qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "waypoints.qh"
   7
   8 #include <common/t_items.qh>
   9
  10 #include <common/items/_mod.qh>
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/triggers/trigger/jumppads.qh>
  15
  16 .float speed;
  17
  18 void navigation_dynamicgoal_init(entity this, bool initially_static)
  19 {
  20         this.navigation_dynamicgoal = true;
  21         this.bot_basewaypoint = this.nearestwaypoint;
  22         if(initially_static)
  23                 this.nearestwaypointtimeout = -1;
  24         else
  25                 this.nearestwaypointtimeout = time;
  26 }
  27
  28 void navigation_dynamicgoal_set(entity this)
  29 {
  30         this.nearestwaypointtimeout = time;
  31 }
  32
  33 void navigation_dynamicgoal_unset(entity this)
  34 {
  35         if(this.bot_basewaypoint)
  36                 this.nearestwaypoint = this.bot_basewaypoint;
  37         this.nearestwaypointtimeout = -1;
  38 }
  39
  40 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
  41 {
  42         IL_EACH(g_ladders, it.classname == "func_ladder",
  43         {
  44                 if(it.bot_pickup)
  45                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
  46                 if(boxesoverlap(end, end2, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
  47                 {
  48                         vector top = org;
  49                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
  50                         tracebox(org, m1, m2, top, movemode, e);
  51                         if(trace_fraction == 1)
  52                                 return true;
  53                 }
  54         });
  55         return false;
  56 }
  57
  58 #define IN_WATER(pos) (cont = pointcontents(pos), (cont == CONTENT_WATER || cont == CONTENT_LAVA || cont == CONTENT_SLIME))
  59 #define SUBMERGED(pos) IN_WATER(pos + autocvar_sv_player_viewoffset)
  60 #define WATERFEET(pos) IN_WATER(pos + eZ * (m1.z + 1))
  61
  62 #define RESURFACE(org) MACRO_BEGIN { \
  63         while(org.z + 4 < end2.z) { \
  64                 if(!WATERFEET(org + eZ * 4)) \
  65                         break; \
  66                 org.z += 4; \
  67         } \
  68 } MACRO_END
  69 // rough simulation of walking from one point to another to test if a path
  70 // can be traveled, used for waypoint linking and havocbot
  71 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
  72 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
  73 {
  74         if(autocvar_bot_debug_tracewalk)
  75         {
  76                 debugresetnodes();
  77                 debugnode(e, start);
  78         }
  79
  80         vector org = start;
  81         vector dir = end - start;
  82         dir.z = 0;
  83         float dist = vlen(dir);
  84         dir = normalize(dir);
  85         float stepdist = 32;
  86         bool ignorehazards = false;
  87         bool swimming = false;
  88         bool swimming_outwater = false;
  89         int cont;
  90
  91         // Analyze starting point
  92         traceline(start, start, MOVE_NORMAL, e);
  93         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  94                 ignorehazards = true;
  95         else
  96         {
  97                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  98                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  99                         ignorehazards = true;
 100         }
 101         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 102         if (trace_startsolid)
 103         {
 104                 // Bad start
 105                 if(autocvar_bot_debug_tracewalk)
 106                         debugnodestatus(start, DEBUG_NODE_FAIL);
 107
 108                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 109                 return false;
 110         }
 111
 112         vector end2 = end;
 113         if(end_height)
 114                 end2.z += end_height;
 115         // Movement loop
 116         for (;;)
 117         {
 118                 if (boxesoverlap(end, end2, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
 119                 {
 120                         // Succeeded
 121                         if(autocvar_bot_debug_tracewalk)
 122                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
 123
 124                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 125                         return true;
 126                 }
 127                 if(autocvar_bot_debug_tracewalk)
 128                         debugnode(e, org);
 129
 130                 if (dist <= 0)
 131                         break;
 132
 133                 traceline(org, org, MOVE_NORMAL, e);
 134
 135                 if (!ignorehazards)
 136                 {
 137                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 138                         {
 139                                 // hazards blocking path
 140                                 if(autocvar_bot_debug_tracewalk)
 141                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 142
 143                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 144                                 return false;
 145                         }
 146                 }
 147                 if ((trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK) || swimming)
 148                 {
 149                         vector water_end = end;
 150                         water_end.z = bound(end.z, org.z, end2.z);
 151                         vector water_dir;
 152                         if(swimming_outwater)
 153                         {
 154                                 water_dir = dir;
 155                                 if (stepdist > dist)
 156                                         stepdist = dist;
 157                                 dist -= stepdist;
 158                         }
 159                         else
 160                         {
 161                                 water_dir = normalize(water_end - org);
 162                                 vector ang = vectoangles(water_dir);
 163                                 float c = cos(ang.x * DEG2RAD);
 164                                 if (stepdist * c > dist)
 165                                         stepdist = dist / c;
 166                                 dist -= stepdist * c;
 167                         }
 168                         vector move = org + water_dir * stepdist;
 169
 170                         tracebox(org, m1, m2, move, movemode, e);
 171                         if (trace_fraction < 1) // cant swim in the current direction
 172                         {
 173                                 if(dist <= 0)
 174                                         tracebox(org + stepheightvec, m1, m2, move, movemode, e);
 175                                 else
 176                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 177                                 if (trace_startsolid)
 178                                 {
 179                                         if(autocvar_bot_debug_tracewalk)
 180                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 181
 182                                         return false;
 183                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 184                                 }
 185
 186                                 if (trace_fraction < 1) // cant step-swim in the current direction
 187                                 {
 188                                         if(autocvar_bot_debug_tracewalk)
 189                                                 debugnodestatus(org, DEBUG_NODE_WARNING);
 190
 191                                         if(WATERFEET(org))
 192                                         {
 193                                                 RESURFACE(org);
 194                                                 if(autocvar_bot_debug_tracewalk)
 195                                                         debugnode(e, org);
 196
 197                                                 //water_dir = dir;
 198                                                 move = org + dir * stepdist;
 199
 200                                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 201                                         }
 202
 203                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 204                                         {
 205                                                 vector v = trace_endpos - stepheightvec + jumpheight_vec;
 206                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 207                                                 {
 208                                                         if(autocvar_bot_debug_tracewalk)
 209                                                         {
 210                                                                 debugnode(e, v);
 211                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 212                                                         }
 213
 214                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 215                                                         return true;
 216                                                 }
 217
 218                                                 if(autocvar_bot_debug_tracewalk)
 219                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 220
 221                                                 return false;
 222                                                 //print("tracewalk: ", vtos(start), " failed under water\n");
 223                                         }
 224
 225                                         // successfully jumped obstacle up out of water
 226                                         move = trace_endpos;
 227                                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 228                                         if(trace_endpos != move)
 229                                         if(autocvar_bot_debug_tracewalk)
 230                                                 debugnode(e, move);
 231                                         org = trace_endpos;
 232
 233                                         swimming = false;
 234                                         swimming_outwater = false;
 235
 236                                         continue;
 237                                 }
 238                         }
 239
 240                         float height = trace_endpos.z - org.z;
 241
 242                         // successfully advanced by swimming or step-swimming
 243                         org = trace_endpos;
 244
 245                         if(height > 0 && (swimming || !SUBMERGED(org)))
 246                         {
 247                                 swimming = true;
 248                                 if(!swimming_outwater && !WATERFEET(org))
 249                                 {
 250                                         // put it back in the water if it gets out of water
 251                                         do {
 252                                                 org.z -= 4;
 253                                                 if(WATERFEET(org))
 254                                                         break;
 255                                         } while(org.z > height);
 256                                         swimming_outwater = true;
 257                                 }
 258                         }
 259                 }
 260                 else // if (!((trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK) || swimming))
 261                 {
 262                         if (stepdist > dist)
 263                                 stepdist = dist;
 264                         dist -= stepdist;
 265
 266                         vector move = org + dir * stepdist;
 267                         tracebox(org, m1, m2, move, movemode, e);
 268
 269                         if(autocvar_bot_debug_tracewalk)
 270                                 debugnode(e, trace_endpos);
 271
 272                         // hit something
 273                         if (trace_fraction < 1)
 274                         {
 275                                 // check if we can walk over this obstacle, possibly by jumpstepping
 276                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 277                                 if (trace_fraction < 1 || trace_startsolid)
 278                                 {
 279                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 280                                         if (trace_fraction < 1 || trace_startsolid)
 281                                         {
 282                                                 vector v = trace_endpos - jumpstepheightvec + jumpheight_vec;
 283                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 284                                                 {
 285                                                         if(autocvar_bot_debug_tracewalk)
 286                                                         {
 287                                                                 debugnode(e, v);
 288                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 289                                                         }
 290
 291                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 292                                                         return true;
 293                                                 }
 294
 295                                                 if(autocvar_bot_debug_tracewalk)
 296                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 297
 298                                                 traceline( org, move, movemode, e);
 299
 300                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 301                                                 {
 302                                                         vector nextmove;
 303                                                         move = trace_endpos;
 304                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 305                                                         {
 306                                                                 nextmove = move + (dir * stepdist);
 307                                                                 traceline( move, nextmove, movemode, e);
 308                                                                 move = nextmove;
 309                                                         }
 310                                                 }
 311                                                 else
 312                                                 {
 313                                                         if(autocvar_bot_debug_tracewalk)
 314                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 315
 316                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 317                                                         //te_explosion(trace_endpos);
 318                                                         //print(ftos(e.dphitcontentsmask), "\n");
 319                                                         return false; // failed
 320                                                 }
 321                                         }
 322                                         else
 323                                                 move = trace_endpos;
 324                                 }
 325                                 else
 326                                         move = trace_endpos;
 327                         }
 328                         else
 329                                 move = trace_endpos;
 330
 331                         // trace down from stepheight as far as possible and move there,
 332                         // if this starts in solid we try again without the stepup, and
 333                         // if that also fails we assume it is a wall
 334                         // (this is the same logic as the Quake walkmove function used)
 335                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 336
 337                         org = trace_endpos;
 338
 339                         if(org.z < move.z && SUBMERGED(org))
 340                         {
 341                                 // ended up underwater while walking, resurface
 342                                 if(autocvar_bot_debug_tracewalk)
 343                                         debugnode(e, org);
 344                                 RESURFACE(org);
 345                                 swimming = true;
 346                                 swimming_outwater = true;
 347                         }
 348                 }
 349         }
 350
 351         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 352
 353         // moved but didn't arrive at the intended destination
 354         if(autocvar_bot_debug_tracewalk)
 355                 debugnodestatus(org, DEBUG_NODE_FAIL);
 356
 357         return false;
 358 }
 359
 360 /////////////////////////////////////////////////////////////////////////////
 361 // goal stack
 362 /////////////////////////////////////////////////////////////////////////////
 363
 364 // completely empty the goal stack, used when deciding where to go
 365 void navigation_clearroute(entity this)
 366 {
 367         this.goalcurrent_prev = this.goalcurrent;
 368         this.goalcurrent_distance = 10000000;
 369         this.goalcurrent_distance_time = 0;
 370         //print("bot ", etos(this), " clear\n");
 371         this.goalentity = NULL;
 372         this.goalcurrent = NULL;
 373         this.goalstack01 = NULL;
 374         this.goalstack02 = NULL;
 375         this.goalstack03 = NULL;
 376         this.goalstack04 = NULL;
 377         this.goalstack05 = NULL;
 378         this.goalstack06 = NULL;
 379         this.goalstack07 = NULL;
 380         this.goalstack08 = NULL;
 381         this.goalstack09 = NULL;
 382         this.goalstack10 = NULL;
 383         this.goalstack11 = NULL;
 384         this.goalstack12 = NULL;
 385         this.goalstack13 = NULL;
 386         this.goalstack14 = NULL;
 387         this.goalstack15 = NULL;
 388         this.goalstack16 = NULL;
 389         this.goalstack17 = NULL;
 390         this.goalstack18 = NULL;
 391         this.goalstack19 = NULL;
 392         this.goalstack20 = NULL;
 393         this.goalstack21 = NULL;
 394         this.goalstack22 = NULL;
 395         this.goalstack23 = NULL;
 396         this.goalstack24 = NULL;
 397         this.goalstack25 = NULL;
 398         this.goalstack26 = NULL;
 399         this.goalstack27 = NULL;
 400         this.goalstack28 = NULL;
 401         this.goalstack29 = NULL;
 402         this.goalstack30 = NULL;
 403         this.goalstack31 = NULL;
 404 }
 405
 406 // add a new goal at the beginning of the stack
 407 // (in other words: add a new prerequisite before going to the later goals)
 408 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 409 // next-closest WP on the shortest path to the WP
 410 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 411 // steps to the goal, and then recalculate the path.
 412 void navigation_pushroute(entity this, entity e)
 413 {
 414         this.goalcurrent_prev = this.goalcurrent;
 415         this.goalcurrent_distance = 10000000;
 416         this.goalcurrent_distance_time = 0;
 417         //print("bot ", etos(this), " push ", etos(e), "\n");
 418         if(this.goalstack31 == this.goalentity)
 419                 this.goalentity = NULL;
 420         this.goalstack31 = this.goalstack30;
 421         this.goalstack30 = this.goalstack29;
 422         this.goalstack29 = this.goalstack28;
 423         this.goalstack28 = this.goalstack27;
 424         this.goalstack27 = this.goalstack26;
 425         this.goalstack26 = this.goalstack25;
 426         this.goalstack25 = this.goalstack24;
 427         this.goalstack24 = this.goalstack23;
 428         this.goalstack23 = this.goalstack22;
 429         this.goalstack22 = this.goalstack21;
 430         this.goalstack21 = this.goalstack20;
 431         this.goalstack20 = this.goalstack19;
 432         this.goalstack19 = this.goalstack18;
 433         this.goalstack18 = this.goalstack17;
 434         this.goalstack17 = this.goalstack16;
 435         this.goalstack16 = this.goalstack15;
 436         this.goalstack15 = this.goalstack14;
 437         this.goalstack14 = this.goalstack13;
 438         this.goalstack13 = this.goalstack12;
 439         this.goalstack12 = this.goalstack11;
 440         this.goalstack11 = this.goalstack10;
 441         this.goalstack10 = this.goalstack09;
 442         this.goalstack09 = this.goalstack08;
 443         this.goalstack08 = this.goalstack07;
 444         this.goalstack07 = this.goalstack06;
 445         this.goalstack06 = this.goalstack05;
 446         this.goalstack05 = this.goalstack04;
 447         this.goalstack04 = this.goalstack03;
 448         this.goalstack03 = this.goalstack02;
 449         this.goalstack02 = this.goalstack01;
 450         this.goalstack01 = this.goalcurrent;
 451         this.goalcurrent = e;
 452 }
 453
 454 // remove first goal from stack
 455 // (in other words: remove a prerequisite for reaching the later goals)
 456 // (used when a spawnfunc_waypoint is reached)
 457 void navigation_poproute(entity this)
 458 {
 459         this.goalcurrent_prev = this.goalcurrent;
 460         this.goalcurrent_distance = 10000000;
 461         this.goalcurrent_distance_time = 0;
 462         //print("bot ", etos(this), " pop\n");
 463         if(this.goalcurrent == this.goalentity)
 464                 this.goalentity = NULL;
 465         this.goalcurrent = this.goalstack01;
 466         this.goalstack01 = this.goalstack02;
 467         this.goalstack02 = this.goalstack03;
 468         this.goalstack03 = this.goalstack04;
 469         this.goalstack04 = this.goalstack05;
 470         this.goalstack05 = this.goalstack06;
 471         this.goalstack06 = this.goalstack07;
 472         this.goalstack07 = this.goalstack08;
 473         this.goalstack08 = this.goalstack09;
 474         this.goalstack09 = this.goalstack10;
 475         this.goalstack10 = this.goalstack11;
 476         this.goalstack11 = this.goalstack12;
 477         this.goalstack12 = this.goalstack13;
 478         this.goalstack13 = this.goalstack14;
 479         this.goalstack14 = this.goalstack15;
 480         this.goalstack15 = this.goalstack16;
 481         this.goalstack16 = this.goalstack17;
 482         this.goalstack17 = this.goalstack18;
 483         this.goalstack18 = this.goalstack19;
 484         this.goalstack19 = this.goalstack20;
 485         this.goalstack20 = this.goalstack21;
 486         this.goalstack21 = this.goalstack22;
 487         this.goalstack22 = this.goalstack23;
 488         this.goalstack23 = this.goalstack24;
 489         this.goalstack24 = this.goalstack25;
 490         this.goalstack25 = this.goalstack26;
 491         this.goalstack26 = this.goalstack27;
 492         this.goalstack27 = this.goalstack28;
 493         this.goalstack28 = this.goalstack29;
 494         this.goalstack29 = this.goalstack30;
 495         this.goalstack30 = this.goalstack31;
 496         this.goalstack31 = NULL;
 497 }
 498
 499 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 500 // waypoint destination coordinates instead of v (only useful for box waypoints)
 501 // for normal waypoints v2 == v and v2_height == 0
 502 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, float walkfromwp, float bestdist)
 503 {
 504         if (vdist(v - org, <, bestdist))
 505         {
 506                 traceline(v, org, true, ent);
 507                 if (trace_fraction == 1)
 508                 {
 509                         if (walkfromwp)
 510                         {
 511                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
 512                                         return true;
 513                         }
 514                         else
 515                         {
 516                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 517                                         return true;
 518                         }
 519                 }
 520         }
 521         return false;
 522 }
 523
 524 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 525 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 526 {
 527         vector pm1 = ent.origin + ent.mins;
 528         vector pm2 = ent.origin + ent.maxs;
 529
 530         // do two scans, because box test is cheaper
 531         IL_EACH(g_waypoints, it != ent && it != except,
 532         {
 533                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 534                         return it;
 535         });
 536
 537         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 538         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 539         // TODO possibly make other code have the same support for bboxes
 540         if(ent.tag_entity)
 541                 org = org + ent.tag_entity.origin;
 542         if (navigation_testtracewalk)
 543                 te_plasmaburn(org);
 544
 545         entity best = NULL;
 546         vector v;
 547
 548         if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
 549         {
 550                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 551                 IL_EACH(g_waypoints, it != ent,
 552                 {
 553                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 554                                 continue;
 555
 556                         vector v2;
 557                         float v2_height;
 558                         if(it.wpisbox)
 559                         {
 560                                 vector wm1 = it.origin + it.mins;
 561                                 vector wm2 = it.origin + it.maxs;
 562                                 v.x = bound(wm1_x, org.x, wm2_x);
 563                                 v.y = bound(wm1_y, org.y, wm2_y);
 564                                 v.z = bound(wm1_z, org.z, wm2_z);
 565                                 v2.x = v.x;
 566                                 v2.y = v.y;
 567                                 v2.z = wm1.z;
 568                                 v2_height = wm2.z - wm1.z;
 569                         }
 570                         else
 571                         {
 572                                 v = it.origin;
 573                                 v2 = v;
 574                                 v2_height = 0;
 575                         }
 576                         if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, walkfromwp, 1050))
 577                                 navigation_item_addlink(it, ent);
 578                 });
 579         }
 580
 581         // box check failed, try walk
 582         IL_EACH(g_waypoints, it != ent,
 583         {
 584                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 585                         continue;
 586
 587                 vector v2;
 588                 float v2_height;
 589                 if(it.wpisbox)
 590                 {
 591                         vector wm1 = it.origin + it.mins;
 592                         vector wm2 = it.origin + it.maxs;
 593                         v.x = bound(wm1_x, org.x, wm2_x);
 594                         v.y = bound(wm1_y, org.y, wm2_y);
 595                         v.z = bound(wm1_z, org.z, wm2_z);
 596                         v2.x = v.x;
 597                         v2.y = v.y;
 598                         v2.z = wm1.z;
 599                         v2_height = wm2.z - wm1.z;
 600                 }
 601                 else
 602                 {
 603                         v = it.origin;
 604                         v2 = v;
 605                         v2_height = 0;
 606                 }
 607                 if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, walkfromwp, bestdist))
 608                 {
 609                         bestdist = vlen(v - org);
 610                         best = it;
 611                 }
 612         });
 613         return best;
 614 }
 615 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 616 {
 617         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 618         if (autocvar_g_waypointeditor_auto)
 619         {
 620                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 621                 if (wp && !wp2)
 622                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 623         }
 624         return wp;
 625 }
 626
 627 // finds the waypoints near the bot initiating a navigation query
 628 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 629 {
 630         vector v, m1, m2;
 631         //navigation_testtracewalk = true;
 632         int c = 0;
 633         float v_height;
 634         IL_EACH(g_waypoints, !it.wpconsidered,
 635         {
 636                 if (it.wpisbox)
 637                 {
 638                         m1 = it.origin + it.mins;
 639                         m2 = it.origin + it.maxs;
 640                         v = this.origin;
 641                         v.x = bound(m1_x, v.x, m2_x);
 642                         v.y = bound(m1_y, v.y, m2_y);
 643                         v.z = m1.z;
 644                         v_height = m2.z - m1.z;
 645                 }
 646                 else
 647                 {
 648                         v = it.origin;
 649                         v_height = 0;
 650                 }
 651                 vector diff = v - this.origin;
 652                 diff.z = max(0, diff.z);
 653                 if(vdist(diff, <, maxdist))
 654                 {
 655                         it.wpconsidered = true;
 656                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 657                         {
 658                                 it.wpnearestpoint = v;
 659                                 it.wpcost = waypoint_gettravelcost(this.origin, v) + it.dmg;
 660                                 it.wpfire = 1;
 661                                 it.enemy = NULL;
 662                                 c = c + 1;
 663                         }
 664                 }
 665         });
 666         //navigation_testtracewalk = false;
 667         return c;
 668 }
 669
 670 // updates a path link if a spawnfunc_waypoint link is better than the current one
 671 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 672 {
 673         vector m1;
 674         vector m2;
 675         vector v;
 676         if (wp.wpisbox)
 677         {
 678                 m1 = wp.absmin;
 679                 m2 = wp.absmax;
 680                 v.x = bound(m1_x, p.x, m2_x);
 681                 v.y = bound(m1_y, p.y, m2_y);
 682                 v.z = bound(m1_z, p.z, m2_z);
 683         }
 684         else
 685                 v = wp.origin;
 686         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 687                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 688         else
 689                 cost += waypoint_gettravelcost(p, v);
 690         if (wp.wpcost > cost)
 691         {
 692                 wp.wpcost = cost;
 693                 wp.enemy = w;
 694                 wp.wpfire = 1;
 695                 wp.wpnearestpoint = v;
 696         }
 697 }
 698
 699 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 700 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 701 {
 702         float cost, cost2;
 703         vector p;
 704
 705         IL_EACH(g_waypoints, true,
 706         {
 707                 it.wpconsidered = false;
 708                 it.wpnearestpoint = '0 0 0';
 709                 it.wpcost = 10000000;
 710                 it.wpfire = 0;
 711                 it.enemy = NULL;
 712         });
 713
 714         if(fixed_source_waypoint)
 715         {
 716                 fixed_source_waypoint.wpconsidered = true;
 717                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 718                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 719                 fixed_source_waypoint.wpfire = 1;
 720                 fixed_source_waypoint.enemy = NULL;
 721         }
 722         else
 723         {
 724                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 725                 // as this search is expensive we will use lower values if the bot is on the air
 726                 float increment, maxdistance;
 727                 if(IS_ONGROUND(this))
 728                 {
 729                         increment = 750;
 730                         maxdistance = 50000;
 731                 }
 732                 else
 733                 {
 734                         increment = 500;
 735                         maxdistance = 1500;
 736                 }
 737
 738                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 739         }
 740
 741         bool searching = true;
 742         while (searching)
 743         {
 744                 searching = false;
 745                 IL_EACH(g_waypoints, it.wpfire,
 746                 {
 747                         searching = true;
 748                         it.wpfire = 0;
 749                         cost = it.wpcost;
 750                         p = it.wpnearestpoint;
 751                         entity wp;
 752                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 753                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 754                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 755                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 756                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 757                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 758                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 759                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 760                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 761                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 762                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 763                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 764                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 765                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 766                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 767                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 768                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 769                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 770                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 771                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 772                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 773                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 774                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 775                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 776                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 777                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 778                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 779                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 780                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 781                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 782                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 783                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 784                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 785                 });
 786         }
 787 }
 788
 789 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 790 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 791 {
 792         float cost, cost2;
 793         vector p;
 794         IL_EACH(g_waypoints, true,
 795         {
 796                 it.wpconsidered = false;
 797                 it.wpnearestpoint = '0 0 0';
 798                 it.wpcost = 10000000;
 799                 it.wpfire = 0;
 800                 it.enemy = NULL;
 801         });
 802
 803         if(fixed_source_waypoint)
 804         {
 805                 fixed_source_waypoint.wpconsidered = true;
 806                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 807                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 808                 fixed_source_waypoint.wpfire = 1;
 809                 fixed_source_waypoint.enemy = NULL;
 810         }
 811         else
 812         {
 813                 error("need to start with a waypoint\n");
 814         }
 815
 816         bool searching = true;
 817         while (searching)
 818         {
 819                 searching = false;
 820                 IL_EACH(g_waypoints, it.wpfire,
 821                 {
 822                         searching = true;
 823                         it.wpfire = 0;
 824                         cost = it.wpcost; // cost to walk from it to home
 825                         p = it.wpnearestpoint;
 826                         entity wp = it;
 827                         IL_EACH(g_waypoints, it != wp,
 828                         {
 829                                 if(!waypoint_islinked(it, wp))
 830                                         continue;
 831                                 cost2 = cost + it.dmg;
 832                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 833                         });
 834                 });
 835         }
 836 }
 837
 838 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 839 void navigation_routerating(entity this, entity e, float f, float rangebias)
 840 {
 841         if (!e)
 842                 return;
 843
 844         if(e.blacklisted)
 845                 return;
 846
 847         rangebias = waypoint_getlinearcost(rangebias);
 848         f = waypoint_getlinearcost(f);
 849
 850         if (IS_PLAYER(e))
 851         {
 852                 bool rate_wps = false;
 853                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 854                         rate_wps = true;
 855
 856                 if(!IS_ONGROUND(e))
 857                 {
 858                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 859                         int t = pointcontents(trace_endpos + '0 0 1');
 860                         if(t != CONTENT_SOLID )
 861                         {
 862                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 863                                         rate_wps = true;
 864                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 865                                         return;
 866                         }
 867                 }
 868
 869                 if(rate_wps)
 870                 {
 871                         entity theEnemy = e;
 872                         entity best_wp = NULL;
 873                         float best_dist = 10000;
 874                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 875                                 && vdist(it.origin - this.origin, >, 100)
 876                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 877                         {
 878                                 float dist = vlen(it.origin - theEnemy.origin);
 879                                 if (dist < best_dist)
 880                                 {
 881                                         best_wp = it;
 882                                         best_dist = dist;
 883                                 }
 884                         });
 885                         if (!best_wp)
 886                                 return;
 887                         e = best_wp;
 888                 }
 889         }
 890
 891         vector goal_org = (e.absmin + e.absmax) * 0.5;
 892
 893         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 894
 895         // Evaluate path using jetpack
 896         if(g_jetpack)
 897         if(this.items & IT_JETPACK)
 898         if(autocvar_bot_ai_navigation_jetpack)
 899         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 900         {
 901                 vector pointa, pointb;
 902
 903                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 904
 905                 // Point A
 906                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 907                 pointa = trace_endpos - '0 0 1';
 908
 909                 // Point B
 910                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
 911                 pointb = trace_endpos - '0 0 1';
 912
 913                 // Can I see these two points from the sky?
 914                 traceline(pointa, pointb, MOVE_NORMAL, this);
 915
 916                 if(trace_fraction==1)
 917                 {
 918                         LOG_DEBUG("jetpack ai: can bridge these two points");
 919
 920                         // Lower the altitude of these points as much as possible
 921                         float zdistance, xydistance, cost, t, fuel;
 922                         vector down, npa, npb;
 923
 924                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 925
 926                         do{
 927                                 npa = pointa + down;
 928                                 npb = pointb + down;
 929
 930                                 if(npa.z<=this.absmax.z)
 931                                         break;
 932
 933                                 if(npb.z<=e.absmax.z)
 934                                         break;
 935
 936                                 traceline(npa, npb, MOVE_NORMAL, this);
 937                                 if(trace_fraction==1)
 938                                 {
 939                                         pointa = npa;
 940                                         pointb = npb;
 941                                 }
 942                         }
 943                         while(trace_fraction == 1);
 944
 945
 946                         // Rough estimation of fuel consumption
 947                         // (ignores acceleration and current xyz velocity)
 948                         xydistance = vlen(pointa - pointb);
 949                         zdistance = fabs(pointa.z - this.origin.z);
 950
 951                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 952                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 953                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 954
 955                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 956
 957                         // enough fuel ?
 958                         if(this.ammo_fuel>fuel)
 959                         {
 960                                 // Estimate cost
 961                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 962                                 //  - between air and ground speeds)
 963
 964                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 965                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 966                                 cost *= 1.5;
 967
 968                                 // Compare against other goals
 969                                 f = f * rangebias / (rangebias + cost);
 970
 971                                 if (navigation_bestrating < f)
 972                                 {
 973                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 974                                         navigation_bestrating = f;
 975                                         navigation_bestgoal = e;
 976                                         this.navigation_jetpack_goal = e;
 977                                         this.navigation_jetpack_point = pointb;
 978                                 }
 979                                 return;
 980                         }
 981                 }
 982         }
 983
 984         entity nwp;
 985         //te_wizspike(e.origin);
 986         //bprint(etos(e));
 987         //bprint("\n");
 988         // update the cached spawnfunc_waypoint link on a dynamic item entity
 989         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 990         {
 991                 nwp = e;
 992         }
 993         else
 994         {
 995                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 996                         e.nearestwaypoint = NULL;
 997
 998                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
 999                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1000                 {
1001                         nwp = navigation_findnearestwaypoint(e, true);
1002                         if(nwp)
1003                         {
1004                                 e.nearestwaypoint = nwp;
1005
1006                                 vector m1 = nwp.absmin, m2 = nwp.absmax;
1007                                 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
1008                                 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
1009                                 vector ve = (e.absmin - e.absmax) * 0.5;
1010                                 ve.x = bound(m1.x, ve.x, m2.x);
1011                                 ve.y = bound(m1.y, ve.y, m2.y);
1012                                 ve.z = bound(m1.z, ve.z, m2.z);
1013
1014                                 m1 = e.absmin; m2 = e.absmax;
1015                                 m1.x = e.origin.x; m1.y = e.origin.y;
1016                                 m2.x = e.origin.x; m2.y = e.origin.y;
1017                                 vector vnwp = nwp.origin;
1018                                 vnwp.x = bound(m1.x, vnwp.x, m2.x);
1019                                 vnwp.y = bound(m1.y, vnwp.y, m2.y);
1020                                 vnwp.z = bound(m1.z, vnwp.z, m2.z);
1021                                 e.nearestwaypoint_dist = vlen(ve - vnwp);
1022                         }
1023                         else
1024                         {
1025                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1026
1027                                 if(!e.navigation_dynamicgoal)
1028                                         e.blacklisted = true;
1029
1030                                 if(e.blacklisted)
1031                                 {
1032                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1033                                         return;
1034                                 }
1035                         }
1036
1037                         if(e.navigation_dynamicgoal)
1038                                 e.nearestwaypointtimeout = time + 2;
1039                         else if(autocvar_g_waypointeditor)
1040                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1041                 }
1042                 nwp = e.nearestwaypoint;
1043         }
1044
1045         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1046         if (nwp)
1047         if (nwp.wpcost < 10000000)
1048         {
1049                 //te_wizspike(nwp.wpnearestpoint);
1050                 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org);
1051                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1052                 f = f * rangebias / (rangebias + cost);
1053                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1054                 if (navigation_bestrating < f)
1055                 {
1056                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1057                         navigation_bestrating = f;
1058                         navigation_bestgoal = e;
1059                 }
1060         }
1061 }
1062
1063 // adds an item to the the goal stack with the path to a given item
1064 bool navigation_routetogoal(entity this, entity e, vector startposition)
1065 {
1066         // if there is no goal, just exit
1067         if (!e)
1068                 return false;
1069
1070         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1071         {
1072                 // force teleport destination as route destination
1073                 e.wp00.enemy = e;
1074                 e = e.wp00;
1075         }
1076
1077         this.goalentity = e;
1078
1079         // put the entity on the goal stack
1080         //print("routetogoal ", etos(e), "\n");
1081         navigation_pushroute(this, e);
1082
1083         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1084         {
1085                 this.wp_goal_prev1 = this.wp_goal_prev0;
1086                 this.wp_goal_prev0 = e;
1087         }
1088
1089         if(g_jetpack)
1090         if(e==this.navigation_jetpack_goal)
1091                 return true;
1092
1093         // if it can reach the goal there is nothing more to do
1094         vector dest = (e.absmin + e.absmax) * 0.5;
1095         dest.z = e.absmin.z;
1096         float dest_height = e.absmax.z - e.absmin.z;
1097         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1098                 return true;
1099
1100         entity nearest_wp = NULL;
1101         // see if there are waypoints describing a path to the item
1102         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1103         {
1104                 e = e.nearestwaypoint;
1105                 nearest_wp = e;
1106         }
1107         else
1108                 e = e.enemy; // we already have added it, so...
1109
1110         if(e == NULL)
1111                 return false;
1112
1113         if(nearest_wp && nearest_wp.enemy)
1114         {
1115                 // often path can be optimized by not adding the nearest waypoint
1116                 if (this.goalentity.nearestwaypoint_dist < 8)
1117                         e = nearest_wp.enemy;
1118                 else
1119                 {
1120                         if (this.goalentity.navigation_dynamicgoal)
1121                         {
1122                                 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
1123                                 dest.z = this.goalentity.absmin.z;
1124                                 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1125                                 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1126                                         e = nearest_wp.enemy;
1127                         }
1128                         else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1129                                 e = nearest_wp.enemy;
1130                 }
1131         }
1132
1133         for (;;)
1134         {
1135                 // add the spawnfunc_waypoint to the path
1136                 navigation_pushroute(this, e);
1137                 e = e.enemy;
1138
1139                 if(e==NULL)
1140                         break;
1141         }
1142
1143         return false;
1144 }
1145
1146 // removes any currently touching waypoints from the goal stack
1147 // (this is how bots detect if they reached a goal)
1148 void navigation_poptouchedgoals(entity this)
1149 {
1150         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1151         {
1152                 // make sure jumppad is really hit, don't rely on distance based checks
1153                 // as they may report a touch even if it didn't really happen
1154                 if(this.lastteleporttime > 0
1155                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1156                 {
1157                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1158                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1159                         {
1160                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1161                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1162                         }
1163                         navigation_poproute(this);
1164                 }
1165                 else
1166                         return;
1167         }
1168
1169         // If for some reason the bot is closer to the next goal, pop the current one
1170         if(this.goalstack01 && !wasfreed(this.goalstack01))
1171         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1172         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1173         {
1174                 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1175                 dest.z = this.goalstack01.absmin.z;
1176                 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1177                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1178                 {
1179                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1180                         navigation_poproute(this);
1181                         // TODO this may also be a nice idea to do "early" (e.g. by
1182                         // manipulating the vlen() comparisons) to shorten paths in
1183                         // general - this would make bots walk more "on rails" than
1184                         // "zigzagging" which they currently do with sufficiently
1185                         // random-like waypoints, and thus can make a nice bot
1186                         // personality property
1187                 }
1188         }
1189
1190         // Loose goal touching check when running
1191         if(this.aistatus & AI_STATUS_RUNNING)
1192         if(this.goalcurrent.classname=="waypoint")
1193         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1194         {
1195                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1196                 {
1197                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1198                         if(trace_fraction==1)
1199                         {
1200                                 // Detect personal waypoints
1201                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1202                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1203                                 {
1204                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1205                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1206                                 }
1207
1208                                 navigation_poproute(this);
1209                         }
1210                 }
1211         }
1212
1213         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1214         {
1215                 vector gc_min = this.goalcurrent.absmin;
1216                 vector gc_max = this.goalcurrent.absmax;
1217                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1218                 {
1219                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1220                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1221                 }
1222                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1223                         break;
1224
1225                 // Detect personal waypoints
1226                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1227                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1228                 {
1229                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1230                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1231                 }
1232
1233                 navigation_poproute(this);
1234         }
1235 }
1236
1237 // begin a goal selection session (queries spawnfunc_waypoint network)
1238 void navigation_goalrating_start(entity this)
1239 {
1240         if(this.aistatus & AI_STATUS_STUCK)
1241                 return;
1242
1243         this.navigation_jetpack_goal = NULL;
1244         navigation_bestrating = -1;
1245         navigation_clearroute(this);
1246         navigation_bestgoal = NULL;
1247         navigation_markroutes(this, NULL);
1248 }
1249
1250 // ends a goal selection session (updates goal stack to the best goal)
1251 void navigation_goalrating_end(entity this)
1252 {
1253         if(this.aistatus & AI_STATUS_STUCK)
1254                 return;
1255
1256         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1257         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1258
1259         // If the bot got stuck then try to reach the farthest waypoint
1260         if (!this.goalentity && autocvar_bot_wander_enable)
1261         {
1262                 if (!(this.aistatus & AI_STATUS_STUCK))
1263                 {
1264                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1265                         this.aistatus |= AI_STATUS_STUCK;
1266                 }
1267         }
1268 }
1269
1270 void botframe_updatedangerousobjects(float maxupdate)
1271 {
1272         vector m1, m2, v, o;
1273         float c, d, danger;
1274         c = 0;
1275         IL_EACH(g_waypoints, true,
1276         {
1277                 danger = 0;
1278                 m1 = it.absmin;
1279                 m2 = it.absmax;
1280                 IL_EACH(g_bot_dodge, it.bot_dodge,
1281                 {
1282                         v = it.origin;
1283                         v.x = bound(m1_x, v.x, m2_x);
1284                         v.y = bound(m1_y, v.y, m2_y);
1285                         v.z = bound(m1_z, v.z, m2_z);
1286                         o = (it.absmin + it.absmax) * 0.5;
1287                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v);
1288                         if (d > 0)
1289                         {
1290                                 traceline(o, v, true, NULL);
1291                                 if (trace_fraction == 1)
1292                                         danger = danger + d;
1293                         }
1294                 });
1295                 it.dmg = danger;
1296                 c = c + 1;
1297                 if (c >= maxupdate)
1298                         break;
1299         });
1300 }
1301
1302 void navigation_unstuck(entity this)
1303 {
1304         float search_radius = 1000;
1305
1306         if (!autocvar_bot_wander_enable)
1307                 return;
1308
1309         if (!bot_waypoint_queue_owner)
1310         {
1311                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1312                 bot_waypoint_queue_owner = this;
1313                 bot_waypoint_queue_bestgoal = NULL;
1314                 bot_waypoint_queue_bestgoalrating = 0;
1315         }
1316
1317         if(bot_waypoint_queue_owner!=this)
1318                 return;
1319
1320         if (bot_waypoint_queue_goal)
1321         {
1322                 // evaluate the next goal on the queue
1323                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1324                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1325                 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1326                 dest.z = bot_waypoint_queue_goal.absmin.z;
1327                 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1328                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1329                 {
1330                         if( d > bot_waypoint_queue_bestgoalrating)
1331                         {
1332                                 bot_waypoint_queue_bestgoalrating = d;
1333                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1334                         }
1335                 }
1336                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1337
1338                 if (!bot_waypoint_queue_goal)
1339                 {
1340                         if (bot_waypoint_queue_bestgoal)
1341                         {
1342                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1343                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1344                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1345                                 this.aistatus &= ~AI_STATUS_STUCK;
1346                         }
1347                         else
1348                         {
1349                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1350                         }
1351
1352                         bot_waypoint_queue_owner = NULL;
1353                 }
1354         }
1355         else
1356         {
1357                 if(bot_strategytoken!=this)
1358                         return;
1359
1360                 // build a new queue
1361                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1362
1363                 entity first = NULL;
1364
1365                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1366                 {
1367                         if(bot_waypoint_queue_goal)
1368                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1369                         else
1370                                 first = it;
1371
1372                         bot_waypoint_queue_goal = it;
1373                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1374                 });
1375
1376                 if (first)
1377                         bot_waypoint_queue_goal = first;
1378                 else
1379                 {
1380                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1381                         bot_waypoint_queue_owner = NULL;
1382                 }
1383         }
1384 }
1385
1386 // Support for debugging tracewalk visually
1387
1388 void debugresetnodes()
1389 {
1390         debuglastnode = '0 0 0';
1391 }
1392
1393 void debugnode(entity this, vector node)
1394 {
1395         if (!IS_PLAYER(this))
1396                 return;
1397
1398         if(debuglastnode=='0 0 0')
1399         {
1400                 debuglastnode = node;
1401                 return;
1402         }
1403
1404         te_lightning2(NULL, node, debuglastnode);
1405         debuglastnode = node;
1406 }
1407
1408 void debugnodestatus(vector position, float status)
1409 {
1410         vector c;
1411
1412         switch (status)
1413         {
1414                 case DEBUG_NODE_SUCCESS:
1415                         c = '0 15 0';
1416                         break;
1417                 case DEBUG_NODE_WARNING:
1418                         c = '15 15 0';
1419                         break;
1420                 case DEBUG_NODE_FAIL:
1421                         c = '15 0 0';
1422                         break;
1423                 default:
1424                         c = '15 15 15';
1425         }
1426
1427         te_customflash(position, 40,  2, c);
1428 }
1429
1430 // Support for debugging the goal stack visually
1431
1432 .float goalcounter;
1433 .vector lastposition;
1434
1435 // Debug the goal stack visually
1436 void debuggoalstack(entity this)
1437 {
1438         entity goal;
1439         vector org, go;
1440
1441         if(this.goalcounter==0)goal=this.goalcurrent;
1442         else if(this.goalcounter==1)goal=this.goalstack01;
1443         else if(this.goalcounter==2)goal=this.goalstack02;
1444         else if(this.goalcounter==3)goal=this.goalstack03;
1445         else if(this.goalcounter==4)goal=this.goalstack04;
1446         else if(this.goalcounter==5)goal=this.goalstack05;
1447         else if(this.goalcounter==6)goal=this.goalstack06;
1448         else if(this.goalcounter==7)goal=this.goalstack07;
1449         else if(this.goalcounter==8)goal=this.goalstack08;
1450         else if(this.goalcounter==9)goal=this.goalstack09;
1451         else if(this.goalcounter==10)goal=this.goalstack10;
1452         else if(this.goalcounter==11)goal=this.goalstack11;
1453         else if(this.goalcounter==12)goal=this.goalstack12;
1454         else if(this.goalcounter==13)goal=this.goalstack13;
1455         else if(this.goalcounter==14)goal=this.goalstack14;
1456         else if(this.goalcounter==15)goal=this.goalstack15;
1457         else if(this.goalcounter==16)goal=this.goalstack16;
1458         else if(this.goalcounter==17)goal=this.goalstack17;
1459         else if(this.goalcounter==18)goal=this.goalstack18;
1460         else if(this.goalcounter==19)goal=this.goalstack19;
1461         else if(this.goalcounter==20)goal=this.goalstack20;
1462         else if(this.goalcounter==21)goal=this.goalstack21;
1463         else if(this.goalcounter==22)goal=this.goalstack22;
1464         else if(this.goalcounter==23)goal=this.goalstack23;
1465         else if(this.goalcounter==24)goal=this.goalstack24;
1466         else if(this.goalcounter==25)goal=this.goalstack25;
1467         else if(this.goalcounter==26)goal=this.goalstack26;
1468         else if(this.goalcounter==27)goal=this.goalstack27;
1469         else if(this.goalcounter==28)goal=this.goalstack28;
1470         else if(this.goalcounter==29)goal=this.goalstack29;
1471         else if(this.goalcounter==30)goal=this.goalstack30;
1472         else if(this.goalcounter==31)goal=this.goalstack31;
1473         else goal=NULL;
1474
1475         if(goal==NULL)
1476         {
1477                 this.goalcounter = 0;
1478                 this.lastposition='0 0 0';
1479                 return;
1480         }
1481
1482         if(this.lastposition=='0 0 0')
1483                 org = this.origin;
1484         else
1485                 org = this.lastposition;
1486
1487
1488         go = ( goal.absmin + goal.absmax ) * 0.5;
1489         te_lightning2(NULL, org, go);
1490         this.lastposition = go;
1491
1492         this.goalcounter++;
1493 }