qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include <server/defs.qh>
   4 #include <server/miscfunctions.qh>
   5 #include "cvars.qh"
   6
   7 #include "bot.qh"
   8 #include "waypoints.qh"
   9
  10 #include <common/t_items.qh>
  11
  12 #include <common/items/_mod.qh>
  13
  14 #include <common/constants.qh>
  15 #include <common/net_linked.qh>
  16 #include <common/mapobjects/trigger/jumppads.qh>
  17
  18 .float speed;
  19
  20 void navigation_goalrating_timeout_set(entity this)
  21 {
  22         if(IS_MOVABLE(this.goalentity))
  23                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
  24         else
  25                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
  26 }
  27
  28 // use this when current goal must be discarded immediately
  29 void navigation_goalrating_timeout_force(entity this)
  30 {
  31         navigation_goalrating_timeout_expire(this, 0);
  32 }
  33
  34 // use this when current goal can be kept for a short while to increase the chance
  35 // of bot touching a waypoint, which helps to find a new goal more efficiently
  36 void navigation_goalrating_timeout_expire(entity this, float seconds)
  37 {
  38         if (seconds <= 0)
  39                 this.bot_strategytime = 0;
  40         else if (this.bot_strategytime > time + seconds)
  41                 this.bot_strategytime = time + seconds;
  42 }
  43
  44 bool navigation_goalrating_timeout(entity this)
  45 {
  46         return this.bot_strategytime < time;
  47 }
  48
  49 #define MAX_CHASE_DISTANCE 700
  50 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
  51 {
  52         vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
  53         if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
  54                 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
  55         {
  56                 return true;
  57         }
  58
  59         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
  60         {
  61                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
  62                 {
  63                         this.ignoregoal = this.goalentity;
  64                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
  65                         return true;
  66                 }
  67         }
  68         return false;
  69 }
  70
  71 void navigation_dynamicgoal_init(entity this, bool initially_static)
  72 {
  73         this.navigation_dynamicgoal = true;
  74         this.bot_basewaypoint = this.nearestwaypoint;
  75         if(initially_static)
  76                 this.nearestwaypointtimeout = -1;
  77         else
  78                 this.nearestwaypointtimeout = time;
  79 }
  80
  81 void navigation_dynamicgoal_set(entity this)
  82 {
  83         this.nearestwaypointtimeout = time;
  84         if (this.nearestwaypoint)
  85                 this.nearestwaypointtimeout += 2;
  86 }
  87
  88 void navigation_dynamicgoal_unset(entity this)
  89 {
  90         if(this.bot_basewaypoint)
  91                 this.nearestwaypoint = this.bot_basewaypoint;
  92         this.nearestwaypointtimeout = -1;
  93 }
  94
  95 // returns point of ent closer to org
  96 vector get_closer_dest(entity ent, vector org)
  97 {
  98         vector dest = '0 0 0';
  99         if ((ent.classname != "waypoint") || ent.wpisbox)
 100         {
 101                 vector wm1 = ent.origin + ent.mins;
 102                 vector wm2 = ent.origin + ent.maxs;
 103                 dest.x = bound(wm1.x, org.x, wm2.x);
 104                 dest.y = bound(wm1.y, org.y, wm2.y);
 105                 dest.z = bound(wm1.z, org.z, wm2.z);
 106         }
 107         else
 108                 dest = ent.origin;
 109         return dest;
 110 }
 111
 112 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
 113 {
 114         if ((ent.classname != "waypoint") || ent.wpisbox)
 115         {
 116                 vector wm1 = ent.origin + ent.mins;
 117                 vector wm2 = ent.origin + ent.maxs;
 118                 if (IS_PLAYER(ent) || IS_MONSTER(ent))
 119                 {
 120                         // move destination point out of player bbox otherwise tracebox always fails
 121                         // (if bot_navigation_ignoreplayers is false)
 122                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
 123                         wm2 += vec2(PL_MAX_CONST) + '1 1 0';
 124                 }
 125                 // set destination point to x and y coords of ent that are closer to org
 126                 // z coord is set to ent's min height
 127                 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
 128                 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
 129                 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
 130                         && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
 131                 {
 132                         tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
 133                         tracewalk_dest_height = 0;
 134                         fix_player_dest = false;
 135                 }
 136                 else
 137                 {
 138                         tracewalk_dest.z = wm1.z;
 139                         tracewalk_dest_height = wm2.z - wm1.z;
 140                 }
 141         }
 142         else
 143         {
 144                 tracewalk_dest = ent.origin;
 145                 tracewalk_dest_height = 0;
 146         }
 147         if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
 148         {
 149                 // snap player to the ground
 150                 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
 151                 {
 152                         // bot is right under the player
 153                         tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
 154                         tracewalk_dest = trace_endpos;
 155                         tracewalk_dest_height = 0;
 156                 }
 157                 else
 158                 {
 159                         tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
 160                         if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
 161                         {
 162                                 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
 163                                 tracewalk_dest.z = trace_endpos.z;
 164                         }
 165                 }
 166         }
 167 }
 168
 169 // returns point of ent closer to org
 170 vector set_tracewalk_dest_2(entity ent, vector org)
 171 {
 172         vector closer_dest = '0 0 0';
 173         if ((ent.classname != "waypoint") || ent.wpisbox)
 174         {
 175                 vector wm1 = ent.origin + ent.mins;
 176                 vector wm2 = ent.origin + ent.maxs;
 177                 closer_dest.x = bound(wm1.x, org.x, wm2.x);
 178                 closer_dest.y = bound(wm1.y, org.y, wm2.y);
 179                 closer_dest.z = bound(wm1.z, org.z, wm2.z);
 180                 // set destination point to x and y coords of ent that are closer to org
 181                 // z coord is set to ent's min height
 182                 tracewalk_dest.x = closer_dest.x;
 183                 tracewalk_dest.y = closer_dest.y;
 184                 tracewalk_dest.z = wm1.z;
 185                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
 186         }
 187         else
 188         {
 189                 closer_dest = ent.origin;
 190                 tracewalk_dest = closer_dest;
 191                 tracewalk_dest_height = 0;
 192         }
 193         return closer_dest;
 194 }
 195
 196 bool navigation_check_submerged_state(entity ent, vector pos)
 197 {
 198         bool submerged;
 199         if(IS_PLAYER(ent))
 200                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
 201         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
 202                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
 203         else
 204         {
 205                 submerged = SUBMERGED(pos);
 206                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
 207                 //  is actually submerged because often they are inside some solid.
 208                 //  That's why submerged state is saved now that we know current pos is
 209                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
 210                 if(!ent.navigation_dynamicgoal)
 211                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
 212         }
 213         return submerged;
 214 }
 215
 216 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
 217 {
 218         IL_EACH(g_ladders, it.classname == "func_ladder",
 219         {
 220                 if(it.bot_pickup)
 221                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
 222                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
 223                 {
 224                         vector top = org;
 225                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
 226                         tracebox(org, m1, m2, top, movemode, e);
 227                         if(trace_fraction == 1)
 228                                 return true;
 229                 }
 230         });
 231         return false;
 232 }
 233
 234 vector resurface_limited(vector org, float lim, vector m1)
 235 {
 236         if (WETFEET(org + eZ * (lim - org.z)))
 237                 org.z = lim;
 238         else
 239         {
 240                 float RES_min_h = org.z;
 241                 float RES_max_h = lim;
 242                 do {
 243                         org.z = 0.5 * (RES_min_h + RES_max_h);
 244                         if(WETFEET(org))
 245                                 RES_min_h = org.z;
 246                         else
 247                                 RES_max_h = org.z;
 248                 } while (RES_max_h - RES_min_h >= 1);
 249                 org.z = RES_min_h;
 250         }
 251         return org;
 252 }
 253 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
 254
 255 #define NAV_WALK 0
 256 #define NAV_SWIM_ONWATER 1
 257 #define NAV_SWIM_UNDERWATER 2
 258
 259 // rough simulation of walking from one point to another to test if a path
 260 // can be traveled, used for waypoint linking and havocbot
 261 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
 262 // INFO: the command sv_cmd trace walk is useful to test this function in game
 263 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
 264 {
 265         if(autocvar_bot_debug_tracewalk)
 266         {
 267                 debugresetnodes();
 268                 debugnode(e, start);
 269         }
 270
 271         vector org = start;
 272         vector flatdir = end - start;
 273         flatdir.z = 0;
 274         float flatdist = vlen(flatdir);
 275         flatdir = normalize(flatdir);
 276         float stepdist = 32;
 277         bool ignorehazards = false;
 278         int nav_action;
 279
 280         // Analyze starting point
 281         if (IN_LAVA(start))
 282                 ignorehazards = true;
 283
 284         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 285         if (trace_startsolid)
 286         {
 287                 // Bad start
 288                 if(autocvar_bot_debug_tracewalk)
 289                         debugnodestatus(start, DEBUG_NODE_FAIL);
 290
 291                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 292                 return false;
 293         }
 294
 295         vector end2 = end;
 296         if(end_height)
 297                 end2.z += end_height;
 298
 299         vector fixed_end = end;
 300         vector move;
 301
 302         if (flatdist > 0 && WETFEET(org))
 303         {
 304                 if (SUBMERGED(org))
 305                         nav_action = NAV_SWIM_UNDERWATER;
 306                 else
 307                 {
 308                         // tracebox down by player's height
 309                         // useful to know if water level is so low that bot can still walk
 310                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
 311                         if (SUBMERGED(trace_endpos))
 312                         {
 313                                 org = trace_endpos;
 314                                 nav_action = NAV_SWIM_UNDERWATER;
 315                         }
 316                         else
 317                                 nav_action = NAV_WALK;
 318                 }
 319         }
 320         else
 321                 nav_action =  NAV_WALK;
 322
 323         // Movement loop
 324         while (true)
 325         {
 326                 if (flatdist <= 0)
 327                 {
 328                         bool success = true;
 329                         if (org.z > end2.z + 1)
 330                         {
 331                                 tracebox(org, m1, m2, end2, movemode, e);
 332                                 org = trace_endpos;
 333                                 if (org.z > end2.z + 1)
 334                                         success = false;
 335                         }
 336                         else if (org.z < end.z - 1)
 337                         {
 338                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
 339                                 if (SUBMERGED(trace_endpos))
 340                                 {
 341                                         vector v = trace_endpos;
 342                                         tracebox(v, m1, m2, end, movemode, e);
 343                                         if(trace_endpos.z >= end.z - 1)
 344                                         {
 345                                                 RESURFACE_LIMITED(v, trace_endpos.z);
 346                                                 trace_endpos = v;
 347                                         }
 348                                 }
 349                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
 350                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
 351                                 org = trace_endpos;
 352                                 if (org.z < end.z - 1)
 353                                         success = false;
 354                         }
 355
 356                         if (success)
 357                         {
 358                                 // Succeeded
 359                                 if(autocvar_bot_debug_tracewalk)
 360                                 {
 361                                         debugnode(e, org);
 362                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 363                                 }
 364
 365                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 366                                 return true;
 367                         }
 368                 }
 369
 370                 if(autocvar_bot_debug_tracewalk)
 371                         debugnode(e, org);
 372
 373                 if (flatdist <= 0)
 374                         break;
 375
 376                 if (stepdist > flatdist)
 377                         stepdist = flatdist;
 378                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
 379                 {
 380                         // can't use movement direction here to calculate move because of
 381                         // precision errors especially when direction has a high enough z value
 382                         //water_dir = normalize(water_end - org);
 383                         //move = org + water_dir * stepdist;
 384                         fixed_end.z = bound(end.z, org.z, end2.z);
 385                         if (stepdist == flatdist) {
 386                                 move = fixed_end;
 387                                 flatdist = 0;
 388                         } else {
 389                                 move = org + (fixed_end - org) * (stepdist / flatdist);
 390                                 flatdist = vlen(vec2(fixed_end - move));
 391                         }
 392                 }
 393                 else // horiz. direction
 394                 {
 395                         flatdist -= stepdist;
 396                         move = org + flatdir * stepdist;
 397                 }
 398
 399                 if(nav_action == NAV_SWIM_ONWATER)
 400                 {
 401                         tracebox(org, m1, m2, move, movemode, e); // swim
 402
 403                         // hit something
 404                         if (trace_fraction < 1)
 405                         {
 406                                 // stepswim
 407                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 408
 409                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 410                                 {
 411                                         org = trace_endpos;
 412                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
 413                                         {
 414                                                 if(autocvar_bot_debug_tracewalk)
 415                                                 {
 416                                                         debugnode(e, org);
 417                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 418                                                 }
 419
 420                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 421                                                 return true;
 422                                         }
 423
 424                                         if(autocvar_bot_debug_tracewalk)
 425                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 426
 427                                         return false;
 428                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 429                                 }
 430
 431                                 //succesful stepswim
 432
 433                                 if (flatdist <= 0)
 434                                 {
 435                                         org = trace_endpos;
 436                                         continue;
 437                                 }
 438
 439                                 if (org.z <= move.z) // going horiz.
 440                                 {
 441                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
 442                                         org = trace_endpos;
 443                                         nav_action = NAV_WALK;
 444                                         continue;
 445                                 }
 446                         }
 447
 448                         if (org.z <= move.z) // going horiz.
 449                         {
 450                                 org = trace_endpos;
 451                                 nav_action = NAV_SWIM_ONWATER;
 452                         }
 453                         else // going down
 454                         {
 455                                 org = trace_endpos;
 456                                 if (SUBMERGED(org))
 457                                         nav_action = NAV_SWIM_UNDERWATER;
 458                                 else
 459                                         nav_action = NAV_SWIM_ONWATER;
 460                         }
 461                 }
 462                 else if(nav_action == NAV_SWIM_UNDERWATER)
 463                 {
 464                         if (move.z >= org.z) // swimming upwards or horiz.
 465                         {
 466                                 tracebox(org, m1, m2, move, movemode, e); // swim
 467
 468                                 bool stepswum = false;
 469
 470                                 // hit something
 471                                 if (trace_fraction < 1)
 472                                 {
 473                                         // stepswim
 474                                         vector stepswim_move = move + stepheightvec;
 475                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
 476                                                 stepswim_move.z = end2.z;
 477
 478                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
 479
 480                                         // hit something
 481                                         if (trace_startsolid)
 482                                         {
 483                                                 if(autocvar_bot_debug_tracewalk)
 484                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 485
 486                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 487                                                 return false;
 488                                         }
 489
 490                                         if (trace_fraction < 1)
 491                                         {
 492                                                 float org_z_prev = org.z;
 493                                                 RESURFACE_LIMITED(org, end2.z);
 494                                                 if(org.z == org_z_prev)
 495                                                 {
 496                                                         if(autocvar_bot_debug_tracewalk)
 497                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 498
 499                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
 500                                                         return false;
 501                                                 }
 502                                                 if(SUBMERGED(org))
 503                                                         nav_action = NAV_SWIM_UNDERWATER;
 504                                                 else
 505                                                         nav_action = NAV_SWIM_ONWATER;
 506
 507                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
 508                                                 // but we can't do it properly right now... apply this workaround instead
 509                                                 if (flatdist <= 0)
 510                                                         flatdist = 1;
 511
 512                                                 continue;
 513                                         }
 514
 515                                         //succesful stepswim
 516
 517                                         if (flatdist <= 0)
 518                                         {
 519                                                 org = trace_endpos;
 520                                                 continue;
 521                                         }
 522
 523                                         stepswum = true;
 524                                 }
 525
 526                                 if (!WETFEET(trace_endpos))
 527                                 {
 528                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
 529                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
 530                                         if (!stepswum && SUBMERGED(trace_endpos))
 531                                         {
 532                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
 533                                                 org = trace_endpos;
 534                                                 nav_action = NAV_SWIM_ONWATER;
 535                                                 continue;
 536                                         }
 537
 538                                         // not submerged
 539                                         org = trace_endpos;
 540                                         nav_action = NAV_WALK;
 541                                         continue;
 542                                 }
 543
 544                                 // wetfeet
 545                                 org = trace_endpos;
 546                                 nav_action = NAV_SWIM_UNDERWATER;
 547                                 continue;
 548                         }
 549                         else //if (move.z < org.z) // swimming downwards
 550                         {
 551                                 tracebox(org, m1, m2, move, movemode, e); // swim
 552
 553                                 // hit something
 554                                 if (trace_fraction < 1)
 555                                 {
 556                                         // stepswim
 557                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 558
 559                                         // hit something
 560                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 561                                         {
 562                                                 if(autocvar_bot_debug_tracewalk)
 563                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
 564
 565                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 566                                                 return false;
 567                                         }
 568
 569                                         //succesful stepswim
 570
 571                                         if (flatdist <= 0)
 572                                         {
 573                                                 org = trace_endpos;
 574                                                 continue;
 575                                         }
 576
 577                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
 578                                         {
 579                                                 // stepswim caused upwards direction
 580                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
 581                                                 if (!SUBMERGED(trace_endpos))
 582                                                 {
 583                                                         org = trace_endpos;
 584                                                         nav_action = NAV_WALK;
 585                                                         continue;
 586                                                 }
 587                                         }
 588                                 }
 589
 590                                 org = trace_endpos;
 591                                 nav_action = NAV_SWIM_UNDERWATER;
 592                                 continue;
 593                         }
 594                 }
 595                 else if(nav_action == NAV_WALK)
 596                 {
 597                         // walk
 598                         tracebox(org, m1, m2, move, movemode, e);
 599
 600                         if(autocvar_bot_debug_tracewalk)
 601                                 debugnode(e, trace_endpos);
 602
 603                         // hit something
 604                         if (trace_fraction < 1)
 605                         {
 606                                 // check if we can walk over this obstacle, possibly by jumpstepping
 607                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 608                                 if (trace_fraction < 1 || trace_startsolid)
 609                                 {
 610                                         if (trace_startsolid) // hit ceiling above org
 611                                         {
 612                                                 // reduce stepwalk height
 613                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
 614                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 615                                         }
 616                                         else //if (trace_fraction < 1)
 617                                         {
 618                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 619                                                 if (trace_startsolid) // hit ceiling above org
 620                                                 {
 621                                                         // reduce jumpstepwalk height
 622                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
 623                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 624                                                 }
 625                                         }
 626
 627                                         if (trace_fraction < 1)
 628                                         {
 629                                                 vector v = trace_endpos;
 630                                                 v.z = org.z + jumpheight_vec.z;
 631                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 632                                                 {
 633                                                         if(autocvar_bot_debug_tracewalk)
 634                                                         {
 635                                                                 debugnode(e, v);
 636                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 637                                                         }
 638
 639                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 640                                                         return true;
 641                                                 }
 642
 643                                                 if(autocvar_bot_debug_tracewalk)
 644                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 645
 646                                                 traceline( org, move, movemode, e);
 647
 648                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 649                                                 {
 650                                                         vector nextmove;
 651                                                         move = trace_endpos;
 652                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 653                                                         {
 654                                                                 nextmove = move + (flatdir * stepdist);
 655                                                                 traceline( move, nextmove, movemode, e);
 656                                                                 move = nextmove;
 657                                                         }
 658                                                         flatdist = vlen(vec2(end - move));
 659                                                 }
 660                                                 else
 661                                                 {
 662                                                         if(autocvar_bot_debug_tracewalk)
 663                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 664
 665                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 666                                                         //te_explosion(trace_endpos);
 667                                                         //print(ftos(e.dphitcontentsmask), "\n");
 668                                                         return false; // failed
 669                                                 }
 670                                         }
 671                                         else
 672                                                 move = trace_endpos;
 673                                 }
 674                                 else
 675                                         move = trace_endpos;
 676                         }
 677                         else
 678                                 move = trace_endpos;
 679
 680                         // trace down from stepheight as far as possible and move there,
 681                         // if this starts in solid we try again without the stepup, and
 682                         // if that also fails we assume it is a wall
 683                         // (this is the same logic as the Quake walkmove function used)
 684                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 685
 686                         org = trace_endpos;
 687
 688                         if (!ignorehazards)
 689                         {
 690                                 if (IN_LAVA(org))
 691                                 {
 692                                         if(autocvar_bot_debug_tracewalk)
 693                                         {
 694                                                 debugnode(e, trace_endpos);
 695                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 696                                         }
 697
 698                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 699                                         return false;
 700                                 }
 701                         }
 702
 703                         if (flatdist <= 0)
 704                         {
 705                                 if(move.z >= end2.z && org.z < end2.z)
 706                                         org.z = end2.z;
 707                                 continue;
 708                         }
 709
 710                         if(org.z > move.z - 1 || !SUBMERGED(org))
 711                         {
 712                                 nav_action = NAV_WALK;
 713                                 continue;
 714                         }
 715
 716                         // ended up submerged while walking
 717                         if(autocvar_bot_debug_tracewalk)
 718                                 debugnode(e, org);
 719
 720                         RESURFACE_LIMITED(org, move.z);
 721                         nav_action = NAV_SWIM_ONWATER;
 722                         continue;
 723                 }
 724         }
 725
 726         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 727
 728         // moved but didn't arrive at the intended destination
 729         if(autocvar_bot_debug_tracewalk)
 730                 debugnodestatus(org, DEBUG_NODE_FAIL);
 731
 732         return false;
 733 }
 734
 735 /////////////////////////////////////////////////////////////////////////////
 736 // goal stack
 737 /////////////////////////////////////////////////////////////////////////////
 738
 739 // completely empty the goal stack, used when deciding where to go
 740 void navigation_clearroute(entity this)
 741 {
 742         this.goalcurrent_prev = this.goalcurrent;
 743         this.goalcurrent_distance_2d = FLOAT_MAX;
 744         this.goalcurrent_distance_z = FLOAT_MAX;
 745         this.goalcurrent_distance_time = 0;
 746         this.goalentity_lock_timeout = 0;
 747         this.goalentity_shouldbefrozen = false;
 748         this.goalentity = NULL;
 749         this.goalcurrent = NULL;
 750         this.goalstack01 = NULL;
 751         this.goalstack02 = NULL;
 752         this.goalstack03 = NULL;
 753         this.goalstack04 = NULL;
 754         this.goalstack05 = NULL;
 755         this.goalstack06 = NULL;
 756         this.goalstack07 = NULL;
 757         this.goalstack08 = NULL;
 758         this.goalstack09 = NULL;
 759         this.goalstack10 = NULL;
 760         this.goalstack11 = NULL;
 761         this.goalstack12 = NULL;
 762         this.goalstack13 = NULL;
 763         this.goalstack14 = NULL;
 764         this.goalstack15 = NULL;
 765         this.goalstack16 = NULL;
 766         this.goalstack17 = NULL;
 767         this.goalstack18 = NULL;
 768         this.goalstack19 = NULL;
 769         this.goalstack20 = NULL;
 770         this.goalstack21 = NULL;
 771         this.goalstack22 = NULL;
 772         this.goalstack23 = NULL;
 773         this.goalstack24 = NULL;
 774         this.goalstack25 = NULL;
 775         this.goalstack26 = NULL;
 776         this.goalstack27 = NULL;
 777         this.goalstack28 = NULL;
 778         this.goalstack29 = NULL;
 779         this.goalstack30 = NULL;
 780         this.goalstack31 = NULL;
 781 }
 782
 783 // add a new goal at the beginning of the stack
 784 // (in other words: add a new prerequisite before going to the later goals)
 785 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 786 // next-closest WP on the shortest path to the WP
 787 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 788 // steps to the goal, and then recalculate the path.
 789 void navigation_pushroute(entity this, entity e)
 790 {
 791         this.goalcurrent_prev = this.goalcurrent;
 792         this.goalcurrent_distance_2d = FLOAT_MAX;
 793         this.goalcurrent_distance_z = FLOAT_MAX;
 794         this.goalcurrent_distance_time = 0;
 795         //print("bot ", etos(this), " push ", etos(e), "\n");
 796         if(this.goalstack31 == this.goalentity)
 797                 this.goalentity = NULL;
 798         this.goalstack31 = this.goalstack30;
 799         this.goalstack30 = this.goalstack29;
 800         this.goalstack29 = this.goalstack28;
 801         this.goalstack28 = this.goalstack27;
 802         this.goalstack27 = this.goalstack26;
 803         this.goalstack26 = this.goalstack25;
 804         this.goalstack25 = this.goalstack24;
 805         this.goalstack24 = this.goalstack23;
 806         this.goalstack23 = this.goalstack22;
 807         this.goalstack22 = this.goalstack21;
 808         this.goalstack21 = this.goalstack20;
 809         this.goalstack20 = this.goalstack19;
 810         this.goalstack19 = this.goalstack18;
 811         this.goalstack18 = this.goalstack17;
 812         this.goalstack17 = this.goalstack16;
 813         this.goalstack16 = this.goalstack15;
 814         this.goalstack15 = this.goalstack14;
 815         this.goalstack14 = this.goalstack13;
 816         this.goalstack13 = this.goalstack12;
 817         this.goalstack12 = this.goalstack11;
 818         this.goalstack11 = this.goalstack10;
 819         this.goalstack10 = this.goalstack09;
 820         this.goalstack09 = this.goalstack08;
 821         this.goalstack08 = this.goalstack07;
 822         this.goalstack07 = this.goalstack06;
 823         this.goalstack06 = this.goalstack05;
 824         this.goalstack05 = this.goalstack04;
 825         this.goalstack04 = this.goalstack03;
 826         this.goalstack03 = this.goalstack02;
 827         this.goalstack02 = this.goalstack01;
 828         this.goalstack01 = this.goalcurrent;
 829         this.goalcurrent = e;
 830 }
 831
 832 // remove first goal from stack
 833 // (in other words: remove a prerequisite for reaching the later goals)
 834 // (used when a spawnfunc_waypoint is reached)
 835 void navigation_poproute(entity this)
 836 {
 837         this.goalcurrent_prev = this.goalcurrent;
 838         this.goalcurrent_distance_2d = FLOAT_MAX;
 839         this.goalcurrent_distance_z = FLOAT_MAX;
 840         this.goalcurrent_distance_time = 0;
 841         //print("bot ", etos(this), " pop\n");
 842         if(this.goalcurrent == this.goalentity)
 843         {
 844                 this.goalentity = NULL;
 845                 this.goalentity_lock_timeout = 0;
 846         }
 847         this.goalcurrent = this.goalstack01;
 848         this.goalstack01 = this.goalstack02;
 849         this.goalstack02 = this.goalstack03;
 850         this.goalstack03 = this.goalstack04;
 851         this.goalstack04 = this.goalstack05;
 852         this.goalstack05 = this.goalstack06;
 853         this.goalstack06 = this.goalstack07;
 854         this.goalstack07 = this.goalstack08;
 855         this.goalstack08 = this.goalstack09;
 856         this.goalstack09 = this.goalstack10;
 857         this.goalstack10 = this.goalstack11;
 858         this.goalstack11 = this.goalstack12;
 859         this.goalstack12 = this.goalstack13;
 860         this.goalstack13 = this.goalstack14;
 861         this.goalstack14 = this.goalstack15;
 862         this.goalstack15 = this.goalstack16;
 863         this.goalstack16 = this.goalstack17;
 864         this.goalstack17 = this.goalstack18;
 865         this.goalstack18 = this.goalstack19;
 866         this.goalstack19 = this.goalstack20;
 867         this.goalstack20 = this.goalstack21;
 868         this.goalstack21 = this.goalstack22;
 869         this.goalstack22 = this.goalstack23;
 870         this.goalstack23 = this.goalstack24;
 871         this.goalstack24 = this.goalstack25;
 872         this.goalstack25 = this.goalstack26;
 873         this.goalstack26 = this.goalstack27;
 874         this.goalstack27 = this.goalstack28;
 875         this.goalstack28 = this.goalstack29;
 876         this.goalstack29 = this.goalstack30;
 877         this.goalstack30 = this.goalstack31;
 878         this.goalstack31 = NULL;
 879 }
 880
 881 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 882 // waypoint destination coordinates instead of v (only useful for box waypoints)
 883 // for normal waypoints v2 == v and v2_height == 0
 884 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
 885 {
 886         if (vdist(v - org, <, bestdist))
 887         {
 888                 traceline(v, org, true, ent);
 889                 if (trace_fraction == 1)
 890                 {
 891                         if (walkfromwp)
 892                         {
 893                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 894                                         return true;
 895                         }
 896                         else
 897                         {
 898                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 899                                         return true;
 900                         }
 901                 }
 902         }
 903         return false;
 904 }
 905
 906 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 907 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 908 {
 909         if(ent.tag_entity)
 910                 ent = ent.tag_entity;
 911
 912         vector pm1 = ent.origin + ent.mins;
 913         vector pm2 = ent.origin + ent.maxs;
 914
 915         // do two scans, because box test is cheaper
 916         IL_EACH(g_waypoints, it != ent && it != except,
 917         {
 918                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 919                 {
 920                         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 921                         {
 922                                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 923                                 navigation_item_addlink(it, ent);
 924                         }
 925                         return it;
 926                 }
 927         });
 928
 929         vector org = ent.origin;
 930         if (navigation_testtracewalk)
 931                 te_plasmaburn(org);
 932
 933         entity best = NULL;
 934         vector v = '0 0 0';
 935
 936         if(ent.size && !IS_PLAYER(ent))
 937         {
 938                 org += 0.5 * (ent.mins + ent.maxs);
 939                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 940         }
 941
 942         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 943         {
 944                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 945                 IL_EACH(g_waypoints, it != ent,
 946                 {
 947                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 948                                 continue;
 949
 950                         set_tracewalk_dest(ent, it.origin, false);
 951                         if (vdist(tracewalk_dest - it.origin, <, 1050)
 952                                 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
 953                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
 954                         {
 955                                 navigation_item_addlink(it, ent);
 956                         }
 957                 });
 958         }
 959
 960         // box check failed, try walk
 961         IL_EACH(g_waypoints, it != ent,
 962         {
 963                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 964                         continue;
 965                 v = it.origin;
 966
 967                 if (walkfromwp)
 968                 {
 969                         set_tracewalk_dest(ent, v, true);
 970                         if (trace_ent == ent)
 971                         {
 972                                 bestdist = 0;
 973                                 best = it;
 974                                 break;
 975                         }
 976                 }
 977                 else
 978                         set_tracewalk_dest(it, org, false);
 979
 980                 if (navigation_waypoint_will_link(v, org, ent,
 981                         tracewalk_dest, tracewalk_dest_height,
 982                         tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
 983                 {
 984                         if (walkfromwp)
 985                                 bestdist = vlen(tracewalk_dest - v);
 986                         else
 987                                 bestdist = vlen(v - org);
 988                         best = it;
 989                 }
 990         });
 991         if(!best && !ent.navigation_dynamicgoal)
 992         {
 993                 int solid_save = ent.solid;
 994                 ent.solid = SOLID_BSP;
 995                 IL_EACH(g_jumppads, true,
 996                 {
 997                         if(trigger_push_test(it, ent))
 998                         {
 999                                 best = it.nearestwaypoint;
1000                                 break;
1001                         }
1002                 });
1003                 ent.solid = solid_save;
1004         }
1005         return best;
1006 }
1007 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1008 {
1009         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1010         if (autocvar_g_waypointeditor_auto)
1011         {
1012                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1013                 if (wp && !wp2)
1014                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1015         }
1016         return wp;
1017 }
1018
1019 // finds the waypoints near the bot initiating a navigation query
1020 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1021 {
1022         //navigation_testtracewalk = true;
1023         int c = 0;
1024         IL_EACH(g_waypoints, !it.wpconsidered,
1025         {
1026                 set_tracewalk_dest(it, this.origin, false);
1027
1028                 vector diff = tracewalk_dest - this.origin;
1029                 diff.z = max(0, diff.z);
1030                 if(vdist(diff, <, maxdist))
1031                 {
1032                         it.wpconsidered = true;
1033                         if (tracewalk(this, this.origin, this.mins, this.maxs,
1034                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1035                         {
1036                                 it.wpnearestpoint = tracewalk_dest;
1037                                 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1038                                 it.wpfire = 1;
1039                                 it.enemy = NULL;
1040                                 c = c + 1;
1041                         }
1042                 }
1043         });
1044         //navigation_testtracewalk = false;
1045         return c;
1046 }
1047
1048 // updates a path link if a spawnfunc_waypoint link is better than the current one
1049 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1050 {
1051         vector m1, m2;
1052         vector v;
1053         if (wp.wpisbox)
1054         {
1055                 m1 = wp.origin + wp.mins;
1056                 m2 = wp.origin + wp.maxs;
1057                 v.x = bound(m1_x, p.x, m2_x);
1058                 v.y = bound(m1_y, p.y, m2_y);
1059                 v.z = bound(m1_z, p.z, m2_z);
1060         }
1061         else
1062                 v = wp.origin;
1063         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1064                 cost += w.wp00mincost; // assuming teleport has exactly one destination
1065         else
1066                 cost += waypoint_gettravelcost(p, v, w, wp);
1067         if (wp.wpcost > cost)
1068         {
1069                 wp.wpcost = cost;
1070                 wp.enemy = w;
1071                 wp.wpfire = 1;
1072                 wp.wpnearestpoint = v;
1073         }
1074 }
1075
1076 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1077 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1078 {
1079         float cost, cost2;
1080         vector p;
1081
1082         IL_EACH(g_waypoints, true,
1083         {
1084                 it.wpconsidered = false;
1085                 it.wpnearestpoint = '0 0 0';
1086                 it.wpcost = 10000000;
1087                 it.wpfire = 0;
1088                 it.enemy = NULL;
1089         });
1090
1091         if(fixed_source_waypoint)
1092         {
1093                 fixed_source_waypoint.wpconsidered = true;
1094                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1095                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1096                 fixed_source_waypoint.wpfire = 1;
1097                 fixed_source_waypoint.enemy = NULL;
1098         }
1099         else
1100         {
1101                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1102                 // as this search is expensive we will use lower values if the bot is on the air
1103                 float increment, maxdistance;
1104                 if(IS_ONGROUND(this))
1105                 {
1106                         increment = 750;
1107                         maxdistance = 50000;
1108                 }
1109                 else
1110                 {
1111                         increment = 500;
1112                         maxdistance = 1500;
1113                 }
1114
1115                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1116         }
1117
1118         bool searching = true;
1119         while (searching)
1120         {
1121                 searching = false;
1122                 IL_EACH(g_waypoints, it.wpfire,
1123                 {
1124                         searching = true;
1125                         it.wpfire = 0;
1126                         cost = it.wpcost;
1127                         p = it.wpnearestpoint;
1128                         entity wp;
1129                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1130                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1131                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1132                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1133                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1134                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1135                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1162                 });
1163         }
1164 }
1165
1166 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1167 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1168 {
1169         float cost, cost2;
1170         vector p;
1171         IL_EACH(g_waypoints, true,
1172         {
1173                 it.wpconsidered = false;
1174                 it.wpnearestpoint = '0 0 0';
1175                 it.wpcost = 10000000;
1176                 it.wpfire = 0;
1177                 it.enemy = NULL;
1178         });
1179
1180         if(fixed_source_waypoint)
1181         {
1182                 fixed_source_waypoint.wpconsidered = true;
1183                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1184                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1185                 fixed_source_waypoint.wpfire = 1;
1186                 fixed_source_waypoint.enemy = NULL;
1187         }
1188         else
1189         {
1190                 error("need to start with a waypoint\n");
1191         }
1192
1193         bool searching = true;
1194         while (searching)
1195         {
1196                 searching = false;
1197                 IL_EACH(g_waypoints, it.wpfire,
1198                 {
1199                         searching = true;
1200                         it.wpfire = 0;
1201                         cost = it.wpcost; // cost to walk from it to home
1202                         p = it.wpnearestpoint;
1203                         entity wp = it;
1204                         IL_EACH(g_waypoints, it != wp,
1205                         {
1206                                 if(!waypoint_islinked(it, wp))
1207                                         continue;
1208                                 cost2 = cost + it.dmg;
1209                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1210                         });
1211                 });
1212         }
1213 }
1214
1215 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1216 void navigation_routerating(entity this, entity e, float f, float rangebias)
1217 {
1218         if (!e)
1219                 return;
1220
1221         if(e.blacklisted)
1222                 return;
1223
1224         rangebias = waypoint_getlinearcost(rangebias);
1225         f = waypoint_getlinearcost(f);
1226
1227         if (IS_PLAYER(e))
1228         {
1229                 bool rate_wps = false;
1230                 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1231                         || (e.flags & FL_PARTIALGROUND))
1232                 {
1233                         rate_wps = true;
1234                 }
1235
1236                 if(!IS_ONGROUND(e))
1237                 {
1238                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1239                         int t = pointcontents(trace_endpos + '0 0 1');
1240                         if(t != CONTENT_SOLID )
1241                         {
1242                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1243                                         rate_wps = true;
1244                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1245                                         return;
1246                         }
1247                 }
1248
1249                 if(rate_wps)
1250                 {
1251                         entity theEnemy = e;
1252                         entity best_wp = NULL;
1253                         float best_dist = FLOAT_MAX;
1254                         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1255                                 && vdist(it.origin - theEnemy.origin, <, 500)
1256                                 && vdist(it.origin - this.origin, >, 100)
1257                                 && vdist(it.origin - this.origin, <, 10000),
1258                         {
1259                                 float dist = vlen2(it.origin - theEnemy.origin);
1260                                 if (dist < best_dist)
1261                                 {
1262                                         best_wp = it;
1263                                         best_dist = dist;
1264                                 }
1265                         });
1266                         if (!best_wp)
1267                                 return;
1268                         e = best_wp;
1269                 }
1270         }
1271
1272         vector goal_org = (e.absmin + e.absmax) * 0.5;
1273
1274         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1275
1276         // Evaluate path using jetpack
1277         if(this.items & IT_JETPACK)
1278         if(autocvar_bot_ai_navigation_jetpack)
1279         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1280         {
1281                 vector pointa, pointb;
1282
1283                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1284
1285                 // Point A
1286                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1287                 pointa = trace_endpos - '0 0 1';
1288
1289                 // Point B
1290                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1291                 pointb = trace_endpos - '0 0 1';
1292
1293                 // Can I see these two points from the sky?
1294                 traceline(pointa, pointb, MOVE_NORMAL, this);
1295
1296                 if(trace_fraction==1)
1297                 {
1298                         LOG_DEBUG("jetpack ai: can bridge these two points");
1299
1300                         // Lower the altitude of these points as much as possible
1301                         float zdistance, xydistance, cost, t, fuel;
1302                         vector down, npa, npb;
1303
1304                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1305
1306                         do{
1307                                 npa = pointa + down;
1308                                 npb = pointb + down;
1309
1310                                 if(npa.z<=this.absmax.z)
1311                                         break;
1312
1313                                 if(npb.z<=e.absmax.z)
1314                                         break;
1315
1316                                 traceline(npa, npb, MOVE_NORMAL, this);
1317                                 if(trace_fraction==1)
1318                                 {
1319                                         pointa = npa;
1320                                         pointb = npb;
1321                                 }
1322                         }
1323                         while(trace_fraction == 1);
1324
1325
1326                         // Rough estimation of fuel consumption
1327                         // (ignores acceleration and current xyz velocity)
1328                         xydistance = vlen(pointa - pointb);
1329                         zdistance = fabs(pointa.z - this.origin.z);
1330
1331                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1332                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1333                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1334
1335                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResourceAmount(this, RESOURCE_FUEL)));
1336
1337                         // enough fuel ?
1338                         if(GetResourceAmount(this, RESOURCE_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO))
1339                         {
1340                                 // Estimate cost
1341                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1342                                 //  - between air and ground speeds)
1343
1344                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1345                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1346                                 cost *= 1.5;
1347
1348                                 // Compare against other goals
1349                                 f = f * rangebias / (rangebias + cost);
1350
1351                                 if (navigation_bestrating < f)
1352                                 {
1353                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1354                                         navigation_bestrating = f;
1355                                         navigation_bestgoal = e;
1356                                         this.navigation_jetpack_goal = e;
1357                                         this.navigation_jetpack_point = pointb;
1358                                 }
1359                                 return;
1360                         }
1361                 }
1362         }
1363
1364         entity nwp;
1365         //te_wizspike(e.origin);
1366         //bprint(etos(e));
1367         //bprint("\n");
1368         // update the cached spawnfunc_waypoint link on a dynamic item entity
1369         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1370         {
1371                 nwp = e;
1372         }
1373         else
1374         {
1375                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1376                         e.nearestwaypoint = NULL;
1377
1378                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1379                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1380                 {
1381                         if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1382                                 e.nearestwaypoint = nwp = e.goalcurrent;
1383                         else
1384                                 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1385                         if(!nwp)
1386                         {
1387                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1388
1389                                 if(!e.navigation_dynamicgoal)
1390                                         e.blacklisted = true;
1391
1392                                 if(e.blacklisted)
1393                                 {
1394                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1395                                         return;
1396                                 }
1397                         }
1398
1399                         if(e.navigation_dynamicgoal)
1400                                 e.nearestwaypointtimeout = time + 2;
1401                         else if(autocvar_g_waypointeditor)
1402                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1403                 }
1404                 nwp = e.nearestwaypoint;
1405         }
1406
1407         if (nwp && nwp.wpcost < 10000000)
1408         {
1409                 //te_wizspike(nwp.wpnearestpoint);
1410                 float nwptoitem_cost = 0;
1411                 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1412                         nwptoitem_cost = nwp.wp00mincost;
1413                 else
1414                         nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1415                 float cost = nwp.wpcost + nwptoitem_cost;
1416                 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1417                 f = f * rangebias / (rangebias + cost);
1418                 LOG_DEBUG("         ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1419                 if (navigation_bestrating < f)
1420                 {
1421                         LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1422                         navigation_bestrating = f;
1423                         navigation_bestgoal = e;
1424                 }
1425         }
1426 }
1427
1428 // adds an item to the the goal stack with the path to a given item
1429 bool navigation_routetogoal(entity this, entity e, vector startposition)
1430 {
1431         // if there is no goal, just exit
1432         if (!e)
1433                 return false;
1434
1435         entity teleport_goal = NULL;
1436
1437         this.goalentity = e;
1438
1439         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1440         {
1441                 // force teleport destination as route destination
1442                 teleport_goal = e;
1443                 navigation_pushroute(this, e.wp00);
1444                 this.goalentity = e.wp00;
1445         }
1446
1447         // put the entity on the goal stack
1448         //print("routetogoal ", etos(e), "\n");
1449         navigation_pushroute(this, e);
1450
1451         if(teleport_goal)
1452                 e = this.goalentity;
1453
1454         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1455         {
1456                 this.wp_goal_prev1 = this.wp_goal_prev0;
1457                 this.wp_goal_prev0 = e;
1458         }
1459
1460         if(g_jetpack)
1461         if(e==this.navigation_jetpack_goal)
1462                 return true;
1463
1464         // if it can reach the goal there is nothing more to do
1465         set_tracewalk_dest(e, startposition, true);
1466         if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1467                 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1468                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1469         {
1470                 return true;
1471         }
1472
1473         entity nearest_wp = NULL;
1474         // see if there are waypoints describing a path to the item
1475         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1476         {
1477                 e = e.nearestwaypoint;
1478                 nearest_wp = e;
1479         }
1480         else if(teleport_goal)
1481                 e = teleport_goal;
1482         else
1483                 e = e.enemy; // we already have added it, so...
1484
1485         if(e == NULL)
1486                 return false;
1487
1488         if(nearest_wp && nearest_wp.enemy)
1489         {
1490                 // often path can be optimized by not adding the nearest waypoint
1491                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1492                 {
1493                         if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1494                         {
1495                                 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1496                                         e = nearest_wp.enemy;
1497                                 else
1498                                 {
1499                                         set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1500                                         if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1501                                                 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1502                                                 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1503                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1504                                         {
1505                                                 e = nearest_wp.enemy;
1506                                         }
1507                                 }
1508                         }
1509                 }
1510                 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1511                         e = nearest_wp.enemy;
1512         }
1513
1514         for (;;)
1515         {
1516                 // add the spawnfunc_waypoint to the path
1517                 navigation_pushroute(this, e);
1518                 e = e.enemy;
1519
1520                 if(e==NULL)
1521                         break;
1522         }
1523
1524         return false;
1525 }
1526
1527 // shorten path by removing intermediate goals
1528 bool navigation_shortenpath(entity this)
1529 {
1530         if (!this.goalstack01 || wasfreed(this.goalstack01))
1531                 return false;
1532         if (this.bot_tracewalk_time > time)
1533                 return false;
1534         this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1535
1536         bool cut_allowed = false;
1537         entity next = this.goalentity;
1538         // evaluate whether bot can discard current route and chase directly a player, trying to
1539         // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1540         if (IS_MOVABLE(next))
1541         {
1542                 set_tracewalk_dest(next, this.origin, true);
1543                 if (vdist(this.origin - tracewalk_dest, <, 200))
1544                         cut_allowed = true;
1545                 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1546                         && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1547                         && vdist(this.origin - this.goalcurrent.origin, >, 100)
1548                         && checkpvs(this.origin + this.view_ofs, next))
1549                 {
1550                         if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1551                                 cut_allowed = true;
1552                         else
1553                         {
1554                                 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1555                                 while (deviation.y < -180) deviation.y += 360;
1556                                 while (deviation.y > 180) deviation.y -= 360;
1557                                 if (fabs(deviation.y) > 25)
1558                                         cut_allowed = true;
1559                         }
1560                 }
1561                 if (cut_allowed)
1562                 {
1563                         if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1564                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1565                         {
1566                                 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1567                                 do
1568                                 {
1569                                         navigation_poproute(this);
1570                                 }
1571                                 while (this.goalcurrent != next);
1572                                 return true;
1573                         }
1574                         return false;
1575                 }
1576         }
1577
1578         next = this.goalstack01;
1579         // if for some reason the bot is closer to the next goal, pop the current one
1580         if (!IS_MOVABLE(next) // already checked in the previous case
1581                 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1582                 && checkpvs(this.origin + this.view_ofs, next))
1583         {
1584                 set_tracewalk_dest(next, this.origin, true);
1585                 cut_allowed = true;
1586         }
1587
1588         if (cut_allowed)
1589         {
1590                 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1591                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1592                 {
1593                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1594                         navigation_poproute(this);
1595                         return true;
1596                 }
1597         }
1598         return false;
1599 }
1600
1601 // removes any currently touching waypoints from the goal stack
1602 // (this is how bots detect if they reached a goal)
1603 int navigation_poptouchedgoals(entity this)
1604 {
1605         int removed_goals = 0;
1606
1607         if(!this.goalcurrent)
1608                 return removed_goals;
1609
1610         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1611         {
1612                 // make sure jumppad is really hit, don't rely on distance based checks
1613                 // as they may report a touch even if it didn't really happen
1614                 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1615                 {
1616                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1617                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1618                         {
1619                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1620                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1621                         }
1622                         if(this.jumppadcount)
1623                         {
1624                                 // remove jumppad waypoint after a random delay to prevent bots getting
1625                                 // stuck on certain jumppads that require an extra initial horizontal speed
1626                                 float max_delay = 0.1;
1627                                 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1628                                         max_delay = 0.05;
1629                                 if (time - this.lastteleporttime < random() * max_delay)
1630                                         return removed_goals;
1631                         }
1632                         navigation_poproute(this);
1633                         this.lastteleporttime = 0;
1634                         ++removed_goals;
1635                 }
1636                 else
1637                         return removed_goals;
1638         }
1639         else if (this.lastteleporttime > 0)
1640         {
1641                 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1642                 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1643                 // if so immediately fix bot path by removing skipped goals
1644                 entity tele_ent = NULL;
1645                 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1646                         tele_ent = this.goalstack01;
1647                 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1648                         tele_ent = this.goalstack02;
1649                 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1650                         tele_ent = this.goalstack03;
1651                 if (tele_ent && TELEPORT_USED(this, tele_ent))
1652                 {
1653                         if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1654                         if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1655                         {
1656                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1657                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1658                         }
1659                         while (this.goalcurrent != tele_ent)
1660                         {
1661                                 navigation_poproute(this);
1662                                 ++removed_goals;
1663                         }
1664                         navigation_poproute(this);
1665                         this.lastteleporttime = 0;
1666                         ++removed_goals;
1667                         return removed_goals;
1668                 }
1669         }
1670
1671         // Loose goal touching check when running
1672         if(this.aistatus & AI_STATUS_RUNNING)
1673         if(this.goalcurrent.classname=="waypoint")
1674         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1675         {
1676                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1677                 {
1678                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1679                         if(trace_fraction==1)
1680                         {
1681                                 // Detect personal waypoints
1682                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1683                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1684                                 {
1685                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1686                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1687                                 }
1688
1689                                 navigation_poproute(this);
1690                                 ++removed_goals;
1691                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1692                                         return removed_goals;
1693                         }
1694                 }
1695         }
1696
1697         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1698         {
1699                 vector gc_min = this.goalcurrent.absmin;
1700                 vector gc_max = this.goalcurrent.absmax;
1701                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1702                 {
1703                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1704                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1705                 }
1706                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1707                         break;
1708
1709                 // Detect personal waypoints
1710                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1711                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1712                 {
1713                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1714                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1715                 }
1716
1717                 navigation_poproute(this);
1718                 ++removed_goals;
1719                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1720                         return removed_goals;
1721         }
1722         return removed_goals;
1723 }
1724
1725 entity navigation_get_really_close_waypoint(entity this)
1726 {
1727         entity wp = this.goalcurrent;
1728         if(!wp)
1729                 wp = this.goalcurrent_prev;
1730         if(!wp)
1731                 return NULL;
1732         if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1733         {
1734                 wp = this.goalcurrent_prev;
1735                 if(!wp)
1736                         return NULL;
1737         }
1738         if(wp.classname != "waypoint")
1739         {
1740                 wp = wp.nearestwaypoint;
1741                 if(!wp)
1742                         return NULL;
1743         }
1744         if(vdist(wp.origin - this.origin, >, 50))
1745         {
1746                 wp = NULL;
1747                 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1748                 {
1749                         if(vdist(it.origin - this.origin, <, 50))
1750                         {
1751                                 wp = it;
1752                                 break;
1753                         }
1754                 });
1755                 if(!wp)
1756                         return NULL;
1757         }
1758         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1759                 return NULL;
1760
1761         set_tracewalk_dest(wp, this.origin, false);
1762         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1763                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1764         {
1765                 return NULL;
1766         }
1767         return wp;
1768 }
1769
1770 // begin a goal selection session (queries spawnfunc_waypoint network)
1771 void navigation_goalrating_start(entity this)
1772 {
1773         if(this.aistatus & AI_STATUS_STUCK)
1774                 return;
1775
1776         this.navigation_jetpack_goal = NULL;
1777         navigation_bestrating = -1;
1778         entity wp = navigation_get_really_close_waypoint(this);
1779         navigation_clearroute(this);
1780         navigation_bestgoal = NULL;
1781         navigation_markroutes(this, wp);
1782 }
1783
1784 // ends a goal selection session (updates goal stack to the best goal)
1785 void navigation_goalrating_end(entity this)
1786 {
1787         if(this.aistatus & AI_STATUS_STUCK)
1788                 return;
1789
1790         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1791         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1792
1793         // If the bot got stuck then try to reach the farthest waypoint
1794         if (!this.goalentity && autocvar_bot_wander_enable)
1795         {
1796                 if (!(this.aistatus & AI_STATUS_STUCK))
1797                 {
1798                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1799                         this.aistatus |= AI_STATUS_STUCK;
1800                 }
1801         }
1802         this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1803 }
1804
1805 void botframe_updatedangerousobjects(float maxupdate)
1806 {
1807         vector m1, m2, v, o;
1808         float c, d, danger;
1809         c = 0;
1810         entity wp_cur;
1811         IL_EACH(g_waypoints, true,
1812         {
1813                 danger = 0;
1814                 m1 = it.absmin;
1815                 m2 = it.absmax;
1816                 wp_cur = it;
1817                 IL_EACH(g_bot_dodge, it.bot_dodge,
1818                 {
1819                         v = it.origin;
1820                         v.x = bound(m1_x, v.x, m2_x);
1821                         v.y = bound(m1_y, v.y, m2_y);
1822                         v.z = bound(m1_z, v.z, m2_z);
1823                         o = (it.absmin + it.absmax) * 0.5;
1824                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1825                         if (d > 0)
1826                         {
1827                                 traceline(o, v, true, NULL);
1828                                 if (trace_fraction == 1)
1829                                         danger = danger + d;
1830                         }
1831                 });
1832                 it.dmg = danger;
1833                 c = c + 1;
1834                 if (c >= maxupdate)
1835                         break;
1836         });
1837 }
1838
1839 void navigation_unstuck(entity this)
1840 {
1841         if (!autocvar_bot_wander_enable)
1842                 return;
1843
1844         bool has_user_waypoints = false;
1845         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1846         {
1847                 has_user_waypoints = true;
1848                 break;
1849         });
1850         if (!has_user_waypoints)
1851                 return;
1852
1853         float search_radius = 1000;
1854
1855         if (!bot_waypoint_queue_owner)
1856         {
1857                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1858                 bot_waypoint_queue_owner = this;
1859                 bot_waypoint_queue_bestgoal = NULL;
1860                 bot_waypoint_queue_bestgoalrating = 0;
1861         }
1862
1863         if(bot_waypoint_queue_owner!=this)
1864                 return;
1865
1866         if (bot_waypoint_queue_goal)
1867         {
1868                 // evaluate the next goal on the queue
1869                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1870                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1871                 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1872                 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1873                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1874                 {
1875                         if( d > bot_waypoint_queue_bestgoalrating)
1876                         {
1877                                 bot_waypoint_queue_bestgoalrating = d;
1878                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1879                         }
1880                 }
1881                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1882
1883                 if (!bot_waypoint_queue_goal)
1884                 {
1885                         if (bot_waypoint_queue_bestgoal)
1886                         {
1887                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1888                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1889                                 navigation_goalrating_timeout_set(this);
1890                                 this.aistatus &= ~AI_STATUS_STUCK;
1891                         }
1892                         else
1893                         {
1894                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1895                         }
1896
1897                         bot_waypoint_queue_owner = NULL;
1898                 }
1899         }
1900         else
1901         {
1902                 if(bot_strategytoken!=this)
1903                         return;
1904
1905                 // build a new queue
1906                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1907
1908                 entity first = NULL;
1909
1910                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1911                 {
1912                         if(bot_waypoint_queue_goal)
1913                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1914                         else
1915                                 first = it;
1916
1917                         bot_waypoint_queue_goal = it;
1918                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1919                 });
1920
1921                 if (first)
1922                         bot_waypoint_queue_goal = first;
1923                 else
1924                 {
1925                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1926                         bot_waypoint_queue_owner = NULL;
1927                 }
1928         }
1929 }
1930
1931 // Support for debugging tracewalk visually
1932
1933 void debugresetnodes()
1934 {
1935         debuglastnode = '0 0 0';
1936 }
1937
1938 void debugnode(entity this, vector node)
1939 {
1940         if (!IS_PLAYER(this))
1941                 return;
1942
1943         if(debuglastnode=='0 0 0')
1944         {
1945                 debuglastnode = node;
1946                 return;
1947         }
1948
1949         te_lightning2(NULL, node, debuglastnode);
1950         debuglastnode = node;
1951 }
1952
1953 void debugnodestatus(vector position, float status)
1954 {
1955         vector c;
1956
1957         switch (status)
1958         {
1959                 case DEBUG_NODE_SUCCESS:
1960                         c = '0 15 0';
1961                         break;
1962                 case DEBUG_NODE_WARNING:
1963                         c = '15 15 0';
1964                         break;
1965                 case DEBUG_NODE_FAIL:
1966                         c = '15 0 0';
1967                         break;
1968                 default:
1969                         c = '15 15 15';
1970         }
1971
1972         te_customflash(position, 40,  2, c);
1973 }
1974
1975 // Support for debugging the goal stack visually
1976
1977 .float goalcounter;
1978 .vector lastposition;
1979
1980 // Debug the goal stack visually
1981 void debuggoalstack(entity this)
1982 {
1983         entity goal;
1984         vector org, go;
1985
1986         if(this.goalcounter==0)goal=this.goalcurrent;
1987         else if(this.goalcounter==1)goal=this.goalstack01;
1988         else if(this.goalcounter==2)goal=this.goalstack02;
1989         else if(this.goalcounter==3)goal=this.goalstack03;
1990         else if(this.goalcounter==4)goal=this.goalstack04;
1991         else if(this.goalcounter==5)goal=this.goalstack05;
1992         else if(this.goalcounter==6)goal=this.goalstack06;
1993         else if(this.goalcounter==7)goal=this.goalstack07;
1994         else if(this.goalcounter==8)goal=this.goalstack08;
1995         else if(this.goalcounter==9)goal=this.goalstack09;
1996         else if(this.goalcounter==10)goal=this.goalstack10;
1997         else if(this.goalcounter==11)goal=this.goalstack11;
1998         else if(this.goalcounter==12)goal=this.goalstack12;
1999         else if(this.goalcounter==13)goal=this.goalstack13;
2000         else if(this.goalcounter==14)goal=this.goalstack14;
2001         else if(this.goalcounter==15)goal=this.goalstack15;
2002         else if(this.goalcounter==16)goal=this.goalstack16;
2003         else if(this.goalcounter==17)goal=this.goalstack17;
2004         else if(this.goalcounter==18)goal=this.goalstack18;
2005         else if(this.goalcounter==19)goal=this.goalstack19;
2006         else if(this.goalcounter==20)goal=this.goalstack20;
2007         else if(this.goalcounter==21)goal=this.goalstack21;
2008         else if(this.goalcounter==22)goal=this.goalstack22;
2009         else if(this.goalcounter==23)goal=this.goalstack23;
2010         else if(this.goalcounter==24)goal=this.goalstack24;
2011         else if(this.goalcounter==25)goal=this.goalstack25;
2012         else if(this.goalcounter==26)goal=this.goalstack26;
2013         else if(this.goalcounter==27)goal=this.goalstack27;
2014         else if(this.goalcounter==28)goal=this.goalstack28;
2015         else if(this.goalcounter==29)goal=this.goalstack29;
2016         else if(this.goalcounter==30)goal=this.goalstack30;
2017         else if(this.goalcounter==31)goal=this.goalstack31;
2018         else goal=NULL;
2019
2020         if(goal==NULL)
2021         {
2022                 this.goalcounter = 0;
2023                 this.lastposition='0 0 0';
2024                 return;
2025         }
2026
2027         if(this.lastposition=='0 0 0')
2028                 org = this.origin;
2029         else
2030                 org = this.lastposition;
2031
2032
2033         go = ( goal.absmin + goal.absmax ) * 0.5;
2034         te_lightning2(NULL, org, go);
2035         this.lastposition = go;
2036
2037         this.goalcounter++;
2038 }