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User Chubzdoomer has used a camera, player input and a series of colored player blocking volumes to create an elegant automap. In the example map (ID 79YLV4GE), the automap updates as the player discovers new rooms and the current location is marked with a yellow dot. The doors are also shown, with red and blue doors for keycard-locked doors.
The actual map:
The full AutoMap:
A partially-revealed AutoMap:
Chubzdoomer explains their map over at NeoGAF.
The Player Input toggles the Camera when the player pressed User Input 1. The Camera is positioned to see the player blocking volumes that represent the map.
Each room is revealed when the player first enters that module. In the screenshot below, the Module object has been moved closer to the player blocking volumes for clarity (it should be placed in the proper module). On entering a module, the player blocking volumes representing the room and doors are made visible. The yellow volume that represents the player is shown when the player enters the module and hidden when the player exits the module.