feat(Core/Travel): Travel-node graph routing for long-distance pathing

conf/playerbots.conf.dist

@@ -343,10 +343,6 @@ AiPlayerbot.MaxWaitForMove = 5000
 #          2 - MoveSplinePath disabled everywhere
 AiPlayerbot.DisableMoveSplinePath = 0
 
-# Max search time for movement (higher for better movement on slopes)
-# Default: 3
-AiPlayerbot.MaxMovementSearchTime = 3
-
 # Action expiration time
 AiPlayerbot.ExpireActionTime = 5000
 
@@ -1054,6 +1050,12 @@ AiPlayerbot.RestrictedHealerDPSMaps = "33,34,36,43,47,48,70,90,109,129,209,229,2
 # Default: 1 (enabled)
 AiPlayerbot.EnableNewRpgStrategy = 1
 
+# Use pre-computed travel node paths for long-distance movement (>300 yards).
+# When enabled, bots use the travel node graph (A*, flight paths, transports)
+# instead of repeated mmap hops. Experimental.
+# Default: 0 (disabled)
+AiPlayerbot.EnableTravelNodes = 0
+
 # Control probability weights for RPG status of bots. Takes effect only when the status meets its premise.​
 # Sum of weights need not be 100. Set to 0 to disable the status.
 #

src/Ai/Base/Actions/FollowActions.cpp

@@ -19,83 +19,8 @@
 #include "Transport.h"
 #include "Map.h"
 
-namespace
+// Transport helpers (GetTransportForPosTolerant, FindBoardingPointOnTransport,
-{
+// BoardTransport) are now on MovementAction — inherited by FollowAction.
-    Transport* GetTransportForPosTolerant(Map* map, WorldObject* ref, uint32 phaseMask, float x, float y, float z)
-    {
-        if (!map || !ref)
-            return nullptr;
-
-        std::array<float, 4> const probes = { z, z + 0.5f, z + 1.5f, z - 0.5f };
-        for (float const pz : probes)
-        {
-            if (Transport* t = map->GetTransportForPos(phaseMask, x, y, pz, ref))
-                return t;
-        }
-
-        return nullptr;
-    }
-
-    // Attempts to find a point on the leader's transport that is closer to the bot,
-    // by probing along the segment from master -> bot and returning the last point
-    // that is still detected as being on the expected transport.
-    bool FindBoardingPointOnTransport(Map* map, Transport* expectedTransport, WorldObject* ref,
-        float masterX, float masterY, float masterZ,
-        float botX, float botY, float botZ,
-        float& outX, float& outY, float& outZ)
-    {
-        if (!map || !expectedTransport || !ref)
-            return false;
-
-        uint32 const phaseMask = ref->GetPhaseMask();
-
-        // Ensure master is actually detected on that transport (tolerant).
-        if (GetTransportForPosTolerant(map, ref, phaseMask, masterX, masterY, masterZ) != expectedTransport)
-            return false;
-
-        // The raycast in GetTransportForPos starts at (z + 2). Probe with a safe Z.
-        float const probeZ = std::max(masterZ, botZ);
-
-        // Adaptive step count: small platforms need tighter sampling.
-        float const dx2 = botX - masterX;
-        float const dy2 = botY - masterY;
-        float const dist2d = std::sqrt(dx2 * dx2 + dy2 * dy2);
-        int32 const steps = std::clamp(static_cast<int32>(dist2d / 0.75f), 10, 28);
-
-        float const dx = (botX - masterX) / static_cast<float>(steps);
-        float const dy = (botY - masterY) / static_cast<float>(steps);
-
-        // Master must actually be on the expected transport for this to work.
-        if (map->GetTransportForPos(ref->GetPhaseMask(), masterX, masterY, probeZ, ref) != expectedTransport)
-            return false;
-
-        float lastX = masterX;
-        float lastY = masterY;
-        bool found = false;
-
-        for (int32 i = 1; i <= steps; ++i)
-        {
-            float const px = masterX + dx * i;
-            float const py = masterY + dy * i;
-
-            Transport* const t = GetTransportForPosTolerant(map, ref, phaseMask, px, py, probeZ);
-            if (t != expectedTransport)
-                break;
-
-            lastX = px;
-            lastY = py;
-            found = true;
-        }
-
-        if (!found)
-            return false;
-
-        outX = lastX;
-        outY = lastY;
-        outZ = masterZ; // keep deck-level Z to encourage stepping onto the platform/boat
-        return true;
-    }
-}
 
 bool FollowAction::Execute(Event /*event*/)
 {

src/Ai/Base/Actions/MovementActions.h

@@ -10,6 +10,7 @@
 
 #include "Action.h"
 #include "LastMovementValue.h"
+#include "PathGenerator.h"
 #include "PlayerbotAIConfig.h"
 
 class Player;
@@ -22,12 +23,33 @@ class Position;
 #define ANGLE_90_DEG M_PI_2
 #define ANGLE_120_DEG (2.f * static_cast<float>(M_PI) / 3.f)
 
+// Default acceptable path types for GeneratePath
+constexpr uint32 DEFAULT_PATH_ACCEPT_MASK = PATHFIND_NORMAL | PATHFIND_INCOMPLETE;
+constexpr uint32 RELAXED_PATH_ACCEPT_MASK = PATHFIND_NORMAL | PATHFIND_INCOMPLETE | PATHFIND_FARFROMPOLY;
+
+struct PathResult
+{
+    Movement::PointsArray points;
+    G3D::Vector3 actualEnd;
+    G3D::Vector3 end;
+    PathType pathType;
+    bool reachable;
+};
+
 class MovementAction : public Action
 {
 public:
     MovementAction(PlayerbotAI* botAI, std::string const name);
 
 protected:
+    // Emit a one-line trace describing the imminent movement. No-op
+    // unless the bot has the "debug move" non-combat strategy.
+    // Subclasses (e.g. NewRpgBaseAction) may override to append richer
+    // context such as RPG status and target name. Optional `extra`
+    // is appended verbatim (use it to attach hop labels like
+    // "node:Stormwind innkeeper" or fallback reasons).
+    virtual void EmitDebugMove(char const* method, char const* generator, float x, float y, float z, char const* extra = nullptr);
+
     bool JumpTo(uint32 mapId, float x, float y, float z, MovementPriority priority = MovementPriority::MOVEMENT_NORMAL);
     bool MoveNear(uint32 mapId, float x, float y, float z, float distance = sPlayerbotAIConfig.contactDistance,
                   MovementPriority priority = MovementPriority::MOVEMENT_NORMAL);
@@ -66,6 +88,31 @@ protected:
     bool FleePosition(Position pos, float radius, uint32 minInterval = 1000);
     bool CheckLastFlee(float curAngle, std::list<FleeInfo>& infoList);
 
+    PathResult GeneratePath(float x, float y, float z, uint32 acceptMask = DEFAULT_PATH_ACCEPT_MASK, bool forceDestination = false);
+
+    bool GetTravelPlan(TravelPlan& plan, WorldPosition destination);
+    bool ExecuteTravelPlan(TravelPlan& state);
+
+    // Transport boarding helpers (shared by FollowAction and travel plan)
+    static Transport* GetTransportForPosTolerant(Map* map, WorldObject* ref,
+        uint32 phaseMask, float x, float y, float z);
+    static bool FindBoardingPointOnTransport(Map* map, Transport* transport,
+        WorldObject* ref, float refX, float refY, float refZ,
+        float botX, float botY, float botZ,
+        float& outX, float& outY, float& outZ);
+    bool BoardTransport(Transport* transport);
+
+private:
+    bool LaunchWalkSpline(TravelPlan& state);
+    bool CheckSplineProgress(TravelPlan& state);
+    bool MoveToSpline(TravelPlan& state, WorldPosition target);
+    // Per-segment mmap refinement of a travel-node-graph walk batch.
+    // The graph stores offline-baked coords whose straight-line
+    // interpolation may pass through geometry the bot can't actually
+    // traverse. Returns false if any segment is unwalkable per the
+    // live navmesh, in which case the caller should abort the plan.
+    bool RefineWalkPoints(std::vector<G3D::Vector3>& walkPoints);
+
 protected:
     struct CheckAngle
     {
@@ -74,10 +121,6 @@ protected:
     };
 
 private:
-    // float SearchBestGroundZForPath(float x, float y, float z, bool generatePath, float range = 20.0f, bool
-    // normal_only = false, float step = 8.0f);
-    const Movement::PointsArray SearchForBestPath(float x, float y, float z, float& modified_z, int maxSearchCount = 5,
-                                                  bool normal_only = false, float step = 8.0f);
     bool wasMovementRestricted = false;
     void DoMovePoint(Unit* unit, float x, float y, float z, bool generatePath, bool backwards);
 };

src/Bot/PlayerbotAI.cpp

@@ -763,6 +763,21 @@ void PlayerbotAI::HandleCommand(uint32 type, const std::string& text, Player& fr
     }
 }
 
+void PlayerbotAI::TeleportTo(WorldLocation loc, bool resetAI)
+{
+    if (!bot || bot->IsBeingTeleported() || !bot->IsInWorld())
+        return;
+
+    bot->GetMotionMaster()->Clear();
+    if (resetAI)
+        Reset(true);
+    else
+        InterruptSpell();
+    bot->RemoveAurasWithInterruptFlags(AURA_INTERRUPT_FLAG_TELEPORTED | AURA_INTERRUPT_FLAG_CHANGE_MAP);
+    bot->TeleportTo(loc.GetMapId(), loc.GetPositionX(), loc.GetPositionY(), loc.GetPositionZ(), 0);
+    bot->SendMovementFlagUpdate();
+}
+
 void PlayerbotAI::HandleTeleportAck()
 {
     if (!bot || !bot->GetSession())
@@ -805,7 +820,7 @@ void PlayerbotAI::HandleTeleportAck()
             bot->StopMoving();
         }
 
-        // simulate far teleport latency (cmangos-style)
+        // simulate far teleport latency
         SetNextCheckDelay(urand(2000, 5000));
         return;
     }

src/Bot/PlayerbotAI.h

@@ -396,6 +396,7 @@ public:
     void HandleMasterIncomingPacket(WorldPacket const& packet);
     void HandleMasterOutgoingPacket(WorldPacket const& packet);
     void HandleTeleportAck();
+    void TeleportTo(WorldLocation loc, bool resetAI = false);
     void ChangeEngine(BotState type);
     void ChangeEngineOnCombat();
     void ChangeEngineOnNonCombat();

src/Bot/RandomPlayerbotMgr.cpp

@@ -1696,14 +1696,7 @@ void RandomPlayerbotMgr::RandomTeleport(Player* bot, std::vector<WorldLocation>&
             break;
         }
 
-        bot->GetMotionMaster()->Clear();
+        botAI->TeleportTo(WorldLocation(loc.GetMapId(), x, y, z, 0), true);
-        PlayerbotAI* botAI = GET_PLAYERBOT_AI(bot);
-        if (botAI)
-            botAI->Reset(true);
-        bot->RemoveAurasWithInterruptFlags(AURA_INTERRUPT_FLAG_TELEPORTED | AURA_INTERRUPT_FLAG_CHANGE_MAP);
-        bot->TeleportTo(loc.GetMapId(), x, y, z, 0);
-        bot->SendMovementFlagUpdate();
-
         if (pmo)
             pmo->finish();
 

src/Mgr/Travel/TravelMgr.cpp

@@ -681,93 +681,6 @@ std::vector<WorldPosition> WorldPosition::frommGridCoord(mGridCoord GridCoord)
     return retVec;
 }
 
-// TODO: Cleanup — make this actually work.
-void WorldPosition::loadMapAndVMap(uint32 mapId, uint8 x, uint8 y)
-{
-    std::string const fileName = "load_map_grid.csv";
-/*
-    if (isOverworld() && false || false)
-    {
-        if (!MMAP::MMapFactory::createOrGetMMapMgr()->loadMap(mapId, x, y))
-            if (sPlayerbotAIConfig.hasLog(fileName))
-            {
-                std::ostringstream out;
-                out << sPlayerbotAIConfig.GetTimestampStr();
-                out << "+00,\"mmap\", " << x << "," << y << "," << (TravelMgr::instance().isBadMmap(mapId, x, y) ? "0" : "1")
-                    << ",";
-                printWKT(fromGridCoord(GridCoord(x, y)), out, 1, true);
-                sPlayerbotAIConfig.log(fileName, out.str().c_str());
-            }
-    }
-    else
-    {
-        // This needs to be disabled or maps will not load.
-        // Needs more testing to check for impact on movement.
-        if (false)
-            if (!TravelMgr::instance().isBadVmap(mapId, x, y))
-            {
-                // load VMAPs for current map/grid...
-                const MapEntry* i_mapEntry = sMapStore.LookupEntry(mapId);
-                //const char* mapName = i_mapEntry ? i_mapEntry->name[sWorld->GetDefaultDbcLocale()] : "UNNAMEDMAP\x0"; //not used, (usage are commented out below), line marked for removal.
-
-                int vmapLoadResult = VMAP::VMapFactory::createOrGetVMapMgr()->loadMap(
-                    (sWorld->GetDataPath() + "vmaps").c_str(), mapId, x, y);
-                switch (vmapLoadResult)
-                {
-                    case VMAP::VMAP_LOAD_RESULT_OK:
-                        // LOG_ERROR("playerbots", "VMAP loaded name:{}, id:{}, x:{}, y:{} (vmap rep.: x:{}, y:{})",
-                        // mapName, mapId, x, y, x, y);
-                        break;
-                    case VMAP::VMAP_LOAD_RESULT_ERROR:
-                        // LOG_ERROR("playerbots", "Could not load VMAP name:{}, id:{}, x:{}, y:{} (vmap rep.: x:{},
-                        // y:{})", mapName, mapId, x, y, x, y);
-                        TravelMgr::instance().addBadVmap(mapId, x, y);
-                        break;
-                    case VMAP::VMAP_LOAD_RESULT_IGNORED:
-                        TravelMgr::instance().addBadVmap(mapId, x, y);
-                        // LOG_INFO("playerbots", "Ignored VMAP name:{}, id:{}, x:{}, y:{} (vmap rep.: x:{}, y:{})",
-                        // mapName, mapId, x, y, x, y);
-                        break;
-                }
-
-                if (sPlayerbotAIConfig.hasLog(fileName))
-                {
-                    std::ostringstream out;
-                    out << sPlayerbotAIConfig.GetTimestampStr();
-                    out << "+00,\"vmap\", " << x << "," << y << ", " << (TravelMgr::instance().isBadVmap(mapId, x, y) ? "0" : "1")
-                        << ",";
-                    printWKT(frommGridCoord(mGridCoord(x, y)), out, 1, true);
-                    sPlayerbotAIConfig.log(fileName, out.str().c_str());
-                }
-            }
-*/
-    if (!TravelMgr::instance().isBadMmap(mapId, x, y))
-    {
-        // load navmesh
-        Map* map = getMap();
-        if (map && map->GetMapCollisionData().LoadMMapTile(x, y) == MMAP::MMAP_LOAD_RESULT_ERROR)
-            TravelMgr::instance().addBadMmap(mapId, x, y);
-
-        if (sPlayerbotAIConfig.hasLog(fileName))
-        {
-            std::ostringstream out;
-            out << sPlayerbotAIConfig.GetTimestampStr();
-            out << "+00,\"mmap\", " << x << "," << y << "," << (TravelMgr::instance().isBadMmap(mapId, x, y) ? "0" : "1")
-                << ",";
-            printWKT(fromGridCoord(GridCoord(x, y)), out, 1, true);
-            sPlayerbotAIConfig.log(fileName, out.str().c_str());
-        }
-    }
-}
-
-void WorldPosition::loadMapAndVMaps(WorldPosition secondPos)
-{
-    for (auto& grid : getmGridCoords(secondPos))
-    {
-        loadMapAndVMap(GetMapId(), grid.first, grid.second);
-    }
-}
-
 std::vector<WorldPosition> WorldPosition::fromPointsArray(std::vector<G3D::Vector3> path)
 {
     std::vector<WorldPosition> retVec;
@@ -780,36 +693,69 @@ std::vector<WorldPosition> WorldPosition::fromPointsArray(std::vector<G3D::Vecto
 // A single pathfinding attempt from one position to another. Returns pathfinding status and path.
 std::vector<WorldPosition> WorldPosition::getPathStepFrom(WorldPosition startPos, Unit* bot)
 {
-    if (!bot)
+    Unit* pathUnit = bot;
+    Creature* tempCreature = nullptr;
+
+    if (!pathUnit)
+    {
+        // Create a temporary creature for PathGenerator (same entry as DebugAction "show node")
+        Map* map = sMapMgr->FindBaseMap(startPos.GetMapId());
+        if (!map)
             return {};
 
-    // Load mmaps and vmaps between the two points.
+        tempCreature = new Creature();
-    loadMapAndVMaps(startPos);
+        if (!tempCreature->Create(map->GenerateLowGuid<HighGuid::Unit>(), map,
+                                   PHASEMASK_NORMAL, 1 /*entry*/, 0,
+                                   startPos.GetPositionX(), startPos.GetPositionY(),
+                                   startPos.GetPositionZ(), 0))
+        {
+            delete tempCreature;
+            return {};
+        }
+        pathUnit = tempCreature;
 
-    PathGenerator path(bot);
+        // Ensure grids are created at both endpoints so mmap tiles are available.
-    path.CalculatePath(startPos.GetPositionX(), startPos.GetPositionY(), startPos.GetPositionZ());
+        // EnsureGridCreated loads terrain + vmaps + mmaps but NOT objects,
+        // which is all PathGenerator needs.
+        map->EnsureGridCreated(Acore::ComputeGridCoord(startPos.GetPositionX(), startPos.GetPositionY()));
+        map->EnsureGridCreated(Acore::ComputeGridCoord(GetPositionX(), GetPositionY()));
+    }
+
+    // Explicit-start overload (PathGenerator.h:67). Without this,
+    // CalculatePath(destX,destY,destZ) defaults to the unit's
+    // current position as start — which means every iteration of
+    // getPathFromPath's "chain" begins from the bot's same real
+    // location and produces the same ~296y partial path. The chain
+    // never advances. With explicit start, each step extends from
+    // the previous step's endpoint, giving the 40-attempt walker
+    // its intended multi-tile reach.
+    PathGenerator path(pathUnit);
+    path.CalculatePath(startPos.GetPositionX(), startPos.GetPositionY(), startPos.GetPositionZ(),
+                       GetPositionX(), GetPositionY(), GetPositionZ(), false);
 
     Movement::PointsArray points = path.GetPath();
     PathType type = path.GetPathType();
 
-    if (sPlayerbotAIConfig.hasLog("pathfind_attempt_point.csv"))
+    if (tempCreature)
-    {
+        delete tempCreature;
-        std::ostringstream out;
-        out << std::fixed << std::setprecision(1);
-        printWKT({startPos, *this}, out);
-        sPlayerbotAIConfig.log("pathfind_attempt_point.csv", out.str().c_str());
-    }
 
-    if (sPlayerbotAIConfig.hasLog("pathfind_attempt.csv") && (type == PATHFIND_INCOMPLETE || type == PATHFIND_NORMAL))
+    // PathType is a bitmask. Two things to handle:
-    {
+    //
-        std::ostringstream out;
+    // 1. AC's PathGenerator can return INCOMPLETE | FARFROMPOLY_END
-        out << sPlayerbotAIConfig.GetTimestampStr() << "+00,";
+    //    (0x84) etc. — strict `== PATHFIND_INCOMPLETE` would reject
-        out << std::fixed << std::setprecision(1) << type << ",";
+    //    these perfectly usable partial paths. Use bitwise to accept
-        printWKT(fromPointsArray(points), out, 1);
+    //    NORMAL/INCOMPLETE plus auxiliary flags.
-        sPlayerbotAIConfig.log("pathfind_attempt.csv", out.str().c_str());
+    //
-    }
+    // 2. AC's PathGenerator at PathGenerator.cpp:177-188 returns
-
+    //    NORMAL | NOT_USING_PATH for player units when start or end
-    if (type == PATHFIND_INCOMPLETE || type == PATHFIND_NORMAL)
+    //    polygon is INVALID_POLYREF (BuildShortcut → 2-point straight
+    //    line through whatever's in the way). cmangos by contrast
+    //    returns NOPATH for the same case (PathFinder.cpp:437-441).
+    //    To match cmangos's intent (never silently dispatch a
+    //    geometry-ignoring shortcut), reject any path with the
+    //    NOT_USING_PATH bit set.
+    if ((type & (PATHFIND_NORMAL | PATHFIND_INCOMPLETE))
+        && !(type & PATHFIND_NOT_USING_PATH))
         return fromPointsArray(points);
 
     return {};
@@ -1073,6 +1019,14 @@ GuidPosition::GuidPosition(GameObjectData const& goData)
     loadedFromDB = true;
 }
 
+TravelDestination::~TravelDestination()
+{
+    for (WorldPosition* point : points)
+        delete point;
+
+    points.clear();
+}
+
 std::vector<WorldPosition*> TravelDestination::getPoints(bool ignoreFull)
 {
     if (ignoreFull)
@@ -2379,9 +2333,7 @@ void TravelMgr::LoadQuestTravelTable()
     sPlayerbotAIConfig.openLog("unload_grid.csv", "w");
     sPlayerbotAIConfig.openLog("unload_obj.csv", "w");
 
-    TravelNodeMap::instance().loadNodeStore();
+    // Node loading/generation is handled by TravelNodeMap::Init() called from TravelMgr::Init().
-
-    TravelNodeMap::instance().generateAll();
 
     /*
     bool fullNavPointReload = false;
@@ -2772,7 +2724,7 @@ void TravelMgr::LoadQuestTravelTable()
                 //if (preloadUnlinkedPaths && !startNode->hasLinkTo(endNode) && startNode->isUselessLink(endNode))
                 //    continue;
 
-                startNode->buildPath(endNode, nullptr, false);
+                startNode->BuildPath(endNode, nullptr, false);
 
                 //if (startNode->hasLinkTo(endNode) && !startNode->getPathTo(endNode)->getComplete())
                     //startNode->removeLinkTo(endNode);
@@ -2896,7 +2848,7 @@ void TravelMgr::LoadQuestTravelTable()
 
                 TravelNodePath nodePath = *path.second;
 
-                std::vector<WorldPosition> pPath = nodePath.getPath();
+                std::vector<WorldPosition> pPath = nodePath.GetPath();
                 std::reverse(pPath.begin(), pPath.end());
 
                 nodePath.setPath(pPath);
@@ -4359,8 +4311,7 @@ void TravelMgr::Init()
         PrepareZone2LevelBracket();
         PrepareDestinationCache();
     }
-    sTravelNodeMap.InitTaxiGraph();
+    sTravelNodeMap.Init();
-    LOG_INFO("playerbots", "Playerbots Taxi graph and destination cache built.");
 }
 
 TravelMgr::FlightMasterInfo const* TravelMgr::GetNearestFlightMasterInfo(Player* bot) const
@@ -4407,7 +4358,7 @@ std::vector<std::vector<uint32>> TravelMgr::GetOptimalFlightDestinations(Player*
     std::vector<std::vector<uint32>> validDestinations;
 
     FlightMasterInfo const* nearestFlightMaster = GetNearestFlightMasterInfo(bot);
-    if (!nearestFlightMaster || bot->GetDistance(nearestFlightMaster->pos) > 500.0f)
+    if (!nearestFlightMaster)
         return validDestinations;
 
     uint32 fromNode = nearestFlightMaster->taxiNodeId;
@@ -4426,9 +4377,9 @@ std::vector<std::vector<uint32>> TravelMgr::GetOptimalFlightDestinations(Player*
     if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(bot->GetZoneId()))
         botInCapital = (area->flags & AREA_FLAG_CAPITAL) != 0;
 
-    //Simplify destination delection. Its either target cities (Based on config value) or target world.
     std::vector<uint32> candidateZones;
-    if (botLevel >= 10 && !botInCapital && urand(0, 100) < sPlayerbotAIConfig.probTeleToBankers * 100)
+    if (botLevel >= 10 && !botInCapital &&
+        urand(0, 100) < sPlayerbotAIConfig.probTeleToBankers * 100)
     {
         TeamId botTeam = bot->GetTeamId();
         for (Capital const& capital : capitals)
@@ -4555,6 +4506,34 @@ std::vector<WorldLocation> TravelMgr::GetCityLocations(Player* bot)
     return fallbackLocations;
 }
 
+bool TravelMgr::SelectAuctioneerByMap(Player* bot, NpcLocation& outAuctioneer)
+{
+    uint16 botMapId = bot->GetMapId();
+    auto const& cache = (bot->GetTeamId() == TEAM_HORDE) ? hordeAuctioneerCache : allianceAuctioneerCache;
+
+    auto mapIt = cache.find(botMapId);
+    if (mapIt == cache.end() || mapIt->second.empty())
+        return false;
+
+    // Collect all areas on this map that have auctioneers
+    std::vector<uint32> areaIds;
+    areaIds.reserve(mapIt->second.size());
+    for (auto const& [areaId, npcs] : mapIt->second)
+    {
+        if (!npcs.empty())
+            areaIds.push_back(areaId);
+    }
+
+    if (areaIds.empty())
+        return false;
+
+    // Pick a random area, then a random auctioneer in that area
+    uint32 selectedArea = areaIds[urand(0, areaIds.size() - 1)];
+    auto const& auctioneers = mapIt->second.at(selectedArea);
+    outAuctioneer = auctioneers[urand(0, auctioneers.size() - 1)];
+    return true;
+}
+
 void TravelMgr::PrepareZone2LevelBracket()
 {
     // Classic WoW - starter zones
@@ -4641,6 +4620,7 @@ void TravelMgr::PrepareDestinationCache()
     uint32 flightMastersCount = 0;
     uint32 innkeepersCount = 0;
     uint32 bankerCount = 0;
+    uint32 auctioneerCount = 0;
 
     LOG_INFO("playerbots", "Preparing destination caches for {} levels...", maxLevel);
     // Temporary map to group creatures by entry and area
@@ -4687,18 +4667,18 @@ void TravelMgr::PrepareDestinationCache()
             (creatureTemplate->unit_flags & 4096) == 0 &&
             creatureTemplate->rank == 0)
         {
-            int32 roundX = static_cast<int32>(std::lround(x / 50.0f));
+            uint32 roundX = static_cast<uint32>(std::round(x / 50.0f));
-            int32 roundY = static_cast<int32>(std::lround(y / 50.0f));
+            uint32 roundY = static_cast<uint32>(std::round(y / 50.0f));
-            int32 roundZ = static_cast<int32>(std::lround(z / 50.0f));
+            uint32 roundZ = static_cast<uint32>(std::round(z / 50.0f));
             tempLocsCache[std::make_tuple(mapId, roundX, roundY, roundZ)].push_back(creatureData);
             tempCreatureCache[templateEntry][areaId].push_back(WorldLocation(mapId, x, y, z));
         }
         // FLIGHT MASTERS
-        // Entry 29480 is Grimwing (Storm Peaks)
+        // Entry 29480 is Grimwing (Storm Peaks) — has FLIGHTMASTER flag but
-        // Entry 3838 is Vesprystus in Rut'Theran. Need Travel Node system to resolve this one.
+        // isn't a real usable flight master; skip it.
         else if ((creatureTemplate->npcflag & UNIT_NPC_FLAG_FLIGHTMASTER ||
                   creatureTemplate->npcflag & UNIT_NPC_FLAG_INNKEEPER) &&
-                creatureTemplate->Entry != 3838 && creatureTemplate->Entry != 29480)
+                creatureTemplate->Entry != 29480)
         {
             FactionTemplateEntry const* factionEntry = sFactionTemplateStore.LookupEntry(creatureTemplate->faction);
             bool forHorde = !(factionEntry->hostileMask & 4);
@@ -4783,7 +4763,7 @@ void TravelMgr::PrepareDestinationCache()
                  creatureTemplate->Entry != 30606 && creatureTemplate->Entry != 30608 &&
                  creatureTemplate->Entry != 29282)
         {
-            BankerLocation bLoc;
+            NpcLocation bLoc;
             bLoc.loc = WorldLocation(mapId, x + cos(orient) * 6.0f, y + sin(orient) * 6.0f, z + 2.0f, orient + M_PI);
             bLoc.entry = templateEntry;
             uint32 level = (creatureTemplate->minlevel + creatureTemplate->maxlevel + 1) / 2;
@@ -4806,6 +4786,31 @@ void TravelMgr::PrepareDestinationCache()
             }
             bankerCount++;
         }
+        // === AUCTIONEERS ===
+        else if (creatureTemplate->npcflag & UNIT_NPC_FLAG_AUCTIONEER)
+        {
+            FactionTemplateEntry const* factionEntry = sFactionTemplateStore.LookupEntry(creatureTemplate->faction);
+            if (!factionEntry)
+                continue;
+
+            bool forHorde = !(factionEntry->hostileMask & 4);
+            bool forAlliance = !(factionEntry->hostileMask & 2);
+
+            if (!forHorde && !forAlliance)
+                continue;
+
+            NpcLocation aLoc;
+            aLoc.loc = WorldLocation(mapId, x + cos(orient) * 3.0f, y + sin(orient) * 3.0f, z + 0.5f, orient + M_PI);
+            aLoc.entry = templateEntry;
+
+            if (forHorde)
+                hordeAuctioneerCache[mapId][areaId].push_back(aLoc);
+
+            if (forAlliance)
+                allianceAuctioneerCache[mapId][areaId].push_back(aLoc);
+
+            auctioneerCount++;
+        }
     }
 
     // Process temporary caches
@@ -4815,16 +4820,29 @@ void TravelMgr::PrepareDestinationCache()
         {
             CreatureTemplate const* creatureTemplate = sObjectMgr->GetCreatureTemplate(creatureDataList[0].id1);
             uint32 level = (creatureTemplate->minlevel + creatureTemplate->maxlevel + 1) / 2;
+
+            float totalX = 0.0f;
+            float totalY = 0.0f;
+            float totalZ = 0.0f;
+            for (CreatureData const& creatureData : creatureDataList)
+            {
+                totalX += creatureData.posX;
+                totalY += creatureData.posY;
+                totalZ += creatureData.posZ;
+            }
+
+            float avgX = totalX / creatureDataList.size();
+            float avgY = totalY / creatureDataList.size();
+            float avgZ = totalZ / creatureDataList.size();
+            uint32 mapId = std::get<0>(gridTuple);
+
             for (int32 l = (int32)level - (int32)sPlayerbotAIConfig.randomBotTeleLowerLevel;
                  l <= (int32)level + (int32)sPlayerbotAIConfig.randomBotTeleHigherLevel; l++)
             {
                 if (l < 1 || l > maxLevel)
                     continue;
 
-                    locsPerLevelCache[(uint8)l].push_back(WorldLocation(std::get<0>(gridTuple),
+                locsPerLevelCache[(uint8)l].push_back(WorldLocation(mapId, avgX, avgY, avgZ, 0.0f));
-                        static_cast<float>(std::get<1>(gridTuple)) * 50.0f,
-                        static_cast<float>(std::get<2>(gridTuple)) * 50.0f,
-                        static_cast<float>(std::get<3>(gridTuple)) * 50.0f));
             }
         }
     }
@@ -4870,5 +4888,5 @@ void TravelMgr::PrepareDestinationCache()
             break;
         }
     }
-    LOG_INFO("playerbots", ">> {} flight masters and {} innkeepers and {} banker locations for level collected.", flightMastersCount, innkeepersCount, bankerCount);
+    LOG_INFO("playerbots", ">> {} flight masters, {} innkeepers, {} bankers, {} auctioneers collected.", flightMastersCount, innkeepersCount, bankerCount, auctioneerCount);
 }

src/Mgr/Travel/TravelMgr.h

@@ -7,6 +7,7 @@
 #define _PLAYERBOT_TRAVELMGR_H
 
 #include <boost/functional/hash.hpp>
+#include <cmath>
 #include <map>
 #include <random>
 
@@ -268,12 +269,6 @@ public:
     std::vector<mGridCoord> getmGridCoords(WorldPosition secondPos);
     std::vector<WorldPosition> frommGridCoord(mGridCoord GridCoord);
 
-    void loadMapAndVMap(uint32 mapId, uint8 x, uint8 y);
-
-    void loadMapAndVMap() { loadMapAndVMap(GetMapId(), getmGridCoord().first, getmGridCoord().second); }
-
-    void loadMapAndVMaps(WorldPosition secondPos);
-
     // Display functions
     WorldPosition getDisplayLocation();
     float getDisplayX() { return getDisplayLocation().GetPositionY() * -1.0; }
@@ -297,10 +292,26 @@ public:
 
     std::vector<WorldPosition> getPathTo(WorldPosition endPos, Unit* bot) { return endPos.getPathFrom(*this, bot); }
 
-    bool isPathTo(std::vector<WorldPosition> path, float maxDistance = sPlayerbotAIConfig.targetPosRecalcDistance)
+    // The path "reaches" this position when its last point is on
+    // the same map, within maxDistance horizontally, and within
+    // maxZDistance vertically. 3D Euclidean distance would falsely
+    // accept paths that end the right horizontal distance from us
+    // but on a roof/floor below. maxDistance == 0 falls back to
+    // targetPosRecalcDistance (0.1y).
+    bool isPathTo(std::vector<WorldPosition> const& path, float const maxDistance = 0.0f,
+                  float const maxZDistance = 2.0f) const
     {
-        return !path.empty() && distance(path.back()) < maxDistance;
+        if (path.empty())
-    };
+            return false;
+        WorldPosition const& back = path.back();
+        if (back.GetMapId() != GetMapId())
+            return false;
+        float const realMax = maxDistance > 0.0f ? maxDistance
+                                                 : sPlayerbotAIConfig.targetPosRecalcDistance;
+        if (GetExactDist2dSq(&back) >= realMax * realMax)
+            return false;
+        return std::fabs(back.GetPositionZ() - GetPositionZ()) < maxZDistance;
+    }
     bool cropPathTo(std::vector<WorldPosition>& path, float maxDistance = sPlayerbotAIConfig.targetPosRecalcDistance);
     bool canPathTo(WorldPosition endPos, Unit* bot) { return endPos.isPathTo(getPathTo(endPos, bot)); }
 
@@ -507,9 +518,15 @@ public:
         radiusMin = radiusMin1;
         radiusMax = radiusMax1;
     }
-    virtual ~TravelDestination() = default;
+    virtual ~TravelDestination();
 
-    void addPoint(WorldPosition* pos) { points.push_back(pos); }
+    void addPoint(WorldPosition* pos)
+    {
+        if (!pos)
+            return;
+
+        points.push_back(new WorldPosition(*pos));
+    }
 
     void setExpireDelay(uint32 delay) { expireDelay = delay; }
 
@@ -673,7 +690,7 @@ public:
     bool isActive(Player* bot) override;
     virtual CreatureTemplate const* GetCreatureTemplate();
     std::string const getName() override { return "RpgTravelDestination"; }
-    int32 getEntry() override { return 0; }
+    int32 getEntry() override { return entry; }
     std::string const getTitle() override;
 
 protected:
@@ -985,18 +1002,14 @@ private:
         bool InsideBracket(uint32 val) const { return val >= low && val <= high; }
     };
 
-    struct BankerLocation
-    {
-        WorldLocation loc;
-        uint32 entry;
-    };
-
     // Navigation caches
     std::map<uint32, FlightMasterInfo> allianceFlightMasterCache;
     std::map<uint32, FlightMasterInfo> hordeFlightMasterCache;
     std::map<uint8, std::vector<WorldLocation>> allianceHubsPerLevelCache;
     std::map<uint8, std::vector<WorldLocation>> hordeHubsPerLevelCache;
-    std::map<uint8, std::vector<BankerLocation>> bankerLocsPerLevelCache;
+    std::map<uint8, std::vector<NpcLocation>> bankerLocsPerLevelCache;
+    std::unordered_map<uint16, std::unordered_map<uint32, std::vector<NpcLocation>>> hordeAuctioneerCache;
+    std::unordered_map<uint16, std::unordered_map<uint32, std::vector<NpcLocation>>> allianceAuctioneerCache;
     std::unordered_map<uint32, WorldLocation> bankerEntryToLocation;
     std::map<uint8, std::vector<WorldLocation>> locsPerLevelCache;
     std::unordered_map<uint32, std::vector<WorldLocation>> creatureSpawnsByTemplate;

src/Mgr/Travel/TravelNode.h

@@ -8,11 +8,12 @@
 
 #include <shared_mutex>
 
+#include "G3D/Vector3.h"
 #include "TravelMgr.h"
 
 // THEORY
 //
-//  Pathfinding in (c)mangos is based on detour recast an opensource nashmesh creation and pathfinding codebase.
+//  Pathfinding in (c)mangos is based on detour recast, an opensource navmesh creation and pathfinding codebase.
 //  This system is used for mob and npc pathfinding and in this codebase also for bots.
 //  Because mobs and npc movement is based on following a player or a set path the PathGenerator is limited to 296y.
 //  This means that when trying to find a path from A to B distances beyond 296y will be a best guess often moving in a
@@ -24,33 +25,68 @@
 //   <S> ---> [N1] ---> [N2] ---> [N3] ---> <E>
 //
 //  Bot at <S> wants to move to <E>
-//  [N1],[N2],[N3] are predefined nodes for wich we know we can move from [N1] to [N2] and from [N2] to [N3] but not
+//  [N1],[N2],[N3] are predefined nodes for which we know we can move from [N1] to [N2] and from [N2] to [N3] but not
-//  from [N1] to [N3] If we can move fom [S] to [N1] and from [N3] to [E] we have a complete route to travel.
+//  from [N1] to [N3]. If we can move from [S] to [N1] and from [N3] to [E] we have a complete route to travel.
 //
-//  Termonology:
+//  Terminology:
-//  Node: a location on a map for which we know bots are likely to want to travel to or need to travel past to reach
+//  Node:  A location on a map for which we know bots are likely to want to travel to or need to travel past to reach
-//  other nodes. Link: the connection between two nodes. A link signifies that the bot can travel from one node to
+//         other nodes. Stored in DB table `playerbots_travelnode`.
-//  another. A link is one-directional. Path: the waypointpath returned by the standard PathGenerator to move from one
+//  Link:  The connection between two nodes. A link signifies that the bot can travel from one node to another.
-//  node (or position) to another. A path can be imcomplete or empty which means there is no link. Route: the list of
+//         A link is one-directional. Stored in `playerbots_travelnode_link`.
-//  nodes that give the shortest route from a node to a distant node. Routes are calculated using a standard A* search
+//  Path:  The waypoint path returned by the standard PathGenerator to move from one node (or position) to another.
-//  based on links.
+//         A path can be incomplete or empty which means there is no link. Stored in `playerbots_travelnode_path`.
+//  Route: The list of nodes that give the shortest route from a node to a distant node. Routes are calculated using
+//         a standard A* search based on links.
 //
-//  On server start saved nodes and links are loaded. Paths and routes are calculated on the fly but saved for future
+//  Edge types (TravelNodePathType):
-//  use. Nodes can be added and removed realtime however because bots access the nodes from different threads this
+//    walk(1)          — Walk via navmesh waypoints (stored in DB)
-//  requires a locking mechanism.
+//    portal(2)        — AreaTrigger teleport (auto-discovered at startup)
+//    transport(3)     — Boat/zeppelin (auto-discovered from MO_TRANSPORT)
+//    flightPath(4)    — Taxi flight between flight masters
+//    teleportSpell(5) — Spell-based teleport (e.g. mage portals)
+//    staticPortal(6)  — Manually defined teleport link (DB only, not pruned by generation)
+//    flyingMount (7)  — Use Bots Flying mount to travel (Not currently enabled)
+//
+//  On server start saved nodes and links are loaded via TravelNodeMap::Init(). An index of nodes by zone is prepared
+//  (instead of scanning all ~4000 nodes), precomputes connected components for O(1) reachability checks, and builds
+//  a taxi BFS graph. Paths and routes are calculated on the fly and saved for future use. Nodes are only added at
+//  startup or via the console `.generate` command — runtime mutation was removed because taking a unique_lock
+//  caused 100-250ms contention spikes against bot threads.
 //
 //  Initially the current nodes have been made:
 //  Flightmasters and Inns (Bots can use these to fast-travel so eventually they will be included in the route
-//  calculation) WorldBosses and Unique bosses in instances (These are a logical places bots might want to go in
+//  calculation) WorldBosses and Unique bosses in instances (These are logical places bots might want to go in
 //  instances) Player start spawns (Obviously all lvl1 bots will spawn and move from here) Area triggers locations with
 //  teleport and their teleport destinations (These used to travel in or between maps) Transports including elevators
 //  (Again used to travel in and in maps) (sub)Zone means (These are the center most point for each sub-zone which is
-//  good for global coverage)
+//  good for global coverage).
 //
-//  To increase coverage/linking extra nodes can be automatically be created.
+//  To increase coverage/linking extra nodes must be manually created via the "playerbot travel generatenode"
-//  Current implentation places nodes on paths (including complete) at sub-zone transitions or randomly.
+//  console command after importing the specified node. Current implementation places nodes on paths (including
-//  After calculating possible links the node is removed if it does not create local coverage.
+//  complete) at sub-zone transitions or randomly. After calculating possible links the node is removed if it
+//  does not create local coverage (.fullgenerate only).
 //
+//  Travel Flow:
+//
+//  GetFullPath finds nearest nodes (zone-indexed), runs A* to get a node route, then
+//  BuildPath assembles a flat TravelPath with typed waypoints (walk, portal, transport, flight).
+//  ExecuteTravelPlan iterates the path by stepIdx, dispatching on each point's PathNodeType.
+//  Cross-map travel is handled naturally by portal/transport edges in the A* graph.
+//
+//  If setup cannot resolve (no node, no route, no flight), the bot teleports directly to the destination
+//  as a fallback.
+//
+//  The use of hearthstones and mage teleporting was removed — it caused route mutations requiring locking that no longer made sense. Mage portals may be future item.
+//
+//  Thread Safety:
+//
+//  The node graph is immutable at runtime (no adds/removes after Init). A shared_timed_mutex (m_nMapMtx) still
+//  exists and shared_locks are taken in GetFullPath and GenerateWalkPath for safety, but since there are no
+//  runtime mutations these are effectively uncontested. The only exclusive locks are taken at startup
+//  (saveNodeStore) and by the debug dump command.
+//
+
+constexpr float MAX_PATHFINDING_DISTANCE = 296.0f;
 
 enum class TravelNodePathType : uint8
 {
@@ -59,21 +95,20 @@ enum class TravelNodePathType : uint8
     portal = 2,
     transport = 3,
     flightPath = 4,
-    teleportSpell = 5
+    teleportSpell = 5,
+    staticPortal = 6,
+    flyingMount = 7
 };
 
 // A connection between two nodes.
 class TravelNodePath
 {
 public:
-    // Legacy Constructor for travelnodestore
-    // TravelNodePath(float distance1, float extraCost1, bool portal1 = false, uint32 portalId1 = 0, bool transport1 =
-    // false, bool calculated = false, uint8 maxLevelMob1 = 0, uint8 maxLevelAlliance1 = 0, uint8 maxLevelHorde1 = 0,
-    // float swimDistance1 = 0, bool flightPath1 = false);
-
     // Constructor
-    TravelNodePath(float distance = 0.1f, float extraCost = 0, uint8 pathType = (uint8)TravelNodePathType::walk,
+    TravelNodePath(float distance = 0.1f, float extraCost = 0,
-                   uint32 pathObject = 0, bool calculated = false, std::vector<uint8> maxLevelCreature = {0, 0, 0},
+                   uint8 pathType = (uint8)TravelNodePathType::walk,
+                   uint32 pathObject = 0, bool calculated = false,
+                   std::vector<uint8> maxLevelCreature = {0, 0, 0},
                    float swimDistance = 0)
         : extraCost(extraCost),
           calculated(calculated),
@@ -85,7 +120,7 @@ public:
     {
         if (pathType != (uint8)TravelNodePathType::walk)
             complete = true;
-    };
+    }
 
     TravelNodePath(TravelNodePath* basePath)
     {
@@ -98,11 +133,11 @@ public:
         swimDistance = basePath->swimDistance;
         pathType = basePath->pathType;
         pathObject = basePath->pathObject;
-    };
+    }
 
     // Getters
     bool getComplete() { return complete || pathType != TravelNodePathType::walk; }
-    std::vector<WorldPosition> getPath() { return path; }
+    std::vector<WorldPosition> GetPath() { return path; }
 
     TravelNodePathType getPathType() { return pathType; }
     uint32 getPathObject() { return pathObject; }
@@ -130,9 +165,6 @@ public:
         extraCost = distance / speed;
     }
 
-    // void setPortal(bool portal1, uint32 portalId1 = 0) { portal = portal1; portalId = portalId1; }
-    // void setTransport(bool transport1) { transport = transport1; }
-
     void setPathType(TravelNodePathType pathType1) { pathType = pathType1; }
 
     void setPathObject(uint32 pathObject1) { pathObject = pathObject1; }
@@ -186,9 +218,10 @@ class TravelNode
 {
 public:
     // Constructors
-    TravelNode(){};
+    TravelNode() {}
 
-    TravelNode(WorldPosition point1, std::string const nodeName1 = "Travel Node", bool important1 = false)
+    TravelNode(WorldPosition point1, std::string const nodeName1 = "Travel Node",
+               bool important1 = false)
     {
         nodeName = nodeName1;
         point = point1;
@@ -207,11 +240,11 @@ public:
     void setPoint(WorldPosition point1) { point = point1; }
 
     // Getters
-    std::string const getName() { return nodeName; };
+    std::string const getName() { return nodeName; }
-    WorldPosition* getPosition() { return &point; };
+    WorldPosition* getPosition() { return &point; }
     std::unordered_map<TravelNode*, TravelNodePath>* getPaths() { return &paths; }
     std::unordered_map<TravelNode*, TravelNodePath*>* getLinks() { return &links; }
-    bool isImportant() { return important; };
+    bool isImportant() { return important; }
     bool isLinked() { return linked; }
 
     bool isTransport()
@@ -235,7 +268,8 @@ public:
     bool isPortal()
     {
         for (auto const& link : *getLinks())
-            if (link.second->getPathType() == TravelNodePathType::portal)
+            if (link.second->getPathType() == TravelNodePathType::portal ||
+                link.second->getPathType() == TravelNodePathType::staticPortal)
                 return true;
 
         return false;
@@ -251,17 +285,25 @@ public:
     }
 
     // WorldLocation shortcuts
-    uint32 getMapId() { return point.GetMapId(); }
+    uint32 GetMapId() { return point.GetMapId(); }
     float getX() { return point.GetPositionX(); }
     float getY() { return point.GetPositionY(); }
     float getZ() { return point.GetPositionZ(); }
     float getO() { return point.GetOrientation(); }
     float getDistance(WorldPosition pos) { return point.distance(pos); }
-    float getDistance(TravelNode* node) { return point.distance(node->getPosition()); }
+    float getDistance(TravelNode* node)
-    float fDist(TravelNode* node) { return point.fDist(node->getPosition()); }
+    {
+        return point.distance(node->getPosition());
+    }
+    float fDist(TravelNode* node)
+    {
+        return point.fDist(node->getPosition());
+    }
     float fDist(WorldPosition pos) { return point.fDist(pos); }
 
-    TravelNodePath* setPathTo(TravelNode* node, TravelNodePath path = TravelNodePath(), bool isLink = true)
+    TravelNodePath* setPathTo(TravelNode* node,
+                              TravelNodePath path = TravelNodePath(),
+                              bool isLink = true)
     {
         if (this != node)
         {
@@ -275,10 +317,20 @@ public:
         return nullptr;
     }
 
-    bool hasPathTo(TravelNode* node) { return paths.find(node) != paths.end(); }
+    bool hasPathTo(TravelNode* node)
-    TravelNodePath* getPathTo(TravelNode* node) { return &paths[node]; }
+    {
-    bool hasCompletePathTo(TravelNode* node) { return hasPathTo(node) && getPathTo(node)->getComplete(); }
+        return paths.find(node) != paths.end();
-    TravelNodePath* buildPath(TravelNode* endNode, Unit* bot, bool postProcess = false);
+    }
+    TravelNodePath* getPathTo(TravelNode* node)
+    {
+        return &paths[node];
+    }
+    bool hasCompletePathTo(TravelNode* node)
+    {
+        return hasPathTo(node) && getPathTo(node)->getComplete();
+    }
+    TravelNodePath* BuildPath(TravelNode* endNode, Unit* bot,
+                              bool postProcess = false);
 
     void setLinkTo(TravelNode* node, float distance = 0.1f)
     {
@@ -291,9 +343,18 @@ public:
         }
     }
 
-    bool hasLinkTo(TravelNode* node) { return links.find(node) != links.end(); }
+    bool hasLinkTo(TravelNode* node)
-    float linkCostTo(TravelNode* node) { return paths.find(node)->second.getDistance(); }
+    {
-    float linkDistanceTo(TravelNode* node) { return paths.find(node)->second.getDistance(); }
+        return links.find(node) != links.end();
+    }
+    float linkCostTo(TravelNode* node)
+    {
+        return paths.find(node)->second.getDistance();
+    }
+    float linkDistanceTo(TravelNode* node)
+    {
+        return paths.find(node)->second.getDistance();
+    }
     void removeLinkTo(TravelNode* node, bool removePaths = false);
 
     bool isEqual(TravelNode* compareNode);
@@ -304,7 +365,8 @@ public:
     bool cropUselessLinks();
 
     // Returns all nodes that can be reached from this node.
-    std::vector<TravelNode*> getNodeMap(bool importantOnly = false, std::vector<TravelNode*> ignoreNodes = {});
+    std::vector<TravelNode*> getNodeMap(bool importantOnly = false,
+        std::vector<TravelNode*> ignoreNodes = {});
 
     // Checks if it is even possible to route to this node.
     bool hasRouteTo(TravelNode* node)
@@ -314,7 +376,10 @@ public:
                 routes[mNode] = true;
 
         return routes.find(node) != routes.end();
-    };
+    }
+
+    void clearRoutes() { routes.clear(); }
+    void setRouteTo(TravelNode* node) { routes[node] = true; }
 
     void print(bool printFailed = true);
 
@@ -344,24 +409,8 @@ protected:
     // uint32 transportId = 0;
 };
 
-class PortalNode : public TravelNode
-{
-public:
-    PortalNode(TravelNode* baseNode) : TravelNode(baseNode){};
-
-    void SetPortal(TravelNode* baseNode, TravelNode* endNode, uint32 portalSpell)
-    {
-        nodeName = baseNode->getName();
-        point = *baseNode->getPosition();
-        paths.clear();
-        links.clear();
-        TravelNodePath path(0.1f, 0.1f, (uint8)TravelNodePathType::teleportSpell, portalSpell, true);
-        setPathTo(endNode, path);
-    };
-};
-
 // Route step type
-enum PathNodeType
+enum class PathNodeType : uint8
 {
     NODE_PREPATH = 0,
     NODE_PATH = 1,
@@ -369,38 +418,56 @@ enum PathNodeType
     NODE_PORTAL = 3,
     NODE_TRANSPORT = 4,
     NODE_FLIGHTPATH = 5,
-    NODE_TELEPORT = 6
+    NODE_TELEPORT = 6,
+    NODE_FLYING_MOUNT = 7
 };
 
 struct PathNodePoint
 {
     WorldPosition point;
-    PathNodeType type = NODE_PATH;
+    PathNodeType type = PathNodeType::NODE_PATH;
     uint32 entry = 0;
+
+    bool operator==(const PathNodePoint& p1) const
+    {
+        return point == p1.point && type == p1.type && entry == p1.entry;
+    }
+    // A "walkable" node is one we traverse on foot. Portals/transports/
+    // taxis/teleports are entry/exit hops, not points to anchor a
+    // shortcut on. Used by makeShortCut to skip them when picking the
+    // closest-point-on-path to the bot.
+    bool isWalkable() const { return (uint8)type <= (uint8)PathNodeType::NODE_NODE; }
 };
 
 // A complete list of points the bots has to walk to or teleport to.
 class TravelPath
 {
 public:
-    TravelPath(){};
+    TravelPath() {}
-    TravelPath(std::vector<PathNodePoint> fullPath1) { fullPath = fullPath1; }
+    TravelPath(std::vector<PathNodePoint> fullPath1)
-    TravelPath(std::vector<WorldPosition> path, PathNodeType type = NODE_PATH, uint32 entry = 0)
+    {
+        fullPath = fullPath1;
+    }
+    TravelPath(std::vector<WorldPosition> path,
+               PathNodeType type = PathNodeType::NODE_PATH,
+               uint32 entry = 0)
     {
         addPath(path, type, entry);
     }
 
     void addPoint(PathNodePoint point) { fullPath.push_back(point); }
-    void addPoint(WorldPosition point, PathNodeType type = NODE_PATH, uint32 entry = 0)
+    void addPoint(WorldPosition point,
+                  PathNodeType type = PathNodeType::NODE_PATH,
+                  uint32 entry = 0)
     {
         fullPath.push_back(PathNodePoint{point, type, entry});
     }
-    void addPath(std::vector<WorldPosition> path, PathNodeType type = NODE_PATH, uint32 entry = 0)
+    void addPath(std::vector<WorldPosition> path,
+                 PathNodeType type = PathNodeType::NODE_PATH,
+                 uint32 entry = 0)
     {
         for (auto& p : path)
-        {
             fullPath.push_back(PathNodePoint{p, type, entry});
-        };
     }
     void addPath(std::vector<PathNodePoint> newPath)
     {
@@ -408,8 +475,11 @@ public:
     }
     void clear() { fullPath.clear(); }
 
-    bool empty() { return fullPath.empty(); }
+    bool empty() const { return fullPath.empty(); }
-    std::vector<PathNodePoint> getPath() { return fullPath; }
+    size_t size() const { return fullPath.size(); }
+    const PathNodePoint& operator[](size_t idx) const { return fullPath[idx]; }
+    std::vector<PathNodePoint> GetPath() { return fullPath; }
+    const std::vector<PathNodePoint>& GetPathRef() const { return fullPath; }
     WorldPosition getFront() { return fullPath.front().point; }
     WorldPosition getBack() { return fullPath.back().point; }
 
@@ -419,13 +489,22 @@ public:
         for (auto const& p : fullPath)
             retVec.push_back(p.point);
         return retVec;
-    };
+    }
 
-    bool makeShortCut(WorldPosition startPos, float maxDist);
+    bool makeShortCut(WorldPosition startPos, float maxDist, Unit* bot = nullptr);
-    bool shouldMoveToNextPoint(WorldPosition startPos, std::vector<PathNodePoint>::iterator beg,
+
-                               std::vector<PathNodePoint>::iterator ed, std::vector<PathNodePoint>::iterator p,
+    // Detect "pathfinder cheating" — paths that PathGenerator accepts
-                               float& moveDist, float maxDist);
+    // but a player can't actually walk:
-    WorldPosition getNextPoint(WorldPosition startPos, float maxDist, TravelNodePathType& pathType, uint32& entry);
+    //   * a 2-point path for an endpoint distance > 5y means navmesh
+    //     gave up and returned the straight A->B line.
+    //   * a vertical drop > 10y combined with a slope steeper than
+    //     2:1 at either start or end means the pathfinder hopped
+    //     through a near-vertical step the navmesh permits but a
+    //     player wouldn't survive.
+    // cmangos applies the same two checks in TravelNode::buildPath
+    // before caching a node-to-node segment.
+    static bool IsPathCheating(std::vector<WorldPosition> const& path,
+                               float endpointDistance);
 
     std::ostringstream const print();
 
@@ -438,16 +517,24 @@ class TravelNodeRoute
 {
 public:
     TravelNodeRoute() {}
-    TravelNodeRoute(std::vector<TravelNode*> nodes1) { nodes = nodes1; /*currentNode = route.begin();*/ }
+    TravelNodeRoute(std::vector<TravelNode*> nodes1)
+    {
+        nodes = nodes1;
+    }
 
     bool isEmpty() { return nodes.empty(); }
 
-    bool hasNode(TravelNode* node) { return findNode(node) != nodes.end(); }
+    bool hasNode(TravelNode* node)
+    {
+        return findNode(node) != nodes.end();
+    }
     float getTotalDistance();
 
     std::vector<TravelNode*> getNodes() { return nodes; }
 
-    TravelPath buildPath(std::vector<WorldPosition> pathToStart = {}, std::vector<WorldPosition> pathToEnd = {},
+    TravelPath BuildPath(
+        std::vector<WorldPosition> pathToStart = {},
+        std::vector<WorldPosition> pathToEnd = {},
         Unit* bot = nullptr);
 
     std::ostringstream const print();
@@ -467,12 +554,47 @@ public:
     TravelNodeStub(TravelNode* dataNode1) { dataNode = dataNode1; }
 
     TravelNode* dataNode;
-    float m_f = 0.0, m_g = 0.0, m_h = 0.0;
+    float totalCost = 0.0;
-    bool open = false, close = false;
+    float costFromStart = 0.0;
+    float heuristic = 0.0;
+    bool open = false;
+    bool closed = false;
     TravelNodeStub* parent = nullptr;
     uint32 currentGold = 0;
 };
 
+struct TravelPlan
+{
+    WorldPosition destination;
+
+    // Flat waypoint path built upfront by GetFullPath:
+    TravelPath steps;
+    uint32 stepIdx{0};
+
+    // Spline scratch (used by executor):
+    std::vector<G3D::Vector3> walkPoints;
+    bool splineActive{false};
+    uint32 splineStartTime{0};
+    uint32 expectedDuration{0};
+
+    // Taxi scratch:
+    std::vector<uint32> route;
+
+    bool IsActive() const { return !steps.empty(); }
+
+    void Reset()
+    {
+        destination = WorldPosition();
+        steps.clear();
+        stepIdx = 0;
+        walkPoints.clear();
+        splineActive = false;
+        splineStartTime = 0;
+        expectedDuration = 0;
+        route.clear();
+    }
+};
+
 // The container of all nodes.
 class TravelNodeMap
 {
@@ -484,14 +606,18 @@ public:
         return instance;
     }
 
-    TravelNode* addNode(WorldPosition pos, std::string const preferedName = "Travel Node", bool isImportant = false,
+    TravelNode* addNode(WorldPosition pos,
-                        bool checkDuplicate = true, bool transport = false, uint32 transportId = 0);
+                        std::string const preferedName = "Travel Node",
+                        bool isImportant = false,
+                        bool checkDuplicate = true,
+                        bool transport = false,
+                        uint32 transportId = 0);
     void removeNode(TravelNode* node);
     bool removeNodes()
     {
         if (m_nMapMtx.try_lock_for(std::chrono::seconds(10)))
         {
-            for (auto& node : m_nodes)
+            for (auto& node : nodes)
                 removeNode(node);
 
             m_nMapMtx.unlock();
@@ -499,28 +625,32 @@ public:
         }
 
         return false;
-    };
+    }
 
     void fullLinkNode(TravelNode* startNode, Unit* bot);
 
     // Get all nodes
-    std::vector<TravelNode*> getNodes() { return m_nodes; }
+    std::vector<TravelNode*> getNodes() { return nodes; }
     std::vector<TravelNode*> getNodes(WorldPosition pos, float range = -1);
 
     // Find nearest node.
     TravelNode* getNode(TravelNode* sameNode)
     {
-        for (auto& node : m_nodes)
+        for (auto& node : nodes)
         {
-            if (node->getName() == sameNode->getName() && node->getPosition() == sameNode->getPosition())
+            if (node->getName() == sameNode->getName()
+                && node->getPosition() == sameNode->getPosition())
                 return node;
         }
 
         return nullptr;
     }
 
-    TravelNode* getNode(WorldPosition pos, std::vector<WorldPosition>& ppath, Unit* bot = nullptr, float range = -1);
+    TravelNode* getNode(WorldPosition pos,
-    TravelNode* getNode(WorldPosition pos, Unit* bot = nullptr, float range = -1)
+                        std::vector<WorldPosition>& ppath,
+                        Unit* bot = nullptr, float range = -1);
+    TravelNode* getNode(WorldPosition pos, Unit* bot = nullptr,
+                        float range = -1)
     {
         std::vector<WorldPosition> ppath;
         return getNode(pos, ppath, bot, range);
@@ -536,19 +666,17 @@ public:
         return rNodes[urand(0, rNodes.size() - 1)];
     }
 
-    // Finds the best nodePath between two nodes
+    // Finds the best nodePath between two nodes (A* over the node graph)
-    TravelNodeRoute getRoute(TravelNode* start, TravelNode* goal, Player* bot = nullptr);
+    TravelNodeRoute GetNodeRoute(TravelNode* start, TravelNode* goal,
+                                 Player* bot);
 
-    // Find the best node between two positions
+    // Picks the nearest start/end nodes for two world positions and runs A*
-    TravelNodeRoute getRoute(WorldPosition startPos, WorldPosition endPos, std::vector<WorldPosition>& startPath,
+    // over the node graph to return a full route between them.
+    TravelNodeRoute FindRouteNearestNodes(WorldPosition startPos,
+                                          WorldPosition endPos,
+                                          std::vector<WorldPosition>& startPath,
                                           Player* bot = nullptr);
 
-    // Find the full path between those locations
-    static TravelPath getFullPath(WorldPosition startPos, WorldPosition endPos, Player* bot = nullptr);
-
-    // Manage/update nodes
-    void manageNodes(Unit* bot, bool mapFull = false);
-
     void setHasToGen() { hasToGen = true; }
 
     void generateNpcNodes();
@@ -563,15 +691,17 @@ public:
     void removeUselessPaths();
     void calculatePathCosts();
     void generateTaxiPaths();
-    void generatePaths();
+    void generatePaths(bool fullGen = false);
 
     void generateAll();
 
+    void Init();
+
     void printMap();
 
     void printNodeStore();
     void saveNodeStore();
-    void loadNodeStore();
+    void LoadNodeStore();
 
     bool cropUselessNode(TravelNode* startNode);
     TravelNode* addZoneLinkNode(TravelNode* startNode);
@@ -584,8 +714,28 @@ public:
     void InitTaxiGraph();
     std::vector<uint32> FindTaxiPath(uint32 fromNode, uint32 toNode);
 
+    void BuildZoneIndex();
+    void PrecomputeReachability();
+
+    TravelNode* GetNearestNodeInZone(WorldPosition pos, uint32 zoneId);
+    TravelNode* GetNearestNodeOnMap(WorldPosition pos);
+
+    // All nodes registered to a zone (post-BuildZoneIndex). Returns an
+    // empty static vector for unknown zones.
+    std::vector<TravelNode*> const& GetNodesInZone(uint32 zoneId) const;
+
+    bool GetFullPath(TravelPlan& plan, WorldPosition botPos,
+        uint32 botZoneId, WorldPosition destination);
+
+    // Resolve A* route between two world positions (returns node vector)
+    std::vector<TravelNode*> ResolveRoute(WorldPosition startPos,
+        WorldPosition endPos);
+
+    // Get stored walk points for one edge (from→to). Empty if no path.
+    std::vector<G3D::Vector3> GetEdgeWalkPoints(TravelNode* from,
+        TravelNode* to);
+
     std::shared_timed_mutex m_nMapMtx;
-    std::unordered_map<ObjectGuid, std::unordered_map<uint32, TravelNode*>> teleportNodes;
 
 private:
     TravelNodeMap() = default;
@@ -601,13 +751,18 @@ private:
     void BuildTaxiGraph();
     void ComputeAllPaths();
     std::unordered_map<uint32, uint32> BFS(uint32 startNode);
-    std::vector<uint32> BuildPath(uint32 fromNode, uint32 toNode,
+    std::vector<uint32> BuildPath(
+        uint32 fromNode, uint32 toNode,
         const std::unordered_map<uint32, uint32>& parentMap);
 
-    std::unordered_map<uint32, std::vector<uint32>> taxiGraph;
+    std::unordered_map<uint32, std::vector<uint32>> m_taxiGraph;
-    std::map<uint32, std::map<uint32, std::vector<uint32>>> taxiPathCache;
+    std::map<uint32, std::map<uint32, std::vector<uint32>>>
+        m_taxiPathCache;
 
-    std::vector<TravelNode*> m_nodes;
+    std::vector<TravelNode*> nodes;
+
+    std::unordered_map<uint32, std::vector<TravelNode*>> m_zoneIndex;
+    std::unordered_map<uint32, std::vector<TravelNode*>> m_mapIndex;
 
     std::vector<std::pair<uint32, WorldPosition>> mapOffsets;