1 #include "navigation.qh"
6 #include "waypoints.qh"
8 #include <common/t_items.qh>
10 #include <common/items/_mod.qh>
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/triggers/trigger/jumppads.qh>
18 void navigation_dynamicgoal_init(entity this, bool initially_static)
20 this.navigation_dynamicgoal = true;
21 this.bot_basewaypoint = this.nearestwaypoint;
23 this.nearestwaypointtimeout = -1;
25 this.nearestwaypointtimeout = time;
28 void navigation_dynamicgoal_set(entity this)
30 this.nearestwaypointtimeout = time;
33 void navigation_dynamicgoal_unset(entity this)
35 if(this.bot_basewaypoint)
36 this.nearestwaypoint = this.bot_basewaypoint;
37 this.nearestwaypointtimeout = -1;
40 // rough simulation of walking from one point to another to test if a path
41 // can be traveled, used for waypoint linking and havocbot
42 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
43 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
54 if(autocvar_bot_debug_tracewalk)
63 dist = totaldist = vlen(move);
64 dir = normalize(move);
66 ignorehazards = false;
69 // Analyze starting point
70 traceline(start, start, MOVE_NORMAL, e);
71 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
75 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
76 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
82 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
86 if(autocvar_bot_debug_tracewalk)
87 debugnodestatus(start, DEBUG_NODE_FAIL);
89 //print("tracewalk: ", vtos(start), " is a bad start\n");
99 if (boxesoverlap(end, end2, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
102 if(autocvar_bot_debug_tracewalk)
103 debugnodestatus(org, DEBUG_NODE_SUCCESS);
105 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
108 if(autocvar_bot_debug_tracewalk)
115 dist = dist - stepdist;
116 traceline(org, org, MOVE_NORMAL, e);
119 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
121 // hazards blocking path
122 if(autocvar_bot_debug_tracewalk)
123 debugnodestatus(org, DEBUG_NODE_FAIL);
125 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
129 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
131 move = normalize(end - org);
132 tracebox(org, m1, m2, org + move * stepdist, movemode, e);
134 if(autocvar_bot_debug_tracewalk)
135 debugnode(e, trace_endpos);
137 if (trace_fraction < 1)
140 org = trace_endpos + normalize(org - trace_endpos) * stepdist;
141 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
143 if(autocvar_bot_debug_tracewalk)
146 if(pointcontents(org) == CONTENT_EMPTY)
150 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
152 if(autocvar_bot_debug_tracewalk)
153 debugnodestatus(org, DEBUG_NODE_FAIL);
156 //print("tracewalk: ", vtos(start), " failed under water\n");
166 move = dir * stepdist + org;
167 tracebox(org, m1, m2, move, movemode, e);
169 if(autocvar_bot_debug_tracewalk)
170 debugnode(e, trace_endpos);
173 if (trace_fraction < 1)
175 // check if we can walk over this obstacle, possibly by jumpstepping
176 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
177 if (trace_fraction < 1 || trace_startsolid)
179 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
180 if (trace_fraction < 1 || trace_startsolid)
182 bool ladder_found = false;
183 IL_EACH(g_ladders, it.classname == "func_ladder",
185 if(boxesoverlap(org + jumpheight_vec + m1 + '-1 -1 -1', org + jumpheight_vec + m2 + '1 1 1', it.absmin, it.absmax))
186 if(boxesoverlap(end, end2, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
187 ladder_found = true; // can't return here ("Loop mutex held by tracewalk" error)
191 if(autocvar_bot_debug_tracewalk)
192 debugnodestatus(end, DEBUG_NODE_SUCCESS);
194 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
198 if(autocvar_bot_debug_tracewalk)
199 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
201 traceline( org, move, movemode, e);
203 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
207 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
209 nextmove = move + (dir * stepdist);
210 traceline( move, nextmove, movemode, e);
216 if(autocvar_bot_debug_tracewalk)
217 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
219 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
220 //te_explosion(trace_endpos);
221 //print(ftos(e.dphitcontentsmask), "\n");
222 return false; // failed
234 // trace down from stepheight as far as possible and move there,
235 // if this starts in solid we try again without the stepup, and
236 // if that also fails we assume it is a wall
237 // (this is the same logic as the Quake walkmove function used)
238 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
240 // moved successfully
244 c = pointcontents(org + '0 0 1');
245 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
255 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
257 // moved but didn't arrive at the intended destination
258 if(autocvar_bot_debug_tracewalk)
259 debugnodestatus(org, DEBUG_NODE_FAIL);
264 /////////////////////////////////////////////////////////////////////////////
266 /////////////////////////////////////////////////////////////////////////////
268 // completely empty the goal stack, used when deciding where to go
269 void navigation_clearroute(entity this)
271 this.goalcurrent_prev = this.goalcurrent;
272 this.goalcurrent_distance = 10000000;
273 this.goalcurrent_distance_time = 0;
274 //print("bot ", etos(this), " clear\n");
275 this.goalentity = NULL;
276 this.goalcurrent = NULL;
277 this.goalstack01 = NULL;
278 this.goalstack02 = NULL;
279 this.goalstack03 = NULL;
280 this.goalstack04 = NULL;
281 this.goalstack05 = NULL;
282 this.goalstack06 = NULL;
283 this.goalstack07 = NULL;
284 this.goalstack08 = NULL;
285 this.goalstack09 = NULL;
286 this.goalstack10 = NULL;
287 this.goalstack11 = NULL;
288 this.goalstack12 = NULL;
289 this.goalstack13 = NULL;
290 this.goalstack14 = NULL;
291 this.goalstack15 = NULL;
292 this.goalstack16 = NULL;
293 this.goalstack17 = NULL;
294 this.goalstack18 = NULL;
295 this.goalstack19 = NULL;
296 this.goalstack20 = NULL;
297 this.goalstack21 = NULL;
298 this.goalstack22 = NULL;
299 this.goalstack23 = NULL;
300 this.goalstack24 = NULL;
301 this.goalstack25 = NULL;
302 this.goalstack26 = NULL;
303 this.goalstack27 = NULL;
304 this.goalstack28 = NULL;
305 this.goalstack29 = NULL;
306 this.goalstack30 = NULL;
307 this.goalstack31 = NULL;
310 // add a new goal at the beginning of the stack
311 // (in other words: add a new prerequisite before going to the later goals)
312 // NOTE: when a waypoint is added, the WP gets pushed first, then the
313 // next-closest WP on the shortest path to the WP
314 // That means, if the stack overflows, the bot will know how to do the FIRST 32
315 // steps to the goal, and then recalculate the path.
316 void navigation_pushroute(entity this, entity e)
318 this.goalcurrent_prev = this.goalcurrent;
319 this.goalcurrent_distance = 10000000;
320 this.goalcurrent_distance_time = 0;
321 //print("bot ", etos(this), " push ", etos(e), "\n");
322 if(this.goalstack31 == this.goalentity)
323 this.goalentity = NULL;
324 this.goalstack31 = this.goalstack30;
325 this.goalstack30 = this.goalstack29;
326 this.goalstack29 = this.goalstack28;
327 this.goalstack28 = this.goalstack27;
328 this.goalstack27 = this.goalstack26;
329 this.goalstack26 = this.goalstack25;
330 this.goalstack25 = this.goalstack24;
331 this.goalstack24 = this.goalstack23;
332 this.goalstack23 = this.goalstack22;
333 this.goalstack22 = this.goalstack21;
334 this.goalstack21 = this.goalstack20;
335 this.goalstack20 = this.goalstack19;
336 this.goalstack19 = this.goalstack18;
337 this.goalstack18 = this.goalstack17;
338 this.goalstack17 = this.goalstack16;
339 this.goalstack16 = this.goalstack15;
340 this.goalstack15 = this.goalstack14;
341 this.goalstack14 = this.goalstack13;
342 this.goalstack13 = this.goalstack12;
343 this.goalstack12 = this.goalstack11;
344 this.goalstack11 = this.goalstack10;
345 this.goalstack10 = this.goalstack09;
346 this.goalstack09 = this.goalstack08;
347 this.goalstack08 = this.goalstack07;
348 this.goalstack07 = this.goalstack06;
349 this.goalstack06 = this.goalstack05;
350 this.goalstack05 = this.goalstack04;
351 this.goalstack04 = this.goalstack03;
352 this.goalstack03 = this.goalstack02;
353 this.goalstack02 = this.goalstack01;
354 this.goalstack01 = this.goalcurrent;
355 this.goalcurrent = e;
358 // remove first goal from stack
359 // (in other words: remove a prerequisite for reaching the later goals)
360 // (used when a spawnfunc_waypoint is reached)
361 void navigation_poproute(entity this)
363 this.goalcurrent_prev = this.goalcurrent;
364 this.goalcurrent_distance = 10000000;
365 this.goalcurrent_distance_time = 0;
366 //print("bot ", etos(this), " pop\n");
367 if(this.goalcurrent == this.goalentity)
368 this.goalentity = NULL;
369 this.goalcurrent = this.goalstack01;
370 this.goalstack01 = this.goalstack02;
371 this.goalstack02 = this.goalstack03;
372 this.goalstack03 = this.goalstack04;
373 this.goalstack04 = this.goalstack05;
374 this.goalstack05 = this.goalstack06;
375 this.goalstack06 = this.goalstack07;
376 this.goalstack07 = this.goalstack08;
377 this.goalstack08 = this.goalstack09;
378 this.goalstack09 = this.goalstack10;
379 this.goalstack10 = this.goalstack11;
380 this.goalstack11 = this.goalstack12;
381 this.goalstack12 = this.goalstack13;
382 this.goalstack13 = this.goalstack14;
383 this.goalstack14 = this.goalstack15;
384 this.goalstack15 = this.goalstack16;
385 this.goalstack16 = this.goalstack17;
386 this.goalstack17 = this.goalstack18;
387 this.goalstack18 = this.goalstack19;
388 this.goalstack19 = this.goalstack20;
389 this.goalstack20 = this.goalstack21;
390 this.goalstack21 = this.goalstack22;
391 this.goalstack22 = this.goalstack23;
392 this.goalstack23 = this.goalstack24;
393 this.goalstack24 = this.goalstack25;
394 this.goalstack25 = this.goalstack26;
395 this.goalstack26 = this.goalstack27;
396 this.goalstack27 = this.goalstack28;
397 this.goalstack28 = this.goalstack29;
398 this.goalstack29 = this.goalstack30;
399 this.goalstack30 = this.goalstack31;
400 this.goalstack31 = NULL;
403 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
406 dist = vlen(v - org);
409 traceline(v, org, true, ent);
410 if (trace_fraction == 1)
414 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
419 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, 0, bot_navigation_movemode))
427 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
428 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
430 vector pm1 = ent.origin + ent.mins;
431 vector pm2 = ent.origin + ent.maxs;
433 // do two scans, because box test is cheaper
434 IL_EACH(g_waypoints, it != ent && it != except,
436 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
440 vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
441 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
442 // TODO possibly make other code have the same support for bboxes
444 org = org + ent.tag_entity.origin;
445 if (navigation_testtracewalk)
451 if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
453 waypoint_clearlinks(ent); // initialize wpXXmincost fields
454 IL_EACH(g_waypoints, it != ent,
458 vector wm1 = it.absmin;
459 vector wm2 = it.absmax;
460 v.x = bound(wm1_x, org.x, wm2_x);
461 v.y = bound(wm1_y, org.y, wm2_y);
462 v.z = bound(wm1_z, org.z, wm2_z);
466 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, 1050))
467 navigation_item_addlink(it, ent);
471 // box check failed, try walk
472 IL_EACH(g_waypoints, it != ent,
476 vector wm1 = it.origin + it.mins;
477 vector wm2 = it.origin + it.maxs;
478 v.x = bound(wm1_x, org.x, wm2_x);
479 v.y = bound(wm1_y, org.y, wm2_y);
480 v.z = bound(wm1_z, org.z, wm2_z);
484 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
486 bestdist = vlen(v - org);
492 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
494 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
495 if (autocvar_g_waypointeditor_auto)
497 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
499 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
504 // finds the waypoints near the bot initiating a navigation query
505 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
508 //navigation_testtracewalk = true;
511 IL_EACH(g_waypoints, !it.wpconsidered,
515 m1 = it.origin + it.mins;
516 m2 = it.origin + it.maxs;
518 v.x = bound(m1_x, v.x, m2_x);
519 v.y = bound(m1_y, v.y, m2_y);
521 v_height = m2.z - m1.z;
528 vector diff = v - this.origin;
529 diff.z = max(0, diff.z);
530 if(vdist(diff, <, maxdist))
532 it.wpconsidered = true;
533 if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
535 it.wpnearestpoint = v;
536 it.wpcost = waypoint_getdistancecost(this.origin, v) + it.dmg;
543 //navigation_testtracewalk = false;
547 // updates a path link if a spawnfunc_waypoint link is better than the current one
548 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
557 v.x = bound(m1_x, p.x, m2_x);
558 v.y = bound(m1_y, p.y, m2_y);
559 v.z = bound(m1_z, p.z, m2_z);
563 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
564 cost += w.wp00mincost; // assuming teleport has exactly one destination
566 cost += waypoint_getdistancecost(p, v);
567 if (wp.wpcost > cost)
572 wp.wpnearestpoint = v;
576 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
577 void navigation_markroutes(entity this, entity fixed_source_waypoint)
582 IL_EACH(g_waypoints, true,
584 it.wpconsidered = false;
585 it.wpnearestpoint = '0 0 0';
586 it.wpcost = 10000000;
591 if(fixed_source_waypoint)
593 fixed_source_waypoint.wpconsidered = true;
594 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
595 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
596 fixed_source_waypoint.wpfire = 1;
597 fixed_source_waypoint.enemy = NULL;
601 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
602 // as this search is expensive we will use lower values if the bot is on the air
603 float increment, maxdistance;
604 if(IS_ONGROUND(this))
615 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
618 bool searching = true;
622 IL_EACH(g_waypoints, it.wpfire,
627 p = it.wpnearestpoint;
629 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
630 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
631 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
632 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
633 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
634 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
635 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
636 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
637 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
638 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
639 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
640 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
641 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
642 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
643 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
644 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
645 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
646 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
647 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
648 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
649 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
650 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
651 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
652 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
653 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
654 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
655 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
656 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
657 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
658 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
659 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
660 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
661 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
666 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
667 void navigation_markroutes_inverted(entity fixed_source_waypoint)
671 IL_EACH(g_waypoints, true,
673 it.wpconsidered = false;
674 it.wpnearestpoint = '0 0 0';
675 it.wpcost = 10000000;
680 if(fixed_source_waypoint)
682 fixed_source_waypoint.wpconsidered = true;
683 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
684 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
685 fixed_source_waypoint.wpfire = 1;
686 fixed_source_waypoint.enemy = NULL;
690 error("need to start with a waypoint\n");
693 bool searching = true;
697 IL_EACH(g_waypoints, it.wpfire,
701 cost = it.wpcost; // cost to walk from it to home
702 p = it.wpnearestpoint;
704 IL_EACH(g_waypoints, it != wp,
706 if(!waypoint_islinked(it, wp))
708 cost2 = cost + it.dmg;
709 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
715 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
716 void navigation_routerating(entity this, entity e, float f, float rangebias)
724 rangebias = waypoint_getdistancecost_simple(rangebias);
725 f = waypoint_getdistancecost_simple(f);
729 bool rate_wps = false;
730 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
735 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
736 int t = pointcontents(trace_endpos + '0 0 1');
737 if(t != CONTENT_SOLID )
739 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
741 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
749 entity best_wp = NULL;
750 float best_dist = 10000;
751 IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
752 && vdist(it.origin - this.origin, >, 100)
753 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
755 float dist = vlen(it.origin - theEnemy.origin);
756 if (dist < best_dist)
768 vector goal_org = (e.absmin + e.absmax) * 0.5;
770 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
772 // Evaluate path using jetpack
774 if(this.items & IT_JETPACK)
775 if(autocvar_bot_ai_navigation_jetpack)
776 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
778 vector pointa, pointb;
780 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
783 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
784 pointa = trace_endpos - '0 0 1';
787 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
788 pointb = trace_endpos - '0 0 1';
790 // Can I see these two points from the sky?
791 traceline(pointa, pointb, MOVE_NORMAL, this);
793 if(trace_fraction==1)
795 LOG_DEBUG("jetpack ai: can bridge these two points");
797 // Lower the altitude of these points as much as possible
798 float zdistance, xydistance, cost, t, fuel;
799 vector down, npa, npb;
801 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
807 if(npa.z<=this.absmax.z)
810 if(npb.z<=e.absmax.z)
813 traceline(npa, npb, MOVE_NORMAL, this);
814 if(trace_fraction==1)
820 while(trace_fraction == 1);
823 // Rough estimation of fuel consumption
824 // (ignores acceleration and current xyz velocity)
825 xydistance = vlen(pointa - pointb);
826 zdistance = fabs(pointa.z - this.origin.z);
828 t = zdistance / autocvar_g_jetpack_maxspeed_up;
829 t += xydistance / autocvar_g_jetpack_maxspeed_side;
830 fuel = t * autocvar_g_jetpack_fuel * 0.8;
832 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
835 if(this.ammo_fuel>fuel)
838 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
839 // - between air and ground speeds)
841 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
842 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
845 // Compare against other goals
846 f = f * rangebias / (rangebias + cost);
848 if (navigation_bestrating < f)
850 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
851 navigation_bestrating = f;
852 navigation_bestgoal = e;
853 this.navigation_jetpack_goal = e;
854 this.navigation_jetpack_point = pointb;
862 //te_wizspike(e.origin);
865 // update the cached spawnfunc_waypoint link on a dynamic item entity
866 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
872 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
873 e.nearestwaypoint = NULL;
875 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
876 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
878 nwp = navigation_findnearestwaypoint(e, true);
881 e.nearestwaypoint = nwp;
883 vector m1 = nwp.absmin, m2 = nwp.absmax;
884 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
885 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
886 vector ve = (e.absmin - e.absmax) * 0.5;
887 ve.x = bound(m1.x, ve.x, m2.x);
888 ve.y = bound(m1.y, ve.y, m2.y);
889 ve.z = bound(m1.z, ve.z, m2.z);
891 m1 = e.absmin; m2 = e.absmax;
892 m1.x = e.origin.x; m1.y = e.origin.y;
893 m2.x = e.origin.x; m2.y = e.origin.y;
894 vector vnwp = nwp.origin;
895 vnwp.x = bound(m1.x, vnwp.x, m2.x);
896 vnwp.y = bound(m1.y, vnwp.y, m2.y);
897 vnwp.z = bound(m1.z, vnwp.z, m2.z);
898 e.nearestwaypoint_dist = vlen(ve - vnwp);
902 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
904 if(!e.navigation_dynamicgoal)
905 e.blacklisted = true;
909 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
914 if(e.navigation_dynamicgoal)
915 e.nearestwaypointtimeout = time + 2;
916 else if(autocvar_g_waypointeditor)
917 e.nearestwaypointtimeout = time + 3 + random() * 2;
919 nwp = e.nearestwaypoint;
922 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
924 if (nwp.wpcost < 10000000)
926 //te_wizspike(nwp.wpnearestpoint);
927 float cost = nwp.wpcost + waypoint_getdistancecost(nwp.wpnearestpoint, goal_org);
928 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
929 f = f * rangebias / (rangebias + cost);
930 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
931 if (navigation_bestrating < f)
933 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
934 navigation_bestrating = f;
935 navigation_bestgoal = e;
940 // adds an item to the the goal stack with the path to a given item
941 bool navigation_routetogoal(entity this, entity e, vector startposition)
943 // if there is no goal, just exit
947 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
949 // force teleport destination as route destination
956 // put the entity on the goal stack
957 //print("routetogoal ", etos(e), "\n");
958 navigation_pushroute(this, e);
960 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
962 this.wp_goal_prev1 = this.wp_goal_prev0;
963 this.wp_goal_prev0 = e;
967 if(e==this.navigation_jetpack_goal)
970 // if it can reach the goal there is nothing more to do
971 vector dest = (e.absmin + e.absmax) * 0.5;
973 float dest_height = e.absmax.z - e.absmin.z;
974 if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
977 entity nearest_wp = NULL;
978 // see if there are waypoints describing a path to the item
979 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
981 e = e.nearestwaypoint;
985 e = e.enemy; // we already have added it, so...
990 if(nearest_wp && nearest_wp.enemy)
992 // often path can be optimized by not adding the nearest waypoint
993 if (this.goalentity.nearestwaypoint_dist < 8)
994 e = nearest_wp.enemy;
997 if (this.goalentity.navigation_dynamicgoal)
999 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
1000 dest.z = this.goalentity.absmin.z;
1001 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1002 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1003 e = nearest_wp.enemy;
1005 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1006 e = nearest_wp.enemy;
1012 // add the spawnfunc_waypoint to the path
1013 navigation_pushroute(this, e);
1023 // removes any currently touching waypoints from the goal stack
1024 // (this is how bots detect if they reached a goal)
1025 void navigation_poptouchedgoals(entity this)
1027 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1029 // make sure jumppad is really hit, don't rely on distance based checks
1030 // as they may report a touch even if it didn't really happen
1031 if(this.lastteleporttime > 0
1032 && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1034 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1035 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1037 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1038 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1040 navigation_poproute(this);
1046 // If for some reason the bot is closer to the next goal, pop the current one
1047 if(this.goalstack01 && !wasfreed(this.goalstack01))
1048 if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1049 if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1051 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1052 dest.z = this.goalstack01.absmin.z;
1053 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1054 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1056 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1057 navigation_poproute(this);
1058 // TODO this may also be a nice idea to do "early" (e.g. by
1059 // manipulating the vlen() comparisons) to shorten paths in
1060 // general - this would make bots walk more "on rails" than
1061 // "zigzagging" which they currently do with sufficiently
1062 // random-like waypoints, and thus can make a nice bot
1063 // personality property
1067 // Loose goal touching check when running
1068 if(this.aistatus & AI_STATUS_RUNNING)
1069 if(this.goalcurrent.classname=="waypoint")
1070 if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
1072 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1074 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1075 if(trace_fraction==1)
1077 // Detect personal waypoints
1078 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1079 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1081 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1082 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1085 navigation_poproute(this);
1090 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1092 vector gc_min = this.goalcurrent.absmin;
1093 vector gc_max = this.goalcurrent.absmax;
1094 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1096 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1097 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1099 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1102 // Detect personal waypoints
1103 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1104 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1106 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1107 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1110 navigation_poproute(this);
1114 // begin a goal selection session (queries spawnfunc_waypoint network)
1115 void navigation_goalrating_start(entity this)
1117 if(this.aistatus & AI_STATUS_STUCK)
1120 this.navigation_jetpack_goal = NULL;
1121 navigation_bestrating = -1;
1122 navigation_clearroute(this);
1123 navigation_bestgoal = NULL;
1124 navigation_markroutes(this, NULL);
1127 // ends a goal selection session (updates goal stack to the best goal)
1128 void navigation_goalrating_end(entity this)
1130 if(this.aistatus & AI_STATUS_STUCK)
1133 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1134 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1136 // If the bot got stuck then try to reach the farthest waypoint
1137 if (!this.goalentity && autocvar_bot_wander_enable)
1139 if (!(this.aistatus & AI_STATUS_STUCK))
1141 LOG_DEBUG(this.netname, " cannot walk to any goal");
1142 this.aistatus |= AI_STATUS_STUCK;
1147 void botframe_updatedangerousobjects(float maxupdate)
1149 vector m1, m2, v, o;
1152 IL_EACH(g_waypoints, true,
1157 IL_EACH(g_bot_dodge, it.bot_dodge,
1160 v.x = bound(m1_x, v.x, m2_x);
1161 v.y = bound(m1_y, v.y, m2_y);
1162 v.z = bound(m1_z, v.z, m2_z);
1163 o = (it.absmin + it.absmax) * 0.5;
1164 d = waypoint_getdistancecost_simple(it.bot_dodgerating) - waypoint_getdistancecost(o, v);
1167 traceline(o, v, true, NULL);
1168 if (trace_fraction == 1)
1169 danger = danger + d;
1179 void navigation_unstuck(entity this)
1181 float search_radius = 1000;
1183 if (!autocvar_bot_wander_enable)
1186 if (!bot_waypoint_queue_owner)
1188 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1189 bot_waypoint_queue_owner = this;
1190 bot_waypoint_queue_bestgoal = NULL;
1191 bot_waypoint_queue_bestgoalrating = 0;
1194 if(bot_waypoint_queue_owner!=this)
1197 if (bot_waypoint_queue_goal)
1199 // evaluate the next goal on the queue
1200 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1201 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1202 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1203 dest.z = bot_waypoint_queue_goal.absmin.z;
1204 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1205 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1207 if( d > bot_waypoint_queue_bestgoalrating)
1209 bot_waypoint_queue_bestgoalrating = d;
1210 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1213 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1215 if (!bot_waypoint_queue_goal)
1217 if (bot_waypoint_queue_bestgoal)
1219 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1220 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1221 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1222 this.aistatus &= ~AI_STATUS_STUCK;
1226 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1229 bot_waypoint_queue_owner = NULL;
1234 if(bot_strategytoken!=this)
1237 // build a new queue
1238 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1240 entity first = NULL;
1242 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1244 if(bot_waypoint_queue_goal)
1245 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1249 bot_waypoint_queue_goal = it;
1250 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1254 bot_waypoint_queue_goal = first;
1257 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1258 bot_waypoint_queue_owner = NULL;
1263 // Support for debugging tracewalk visually
1265 void debugresetnodes()
1267 debuglastnode = '0 0 0';
1270 void debugnode(entity this, vector node)
1272 if (!IS_PLAYER(this))
1275 if(debuglastnode=='0 0 0')
1277 debuglastnode = node;
1281 te_lightning2(NULL, node, debuglastnode);
1282 debuglastnode = node;
1285 void debugnodestatus(vector position, float status)
1291 case DEBUG_NODE_SUCCESS:
1294 case DEBUG_NODE_WARNING:
1297 case DEBUG_NODE_FAIL:
1304 te_customflash(position, 40, 2, c);
1307 // Support for debugging the goal stack visually
1310 .vector lastposition;
1312 // Debug the goal stack visually
1313 void debuggoalstack(entity this)
1318 if(this.goalcounter==0)goal=this.goalcurrent;
1319 else if(this.goalcounter==1)goal=this.goalstack01;
1320 else if(this.goalcounter==2)goal=this.goalstack02;
1321 else if(this.goalcounter==3)goal=this.goalstack03;
1322 else if(this.goalcounter==4)goal=this.goalstack04;
1323 else if(this.goalcounter==5)goal=this.goalstack05;
1324 else if(this.goalcounter==6)goal=this.goalstack06;
1325 else if(this.goalcounter==7)goal=this.goalstack07;
1326 else if(this.goalcounter==8)goal=this.goalstack08;
1327 else if(this.goalcounter==9)goal=this.goalstack09;
1328 else if(this.goalcounter==10)goal=this.goalstack10;
1329 else if(this.goalcounter==11)goal=this.goalstack11;
1330 else if(this.goalcounter==12)goal=this.goalstack12;
1331 else if(this.goalcounter==13)goal=this.goalstack13;
1332 else if(this.goalcounter==14)goal=this.goalstack14;
1333 else if(this.goalcounter==15)goal=this.goalstack15;
1334 else if(this.goalcounter==16)goal=this.goalstack16;
1335 else if(this.goalcounter==17)goal=this.goalstack17;
1336 else if(this.goalcounter==18)goal=this.goalstack18;
1337 else if(this.goalcounter==19)goal=this.goalstack19;
1338 else if(this.goalcounter==20)goal=this.goalstack20;
1339 else if(this.goalcounter==21)goal=this.goalstack21;
1340 else if(this.goalcounter==22)goal=this.goalstack22;
1341 else if(this.goalcounter==23)goal=this.goalstack23;
1342 else if(this.goalcounter==24)goal=this.goalstack24;
1343 else if(this.goalcounter==25)goal=this.goalstack25;
1344 else if(this.goalcounter==26)goal=this.goalstack26;
1345 else if(this.goalcounter==27)goal=this.goalstack27;
1346 else if(this.goalcounter==28)goal=this.goalstack28;
1347 else if(this.goalcounter==29)goal=this.goalstack29;
1348 else if(this.goalcounter==30)goal=this.goalstack30;
1349 else if(this.goalcounter==31)goal=this.goalstack31;
1354 this.goalcounter = 0;
1355 this.lastposition='0 0 0';
1359 if(this.lastposition=='0 0 0')
1362 org = this.lastposition;
1365 go = ( goal.absmin + goal.absmax ) * 0.5;
1366 te_lightning2(NULL, org, go);
1367 this.lastposition = go;