFIND_NORMAL;
    }
    else
    {
        m_type = PATHFIND_INCOMPLETE;
    }

    // generate the point-path out of our up-to-date poly-path
    BuildPointPath(startPoint, endPoint);
}

void PathFinder::BuildPointPath(const float* startPoint, const float* endPoint)
{
    float pathPoints[MAX_POINT_PATH_LENGTH * VERTEX_SIZE];
    uint32 pointCount = 0;
    dtStatus dtResult;
    if (m_useStraightPath)
    {
        dtResult = m_navMeshQuery->findStraightPath(
                       startPoint,         // start position
                       endPoint,           // end position
                       m_pathPolyRefs,     // current path
                       m_polyLength,       // lenth of current path
                       pathPoints,         // [out] path corner points
                       NULL,               // [out] flags
                       NULL,               // [out] shortened path
                       (int*)&pointCount,
                       m_pointPathLimit);   // maximum number of points/polygons to use
    }
    else
    {
        dtResult = findSmoothPath(
                       startPoint,         // start position
                       endPoint,           // end position
                       m_pathPolyRefs,     // current path
                       m_polyLength,       // length of current path
                       pathPoints,         // [out] path corner points
                       (int*)&pointCount,
                       m_pointPathLimit);    // maximum number of points
    }

    if (pointCount < 2 || dtStatusFailed(dtResult))
    {
        // only happens if pass bad data to findStraightPath or navmesh is broken
        // single point paths can be generated here
        // TODO : check the exact cases
        DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath FAILED! path sized %d returned for %s\n", pointCount, m_sourceUnit->GetGuidStr().c_str());
        BuildShortcut();
        m_type = PATHFIND_NOPATH;
        return;
    }

    m_pathPoints.resize(pointCount);
    for (uint32 i = 0; i < pointCount; ++i)
    {
        m_pathPoints[i] = Vector3(pathPoints[i * VERTEX_SIZE + 2], pathPoints[i * VERTEX_SIZE], pathPoints[i * VERTEX_SIZE + 1]);
    }

    // first point is always our current location - we need the next one
    setActualEndPosition(m_pathPoints[pointCount - 1]);

    // force the given destination, if needed
    if (m_forceDestination &&
        (!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
    {
        // we may want to keep partial subpath
        if (dist3DSqr(getActualEndPosition(), getEndPosition()) <
            0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
        {
            setActualEndPosition(getEndPosition());
            m_pathPoints[m_pathPoints.size() - 1] = getEndPosition();
        }
        else
        {
            setActualEndPosition(getEndPosition());
            BuildShortcut();
        }

        m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
    }

    DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath path type %d size %d poly-size %d for %s\n",
                     m_type, pointCount, m_polyLength, m_sourceUnit->GetGuidStr().c_str());
}

void PathFinder::BuildShortcut()
{
    DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildShortcut :: making shortcut for %s\n", m_sourceUnit->GetGuidStr().c_str());

    clear();

    // make two point path, our curr pos is the start, and dest is the end
    uint32 size = 2;
    m_pathPoints.resize(size);

    // set start and a default next position
    m_pathPoints[0] = getStartPosition();
    m_pathPoints[1] = getActualEndPosition();

    m_type = PATHFIND_SHORTCUT;
}

void PathFinder::createFilter()
{
    uint16 includeFlags = 0;
    uint16 excludeFlags = 0;

    if (m_sourceUnit->GetTypeId() == TYPEID_UNIT)
    {
        Creature* creature = (Creature*)m_sourceUnit;
        if (creature->CanWalk())
        {
            includeFlags |= NAV_GROUND; // walk
        }

        // creatures don't take environmental damage
        if (creature->CanSwim())
        {
            includeFlags |= (NAV_WATER | NAV_MAGMA | NAV_SLIME); // swim
        }
    }
    else if (m_sourceUnit->GetTypeId() == TYPEID_PLAYER)
    {
        // perfect support not possible, just stay 'safe'
        includeFlags |= (NAV_GROUND | NAV_WATER);
    }

    m_filter.setIncludeFlags(includeFlags);
    m_filter.setExcludeFlags(excludeFlags);

    updateFilter();
}

void PathFinder::updateFilter()
{
    // allow creatures to cheat and use different movement types if they are moved
    // forcefully into terrain they can't normally move in
    if (m_sourceUnit->IsInWater() || m_sourceUnit->IsUnderWater())
    {
        uint16 includedFlags = m_filter.getIncludeFlags();
        includedFlags |= getNavTerrain(m_sourceUnit->GetPositionX(),
                                       m_sourceUnit->GetPositionY(),
                                       m_sourceUnit->GetPositionZ());

        m_filter.setIncludeFlags(includedFlags);
    }
}

NavTerrain PathFinder::getNavTerrain(float x, float y, float z)
{
    GridMapLiquidData data;
    m_sourceUnit->GetMap()->GetTerrain()->getLiquidStatus(x, y, z, MAP_ALL_LIQUIDS, &data);

    switch (data.type_flags)
    {
        case MAP_LIQUID_TYPE_WATER:
        case MAP_LIQUID_TYPE_OCEAN:
            return NAV_WATER;
        case MAP_LIQUID_TYPE_MAGMA:
            return NAV_MAGMA;
        case MAP_LIQUID_TYPE_SLIME:
            return NAV_SLIME;
        default:
            return NAV_GROUND;
    }
}

bool PathFinder::HaveTile(const Vector3& p) const
{
    int tx, ty;
    float point[VERTEX_SIZE] = {p.y, p.z, p.x};

    m_navMesh->calcTileLoc(point, &tx, &ty);
    return (m_navMesh->getTileAt(tx, ty, 0) != NULL);
}

uint32 PathFinder::fixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath,
                                 const dtPolyRef* visited, uint32 nvisited)
{
    int32 furthestPath = -1;
    int32 furthestVisited = -1;

    // Find furthest common polygon.
    for (int32 i = npath - 1; i >= 0; --i)
    {
        bool found = false;
        for (int32 j = nvisited - 1; j >= 0; --j)
        {
            if (path[i] == visited[j])
            {
                furthestPath = i;
                furthestVisited = j;
                found = true;
            }
        }
        if (found)
        {
            break;
        }
    }

    // If no intersection found just return current path.
    if (furthestPath == -1 || furthestVisited == -1)
    {
        return npath;
    }

    // Concatenate paths.

    // Adjust beginning of the buffer to include the visited.
    uint32 req = nvisited - furthestVisited;
    uint32 orig = uint32(furthestPath + 1) < npath ? furthestPath + 1 : npath;
    uint32 size = npath > orig ? npath - orig : 0;
    if (req + size > maxPath)
    {
        size = maxPath - req;
    }

    if (size)
    {
        memmove(path + req, path + orig, size * sizeof(dtPolyRef));
    }

    // Store visited
    for (uint32 i = 0; i < req; ++i)
    {
        path[i] = visited[(nvisited - 1) - i];
    }

    return req + size;
}

bool PathFinder::getSteerTarget(const float* startPos, const float* endPos,
                                float minTargetDist, const dtPolyRef* path, uint32 pathSize,
                                float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef)
{
    // Find steer target.
    static const uint32 MAX_STEER_POINTS = 3;
    float steerPath[MAX_STEER_POINTS * VERTEX_SIZE];
    unsigned char steerPathFlags[MAX_STEER_POINTS];
    dtPolyRef steerPathPolys[MAX_STEER_POINTS];
    uint32 nsteerPath = 0;
    dtStatus dtResult = m_navMeshQuery->findStraightPath(startPos, endPos, path, pathSize,
                        steerPath, steerPathFlags, steerPathPolys, (int*)&nsteerPath, MAX_STEER_POINTS);
    if (!nsteerPath || dtStatusFailed(dtResult))
    {
        return false;
    }

    // Find vertex far enough to steer to.
    uint32 ns = 0;
    while (ns < nsteerPath)
    {
        // Stop at Off-Mesh link or when point is further than slop away.
        if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
            !inRangeYZX(&steerPath[ns * VERTEX_SIZE], startPos, minTargetDist, 1000.0f))
        {
            break;
        }
        ++ns;
    }
    // Failed to find good point to steer to.
    if (ns >= nsteerPath)
    {
        return false;
    }

    dtVcopy(steerPos, &steerPath[ns * VERTEX_SIZE]);
    steerPos[1] = startPos[1];  // keep Z value
    steerPosFlag = steerPathFlags[ns];
    steerPosRef = steerPathPolys[ns];

    return true;
}

dtStatus PathFinder::findSmoothPath(const float* startPos, const float* endPos,
                                    const dtPolyRef* polyPath, uint32 polyPathSize,
                                    float* smoothPath, int* smoothPathSize, uint32 maxSmoothPathSize)
{
    *smoothPathSize = 0;
    uint32 nsmoothPath = 0;

    dtPolyRef polys[MAX_PATH_LENGTH];
    memcpy(polys, polyPath, sizeof(dtPolyRef)*polyPathSize);
    uint32 npolys = polyPathSize;

    float iterPos[VERTEX_SIZE], targetPos[VERTEX_SIZE];
    dtStatus dtResult = m_navMeshQuery->closestPointOnPolyBoundary(polys[0], startPos, iterPos);
    if (dtStatusFailed(dtResult))
    {
        return DT_FAILURE;
    }

    dtResult = m_navMeshQuery->closestPointOnPolyBoundary(polys[npolys - 1], endPos, targetPos);
    if (dtStatusFailed(dtResult))
    {
        return DT_FAILURE;
    }

    dtVcopy(&smoothPath[nsmoothPath * VERTEX_SIZE], iterPos);
    ++nsmoothPath;

    // Move towards target a small advancement at a time until target reached or
    // when ran out of memory to store the path.
    while (npolys && nsmoothPath < maxSmoothPathSize)
    {
        // Find location to steer towards.
        float steerPos[VERTEX_SIZE];
        unsigned char steerPosFlag;
        dtPolyRef steerPosRef = INVALID_POLYREF;

        if (!getSteerTarget(iterPos, targetPos, SMOOTH_PATH_SLOP, polys, npolys, steerPos, steerPosFlag, steerPosRef))
        {
            break;
        }

        bool endOfPath = (steerPosFlag & DT_STRAIGHTPATH_END);
        bool offMeshConnection = (steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION);

        // Find movement delta.
        float delta[VERTEX_SIZE];
        dtVsub(delta, steerPos, iterPos);
        float len = dtMathSqrtf(dtVdot(delta, delta));
        // If the steer target is end of path or off-mesh link, do not move past the location.
        if ((endOfPath || offMeshConnection) && len < SMOOTH_PATH_STEP_SIZE)
        {
            len = 1.0f;
        }
        else
        {
            len = SMOOTH_PATH_STEP_SIZE / len;
        }

        float moveTgt[VERTEX_SIZE];
        dtVmad(moveTgt, iterPos, delta, len);

        // Move
        float result[VERTEX_SIZE];
        const static uint32 MAX_VISIT_POLY = 16;
        dtPolyRef visited[MAX_VISIT_POLY];

        uint32 nvisited = 0;
        m_navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY);
        npolys = fixupCorridor(polys, npolys, MAX_PATH_LENGTH, visited, nvisited);

        m_navMeshQuery->getPolyHeight(polys[0], result, &result[1]);
        result[1] += 0.5f;
        dtVcopy(iterPos, result);

        // Handle end of path and off-mesh links when close enough.
        if (endOfPath && inRangeYZX(iterPos, steerPos, SMOOTH_PATH_SLOP, 1.0f))
        {
            // Reached end of path.
            dtVcopy(iterPos, targetPos);
            if (nsmoothPath < maxSmoothPathSize)
            {
                dtVcopy(&smoothPath[nsmoothPath * VERTEX_SIZE], iterPos);
                ++nsmoothPath;
            }
            break;
        }
        else if (offMeshConnection && inRangeYZX(iterPos, steerPos, SMOOTH_PATH_SLOP, 1.0f))
        {
            // Advance the path up to and over the off-mesh connection.
            dtPolyRef prevRef = INVALID_POLYREF;
            dtPolyRef polyRef = polys[0];
            uint32 npos = 0;
            while (npos < npolys && polyRef != steerPosRef)
            {
                prevRef = polyRef;
                polyRef = polys[npos];
                ++npos;
            }

            for (uint32 i = npos; i < npolys; ++i)
            {
                polys[i - npos] = polys[i];
            }

            npolys -= npos;

            // Handle the connection.
            float newStartPos[VERTEX_SIZE], newEndPos[VERTEX_SIZE];
            dtResult = m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, newStartPos, newEndPos);
            if (dtStatusSucceed(dtResult))
            {
                if (nsmoothPath < maxSmoothPathSize)
                {
                    dtVcopy(&smoothPath[nsmoothPath * VERTEX_SIZE], newStartPos);
                    ++nsmoothPath;
                }
                // Move position at the other side of the off-mesh link.
                dtVcopy(iterPos, newEndPos);

                m_navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1]);
                iterPos[1] += 0.5f;
            }
        }

        // Store results.
        if (nsmoothPath < maxSmoothPathSize)
        {
            dtVcopy(&smoothPath[nsmoothPath * VERTEX_SIZE], iterPos);
            ++nsmoothPath;
        }
    }

    *smoothPathSize = nsmoothPath;

    // this is most likely a loop
    return nsmoothPath < MAX_POINT_PATH_LENGTH ? DT_SUCCESS : DT_FAILURE;
}

bool PathFinder::inRangeYZX(const float* v1, const float* v2, float r, float h) const
{
    const float dx = v2[0] - v1[0];
    const float dy = v2[1] - v1[1]; // elevation
    const float dz = v2[2] - v1[2];
    return (dx * dx + dz * dz) < r * r && fabsf(dy) < h;
}

bool PathFinder::inRange(const Vector3& p1, const Vector3& p2, float r, float h) const
{
    Vector3 d = p1 - p2;
    return (d.x * d.x + d.y * d.y) < r * r && fabsf(d.z) < h;
}

float PathFinder::dist3DSqr(const Vector3& p1, const Vector3& p2) const
{
    return (p1 - p2).squaredLength();
}

void PathFinder::NormalizePath(uint32& size)
{
    for (uint32 i = 0; i < m_pathPoints.size(); ++i)
    {
        m_sourceUnit->UpdateAllowedPositionZ(m_pathPoints[i].x, m_pathPoints[i].y, m_pathPoints[i].z);
    }

    // check if the Z difference between each point is higher than SMOOTH_PATH_HEIGHT.
    // add another point if that's the case and keep adding new midpoints till the Z difference is low enough
    for (uint32 i = 1; i < m_pathPoints.size(); ++i)
    {
        if ((m_pathPoints[i - 1].z - m_pathPoints[i].z) > SMOOTH_PATH_HEIGHT)
        {
            auto midPoint = m_pathPoints[i - 1] + (m_pathPoints[i] - m_pathPoints[i - 1]) / 2.f;
            m_sourceUnit->UpdateAllowedPositionZ(midPoint.x, midPoint.y, midPoint.z);
            m_pathPoints.insert(m_pathPoints.begin() + i, midPoint);
            --i;
        }
    }
    size = m_pathPoints.size();
}