Prevent NPC from chosing farther pathgrid node

apps/openmw/mwbase/world.hpp

@@ -297,7 +297,7 @@ namespace MWBase
             ///< Queues movement for \a ptr (in local space), to be applied in the next call to
             /// doPhysics.
 
-            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) = 0;
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors=false) = 0;
             ///< cast a Ray and return true if there is an object in the ray path.
 
             virtual bool toggleCollisionMode() = 0;

apps/openmw/mwmechanics/pathfinding.cpp

@@ -231,6 +231,28 @@ namespace MWMechanics
         {
             mPath = pathgridGraph.aStarSearch(startNode, endNode.first);
 
+            // If nearest path node is in opposite direction from second, remove it from path.
+            // Especially useful for wandering actors, if the nearest node is blocked for some reason.
+            if (mPath.size() > 1)
+            {
+                ESM::Pathgrid::Point secondNode = *(++mPath.begin());
+                osg::Vec3f firstNodeVec3f = MakeOsgVec3(mPathgrid->mPoints[startNode]);
+                osg::Vec3f secondNodeVec3f = MakeOsgVec3(secondNode);
+                osg::Vec3f toSecondNodeVec3f = secondNodeVec3f - firstNodeVec3f;
+                osg::Vec3f toStartPointVec3f = startPointInLocalCoords - firstNodeVec3f;
+                if (toSecondNodeVec3f * toStartPointVec3f > 0)
+                {
+                    ESM::Pathgrid::Point temp(secondNode);
+                    converter.toWorld(temp);
+                    // Add Z offset since path node can overlap with other objects.
+                    // Also ignore doors in raytesting.
+                    bool isPathClear = !MWBase::Environment::get().getWorld()->castRay(
+                        startPoint.mX, startPoint.mY, startPoint.mZ+16, temp.mX, temp.mY, temp.mZ+16, true);
+                    if (isPathClear)
+                        mPath.pop_front();
+                }
+            }
+
             // convert supplied path to world coordinates
             for (std::list<ESM::Pathgrid::Point>::iterator iter(mPath.begin()); iter != mPath.end(); ++iter)
             {

apps/openmw/mwworld/worldimp.cpp

@@ -1471,12 +1471,16 @@ namespace MWWorld
             moveObjectImp(player->first, player->second.x(), player->second.y(), player->second.z(), false);
     }
 
-    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)
+    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors)
     {
         osg::Vec3f a(x1,y1,z1);
         osg::Vec3f b(x2,y2,z2);
 
-        MWPhysics::PhysicsSystem::RayResult result = mPhysics->castRay(a, b, MWWorld::Ptr(), std::vector<MWWorld::Ptr>(), MWPhysics::CollisionType_World|MWPhysics::CollisionType_Door);
+        int mask = MWPhysics::CollisionType_World;
+        if (!ignoreDoors)
+            mask |= MWPhysics::CollisionType_Door;
+
+        MWPhysics::PhysicsSystem::RayResult result = mPhysics->castRay(a, b, MWWorld::Ptr(), std::vector<MWWorld::Ptr>(), mask);
         return result.mHit;
     }
 

apps/openmw/mwworld/worldimp.hpp

@@ -400,7 +400,7 @@ namespace MWWorld
             ///< Queues movement for \a ptr (in local space), to be applied in the next call to
             /// doPhysics.
 
-            bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) override;
+            bool castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors=false) override;
             ///< cast a Ray and return true if there is an object in the ray path.
 
             bool toggleCollisionMode() override;