Fix NavMesh and implement some initial stuff

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

@@ -136,18 +136,22 @@ public abstract class AI {
 
     public Vector getPosition() {
         Location location = entity.getLocation();
+        return untranslate(location.toVector());
+    }
+
+    public Vector untranslate(Vector vector) {
         Region extend = team.getExtendRegion();
         if(Fight.getUnrotated() == team)
             return new Vector(
-                    location.getX() - extend.getMinX(),
+                    vector.getX() - extend.getMinX(),
-                    location.getY() - team.getSchemRegion().getMinY(),
+                    vector.getY() - team.getSchemRegion().getMinY(),
-                    location.getZ() - extend.getMinZ()
+                    vector.getZ() - extend.getMinZ()
             );
         else
             return new Vector(
-                    extend.getMaxX() - location.getX(),
+                    extend.getMaxX() - vector.getX(),
-                    location.getY() - team.getSchemRegion().getMinY(),
+                    vector.getY() - team.getSchemRegion().getMinY(),
-                    extend.getMaxZ() - location.getZ()
+                    extend.getMaxZ() - vector.getZ()
             );
     }
 
@@ -228,7 +232,7 @@ public abstract class AI {
                 }
 
                 Location target = translate(pos);
-                if(Math.abs(location.getX() - target.getX()) > 1.0 || Math.abs(location.getY() - target.getY()) > 1.5 || Math.abs(location.getZ() - target.getZ()) > 1.0) {
+                if(Math.abs(location.getX() - target.getX()) > 1.5 || Math.abs(location.getY() - target.getY()) > 1.5 || Math.abs(location.getZ() - target.getZ()) > 1.5) {
                     FightSystem.getPlugin().getLogger().log(Level.INFO, () -> entity.getName() + ": Overdistance movement " + location.toVector() + " " + target.toVector());
                     return;
                 }

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

@@ -20,8 +20,10 @@
 package de.steamwar.fightsystem.ai;
 
 import de.steamwar.Reflection;
+import de.steamwar.core.Core;
 import de.steamwar.fightsystem.ArenaMode;
 import de.steamwar.fightsystem.Config;
+import de.steamwar.fightsystem.ai.yoyonow.YoyoNowAI;
 import de.steamwar.fightsystem.fight.FightTeam;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
@@ -35,7 +37,8 @@ import java.util.stream.Collectors;
 @AllArgsConstructor
 public class AIManager {
     private static final List<AIManager> AIs = Arrays.asList(
-            new AIManager(DummyAI.class, Material.STONE, () -> ArenaMode.Test.contains(Config.mode))
+            new AIManager(DummyAI.class, Material.STONE, () -> ArenaMode.Test.contains(Config.mode)),
+            new AIManager(YoyoNowAI.class, Material.SLIME_BLOCK, () -> Config.GameModeConfig.Schematic.Type.toDB().equals("miniwargear") && Core.getVersion() >= 14)
     );
 
     public static List<AIManager> availableAIs() {

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

@@ -1,7 +1,7 @@
 /*
  *   This file is a part of the SteamWar software.
  *
- *   Copyright (C) 2023  SteamWar.de-Serverteam
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
  *
  *   This program is free software: you can redistribute it and/or modify
  *   it under the terms of the GNU Affero General Public License as published by
@@ -19,7 +19,7 @@
 
 package de.steamwar.fightsystem.ai;
 
-import de.steamwar.entity.RArmorStand;
+import de.steamwar.entity.RBlockDisplay;
 import de.steamwar.entity.REntity;
 import de.steamwar.entity.REntityServer;
 import de.steamwar.fightsystem.ArenaMode;
@@ -27,92 +27,125 @@ import de.steamwar.fightsystem.FightSystem;
 import de.steamwar.fightsystem.fight.FightTeam;
 import de.steamwar.fightsystem.states.FightState;
 import de.steamwar.fightsystem.states.OneShotStateDependent;
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
 import org.bukkit.Bukkit;
 import org.bukkit.Material;
 import org.bukkit.World;
 import org.bukkit.block.Block;
-import org.bukkit.block.BlockFace;
-import org.bukkit.event.Listener;
 import org.bukkit.util.BoundingBox;
+import org.bukkit.util.Transformation;
 import org.bukkit.util.Vector;
 import org.bukkit.util.VoxelShape;
+import org.joml.AxisAngle4f;
+import org.joml.Vector3f;
 
 import java.util.*;
-import java.util.concurrent.atomic.AtomicReference;
-import java.util.function.BiConsumer;
 import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
-public class NavMesh implements Listener {
+public class NavMesh {
 
     private static final World WORLD = Bukkit.getWorlds().get(0);
+    private static final double PLAYER_FALL_DISTANCE = 3;
     private static final double PLAYER_JUMP_HEIGHT = 1.25;
-    private static final double PLAYER_HEIGHT = 1.8125;
+    private static final double PLAYER_HEIGHT = 1.8;
-    private static final BoundingBox PLAYER_SHADOW = new BoundingBox(0.2, 0, 0.2, 0.8, 1, 0.8);
+    private static final Cuboid PLAYER_SHADOW = new Cuboid(0.2, 0, 0.2, 0.6, 1, 0.6);
-    private static final Set<Pos> RELATIVE_BLOCKS_TO_CHECK = new HashSet<>();
+
+    private static final Set<Pos> RELATIVE_BLOCKS = new HashSet<>();
+    protected static final org.bukkit.block.data.BlockData PATH_BLOCK = Material.LIME_STAINED_GLASS.createBlockData();
+    protected static final Vector MIDDLE_VECTOR = new Vector(0.5, 0, 0.5);
 
     static {
-        for (int y = -2; y <= 2; y++) {
+        for (int y = (int) -Math.ceil(PLAYER_FALL_DISTANCE); y <= Math.ceil(PLAYER_JUMP_HEIGHT); y++) {
-            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.NORTH.getDirection().setY(y)));
+            RELATIVE_BLOCKS.add(new Pos(-1, y, 0));
-            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.SOUTH.getDirection().setY(y)));
+            RELATIVE_BLOCKS.add(new Pos(1, y, 0));
-            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.EAST.getDirection().setY(y)));
+            RELATIVE_BLOCKS.add(new Pos(0, y, -1));
-            RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.WEST.getDirection().setY(y)));
+            RELATIVE_BLOCKS.add(new Pos(0, y, 1));
         }
-        RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.UP.getDirection()));
+        RELATIVE_BLOCKS.add(new Pos(0, 1, 0));
-        RELATIVE_BLOCKS_TO_CHECK.add(new Pos(BlockFace.DOWN.getDirection()));
+        RELATIVE_BLOCKS.add(new Pos(0, -1, 0));
     }
 
     private FightTeam fightTeam;
-    private List<REntity> rEntities = new ArrayList<>();
+    private REntityServer server = new REntityServer();
-    private REntityServer entityServer;
 
-    public NavMesh(FightTeam fightTeam, REntityServer entityServer) {
+    private Map<Pos, Pos> walkable = new HashMap<>();
+    private Map<Pos, Set<Pos>> connections = new HashMap<>(); // Reverse connections!
+
+    @Getter
+    private boolean ready = false;
+
+    public NavMesh(FightTeam fightTeam) {
         this.fightTeam = fightTeam;
-        this.entityServer = entityServer;
 
         new OneShotStateDependent(ArenaMode.All, FightState.PostSchemSetup, () -> {
+            Bukkit.getOnlinePlayers().forEach(server::addPlayer);
+
             Bukkit.getScheduler().runTaskLater(FightSystem.getPlugin(), () -> {
                 long time = System.currentTimeMillis();
+
                 fightTeam.getExtendRegion().forEach((x, y, z) -> {
                     if (y < fightTeam.getSchemRegion().getMinY()) return;
-                    checkWalkable(x, y, z);
+                    calculatePosition(new Pos(x, y, z), walkable);
                 });
-                floorBlock.forEach(this::checkNeighbouring);
+
-                System.out.println(System.currentTimeMillis() - time + " ms");
+                walkable.values().forEach(this::checkNeighbouring);
-                /*
+
-                iterateWalkableBlocks((vector, ceilingOffset) -> {
+                System.out.println("NavMesh2: " + walkable.size() + " " + connections.size());
-                    RArmorStand armorStand = new RArmorStand(entityServer, vector.toLocation(WORLD), RArmorStand.Size.MARKER);
+
-                    armorStand.setNoGravity(true);
+                System.out.println("NavMesh initialized in " + (System.currentTimeMillis() - time) + " ms");
-                    armorStand.setInvisible(true);
+                ready = true;
-                    armorStand.setDisplayName("+" + (ceilingOffset == null ? "∞" : ceilingOffset));
-                });
-                 */
             }, 20);
         });
         new OneShotStateDependent(ArenaMode.All, FightState.Spectate, () -> {
-            floorBlock.clear();
+            ready = false;
         });
     }
 
+    private void calculatePosition(Pos pos, Map<Pos, Pos> walkable) {
+        Block block = WORLD.getBlockAt(pos.x, pos.y, pos.z);
+        // Air is not walkable
+        if (block.isPassable()) return;
+
+        // Ignore Ladders from floor calculation!
+        if (block.getType() != Material.LADDER) {
+            // Floor Position
+            pos.floor = playerCollisionMax(block.getCollisionShape());
+            // If no walkable block remove
+            if (pos.floor == 0) return;
+        } else {
+            pos.floor = 0.5;
+        }
+
+        // Ceiling Position
+        pos.ceiling = fightTeam.getExtendRegion().getMaxY() - pos.y;
+        for (int y = pos.y + 1; y <= fightTeam.getExtendRegion().getMaxY() + 3; y++) {
+            block = WORLD.getBlockAt(pos.x, y, pos.z);
+            if (block.isPassable()) continue;
+            double min = playerCollisionMin(block.getCollisionShape());
+            if (min >= 1.0) continue;
+            pos.ceiling = y + min - pos.y;
+            break;
+        }
+        // If player cannot fit remove
+        if (pos.ceiling - pos.floor < PLAYER_HEIGHT) return;
+
+        walkable.put(pos, pos);
+    }
+
+    @RequiredArgsConstructor
     private static class Pos {
-        private int x;
+        private final int x;
-        private int y;
+        private final int y;
-        private int z;
+        private final int z;
-
+        private double floor = 0;
-        public Pos(int x, int y, int z) {
+        private double ceiling = 0;
-            this.x = x;
-            this.y = y;
-            this.z = z;
-        }
-
-        public Pos(Vector vector) {
-            this.x = vector.getBlockX();
-            this.y = vector.getBlockY();
-            this.z = vector.getBlockZ();
-        }
 
         @Override
         public String toString() {
-            return x + "," + y + "," + z;
+            return x + "," + y + "(" + floor + ".." + ceiling + ")" + "," + z;
         }
 
         @Override
@@ -128,142 +161,90 @@ public class NavMesh implements Listener {
             return Objects.hash(x, y, z);
         }
 
-        public Vector toVector() {
-            return new Vector(x, y, z);
-        }
-
         public Pos add(Pos pos) {
             return new Pos(x + pos.x, y + pos.y, z + pos.z);
         }
 
-        public Pos subtract(Pos pos) {
+        public Vector toVector() {
-            return new Pos(x - pos.x, y - pos.y, z - pos.z);
+            return new Vector(x, y + floor, z);
+        }
+
+        public double floorPosition() {
+            return y + floor;
+        }
+
+        public double ceilingPosition() {
+            return y + ceiling;
         }
     }
 
-    private Map<Pos, Double> floorBlock = new HashMap<>();
+    private double playerCollisionMax(VoxelShape voxelShape) {
-    private Map<Pos, Double> ceilingOffset = new HashMap<>();
+        List<Double> yList = voxelShape.getBoundingBoxes().stream()
-    private Map<Pos, Set<Pos>> neighbourConnections = new HashMap<>();
+                .flatMap(boundingBox -> Stream.of(boundingBox.getMinY(), boundingBox.getMaxY()))
-    private Map<Pos, Set<Pos>> reverseNeighbourConnections = new HashMap<>();
+                .sorted()
+                .collect(Collectors.toList());
 
-    private void checkWalkable(int x, int y, int z) {
+        double collisionY = 0;
-        Pos pos = new Pos(x, y, z);
+        for (double y : yList) {
-        floorBlock.remove(pos);
+            if (voxelShape.getBoundingBoxes()
-        ceilingOffset.remove(pos);
+                    .stream()
-
+                    .noneMatch(boundingBox -> collides(y, boundingBox))) {
-        Block block = WORLD.getBlockAt(x, y, z);
+                collisionY = y;
-        VoxelShape floor = block.getCollisionShape();
+                break;
-        if (block.getType() != Material.LADDER && !overlaps(floor, 0, 0, 0)) return;
-
-        Double floorHeight = null;
-        for (BoundingBox box : floor.getBoundingBoxes()) {
-            double by = box.getMaxY();
-            if (!overlaps(floor, 0, by, 0)) {
-                if (floorHeight == null) {
-                    floorHeight = by;
-                } else {
-                    floorHeight = Math.min(floorHeight, by);
-                }
             }
         }
-        if (floorHeight == null) return;
 
-        Double ceilingOffset = null;
+        return collisionY;
-        for (int cy = y + 1; cy < fightTeam.getExtendRegion().getMaxY(); cy++) {
+    }
-            VoxelShape current = WORLD.getBlockAt(x, cy, z).getCollisionShape();
-            if (!overlaps(current, 0, 0, 0)) continue;
 
-            Double ceilingHeight = null;
+    private double playerCollisionMin(VoxelShape voxelShape) {
-            for (BoundingBox box : current.getBoundingBoxes()) {
+        List<Double> yList = voxelShape.getBoundingBoxes().stream()
-                double by = box.getMinY();
+                .flatMap(boundingBox -> Stream.of(boundingBox.getMinY(), boundingBox.getMaxY()))
-                if (!overlaps(current, 0, -(1 - by), 0)) {
+                .sorted(Comparator.reverseOrder())
-                    if (ceilingHeight == null) {
+                .collect(Collectors.toList());
-                        ceilingHeight = by;
+
-                    } else {
+        double collisionY = 1.5;
-                        ceilingHeight = Math.max(ceilingHeight, by);
+        for (double y : yList) {
-                    }
+            if (voxelShape.getBoundingBoxes()
-                }
+                    .stream()
+                    .noneMatch(boundingBox -> collides(y - 1, boundingBox))) {
+                collisionY = y;
+                break;
             }
-            if (ceilingHeight != null) {
-                ceilingOffset = cy - y + ceilingHeight - floorHeight;
-            }
-            break;
         }
 
-        if (ceilingOffset != null && ceilingOffset < PLAYER_HEIGHT) return;
+        return collisionY;
-
-        floorBlock.put(pos, y + floorHeight);
-        this.ceilingOffset.put(pos, ceilingOffset);
     }
 
-    private void checkNeighbouring(Pos pos, double posFloorHeight) {
+    private boolean collides(double y, BoundingBox boundingBox) {
-        Set<Pos> connections = neighbourConnections.remove(pos);
+        Cuboid second = new Cuboid(boundingBox.getMinX(), boundingBox.getMinY(), boundingBox.getMinZ(), boundingBox.getWidthX(), boundingBox.getHeight(), boundingBox.getWidthZ());
-        if (connections != null) {
+        return PLAYER_SHADOW.setY(y).intersects(second);
-            connections.forEach(p -> {
+    }
-                reverseNeighbourConnections.getOrDefault(pos.add(p), Collections.emptySet()).remove(pos);
+
-            });
+    @AllArgsConstructor
+    private static class Cuboid {
+        private double x;
+        private double y;
+        private double z;
+        private double dx;
+        private double dy;
+        private double dz;
+
+        public boolean intersects(Cuboid cuboid) {
+            double minx = x - cuboid.dx;
+            double miny = y - cuboid.dy;
+            double minz = z - cuboid.dz;
+            double maxx = minx + dx + cuboid.dx;
+            double maxy = miny + dy + cuboid.dy;
+            double maxz = minz + dz + cuboid.dz;
+            return maxx > cuboid.x && maxy > cuboid.y && maxz > cuboid.z && minx < cuboid.x && miny < cuboid.y && minz < cuboid.z;
         }
 
-        for (Pos relativeCheck : RELATIVE_BLOCKS_TO_CHECK) {
+        public Cuboid setY(double y) {
-            Pos other = new Pos(pos.x + relativeCheck.x, pos.y + relativeCheck.y, pos.z + relativeCheck.z);
+            return new Cuboid(x, y, z, dx, dy, dz);
-            Double otherFloorHeight = floorBlock.get(other);
-            if (otherFloorHeight == null) continue;
-            if (otherFloorHeight > posFloorHeight && otherFloorHeight - posFloorHeight > PLAYER_JUMP_HEIGHT) continue;
-            // double floorDiff = Math.abs(posFloorHeight - otherFloorHeight);
-            // if (floorDiff > PLAYER_JUMP_HEIGHT) continue;
-
-            Double posCeilingOffset = ceilingOffset.get(pos);
-            Double otherCeilingOffset = ceilingOffset.get(other);
-            if (posCeilingOffset == null && otherCeilingOffset == null) {
-                neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
-                reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
-                continue;
-            }
-
-            if (posCeilingOffset != null && otherCeilingOffset == null) {
-                if (posFloorHeight + posCeilingOffset - otherFloorHeight >= PLAYER_HEIGHT) {
-                    neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
-                    reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
-                }
-                continue;
-            }
-            if (otherCeilingOffset != null && posCeilingOffset == null) {
-                if (otherFloorHeight + otherCeilingOffset - posFloorHeight >= PLAYER_HEIGHT) {
-                    neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
-                    reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
-                }
-                continue;
-            }
-
-            if (posFloorHeight + posCeilingOffset - otherFloorHeight >= PLAYER_HEIGHT && otherFloorHeight + otherCeilingOffset - posFloorHeight >= PLAYER_HEIGHT) {
-                neighbourConnections.computeIfAbsent(pos, __ -> new LinkedHashSet<>()).add(relativeCheck);
-                reverseNeighbourConnections.computeIfAbsent(pos.add(relativeCheck), __ -> new LinkedHashSet<>()).add(pos);
-            }
         }
     }
 
-    private boolean overlaps(VoxelShape voxelShape, double x, double y, double z) {
-        PLAYER_SHADOW.shift(x, y, z);
-        boolean overlaps = voxelShape.overlaps(PLAYER_SHADOW);
-        PLAYER_SHADOW.shift(-x, -y, -z);
-        return overlaps;
-    }
-
-    private void iterateWalkableBlocks(BiConsumer<Vector, Double> consumer) {
-        floorBlock.forEach((pos, aDouble) -> {
-            Vector vector = new Vector(pos.x + 0.5, aDouble, pos.z + 0.5);
-            consumer.accept(vector, ceilingOffset.get(pos));
-        });
-    }
-
-    private Pos toPos(Vector vector) {
-        Pos pos = new Pos(vector);
-        if (floorBlock.containsKey(pos)) return pos;
-        pos = new Pos(pos.x, pos.y - 1, pos.z);
-        if (floorBlock.containsKey(pos)) return pos;
-        return null;
-    }
-
     public void update(Vector posVector) {
         Pos pos = toPos(posVector);
         if (pos == null) return;
@@ -271,44 +252,66 @@ public class NavMesh implements Listener {
         for (int x = -2; x <= 2; x++) {
             for (int z = -2; z <= 2; z++) {
                 for (int y = fightTeam.getSchemRegion().getMinY(); y <= pos.y + 2; y++) {
-                    checkWalkable(pos.x + x, y, pos.z + z);
+                    Pos current = new Pos(pos.x + x, y, pos.z + z);
+                    walkable.remove(current);
+                    calculatePosition(current, walkable);
                 }
             }
         }
-        floorBlock.forEach(this::checkNeighbouring);
+
+        walkable.values().forEach(this::checkNeighbouring);
     }
 
-    public List<Vector> getAllWalkableBlocks() {
+    private void checkNeighbouring(Pos pos) {
-        return floorBlock.keySet().stream().map(Pos::toVector).collect(Collectors.toList());
+        for (Set<Pos> value : connections.values()) {
+            value.remove(pos);
+        }
+
+        for (Pos relative : RELATIVE_BLOCKS) {
+            Pos other = walkable.get(pos.add(relative));
+            if (other == null) continue;
+
+            Block thisBlock = WORLD.getBlockAt(pos.x, pos.y, pos.z);
+            Block otherBlock = WORLD.getBlockAt(other.x, other.y, other.z);
+
+            // TODO: Ladder connections!
+            if (thisBlock.getType() != Material.LADDER && otherBlock.getType() == Material.LADDER && pos.y > other.y) continue;
+
+            // Check if jumpable vertical distance
+            if (otherBlock.getType() != Material.LADDER && other.floorPosition() - pos.floorPosition() > PLAYER_JUMP_HEIGHT) continue;
+            // Check if Ceiling is high enough for player walking down!
+            if (other.ceilingPosition() < pos.floorPosition() + PLAYER_HEIGHT) continue;
+
+            connections.computeIfAbsent(other, __ -> new LinkedHashSet<>()).add(pos);
+        }
     }
 
-    public List<Vector> getWalkableBlocks(Vector fromVector) {
+    private Pos toPos(Vector vector) {
-        Pos from = toPos(fromVector);
+        Pos pos = new Pos(vector.getBlockX(), vector.getBlockY(), vector.getBlockZ());
-        if (from == null) {
+        if (walkable.containsKey(pos)) return walkable.get(pos);
-            return Collections.emptyList();
+        pos = new Pos(pos.x, pos.y - 1, pos.z);
-        }
+        if (walkable.containsKey(pos)) return walkable.get(pos);
+        return null;
+    }
 
-        Set<Pos> checked = new HashSet<>();
+    public List<Vector> walkable() {
-        List<Pos> checking = new ArrayList<>();
+        return walkable.values().stream().map(Pos::toVector).collect(Collectors.toList());
-        checking.add(from);
+    }
-        while (!checking.isEmpty()) {
-            Pos pos = checking.remove(0);
-            checked.add(pos);
 
-            neighbourConnections.getOrDefault(pos, new HashSet<>()).forEach(p -> {
+    public List<Vector> pathToNearest(Vector fromVector, Vector toVector) {
-                Pos n = pos.add(p);
+        Pos to = toPos(toVector);
-                if (checked.contains(n)) return;
+        if (walkable.containsKey(to)) return path(fromVector, toVector);
-                if (checking.contains(n)) return;
-                checking.add(n);
-            });
-        }
 
-        return checked.stream().map(Pos::toVector).collect(Collectors.toList());
+        Pos nearestPos = walkable.values()
+                .stream()
+                .min(Comparator.comparingDouble(pos -> pos.toVector().distanceSquared(toVector)))
+                .orElse(null);
+        if (nearestPos == null) return Collections.emptyList();
+        return path(fromVector, nearestPos.toVector());
     }
 
     public List<Vector> path(Vector fromVector, Vector toVector) {
-        rEntities.forEach(REntity::die);
+        server.getEntities().forEach(REntity::die);
-        rEntities.clear();
 
         Pos from = toPos(fromVector);
         Pos to = toPos(toVector);
@@ -325,7 +328,10 @@ public class NavMesh implements Listener {
             Set<Pos> toCheck = new HashSet<>();
             for (Pos pos : checking) {
                 boolean foundFrom = false;
-                Set<Pos> successors = reverseNeighbourConnections.get(pos);
+                Set<Pos> successors = connections.get(pos);
+                if (successors == null) {
+                    return Collections.emptyList();
+                }
                 for (Pos p : successors) {
                     if (route.containsKey(p)) continue;
                     route.put(p, pos);
@@ -342,39 +348,32 @@ public class NavMesh implements Listener {
                         path.add(route.get(path.get(path.size() - 1)));
                     }
 
-                    for (int i = path.size() - 1; i > 0; i--) {
+                    for (int i = 0; i < path.size(); i++) {
-                        Pos current = path.get(i);
+                        path.set(i, walkable.get(path.get(i)));
-                        Pos last = path.get(i - 1);
-                        if (last.y > current.y) {
-                            path.set(i, new Pos(current.x, last.y, current.z));
-                        }
                     }
 
-                    List<Vector> vectors = path.stream().map(p -> {
+                    int i = 0;
-                        Double floorHeight = floorBlock.get(p);
+                    while (i < path.size() - 1) {
-                        if (p.y > (floorHeight == null ? p.y : floorHeight)) floorHeight = null;
+                        Pos current = path.get(i);
-                        return new Vector(p.x + 0.5, floorHeight == null ? p.y : floorHeight, p.z + 0.5);
+                        Pos next = path.get(i + 1);
-                    }).collect(Collectors.toList());
 
-                    AtomicReference<Vector> last = new AtomicReference<>();
+                        if (current.floorPosition() > next.floorPosition() + 1) {
+                            Pos between = new Pos(next.x, current.y, next.z);
+                            between.floor = current.floor;
+                            path.add(i + 1, between);
+                            i++;
+                        }
+                        i++;
+                    }
+
+                    List<Vector> vectors = path.stream().skip(1).map(Pos::toVector).collect(Collectors.toList());
                     vectors.forEach(vector -> {
-                        RArmorStand armorStand = new RArmorStand(entityServer, vector.toLocation(WORLD), RArmorStand.Size.MARKER);
+                        RBlockDisplay block = new RBlockDisplay(server, vector.toLocation(WORLD));
-                        armorStand.setInvisible(true);
+                        block.setBlock(PATH_BLOCK);
-                        armorStand.setNoGravity(true);
+                        block.setTransform(new Transformation(new Vector3f(0, 0, 0), new AxisAngle4f(0, 0, 0, 0), new Vector3f(1, 0.001F, 1), new AxisAngle4f(0, 0, 0, 0)));
-                        armorStand.setDisplayName("+");
-                        rEntities.add(armorStand);
-
-                        if (true) return;
-                        Vector lastVector = last.getAndSet(vector);
-                        if (lastVector == null) return;
-                        lastVector = lastVector.clone().add(vector).divide(new Vector(2, 2, 2));
-                        armorStand = new RArmorStand(entityServer, lastVector.toLocation(WORLD), RArmorStand.Size.MARKER);
-                        armorStand.setInvisible(true);
-                        armorStand.setNoGravity(true);
-                        armorStand.setDisplayName("+");
-                        rEntities.add(armorStand);
                     });
 
+                    vectors.forEach(vector -> vector.add(MIDDLE_VECTOR));
                     return vectors;
                 }
             }

FightSystem/FightSystem_Core/src/de/steamwar/fightsystem/ai/schematic/Bridge.java

@@ -0,0 +1,45 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.schematic;
+
+import lombok.Getter;
+import org.bukkit.util.Vector;
+
+import java.util.HashSet;
+import java.util.Set;
+
+@Getter
+public class Bridge {
+
+    private final Set<Vector> shieldActivators = new HashSet<>();
+    private Vector automaticActivator = null;
+    private int automaticActivatorTime = 0;
+
+    public Bridge addShieldActivator(Vector shieldActivator) {
+        this.shieldActivators.add(shieldActivator);
+        return this;
+    }
+
+    public Bridge addAutomaticActivator(Vector automaticActivator, int automaticActivatorTime) {
+        this.automaticActivator = automaticActivator;
+        this.automaticActivatorTime = automaticActivatorTime;
+        return this;
+    }
+}

FightSystem/FightSystem_Core/src/de/steamwar/fightsystem/ai/schematic/Cannon.java

@@ -0,0 +1,45 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.schematic;
+
+import lombok.Getter;
+import org.bukkit.util.Vector;
+
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+
+@Getter
+public class Cannon {
+
+    private final List<Vector> tntPositions = new ArrayList<>();
+    private final Set<Vector> triggerPositions = new HashSet<>();
+
+    public Cannon addTnt(Vector tnt) {
+        tntPositions.add(tnt);
+        return this;
+    }
+
+    public Cannon addTrigger(Vector trigger) {
+        triggerPositions.add(trigger);
+        return this;
+    }
+}

FightSystem/FightSystem_Core/src/de/steamwar/fightsystem/ai/schematic/WarMachine.java

@@ -0,0 +1,63 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.schematic;
+
+import lombok.Getter;
+import org.bukkit.util.Consumer;
+import org.bukkit.util.Vector;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Getter
+public class WarMachine {
+
+    private int schematicId = 0;
+    private Bridge bridge = new Bridge();
+    private List<Cannon> cannons = new ArrayList<>();
+    private List<Vector> tntChests = new ArrayList<>();
+
+    public WarMachine setSchematicId(int schematicId) {
+        this.schematicId = schematicId;
+        return this;
+    }
+
+    public WarMachine editBridge(Consumer<Bridge> initializer) {
+        initializer.accept(bridge);
+        return this;
+    }
+
+    public WarMachine addCannon(Consumer<Cannon> initializer) {
+        Cannon cannon = new Cannon();
+        initializer.accept(cannon);
+        cannons.add(cannon);
+        return this;
+    }
+
+    public WarMachine addTnTChest(Vector chest) {
+        tntChests.add(chest);
+        return this;
+    }
+
+    public WarMachine finish(List<WarMachine> list) {
+        list.add(this);
+        return this;
+    }
+}

FightSystem/FightSystem_Core/src/de/steamwar/fightsystem/ai/schematic/impl/MiniWarGear20.java

@@ -0,0 +1,64 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.schematic.impl;
+
+import de.steamwar.fightsystem.ai.schematic.WarMachine;
+import org.bukkit.util.Vector;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+
+public class MiniWarGear20 {
+
+    private static final Random RANDOM = new Random();
+    private static final List<WarMachine> MiniWarGear20 = new ArrayList<>();
+
+    public static WarMachine select() {
+        return MiniWarGear20.get(RANDOM.nextInt(MiniWarGear20.size()));
+    }
+
+    public static final WarMachine DPR_PV1_Reaper = new WarMachine()
+            .setSchematicId(135745)
+            .editBridge(bridge -> {
+                bridge.addShieldActivator(new Vector(23, 16, 19));
+                bridge.addShieldActivator(new Vector(32, 4, 13));
+                bridge.addShieldActivator(new Vector(20, 4, 13));
+            })
+            .addCannon(cannon -> {
+                cannon.addTnt(new Vector(30, 2, 22));
+                cannon.addTnt(new Vector(30, 2, 23));
+                cannon.addTnt(new Vector(30, 2, 24));
+                cannon.addTnt(new Vector(31, 2, 23));
+                cannon.addTnt(new Vector(31, 2, 24));
+                cannon.addTnt(new Vector(30, 3, 25));
+                cannon.addTnt(new Vector(31, 3, 25));
+                cannon.addTnt(new Vector(30, 3, 26));
+                cannon.addTnt(new Vector(31, 3, 26));
+                cannon.addTnt(new Vector(30, 4, 25));
+                cannon.addTnt(new Vector(31, 4, 25));
+                cannon.addTnt(new Vector(30, 4, 26));
+                cannon.addTnt(new Vector(31, 4, 26));
+                cannon.addTrigger(new Vector(31, 4, 20));
+                cannon.addTrigger(new Vector(32, 4, 19));
+                cannon.addTrigger(new Vector(32, 4, 21));
+            })
+            .finish(MiniWarGear20);
+}

FightSystem/FightSystem_Core/src/de/steamwar/fightsystem/ai/yoyonow/YoyoNowAI.java

@@ -0,0 +1,102 @@
+/*
+ *   This file is a part of the SteamWar software.
+ *
+ *   Copyright (C) 2026 SteamWar.de-Serverteam
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Affero General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ *   GNU Affero General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Affero General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package de.steamwar.fightsystem.ai.yoyonow;
+
+import com.sk89q.worldedit.extent.clipboard.Clipboard;
+import de.steamwar.entity.REntityServer;
+import de.steamwar.fightsystem.ArenaMode;
+import de.steamwar.fightsystem.ai.AI;
+import de.steamwar.fightsystem.ai.NavMesh;
+import de.steamwar.fightsystem.ai.schematic.WarMachine;
+import de.steamwar.fightsystem.ai.schematic.impl.MiniWarGear20;
+import de.steamwar.fightsystem.fight.FightTeam;
+import de.steamwar.fightsystem.states.FightState;
+import de.steamwar.fightsystem.states.OneShotStateDependent;
+import de.steamwar.sql.SchematicNode;
+import de.steamwar.sql.SteamwarUser;
+import org.bukkit.Bukkit;
+import org.bukkit.Location;
+import org.bukkit.World;
+import org.bukkit.util.Vector;
+
+import java.util.List;
+import java.util.Random;
+
+public class YoyoNowAI extends AI {
+
+    private static final World WORLD = Bukkit.getWorlds().get(0);
+
+    private WarMachine selectedSchematic;
+
+    private final REntityServer entityServer = new REntityServer();
+    private final NavMesh navMesh;
+
+    protected YoyoNowAI(FightTeam team) {
+        super(team, SteamwarUser.get("YoyoNow.AI"));
+        getEntity().setGlowing(true);
+        navMesh = new NavMesh(team);
+
+        new OneShotStateDependent(ArenaMode.All, FightState.PostSchemSetup, () -> {
+            Bukkit.getOnlinePlayers().forEach(entityServer::addPlayer);
+        });
+    }
+
+    @Override
+    public SchematicNode chooseSchematic() {
+        selectedSchematic = MiniWarGear20.select();
+        return SchematicNode.getSchematicNode(selectedSchematic.getSchematicId());
+    }
+
+    @Override
+    public void schematic(Clipboard clipboard) {
+        setReady();
+    }
+
+    private Random random = new Random();
+    private Vector destination = null;
+
+    @Override
+    protected void plan() {
+        if (!navMesh.isReady()) return;
+
+        navMesh.update(getEntity().getLocation().toVector());
+
+        if (this.destination == null) {
+            List<Vector> walkable = navMesh.walkable();
+            Vector destination = walkable.get(random.nextInt(walkable.size()));
+            List<Vector> path = navMesh.pathToNearest(getEntity().getLocation().toVector(), destination);
+            if (path.isEmpty()) return;
+            this.destination = untranslate(path.getLast());
+            return;
+        }
+
+        Location location = translate(destination);
+        List<Vector> path = navMesh.pathToNearest(getEntity().getLocation().toVector(), location.toVector());
+
+        if (path.isEmpty()) {
+            destination = null;
+            return;
+        }
+        move(untranslate(path.get(0)));
+        if (path.get(0).equals(destination)) {
+            destination = null;
+        }
+    }
+}

FightSystem/build.gradle.kts

@@ -91,4 +91,14 @@ tasks.register<FightServer>("QuickGear20") {
     template = "QuickGear20"
     worldName = "arenas/WarGearPark"
     config = "QuickGear20.yml"
-}
+}
+
+tasks.register<FightServer>("MiniWarGear20") {
+    group = "run"
+    description = "Run a MiniWarGear 1.20 Fight Server"
+    dependsOn(":SpigotCore:shadowJar")
+    dependsOn(":FightSystem:shadowJar")
+    template = "MiniWarGear20"
+    worldName = "arenas/NightTown"
+    config = "MiniWarGear20.yml"
+}