X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=ebc18a6875353a2306ea07c6304d989860b76cac;hb=abb8a9c9d25666514ccdb8554c88e968142c2c2d;hp=250b7cb09c639e45680e699514958d769b97a686;hpb=791f300d2660d6b75a51c6e7f302d6fa6b64861a;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 250b7cb09..ebc18a687 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -47,6 +47,12 @@ bool navigation_goalrating_timeout(entity this) return this.bot_strategytime < time; } +ERASEABLE +void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds) +{ + this.bot_strategytime = max(this.bot_strategytime, time + seconds); +} + #define MAX_CHASE_DISTANCE 700 bool navigation_goalrating_timeout_can_be_anticipated(entity this) { @@ -234,6 +240,9 @@ bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector return false; } +// Unfortuntely we can't use trace_inwater since it doesn't hold the fraction of the total +// distance that was traveled before impact as the description in the engine (collision.h) says. +// It would have helped to speed up tracewalk underwater vector resurface_limited(vector org, float lim, vector m1) { if (WETFEET(org + eZ * (lim - org.z))) @@ -742,6 +751,7 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float e // completely empty the goal stack, used when deciding where to go void navigation_clearroute(entity this) { + this.lastteleporttime = 0; this.goalcurrent_prev = this.goalcurrent; this.goalcurrent_distance_2d = FLOAT_MAX; this.goalcurrent_distance_z = FLOAT_MAX; @@ -915,19 +925,30 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom vector pm1 = ent.origin + ent.mins; vector pm2 = ent.origin + ent.maxs; - // do two scans, because box test is cheaper - IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & WAYPOINTFLAG_TELEPORT), + if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent)) + { + // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links + // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu) + // isn't detected as the nearest waypoint + IL_EACH(g_waypoints, it != ent && it != except, + { + if (boxesoverlap(pm1, pm2, it.absmin, it.absmax)) + return it; + }); + } + else { - if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) + // do two scans, because box test is cheaper + IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)), { - if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal) + if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) { - waypoint_clearlinks(ent); // initialize wpXXmincost fields - navigation_item_addlink(it, ent); + if(walkfromwp && !ent.navigation_dynamicgoal) + waypoint_clearlinks(ent); // initialize wpXXmincost fields + return it; } - return it; - } - }); + }); + } vector org = ent.origin; if (navigation_testtracewalk) @@ -942,28 +963,10 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height } - if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal) - { - waypoint_clearlinks(ent); // initialize wpXXmincost fields - IL_EACH(g_waypoints, it != ent, - { - if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK)) - continue; - - set_tracewalk_dest(ent, it.origin, false); - if (vdist(tracewalk_dest - it.origin, <, 1050) - && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST, - tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) - { - navigation_item_addlink(it, ent); - } - }); - } - // box check failed, try walk IL_EACH(g_waypoints, it != ent, { - if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK)) + if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK)) continue; v = it.origin; @@ -1331,10 +1334,10 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) t += xydistance / autocvar_g_jetpack_maxspeed_side; fuel = t * autocvar_g_jetpack_fuel * 0.8; - LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResourceAmount(this, RESOURCE_FUEL))); + LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL))); // enough fuel ? - if(GetResourceAmount(this, RESOURCE_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO)) + if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO)) { // Estimate cost // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship @@ -1484,7 +1487,7 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) if(e == NULL) return false; - if(nearest_wp && nearest_wp.enemy) + if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK)) { // often path can be optimized by not adding the nearest waypoint if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor) @@ -1506,8 +1509,35 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) } } } - else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity)) - e = nearest_wp.enemy; + else + { + // NOTE unlike waypoints, items hold incoming links + navigation_item_initlinks_ifneeded(this.goalentity); + int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy); + if (link_num >= 0) + { + if (navigation_item_iswalkablelink(this.goalentity, link_num)) + e = nearest_wp.enemy; + } + else // untested link + { + entity wp = nearest_wp.enemy; + entity goal = this.goalentity; + bool walkable = false; + if (checkpvs(wp.origin, goal)) + { + set_tracewalk_dest(goal, wp.origin, false); + if (vdist(tracewalk_dest - wp.origin, <, 1050) + && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST, + tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) + { + walkable = true; + e = nearest_wp.enemy; + } + } + navigation_item_add_link(wp, goal, walkable); + } + } } for (;;) @@ -1576,7 +1606,7 @@ bool navigation_shortenpath(entity this) next = this.goalstack01; // if for some reason the bot is closer to the next goal, pop the current one - if (!IS_MOVABLE(next) // already checked in the previous case + if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)) && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin) && checkpvs(this.origin + this.view_ofs, next)) { @@ -1608,12 +1638,23 @@ int navigation_poptouchedgoals(entity this) if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) { + if (!this.goalcurrent.wpisbox // warpzone + && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin)) + { + // immediately remove origin and destination waypoints + navigation_poproute(this); + ++removed_goals; + navigation_poproute(this); + ++removed_goals; + this.lastteleporttime = 0; + } + // make sure jumppad is really hit, don't rely on distance based checks // as they may report a touch even if it didn't really happen if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent)) { if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1628,12 +1669,17 @@ int navigation_poptouchedgoals(entity this) if (time - this.lastteleporttime < random() * max_delay) return removed_goals; } + else if (this.goalcurrent.wpisbox) // teleport + { + // immediately remove origin and destination waypoints + navigation_poproute(this); + ++removed_goals; + } navigation_poproute(this); this.lastteleporttime = 0; ++removed_goals; } - else - return removed_goals; + return removed_goals; } else if (this.lastteleporttime > 0) { @@ -1650,7 +1696,7 @@ int navigation_poptouchedgoals(entity this) if (tele_ent && TELEPORT_USED(this, tele_ent)) { if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this) + if ((tele_ent.wpflags & WAYPOINTFLAG_PERSONAL) && tele_ent.owner == this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1665,21 +1711,29 @@ int navigation_poptouchedgoals(entity this) ++removed_goals; return removed_goals; } + // reset of lastteleporttime can be overriden by a jumppad when it's set + // in more than one frame: make sure it's reset + this.lastteleporttime = 0; } // Loose goal touching check when running - if(this.aistatus & AI_STATUS_RUNNING) - if(this.goalcurrent.classname=="waypoint") - if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running - { - if(vdist(this.origin - this.goalcurrent.origin, <, 150)) + // check goalstack01 to make sure waypoint isn't the final goal + if((this.aistatus & AI_STATUS_RUNNING) && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP) + && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) + { + vector gco = this.goalcurrent.origin; + float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE; + // also detect waypoints when bot is way above them but with a narrower horizontal range + // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding) + if(vdist(this.origin - gco, <, min_dist) + || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist))) { traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL); if(trace_fraction==1) { // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1700,7 +1754,7 @@ int navigation_poptouchedgoals(entity this) 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; + gc_max = this.goalcurrent.origin + '1 1 1' * 12 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z); } if (time < this.ladder_time) { @@ -1715,7 +1769,7 @@ int navigation_poptouchedgoals(entity this) // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1736,7 +1790,8 @@ entity navigation_get_really_close_waypoint(entity this) wp = this.goalcurrent_prev; if(!wp) return NULL; - if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50)) + float min_dist = ((this.aistatus & AI_STATUS_RUNNING) ? BOT_BUNNYHOP_WP_DETECTION_RANGE : 50); + if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, min_dist)) { wp = this.goalcurrent_prev; if(!wp) @@ -1748,12 +1803,12 @@ entity navigation_get_really_close_waypoint(entity this) if(!wp) return NULL; } - if(vdist(wp.origin - this.origin, >, 50)) + if(vdist(wp.origin - this.origin, >, min_dist)) { wp = NULL; - IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT), + IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)), { - if(vdist(it.origin - this.origin, <, 50)) + if(vdist(it.origin - this.origin, <, min_dist)) { wp = it; break; @@ -1786,6 +1841,7 @@ void navigation_goalrating_start(entity this) navigation_clearroute(this); navigation_bestgoal = NULL; navigation_markroutes(this, wp); + this.goalstack31 = wp; // temporarly save the really close waypoint } // ends a goal selection session (updates goal stack to the best goal) @@ -1794,19 +1850,27 @@ void navigation_goalrating_end(entity this) if(this.aistatus & AI_STATUS_STUCK) return; + entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal + this.goalstack31 = NULL; + navigation_routetogoal(this, navigation_bestgoal, this.origin); - LOG_DEBUG("best goal ", this.goalcurrent.classname); + LOG_DEBUG("best goal ", navigation_bestgoal.classname); + + if (wp && this.goalcurrent == wp) + navigation_poproute(this); // If the bot got stuck then try to reach the farthest waypoint - if (!this.goalentity && autocvar_bot_wander_enable) + if (!this.goalentity) { - if (!(this.aistatus & AI_STATUS_STUCK)) + if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK)) { LOG_DEBUG(this.netname, " cannot walk to any goal"); this.aistatus |= AI_STATUS_STUCK; } + this.goalentity_shouldbefrozen = false; } - this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity)); + else + this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity)); } void botframe_updatedangerousobjects(float maxupdate) @@ -1874,7 +1938,7 @@ void navigation_unstuck(entity this) { // evaluate the next goal on the queue float d = vlen2(this.origin - bot_waypoint_queue_goal.origin); - LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d)); + LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d)); set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false); if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))