Final waypoint creation...

Finished the Waypoints system. It now uses several rays to determine if enough space is available for a drone to traverse the potential path. The result is a set of waypoints with links that have enough space between themselves and the walls/props to avoid any chance of (drone-)model clipping.

There are several non-connecting waypoints in the image below (mostly in the center of the level) this is not a flaw of the system, it's a flaw of the level, the corridors are simply too tight for a drone to fit through. It's a nice bonus to quickly determine if a walkway needs to be wider before any drone ever sets foot in it.

YellowGreen lines are the rays cast while building (happens only once)

The resulting paths. It took less than 30 seconds to create this path (using sketchlines) afterwards you can determine which waypoints should be deleted (to improve performance)

as a lot of the waypoints at the straight lines are not necessary.

If you're wondering what the red dots are. It means the waypoints are tagged as "PatrolPoint" and will be used by the AI if they haven't found the player yet, or have lost sight of him.

Update: Cleaner paths (+- 3min)