feat(Core/Travel): Sparse-segment clip in LaunchWalkSpline

src/Ai/Base/Actions/MovementActions.cpp

@@ -3142,6 +3142,29 @@ bool MovementAction::LaunchWalkSpline(TravelPlan& state)
         return true;
     }
 
+    // Sparse-segment clip (cmangos parity): truncate the chain at the
+    // first segment longer than ~11.18y. Spline interpolation between
+    // sparse waypoints can cut corners through visual obstacles (trees,
+    // walls) the navmesh routed around. Bot re-plans from a closer
+    // position next tick where the resolved poly chain is denser.
+    {
+        constexpr float SPARSE_SEG_SQ = 125.0f;  // sqrt(125) ≈ 11.18y
+        for (size_t i = 1; i < state.walkPoints.size(); ++i)
+        {
+            G3D::Vector3 d = state.walkPoints[i] - state.walkPoints[i - 1];
+            if (d.squaredLength() > SPARSE_SEG_SQ)
+            {
+                state.walkPoints.resize(i);
+                break;
+            }
+        }
+        if (state.walkPoints.size() < 2)
+        {
+            state.walkPoints.clear();
+            return true;
+        }
+    }
+
     // Re-clamp cached waypoints to current valid Z. Rows in
     // playerbots_travelnode_path store absolute coords baked at
     // offline generation; if the live navmesh has shifted since

src/Ai/World/Rpg/Action/NewRpgBaseAction.cpp

@@ -1,5 +1,6 @@
 #include "NewRpgBaseAction.h"
 
+#include <limits>
 #include <sstream>
 
 #include "BroadcastHelper.h"
@@ -220,6 +221,21 @@ bool NewRpgBaseAction::MoveFarTo(WorldPosition dest)
             stepDest.GetPositionY(), stepDest.GetPositionZ());
         if (endDistToDest + 5.0f < disToDest)
         {
+            // Z gap check: if the probe's last waypoint is well below
+            // the requested destination Z, the chain walked the ground
+            // polygon graph toward an elevated target it can't reach
+            // (quest giver on top of Aldrassil etc.). Refuse to dispatch
+            // — bot waits instead of tunneling into the visual model.
+            // 10y tolerates normal terrain variation (ramp ends, hill
+            // tops) while still catching clearly unreachable elevations.
+            if (std::fabs(stepDest.GetPositionZ() - dest.GetPositionZ()) > 10.0f)
+            {
+                EmitDebugMove("MoveFar", "z-mismatch",
+                              dest.GetPositionX(), dest.GetPositionY(),
+                              dest.GetPositionZ());
+                return false;
+            }
+
             Movement::PointsArray points;
             points.reserve(probe.size());
             for (auto const& wp : probe)
@@ -278,6 +294,57 @@ bool NewRpgBaseAction::DispatchPathPoints(WorldPosition const& dest,
     if (points.size() < 2)
         return false;
 
+    // Prefix trim (cmangos parity: makeShortCut on every dispatch).
+    // Drop leading waypoints behind the bot's current position so the
+    // spline begins from where the bot actually is, not from a stale
+    // planner-start. Picks the waypoint closest to the bot in 3D and
+    // erases everything before it.
+    {
+        float const bx = bot->GetPositionX();
+        float const by = bot->GetPositionY();
+        float const bz = bot->GetPositionZ();
+        float minSq = std::numeric_limits<float>::max();
+        size_t closest = 0;
+        for (size_t i = 0; i < points.size(); ++i)
+        {
+            float dx = points[i].x - bx;
+            float dy = points[i].y - by;
+            float dz = points[i].z - bz;
+            float sq = dx * dx + dy * dy + dz * dz;
+            if (sq < minSq)
+            {
+                minSq = sq;
+                closest = i;
+            }
+        }
+        if (closest > 0)
+            points.erase(points.begin(), points.begin() + closest);
+        if (points.size() < 2)
+            return false;
+    }
+
+    // Sparse-segment clip (cmangos parity): if any consecutive segment
+    // is longer than ~11.18y, truncate the path at that point. Short,
+    // dense waypoints reduce spline interpolation across visual
+    // obstacles between sparse points; bot re-plans from a closer
+    // position next tick.
+    {
+        constexpr float SPARSE_SEG_SQ = 125.0f;  // sqrt(125) ≈ 11.18y
+        for (size_t i = 1; i < points.size(); ++i)
+        {
+            float dx = points[i].x - points[i - 1].x;
+            float dy = points[i].y - points[i - 1].y;
+            float dz = points[i].z - points[i - 1].z;
+            if (dx * dx + dy * dy + dz * dz > SPARSE_SEG_SQ)
+            {
+                points.resize(i);
+                break;
+            }
+        }
+        if (points.size() < 2)
+            return false;
+    }
+
     // LOS gate: reject paths whose segments pass through visual
     // geometry. mmap is blind to M2 models (trees, decorative props)
     // and will route through them; vmap LOS catches the cases that
@@ -473,32 +540,61 @@ bool NewRpgBaseAction::MoveWorldObjectTo(ObjectGuid guid, float distance)
     if (!object)
         return false;
 
-    float x = object->GetPositionX();
+    Map* map = bot->GetMap();
-    float y = object->GetPositionY();
+    if (!map)
-    float z = object->GetPositionZ();
+        return false;
-    float angle = 0.f;
 
-    if (!object->ToUnit() || !object->ToUnit()->isMoving())
+    // 8-angle deterministic iteration around the target. For each angle,
-        angle = object->GetAngle(bot) + (M_PI * irand(-25, 25) / 100.0);  // Closest 45 degrees towards the target
+    // validate the candidate against the navmesh with a strict ground-only
-    else
+    // filter (NAV_GROUND, exclude STEEP/WATER/MAGMA/SLIME). Reject if no
-        angle = object->GetOrientation() +
+    // valid poly within 5y XY+Z or if the snap drifts the Z by >10y.
-                (M_PI * irand(-25, 25) / 100.0);  // 45 degrees infront of target (leading it's movement)
+    // First angle that passes both LOS and navmesh-snap wins.
+    dtNavMeshQuery const* navMeshQuery =
+        map->GetMapCollisionData().GetMMapData().GetNavMeshQuery();
+    float const baseAngle = object->GetAngle(bot);
 
-    // Bias toward the full radius so the bot stops next to the object,
+    for (float step = 0.0f; step < 2.0f * static_cast<float>(M_PI);
-    // not on top of it. Uniform rnd would put dest anywhere in [0, distance].
+         step += static_cast<float>(M_PI) / 4.0f)
-    float rnd = 0.85f + 0.15f * rand_norm();
-    x += cos(angle) * distance * rnd;
-    y += sin(angle) * distance * rnd;
-    if (!object->GetMap()->CheckCollisionAndGetValidCoords(object, object->GetPositionX(), object->GetPositionY(),
-                                                           object->GetPositionZ(), x, y, z))
     {
-        x = object->GetPositionX();
+        float const angle = baseAngle + step;
-        y = object->GetPositionY();
+        float x = object->GetPositionX() + std::cos(angle) * distance;
-        z = object->GetPositionZ();
+        float y = object->GetPositionY() + std::sin(angle) * distance;
+        float z = object->GetPositionZ();
+
+        // LOS check at eye height.
+        if (!bot->IsWithinLOS(x, y, z + bot->GetCollisionHeight()))
+            continue;
+
+        // Strict navmesh-snap validation (cmangos ClosestCorrectPoint port).
+        if (navMeshQuery)
+        {
+            dtQueryFilter filter;
+            filter.setIncludeFlags(NAV_GROUND);
+            filter.setExcludeFlags(NAV_GROUND_STEEP | NAV_WATER | NAV_MAGMA | NAV_SLIME);
+
+            float const point[VERTEX_SIZE] = { y, z, x };
+            float const extents[VERTEX_SIZE] = { 5.0f, 5.0f, 5.0f };
+            float closest[VERTEX_SIZE] = { 0.0f, 0.0f, 0.0f };
+            dtPolyRef polyRef = INVALID_POLYREF;
+
+            if (!dtStatusSucceed(navMeshQuery->findNearestPoly(
+                    point, extents, &filter, &polyRef, closest)) ||
+                polyRef == INVALID_POLYREF)
+                continue;
+
+            float const snappedZ = closest[1];
+            if (std::fabs(snappedZ - z) > 10.0f)
+                continue;
+
+            x = closest[2];
+            y = closest[0];
+            z = snappedZ;
+        }
+
+        return MoveFarTo(WorldPosition(object->GetMapId(), x, y, z));
     }
-    // Route through MoveFarTo so every approach gets the full probe
+
-    // + travel-node fallback (and a precise debug label).
+    return false;
-    return MoveFarTo(WorldPosition(object->GetMapId(), x, y, z));
 }
 
 bool NewRpgBaseAction::MoveRandomNear(float moveStep, MovementPriority priority, WorldObject* center)