X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=d0061b90068efbcade910b2332e20c5aff9198b5;hb=7c19cc7613de325a0e43236ee4e202fd6c9f7a7a;hp=742213a8977c897633c5868864dd31e89f95a423;hpb=6147159b612c6950ca2177b732028d1116201220;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 742213a89..d0061b900 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -1,5 +1,7 @@ #include "navigation.qh" +#include +#include #include "cvars.qh" #include "bot.qh" @@ -15,6 +17,28 @@ .float speed; +void navigation_dynamicgoal_init(entity this, bool initially_static) +{ + this.navigation_dynamicgoal = true; + this.bot_basewaypoint = this.nearestwaypoint; + if(initially_static) + this.nearestwaypointtimeout = -1; + else + this.nearestwaypointtimeout = time; +} + +void navigation_dynamicgoal_set(entity this) +{ + this.nearestwaypointtimeout = time; +} + +void navigation_dynamicgoal_unset(entity this) +{ + if(this.bot_basewaypoint) + this.nearestwaypoint = this.bot_basewaypoint; + this.nearestwaypointtimeout = -1; +} + // rough simulation of walking from one point to another to test if a path // can be traveled, used for waypoint linking and havocbot @@ -26,9 +50,9 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m float dist; float totaldist; float stepdist; - float yaw; float ignorehazards; float swimming; + entity tw_ladder = NULL; if(autocvar_bot_debug_tracewalk) { @@ -70,7 +94,6 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m } // Movement loop - yaw = vectoyaw(move); move = end - org; for (;;) { @@ -115,14 +138,14 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m if (trace_fraction < 1) { swimming = true; - org = trace_endpos - normalize(org - trace_endpos) * stepdist; + org = trace_endpos + normalize(org - trace_endpos) * stepdist; for (; org.z < end.z + e.maxs.z; org.z += stepdist) { - if(autocvar_bot_debug_tracewalk) - debugnode(e, org); + if(autocvar_bot_debug_tracewalk) + debugnode(e, org); - if(pointcontents(org) == CONTENT_EMPTY) - break; + if(pointcontents(org) == CONTENT_EMPTY) + break; } if(pointcontents(org + '0 0 1') != CONTENT_EMPTY) @@ -160,8 +183,14 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m if(autocvar_bot_debug_tracewalk) debugnodestatus(trace_endpos, DEBUG_NODE_WARNING); - // check for doors + IL_EACH(g_ladders, it.classname == "func_ladder", + { it.solid = SOLID_BSP; }); + traceline( org, move, movemode, e); + + IL_EACH(g_ladders, it.classname == "func_ladder", + { it.solid = SOLID_TRIGGER; }); + if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door") { vector nextmove; @@ -173,6 +202,24 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m move = nextmove; } } + else if (trace_ent.classname == "func_ladder") + { + tw_ladder = trace_ent; + vector ladder_bottom = trace_endpos - dir * m2.x; + vector ladder_top = ladder_bottom; + ladder_top.z = trace_ent.absmax.z + (-m1.z + 1); + tracebox(ladder_bottom, m1, m2, ladder_top, movemode, e); + if (trace_fraction < 1 || trace_startsolid) + { + if(autocvar_bot_debug_tracewalk) + debugnodestatus(trace_endpos, DEBUG_NODE_FAIL); + + return false; // failed + } + org = ladder_top + dir * m2.x; + move = org + dir * stepdist; + continue; + } else { if(autocvar_bot_debug_tracewalk) @@ -212,6 +259,16 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m org = trace_endpos; } + + if(tw_ladder && org.z < tw_ladder.absmax.z) + { + // stop tracewalk if destination height is lower than the top of the ladder + // otherwise bot can't easily figure out climbing direction + if(autocvar_bot_debug_tracewalk) + debugnodestatus(org, DEBUG_NODE_FAIL); + + return false; + } } //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n"); @@ -231,7 +288,7 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m void navigation_clearroute(entity this) { //print("bot ", etos(this), " clear\n"); - this.navigation_hasgoals = false; + this.goalentity = NULL; this.goalcurrent = NULL; this.goalstack01 = NULL; this.goalstack02 = NULL; @@ -275,6 +332,8 @@ void navigation_clearroute(entity this) void navigation_pushroute(entity this, entity e) { //print("bot ", etos(this), " push ", etos(e), "\n"); + if(this.goalstack31 == this.goalentity) + this.goalentity = NULL; this.goalstack31 = this.goalstack30; this.goalstack30 = this.goalstack29; this.goalstack29 = this.goalstack28; @@ -315,6 +374,8 @@ void navigation_pushroute(entity this, entity e) void navigation_poproute(entity this) { //print("bot ", etos(this), " pop\n"); + if(this.goalcurrent == this.goalentity) + this.goalentity = NULL; this.goalcurrent = this.goalstack01; this.goalstack01 = this.goalstack02; this.goalstack02 = this.goalstack03; @@ -673,7 +734,9 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) entity theEnemy = e; entity best_wp = NULL; float best_dist = 10000; - IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) && vdist(it.origin - this.origin, >, 100), + IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) + && vdist(it.origin - this.origin, >, 100) + && !(it.wpflags & WAYPOINTFLAG_TELEPORT), { float dist = vlen(it.origin - theEnemy.origin); if (dist < best_dist) @@ -792,25 +855,11 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) } else { - float search; - - search = true; + if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout) + e.nearestwaypoint = NULL; - if(e.flags & FL_ITEM) - { - if (!(e.flags & FL_WEAPON)) - if(e.nearestwaypoint) - search = false; - } - else if (e.flags & FL_WEAPON) - { - if(e.classname != "droppedweapon") - if(e.nearestwaypoint) - search = false; - } - - if(search) - if (time > e.nearestwaypointtimeout) + if ((!e.nearestwaypoint || e.navigation_dynamicgoal) + && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout) { nwp = navigation_findnearestwaypoint(e, true); if(nwp) @@ -819,13 +868,8 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) { LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e)); - if(e.flags & FL_ITEM) + if(!e.navigation_dynamicgoal) e.blacklisted = true; - else if (e.flags & FL_WEAPON) - { - if(e.classname != "droppedweapon") - e.blacklisted = true; - } if(e.blacklisted) { @@ -834,11 +878,10 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) } } - // TODO: Cleaner solution, probably handling this timeout from ctf.qc - if(e.classname=="item_flag_team") + if(e.navigation_dynamicgoal) e.nearestwaypointtimeout = time + 2; - else - e.nearestwaypointtimeout = time + random() * 3 + 5; + else if(autocvar_g_waypointeditor) + e.nearestwaypointtimeout = time + 3 + random() * 2; } nwp = e.nearestwaypoint; } @@ -863,18 +906,22 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) // adds an item to the the goal stack with the path to a given item bool navigation_routetogoal(entity this, entity e, vector startposition) { - this.goalentity = e; - // if there is no goal, just exit if (!e) return false; - this.navigation_hasgoals = true; + this.goalentity = e; // put the entity on the goal stack //print("routetogoal ", etos(e), "\n"); navigation_pushroute(this, e); + if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL)) + { + this.wp_goal_prev1 = this.wp_goal_prev0; + this.wp_goal_prev0 = e; + } + if(g_jetpack) if(e==this.navigation_jetpack_goal) return true; @@ -883,15 +930,26 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) return true; + entity nearest_wp = NULL; // see if there are waypoints describing a path to the item if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL)) + { e = e.nearestwaypoint; + nearest_wp = e; + } else e = e.enemy; // we already have added it, so... if(e == NULL) return false; + if(nearest_wp && nearest_wp.enemy) + { + // often path can be optimized by not adding the nearest waypoint + if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode)) + e = nearest_wp.enemy; + } + for (;;) { // add the spawnfunc_waypoint to the path @@ -914,9 +972,6 @@ void navigation_poptouchedgoals(entity this) m1 = org + this.mins; m2 = org + this.maxs; - while(this.goalcurrent && wasfreed(this.goalcurrent)) - navigation_poproute(this); - if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) { // make sure jumppad is really hit, don't rely on distance based checks @@ -935,13 +990,6 @@ void navigation_poptouchedgoals(entity this) } } - if(this.goalcurrent.bot_pickup_respawning) - { - if(!this.goalcurrent.solid) - return; - this.goalcurrent.bot_pickup_respawning = false; - } - // If for some reason the bot is closer to the next goal, pop the current one if(this.goalstack01 && !wasfreed(this.goalstack01)) if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin)) @@ -982,8 +1030,18 @@ void navigation_poptouchedgoals(entity this) } } - while (this.goalcurrent && !IS_PLAYER(this.goalcurrent) && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax)) + while (this.goalcurrent && !IS_PLAYER(this.goalcurrent)) { + vector gc_min = this.goalcurrent.absmin; + vector gc_max = this.goalcurrent.absmax; + if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox) + { + gc_min = this.goalcurrent.origin - '1 1 1' * 12; + gc_max = this.goalcurrent.origin + '1 1 1' * 12; + } + if(!boxesoverlap(m1, m2, gc_min, gc_max)) + break; + if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)) break; @@ -1007,7 +1065,6 @@ void navigation_goalrating_start(entity this) this.navigation_jetpack_goal = NULL; navigation_bestrating = -1; - this.navigation_hasgoals = false; navigation_clearroute(this); navigation_bestgoal = NULL; navigation_markroutes(this, NULL); @@ -1023,16 +1080,13 @@ void navigation_goalrating_end(entity this) LOG_DEBUG("best goal ", this.goalcurrent.classname); // If the bot got stuck then try to reach the farthest waypoint - if (!this.navigation_hasgoals) - if (autocvar_bot_wander_enable) + if (!this.goalentity && autocvar_bot_wander_enable) { if (!(this.aistatus & AI_STATUS_STUCK)) { LOG_DEBUG(this.netname, " cannot walk to any goal"); this.aistatus |= AI_STATUS_STUCK; } - - this.navigation_hasgoals = false; // Reset this value } }