improve bot waypoint auditing

[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / navigation.qc

diff --git a/qcsrc/server/bot/navigation.qc b/qcsrc/server/bot/navigation.qc
index e460bdc57e1ad84d2661be3753e5e267e9d75042..258d3d1770fe1c023991106bd15bb7bd063be40e 100644 (file)
--- a/qcsrc/server/bot/navigation.qc
+++ b/qcsrc/server/bot/navigation.qc
@@ -890,6 +890,9 @@ void navigation_poptouchedgoals()
 // begin a goal selection session (queries spawnfunc_waypoint network)
 void navigation_goalrating_start()
 {
+       if(self.aistatus & AI_STATUS_STUCK)
+               return;
+
        self.navigation_jetpack_goal = world;
        navigation_bestrating = -1;
        self.navigation_hasgoals = FALSE;
@@ -901,31 +904,21 @@ void navigation_goalrating_start()
 // ends a goal selection session (updates goal stack to the best goal)
 void navigation_goalrating_end()
 {
+       if(self.aistatus & AI_STATUS_STUCK)
+               return;
+
        navigation_routetogoal(navigation_bestgoal, self.origin);
 //     dprint("best goal ", self.goalcurrent.classname , "\n");
 
-       // Hack: if it can't walk to any goal just move blindly to the first visible waypoint
+       // If the bot got stuck then try to reach the farthest waypoint
        if not (self.navigation_hasgoals)
        if (autocvar_bot_wander_enable)
        {
-               if not(autocvar_g_campaign)
-                       dprint(self.netname, " can't walk to any goal, going to a near waypoint\n");
-
-               entity head;
-
-               RandomSelection_Init();
-               head = findradius(self.origin,1000);
-               while(head)
+               if not(self.aistatus & AI_STATUS_STUCK)
                {
-                       if(head.classname=="waypoint")
-                       if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
-                       if(vlen(self.origin-head.origin)>100)
-                       if(checkpvs(self.view_ofs,head))
-                               RandomSelection_Add(head, 0, string_null, 1 + (vlen(self.origin-head.origin)<500), 0);
-                       head = head.chain;
+                       dprint(self.netname, " cannot walk to any goal\n");
+                       self.aistatus |= AI_STATUS_STUCK;
                }
-               if(RandomSelection_chosen_ent)
-                       navigation_routetogoal(RandomSelection_chosen_ent, self.origin);
 
                self.navigation_hasgoals = FALSE; // Reset this value
        }
@@ -968,6 +961,96 @@ void botframe_updatedangerousobjects(float maxupdate)
        }
 };
 
+void navigation_unstuck()
+{
+       float search_radius = 1000;
+
+       if not(autocvar_bot_wander_enable)
+               return;
+
+       if not(bot_waypoint_queue_owner)
+       {
+       //      dprint(self.netname, " sutck, taking over the waypoints queue\n");
+               bot_waypoint_queue_owner = self;
+               bot_waypoint_queue_bestgoal = world;
+               bot_waypoint_queue_bestgoalrating = 0;
+       }
+
+       if(bot_waypoint_queue_owner!=self)
+               return;
+
+       if (bot_waypoint_queue_goal)
+       {
+               // evaluate the next goal on the queue
+               float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
+               // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
+               if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
+               {
+                       if( d > bot_waypoint_queue_bestgoalrating)
+                       {
+                               bot_waypoint_queue_bestgoalrating = d;
+                               bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
+                       }
+               }
+               bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
+
+               if not(bot_waypoint_queue_goal)
+               {
+                       if (bot_waypoint_queue_bestgoal)
+                       {
+                               dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
+                               navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
+                               self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+                               self.aistatus &~= AI_STATUS_STUCK;
+                       }
+                       else
+                       {
+                               dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
+                       }
+
+                       bot_waypoint_queue_owner = world;
+               }
+       }
+       else
+       {
+               if(bot_strategytoken!=self)
+                       return;
+
+               // build a new queue
+               dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
+
+               entity head, first;
+
+               first = world;
+               head = findradius(self.origin, search_radius);
+
+               while(head)
+               {
+                       if(head.classname=="waypoint")
+               //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
+                       {
+                               if(bot_waypoint_queue_goal)
+                                       bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
+                               else
+                                       first = head;
+
+                               bot_waypoint_queue_goal = head;
+                               bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
+                       }
+
+                       head = head.chain;
+               }
+
+               if (first)
+                       bot_waypoint_queue_goal = first;
+               else
+               {
+                       dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
+                       bot_waypoint_queue_owner = world;
+               }
+       }
+}
+
 // Support for debugging tracewalk visually
 
 void debugresetnodes()