qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include <server/defs.qh>
   4 #include <server/miscfunctions.qh>
   5 #include "cvars.qh"
   6
   7 #include "bot.qh"
   8 #include "waypoints.qh"
   9
  10 #include <common/t_items.qh>
  11
  12 #include <common/items/_mod.qh>
  13
  14 #include <common/constants.qh>
  15 #include <common/net_linked.qh>
  16 #include <common/triggers/trigger/jumppads.qh>
  17
  18 .float speed;
  19
  20 void navigation_dynamicgoal_init(entity this, bool initially_static)
  21 {
  22         this.navigation_dynamicgoal = true;
  23         this.bot_basewaypoint = this.nearestwaypoint;
  24         if(initially_static)
  25                 this.nearestwaypointtimeout = -1;
  26         else
  27                 this.nearestwaypointtimeout = time;
  28 }
  29
  30 void navigation_dynamicgoal_set(entity this)
  31 {
  32         this.nearestwaypointtimeout = time;
  33 }
  34
  35 void navigation_dynamicgoal_unset(entity this)
  36 {
  37         if(this.bot_basewaypoint)
  38                 this.nearestwaypoint = this.bot_basewaypoint;
  39         this.nearestwaypointtimeout = -1;
  40 }
  41
  42 bool navigation_check_submerged_state(entity ent, vector pos)
  43 {
  44         bool submerged;
  45         if(IS_PLAYER(ent))
  46                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
  47         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
  48                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
  49         else
  50         {
  51                 submerged = SUBMERGED(pos);
  52                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
  53                 //  is actually submerged because often they are inside some solid.
  54                 //  That's why submerged state is saved now that we know current pos is
  55                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
  56                 if(!ent.navigation_dynamicgoal)
  57                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
  58         }
  59         return submerged;
  60 }
  61
  62 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
  63 {
  64         IL_EACH(g_ladders, it.classname == "func_ladder",
  65         {
  66                 if(it.bot_pickup)
  67                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
  68                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
  69                 {
  70                         vector top = org;
  71                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
  72                         tracebox(org, m1, m2, top, movemode, e);
  73                         if(trace_fraction == 1)
  74                                 return true;
  75                 }
  76         });
  77         return false;
  78 }
  79
  80 vector resurface_limited(vector org, float lim, vector m1)
  81 {
  82         if (WETFEET(org + eZ * (lim - org.z)))
  83                 org.z = lim;
  84         else
  85         {
  86                 float RES_min_h = org.z;
  87                 float RES_max_h = lim;
  88                 do {
  89                         org.z = 0.5 * (RES_min_h + RES_max_h);
  90                         if(WETFEET(org))
  91                                 RES_min_h = org.z;
  92                         else
  93                                 RES_max_h = org.z;
  94                 } while (RES_max_h - RES_min_h >= 1);
  95                 org.z = RES_min_h;
  96         }
  97         return org;
  98 }
  99 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
 100
 101 #define NAV_WALK 0
 102 #define NAV_SWIM_ONWATER 1
 103 #define NAV_SWIM_UNDERWATER 2
 104
 105 // rough simulation of walking from one point to another to test if a path
 106 // can be traveled, used for waypoint linking and havocbot
 107 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
 108 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
 109 {
 110         if(autocvar_bot_debug_tracewalk)
 111         {
 112                 debugresetnodes();
 113                 debugnode(e, start);
 114         }
 115
 116         vector org = start;
 117         vector flatdir = end - start;
 118         flatdir.z = 0;
 119         float flatdist = vlen(flatdir);
 120         flatdir = normalize(flatdir);
 121         float stepdist = 32;
 122         bool ignorehazards = false;
 123         int nav_action;
 124
 125         // Analyze starting point
 126         traceline(start, start, MOVE_NORMAL, e);
 127         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 128                 ignorehazards = true;
 129
 130         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 131         if (trace_startsolid)
 132         {
 133                 // Bad start
 134                 if(autocvar_bot_debug_tracewalk)
 135                         debugnodestatus(start, DEBUG_NODE_FAIL);
 136
 137                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 138                 return false;
 139         }
 140
 141         vector end2 = end;
 142         if(end_height)
 143                 end2.z += end_height;
 144
 145         vector fixed_end = end;
 146         vector move;
 147
 148         if (flatdist > 0 && WETFEET(org))
 149         {
 150                 if (SUBMERGED(org))
 151                         nav_action = NAV_SWIM_UNDERWATER;
 152                 else
 153                 {
 154                         // tracebox down by player's height
 155                         // useful to know if water level is so low that bot can still walk
 156                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
 157                         if (SUBMERGED(trace_endpos))
 158                         {
 159                                 org = trace_endpos;
 160                                 nav_action = NAV_SWIM_UNDERWATER;
 161                         }
 162                         else
 163                                 nav_action = NAV_WALK;
 164                 }
 165         }
 166         else
 167                 nav_action =  NAV_WALK;
 168
 169         // Movement loop
 170         while (true)
 171         {
 172                 if (flatdist <= 0)
 173                 {
 174                         bool success = true;
 175                         if (org.z > end2.z + 1)
 176                         {
 177                                 tracebox(org, m1, m2, end2, movemode, e);
 178                                 org = trace_endpos;
 179                                 if (org.z > end2.z + 1)
 180                                         success = false;
 181                         }
 182                         else if (org.z < end.z - 1)
 183                         {
 184                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
 185                                 if (SUBMERGED(trace_endpos))
 186                                 {
 187                                         vector v = trace_endpos;
 188                                         tracebox(v, m1, m2, end, movemode, e);
 189                                         if(trace_endpos.z >= end.z - 1)
 190                                         {
 191                                                 RESURFACE_LIMITED(v, trace_endpos.z);
 192                                                 trace_endpos = v;
 193                                         }
 194                                 }
 195                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
 196                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
 197                                 org = trace_endpos;
 198                                 if (org.z < end.z - 1)
 199                                         success = false;
 200                         }
 201
 202                         if (success)
 203                         {
 204                                 // Succeeded
 205                                 if(autocvar_bot_debug_tracewalk)
 206                                 {
 207                                         debugnode(e, org);
 208                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 209                                 }
 210
 211                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 212                                 return true;
 213                         }
 214                 }
 215
 216                 if(autocvar_bot_debug_tracewalk)
 217                         debugnode(e, org);
 218
 219                 if (flatdist <= 0)
 220                         break;
 221
 222                 if (stepdist > flatdist)
 223                         stepdist = flatdist;
 224                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
 225                 {
 226                         // can't use movement direction here to calculate move because of
 227                         // precision errors especially when direction has a high enough z value
 228                         //water_dir = normalize(water_end - org);
 229                         //move = org + water_dir * stepdist;
 230                         fixed_end.z = bound(end.z, org.z, end2.z);
 231                         if (stepdist == flatdist) {
 232                                 move = fixed_end;
 233                                 flatdist = 0;
 234                         } else {
 235                                 move = org + (fixed_end - org) * (stepdist / flatdist);
 236                                 flatdist = vlen(vec2(fixed_end - move));
 237                         }
 238                 }
 239                 else // horiz. direction
 240                 {
 241                         flatdist -= stepdist;
 242                         move = org + flatdir * stepdist;
 243                 }
 244
 245                 if(nav_action == NAV_SWIM_ONWATER)
 246                 {
 247                         tracebox(org, m1, m2, move, movemode, e); // swim
 248
 249                         // hit something
 250                         if (trace_fraction < 1)
 251                         {
 252                                 // stepswim
 253                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 254
 255                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 256                                 {
 257                                         org = trace_endpos;
 258                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
 259                                         {
 260                                                 if(autocvar_bot_debug_tracewalk)
 261                                                 {
 262                                                         debugnode(e, org);
 263                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 264                                                 }
 265
 266                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 267                                                 return true;
 268                                         }
 269
 270                                         if(autocvar_bot_debug_tracewalk)
 271                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 272
 273                                         return false;
 274                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 275                                 }
 276
 277                                 //succesful stepswim
 278
 279                                 if (flatdist <= 0)
 280                                 {
 281                                         org = trace_endpos;
 282                                         continue;
 283                                 }
 284
 285                                 if (org.z <= move.z) // going horiz.
 286                                 {
 287                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
 288                                         org = trace_endpos;
 289                                         nav_action = NAV_WALK;
 290                                         continue;
 291                                 }
 292                         }
 293
 294                         if (org.z <= move.z) // going horiz.
 295                         {
 296                                 org = trace_endpos;
 297                                 nav_action = NAV_SWIM_ONWATER;
 298                         }
 299                         else // going down
 300                         {
 301                                 org = trace_endpos;
 302                                 if (SUBMERGED(org))
 303                                         nav_action = NAV_SWIM_UNDERWATER;
 304                                 else
 305                                         nav_action = NAV_SWIM_ONWATER;
 306                         }
 307                 }
 308                 else if(nav_action == NAV_SWIM_UNDERWATER)
 309                 {
 310                         if (move.z >= org.z) // swimming upwards or horiz.
 311                         {
 312                                 tracebox(org, m1, m2, move, movemode, e); // swim
 313
 314                                 bool stepswum = false;
 315
 316                                 // hit something
 317                                 if (trace_fraction < 1)
 318                                 {
 319                                         // stepswim
 320                                         vector stepswim_move = move + stepheightvec;
 321                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
 322                                                 stepswim_move.z = end2.z;
 323
 324                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
 325
 326                                         // hit something
 327                                         if (trace_startsolid)
 328                                         {
 329                                                 if(autocvar_bot_debug_tracewalk)
 330                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 331
 332                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 333                                                 return false;
 334                                         }
 335
 336                                         if (trace_fraction < 1)
 337                                         {
 338                                                 float org_z_prev = org.z;
 339                                                 RESURFACE_LIMITED(org, end2.z);
 340                                                 if(org.z == org_z_prev)
 341                                                 {
 342                                                         if(autocvar_bot_debug_tracewalk)
 343                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 344
 345                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
 346                                                         return false;
 347                                                 }
 348                                                 if(SUBMERGED(org))
 349                                                         nav_action = NAV_SWIM_UNDERWATER;
 350                                                 else
 351                                                         nav_action = NAV_SWIM_ONWATER;
 352
 353                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
 354                                                 // but we can't do it properly right now... apply this workaround instead
 355                                                 if (flatdist <= 0)
 356                                                         flatdist = 1;
 357
 358                                                 continue;
 359                                         }
 360
 361                                         //succesful stepswim
 362
 363                                         if (flatdist <= 0)
 364                                         {
 365                                                 org = trace_endpos;
 366                                                 continue;
 367                                         }
 368
 369                                         stepswum = true;
 370                                 }
 371
 372                                 if (!WETFEET(trace_endpos))
 373                                 {
 374                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
 375                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
 376                                         if (!stepswum && SUBMERGED(trace_endpos))
 377                                         {
 378                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
 379                                                 org = trace_endpos;
 380                                                 nav_action = NAV_SWIM_ONWATER;
 381                                                 continue;
 382                                         }
 383
 384                                         // not submerged
 385                                         org = trace_endpos;
 386                                         nav_action = NAV_WALK;
 387                                         continue;
 388                                 }
 389
 390                                 // wetfeet
 391                                 org = trace_endpos;
 392                                 nav_action = NAV_SWIM_UNDERWATER;
 393                                 continue;
 394                         }
 395                         else //if (move.z < org.z) // swimming downwards
 396                         {
 397                                 tracebox(org, m1, m2, move, movemode, e); // swim
 398
 399                                 // hit something
 400                                 if (trace_fraction < 1)
 401                                 {
 402                                         // stepswim
 403                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 404
 405                                         // hit something
 406                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 407                                         {
 408                                                 if(autocvar_bot_debug_tracewalk)
 409                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
 410
 411                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 412                                                 return false;
 413                                         }
 414
 415                                         //succesful stepswim
 416
 417                                         if (flatdist <= 0)
 418                                         {
 419                                                 org = trace_endpos;
 420                                                 continue;
 421                                         }
 422
 423                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
 424                                         {
 425                                                 // stepswim caused upwards direction
 426                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
 427                                                 if (!SUBMERGED(trace_endpos))
 428                                                 {
 429                                                         org = trace_endpos;
 430                                                         nav_action = NAV_WALK;
 431                                                         continue;
 432                                                 }
 433                                         }
 434                                 }
 435
 436                                 org = trace_endpos;
 437                                 nav_action = NAV_SWIM_UNDERWATER;
 438                                 continue;
 439                         }
 440                 }
 441                 else if(nav_action == NAV_WALK)
 442                 {
 443                         // walk
 444                         tracebox(org, m1, m2, move, movemode, e);
 445
 446                         if(autocvar_bot_debug_tracewalk)
 447                                 debugnode(e, trace_endpos);
 448
 449                         // hit something
 450                         if (trace_fraction < 1)
 451                         {
 452                                 // check if we can walk over this obstacle, possibly by jumpstepping
 453                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 454                                 if (trace_fraction < 1 || trace_startsolid)
 455                                 {
 456                                         if (trace_startsolid) // hit ceiling above org
 457                                         {
 458                                                 // reduce stepwalk height
 459                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
 460                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 461                                         }
 462                                         else //if (trace_fraction < 1)
 463                                         {
 464                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 465                                                 if (trace_startsolid) // hit ceiling above org
 466                                                 {
 467                                                         // reduce jumpstepwalk height
 468                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
 469                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 470                                                 }
 471                                         }
 472
 473                                         if (trace_fraction < 1)
 474                                         {
 475                                                 vector v = trace_endpos;
 476                                                 v.z = org.z + jumpheight_vec.z;
 477                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 478                                                 {
 479                                                         if(autocvar_bot_debug_tracewalk)
 480                                                         {
 481                                                                 debugnode(e, v);
 482                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 483                                                         }
 484
 485                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 486                                                         return true;
 487                                                 }
 488
 489                                                 if(autocvar_bot_debug_tracewalk)
 490                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 491
 492                                                 traceline( org, move, movemode, e);
 493
 494                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 495                                                 {
 496                                                         vector nextmove;
 497                                                         move = trace_endpos;
 498                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 499                                                         {
 500                                                                 nextmove = move + (flatdir * stepdist);
 501                                                                 traceline( move, nextmove, movemode, e);
 502                                                                 move = nextmove;
 503                                                         }
 504                                                         flatdist = vlen(vec2(end - move));
 505                                                 }
 506                                                 else
 507                                                 {
 508                                                         if(autocvar_bot_debug_tracewalk)
 509                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 510
 511                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 512                                                         //te_explosion(trace_endpos);
 513                                                         //print(ftos(e.dphitcontentsmask), "\n");
 514                                                         return false; // failed
 515                                                 }
 516                                         }
 517                                         else
 518                                                 move = trace_endpos;
 519                                 }
 520                                 else
 521                                         move = trace_endpos;
 522                         }
 523                         else
 524                                 move = trace_endpos;
 525
 526                         // trace down from stepheight as far as possible and move there,
 527                         // if this starts in solid we try again without the stepup, and
 528                         // if that also fails we assume it is a wall
 529                         // (this is the same logic as the Quake walkmove function used)
 530                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 531
 532                         org = trace_endpos;
 533
 534                         if (!ignorehazards)
 535                         {
 536                                 if (IN_LAVA(org))
 537                                 {
 538                                         if(autocvar_bot_debug_tracewalk)
 539                                         {
 540                                                 debugnode(e, trace_endpos);
 541                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 542                                         }
 543
 544                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 545                                         return false;
 546                                 }
 547                         }
 548
 549                         if (flatdist <= 0)
 550                         {
 551                                 if(move.z >= end2.z && org.z < end2.z)
 552                                         org.z = end2.z;
 553                                 continue;
 554                         }
 555
 556                         if(org.z > move.z - 1 || !SUBMERGED(org))
 557                         {
 558                                 nav_action = NAV_WALK;
 559                                 continue;
 560                         }
 561
 562                         // ended up submerged while walking
 563                         if(autocvar_bot_debug_tracewalk)
 564                                 debugnode(e, org);
 565
 566                         RESURFACE_LIMITED(org, move.z);
 567                         nav_action = NAV_SWIM_ONWATER;
 568                         continue;
 569                 }
 570         }
 571
 572         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 573
 574         // moved but didn't arrive at the intended destination
 575         if(autocvar_bot_debug_tracewalk)
 576                 debugnodestatus(org, DEBUG_NODE_FAIL);
 577
 578         return false;
 579 }
 580
 581 /////////////////////////////////////////////////////////////////////////////
 582 // goal stack
 583 /////////////////////////////////////////////////////////////////////////////
 584
 585 // completely empty the goal stack, used when deciding where to go
 586 void navigation_clearroute(entity this)
 587 {
 588         this.goalcurrent_prev = this.goalcurrent;
 589         this.goalcurrent_distance = 10000000;
 590         this.goalcurrent_distance_time = 0;
 591         //print("bot ", etos(this), " clear\n");
 592         this.goalentity = NULL;
 593         this.goalcurrent = NULL;
 594         this.goalstack01 = NULL;
 595         this.goalstack02 = NULL;
 596         this.goalstack03 = NULL;
 597         this.goalstack04 = NULL;
 598         this.goalstack05 = NULL;
 599         this.goalstack06 = NULL;
 600         this.goalstack07 = NULL;
 601         this.goalstack08 = NULL;
 602         this.goalstack09 = NULL;
 603         this.goalstack10 = NULL;
 604         this.goalstack11 = NULL;
 605         this.goalstack12 = NULL;
 606         this.goalstack13 = NULL;
 607         this.goalstack14 = NULL;
 608         this.goalstack15 = NULL;
 609         this.goalstack16 = NULL;
 610         this.goalstack17 = NULL;
 611         this.goalstack18 = NULL;
 612         this.goalstack19 = NULL;
 613         this.goalstack20 = NULL;
 614         this.goalstack21 = NULL;
 615         this.goalstack22 = NULL;
 616         this.goalstack23 = NULL;
 617         this.goalstack24 = NULL;
 618         this.goalstack25 = NULL;
 619         this.goalstack26 = NULL;
 620         this.goalstack27 = NULL;
 621         this.goalstack28 = NULL;
 622         this.goalstack29 = NULL;
 623         this.goalstack30 = NULL;
 624         this.goalstack31 = NULL;
 625 }
 626
 627 // add a new goal at the beginning of the stack
 628 // (in other words: add a new prerequisite before going to the later goals)
 629 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 630 // next-closest WP on the shortest path to the WP
 631 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 632 // steps to the goal, and then recalculate the path.
 633 void navigation_pushroute(entity this, entity e)
 634 {
 635         this.goalcurrent_prev = this.goalcurrent;
 636         this.goalcurrent_distance = 10000000;
 637         this.goalcurrent_distance_time = 0;
 638         //print("bot ", etos(this), " push ", etos(e), "\n");
 639         if(this.goalstack31 == this.goalentity)
 640                 this.goalentity = NULL;
 641         this.goalstack31 = this.goalstack30;
 642         this.goalstack30 = this.goalstack29;
 643         this.goalstack29 = this.goalstack28;
 644         this.goalstack28 = this.goalstack27;
 645         this.goalstack27 = this.goalstack26;
 646         this.goalstack26 = this.goalstack25;
 647         this.goalstack25 = this.goalstack24;
 648         this.goalstack24 = this.goalstack23;
 649         this.goalstack23 = this.goalstack22;
 650         this.goalstack22 = this.goalstack21;
 651         this.goalstack21 = this.goalstack20;
 652         this.goalstack20 = this.goalstack19;
 653         this.goalstack19 = this.goalstack18;
 654         this.goalstack18 = this.goalstack17;
 655         this.goalstack17 = this.goalstack16;
 656         this.goalstack16 = this.goalstack15;
 657         this.goalstack15 = this.goalstack14;
 658         this.goalstack14 = this.goalstack13;
 659         this.goalstack13 = this.goalstack12;
 660         this.goalstack12 = this.goalstack11;
 661         this.goalstack11 = this.goalstack10;
 662         this.goalstack10 = this.goalstack09;
 663         this.goalstack09 = this.goalstack08;
 664         this.goalstack08 = this.goalstack07;
 665         this.goalstack07 = this.goalstack06;
 666         this.goalstack06 = this.goalstack05;
 667         this.goalstack05 = this.goalstack04;
 668         this.goalstack04 = this.goalstack03;
 669         this.goalstack03 = this.goalstack02;
 670         this.goalstack02 = this.goalstack01;
 671         this.goalstack01 = this.goalcurrent;
 672         this.goalcurrent = e;
 673 }
 674
 675 // remove first goal from stack
 676 // (in other words: remove a prerequisite for reaching the later goals)
 677 // (used when a spawnfunc_waypoint is reached)
 678 void navigation_poproute(entity this)
 679 {
 680         this.goalcurrent_prev = this.goalcurrent;
 681         this.goalcurrent_distance = 10000000;
 682         this.goalcurrent_distance_time = 0;
 683         //print("bot ", etos(this), " pop\n");
 684         if(this.goalcurrent == this.goalentity)
 685                 this.goalentity = NULL;
 686         this.goalcurrent = this.goalstack01;
 687         this.goalstack01 = this.goalstack02;
 688         this.goalstack02 = this.goalstack03;
 689         this.goalstack03 = this.goalstack04;
 690         this.goalstack04 = this.goalstack05;
 691         this.goalstack05 = this.goalstack06;
 692         this.goalstack06 = this.goalstack07;
 693         this.goalstack07 = this.goalstack08;
 694         this.goalstack08 = this.goalstack09;
 695         this.goalstack09 = this.goalstack10;
 696         this.goalstack10 = this.goalstack11;
 697         this.goalstack11 = this.goalstack12;
 698         this.goalstack12 = this.goalstack13;
 699         this.goalstack13 = this.goalstack14;
 700         this.goalstack14 = this.goalstack15;
 701         this.goalstack15 = this.goalstack16;
 702         this.goalstack16 = this.goalstack17;
 703         this.goalstack17 = this.goalstack18;
 704         this.goalstack18 = this.goalstack19;
 705         this.goalstack19 = this.goalstack20;
 706         this.goalstack20 = this.goalstack21;
 707         this.goalstack21 = this.goalstack22;
 708         this.goalstack22 = this.goalstack23;
 709         this.goalstack23 = this.goalstack24;
 710         this.goalstack24 = this.goalstack25;
 711         this.goalstack25 = this.goalstack26;
 712         this.goalstack26 = this.goalstack27;
 713         this.goalstack27 = this.goalstack28;
 714         this.goalstack28 = this.goalstack29;
 715         this.goalstack29 = this.goalstack30;
 716         this.goalstack30 = this.goalstack31;
 717         this.goalstack31 = NULL;
 718 }
 719
 720 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 721 // waypoint destination coordinates instead of v (only useful for box waypoints)
 722 // for normal waypoints v2 == v and v2_height == 0
 723 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
 724 {
 725         if (vdist(v - org, <, bestdist))
 726         {
 727                 traceline(v, org, true, ent);
 728                 if (trace_fraction == 1)
 729                 {
 730                         if (walkfromwp)
 731                         {
 732                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 733                                         return true;
 734                         }
 735                         else
 736                         {
 737                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 738                                         return true;
 739                         }
 740                 }
 741         }
 742         return false;
 743 }
 744
 745 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 746 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 747 {
 748         if(ent.tag_entity)
 749                 ent = ent.tag_entity;
 750
 751         vector pm1 = ent.origin + ent.mins;
 752         vector pm2 = ent.origin + ent.maxs;
 753
 754         // do two scans, because box test is cheaper
 755         IL_EACH(g_waypoints, it != ent && it != except,
 756         {
 757                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 758                         return it;
 759         });
 760
 761         vector org = ent.origin;
 762         if (navigation_testtracewalk)
 763                 te_plasmaburn(org);
 764
 765         entity best = NULL;
 766         vector v = '0 0 0', v2 = '0 0 0';
 767         float v2_height = 0;
 768
 769         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 770         {
 771                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 772                 IL_EACH(g_waypoints, it != ent,
 773                 {
 774                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 775                                 continue;
 776
 777                         SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
 778                         if(vdist(v2 - org, <, 1050))
 779                         if(tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 780                                 navigation_item_addlink(it, ent);
 781                 });
 782         }
 783
 784         // box check failed, try walk
 785         IL_EACH(g_waypoints, it != ent,
 786         {
 787                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 788                         continue;
 789                 v = it.origin;
 790                 if(walkfromwp)
 791                         SET_TRACEWALK_DESTCOORDS(ent, v, v2, v2_height);
 792                 else
 793                         SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
 794                 if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, v2, v2_height, walkfromwp, bestdist))
 795                 {
 796                         bestdist = vlen(v - org);
 797                         best = it;
 798                 }
 799         });
 800         return best;
 801 }
 802 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 803 {
 804         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 805         if (autocvar_g_waypointeditor_auto)
 806         {
 807                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 808                 if (wp && !wp2)
 809                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 810         }
 811         return wp;
 812 }
 813
 814 // finds the waypoints near the bot initiating a navigation query
 815 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 816 {
 817         vector v = '0 0 0';
 818         //navigation_testtracewalk = true;
 819         int c = 0;
 820         float v_height = 0;
 821         IL_EACH(g_waypoints, !it.wpconsidered,
 822         {
 823                 SET_TRACEWALK_DESTCOORDS(it, this.origin, v, v_height);
 824
 825                 vector diff = v - this.origin;
 826                 diff.z = max(0, diff.z);
 827                 if(vdist(diff, <, maxdist))
 828                 {
 829                         it.wpconsidered = true;
 830                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 831                         {
 832                                 it.wpnearestpoint = v;
 833                                 it.wpcost = waypoint_gettravelcost(this.origin, v, this, it) + it.dmg;
 834                                 it.wpfire = 1;
 835                                 it.enemy = NULL;
 836                                 c = c + 1;
 837                         }
 838                 }
 839         });
 840         //navigation_testtracewalk = false;
 841         return c;
 842 }
 843
 844 // updates a path link if a spawnfunc_waypoint link is better than the current one
 845 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 846 {
 847         vector m1, m2;
 848         vector v;
 849         if (wp.wpisbox)
 850         {
 851                 m1 = wp.origin + wp.mins;
 852                 m2 = wp.origin + wp.maxs;
 853                 v.x = bound(m1_x, p.x, m2_x);
 854                 v.y = bound(m1_y, p.y, m2_y);
 855                 v.z = bound(m1_z, p.z, m2_z);
 856         }
 857         else
 858                 v = wp.origin;
 859         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 860                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 861         else
 862                 cost += waypoint_gettravelcost(p, v, w, wp);
 863         if (wp.wpcost > cost)
 864         {
 865                 wp.wpcost = cost;
 866                 wp.enemy = w;
 867                 wp.wpfire = 1;
 868                 wp.wpnearestpoint = v;
 869         }
 870 }
 871
 872 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 873 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 874 {
 875         float cost, cost2;
 876         vector p;
 877
 878         IL_EACH(g_waypoints, true,
 879         {
 880                 it.wpconsidered = false;
 881                 it.wpnearestpoint = '0 0 0';
 882                 it.wpcost = 10000000;
 883                 it.wpfire = 0;
 884                 it.enemy = NULL;
 885         });
 886
 887         if(fixed_source_waypoint)
 888         {
 889                 fixed_source_waypoint.wpconsidered = true;
 890                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 891                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 892                 fixed_source_waypoint.wpfire = 1;
 893                 fixed_source_waypoint.enemy = NULL;
 894         }
 895         else
 896         {
 897                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 898                 // as this search is expensive we will use lower values if the bot is on the air
 899                 float increment, maxdistance;
 900                 if(IS_ONGROUND(this))
 901                 {
 902                         increment = 750;
 903                         maxdistance = 50000;
 904                 }
 905                 else
 906                 {
 907                         increment = 500;
 908                         maxdistance = 1500;
 909                 }
 910
 911                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 912         }
 913
 914         bool searching = true;
 915         while (searching)
 916         {
 917                 searching = false;
 918                 IL_EACH(g_waypoints, it.wpfire,
 919                 {
 920                         searching = true;
 921                         it.wpfire = 0;
 922                         cost = it.wpcost;
 923                         p = it.wpnearestpoint;
 924                         entity wp;
 925                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 926                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 927                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 928                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 929                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 930                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 931                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 932                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 933                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 934                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 935                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 936                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 937                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 938                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 939                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 940                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 941                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 942                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 943                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 944                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 945                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 946                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 947                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 948                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 949                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 950                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 951                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 952                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 953                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 954                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 955                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 956                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 957                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 958                 });
 959         }
 960 }
 961
 962 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 963 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 964 {
 965         float cost, cost2;
 966         vector p;
 967         IL_EACH(g_waypoints, true,
 968         {
 969                 it.wpconsidered = false;
 970                 it.wpnearestpoint = '0 0 0';
 971                 it.wpcost = 10000000;
 972                 it.wpfire = 0;
 973                 it.enemy = NULL;
 974         });
 975
 976         if(fixed_source_waypoint)
 977         {
 978                 fixed_source_waypoint.wpconsidered = true;
 979                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 980                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 981                 fixed_source_waypoint.wpfire = 1;
 982                 fixed_source_waypoint.enemy = NULL;
 983         }
 984         else
 985         {
 986                 error("need to start with a waypoint\n");
 987         }
 988
 989         bool searching = true;
 990         while (searching)
 991         {
 992                 searching = false;
 993                 IL_EACH(g_waypoints, it.wpfire,
 994                 {
 995                         searching = true;
 996                         it.wpfire = 0;
 997                         cost = it.wpcost; // cost to walk from it to home
 998                         p = it.wpnearestpoint;
 999                         entity wp = it;
1000                         IL_EACH(g_waypoints, it != wp,
1001                         {
1002                                 if(!waypoint_islinked(it, wp))
1003                                         continue;
1004                                 cost2 = cost + it.dmg;
1005                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1006                         });
1007                 });
1008         }
1009 }
1010
1011 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1012 void navigation_routerating(entity this, entity e, float f, float rangebias)
1013 {
1014         if (!e)
1015                 return;
1016
1017         if(e.blacklisted)
1018                 return;
1019
1020         rangebias = waypoint_getlinearcost(rangebias);
1021         f = waypoint_getlinearcost(f);
1022
1023         if (IS_PLAYER(e))
1024         {
1025                 bool rate_wps = false;
1026                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
1027                         rate_wps = true;
1028
1029                 if(!IS_ONGROUND(e))
1030                 {
1031                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1032                         int t = pointcontents(trace_endpos + '0 0 1');
1033                         if(t != CONTENT_SOLID )
1034                         {
1035                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1036                                         rate_wps = true;
1037                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1038                                         return;
1039                         }
1040                 }
1041
1042                 if(rate_wps)
1043                 {
1044                         entity theEnemy = e;
1045                         entity best_wp = NULL;
1046                         float best_dist = 10000;
1047                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
1048                                 && vdist(it.origin - this.origin, >, 100)
1049                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1050                         {
1051                                 float dist = vlen(it.origin - theEnemy.origin);
1052                                 if (dist < best_dist)
1053                                 {
1054                                         best_wp = it;
1055                                         best_dist = dist;
1056                                 }
1057                         });
1058                         if (!best_wp)
1059                                 return;
1060                         e = best_wp;
1061                 }
1062         }
1063
1064         vector goal_org = (e.absmin + e.absmax) * 0.5;
1065
1066         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1067
1068         // Evaluate path using jetpack
1069         if(g_jetpack)
1070         if(this.items & IT_JETPACK)
1071         if(autocvar_bot_ai_navigation_jetpack)
1072         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1073         {
1074                 vector pointa, pointb;
1075
1076                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1077
1078                 // Point A
1079                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1080                 pointa = trace_endpos - '0 0 1';
1081
1082                 // Point B
1083                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1084                 pointb = trace_endpos - '0 0 1';
1085
1086                 // Can I see these two points from the sky?
1087                 traceline(pointa, pointb, MOVE_NORMAL, this);
1088
1089                 if(trace_fraction==1)
1090                 {
1091                         LOG_DEBUG("jetpack ai: can bridge these two points");
1092
1093                         // Lower the altitude of these points as much as possible
1094                         float zdistance, xydistance, cost, t, fuel;
1095                         vector down, npa, npb;
1096
1097                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1098
1099                         do{
1100                                 npa = pointa + down;
1101                                 npb = pointb + down;
1102
1103                                 if(npa.z<=this.absmax.z)
1104                                         break;
1105
1106                                 if(npb.z<=e.absmax.z)
1107                                         break;
1108
1109                                 traceline(npa, npb, MOVE_NORMAL, this);
1110                                 if(trace_fraction==1)
1111                                 {
1112                                         pointa = npa;
1113                                         pointb = npb;
1114                                 }
1115                         }
1116                         while(trace_fraction == 1);
1117
1118
1119                         // Rough estimation of fuel consumption
1120                         // (ignores acceleration and current xyz velocity)
1121                         xydistance = vlen(pointa - pointb);
1122                         zdistance = fabs(pointa.z - this.origin.z);
1123
1124                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1125                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1126                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1127
1128                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
1129
1130                         // enough fuel ?
1131                         if(this.ammo_fuel>fuel)
1132                         {
1133                                 // Estimate cost
1134                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1135                                 //  - between air and ground speeds)
1136
1137                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1138                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1139                                 cost *= 1.5;
1140
1141                                 // Compare against other goals
1142                                 f = f * rangebias / (rangebias + cost);
1143
1144                                 if (navigation_bestrating < f)
1145                                 {
1146                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1147                                         navigation_bestrating = f;
1148                                         navigation_bestgoal = e;
1149                                         this.navigation_jetpack_goal = e;
1150                                         this.navigation_jetpack_point = pointb;
1151                                 }
1152                                 return;
1153                         }
1154                 }
1155         }
1156
1157         entity nwp;
1158         //te_wizspike(e.origin);
1159         //bprint(etos(e));
1160         //bprint("\n");
1161         // update the cached spawnfunc_waypoint link on a dynamic item entity
1162         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1163         {
1164                 nwp = e;
1165         }
1166         else
1167         {
1168                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1169                         e.nearestwaypoint = NULL;
1170
1171                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1172                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1173                 {
1174                         nwp = navigation_findnearestwaypoint(e, true);
1175                         if(nwp)
1176                         {
1177                                 e.nearestwaypoint = nwp;
1178
1179                                 vector m1 = nwp.absmin, m2 = nwp.absmax;
1180                                 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
1181                                 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
1182                                 vector ve = (e.absmin - e.absmax) * 0.5;
1183                                 ve.x = bound(m1.x, ve.x, m2.x);
1184                                 ve.y = bound(m1.y, ve.y, m2.y);
1185                                 ve.z = bound(m1.z, ve.z, m2.z);
1186
1187                                 m1 = e.absmin; m2 = e.absmax;
1188                                 m1.x = e.origin.x; m1.y = e.origin.y;
1189                                 m2.x = e.origin.x; m2.y = e.origin.y;
1190                                 vector vnwp = nwp.origin;
1191                                 vnwp.x = bound(m1.x, vnwp.x, m2.x);
1192                                 vnwp.y = bound(m1.y, vnwp.y, m2.y);
1193                                 vnwp.z = bound(m1.z, vnwp.z, m2.z);
1194                                 e.nearestwaypoint_dist = vlen(ve - vnwp);
1195                         }
1196                         else
1197                         {
1198                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1199
1200                                 if(!e.navigation_dynamicgoal)
1201                                         e.blacklisted = true;
1202
1203                                 if(e.blacklisted)
1204                                 {
1205                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1206                                         return;
1207                                 }
1208                         }
1209
1210                         if(e.navigation_dynamicgoal)
1211                                 e.nearestwaypointtimeout = time + 2;
1212                         else if(autocvar_g_waypointeditor)
1213                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1214                 }
1215                 nwp = e.nearestwaypoint;
1216         }
1217
1218         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1219         if (nwp)
1220         if (nwp.wpcost < 10000000)
1221         {
1222                 //te_wizspike(nwp.wpnearestpoint);
1223                 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1224                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1225                 f = f * rangebias / (rangebias + cost);
1226                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1227                 if (navigation_bestrating < f)
1228                 {
1229                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1230                         navigation_bestrating = f;
1231                         navigation_bestgoal = e;
1232                 }
1233         }
1234 }
1235
1236 // adds an item to the the goal stack with the path to a given item
1237 bool navigation_routetogoal(entity this, entity e, vector startposition)
1238 {
1239         // if there is no goal, just exit
1240         if (!e)
1241                 return false;
1242
1243         entity teleport_goal = NULL;
1244
1245         this.goalentity = e;
1246
1247         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1248         {
1249                 // force teleport destination as route destination
1250                 teleport_goal = e;
1251                 navigation_pushroute(this, e.wp00);
1252                 this.goalentity = e.wp00;
1253         }
1254
1255         // put the entity on the goal stack
1256         //print("routetogoal ", etos(e), "\n");
1257         navigation_pushroute(this, e);
1258
1259         if(teleport_goal)
1260                 e = this.goalentity;
1261
1262         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1263         {
1264                 this.wp_goal_prev1 = this.wp_goal_prev0;
1265                 this.wp_goal_prev0 = e;
1266         }
1267
1268         if(g_jetpack)
1269         if(e==this.navigation_jetpack_goal)
1270                 return true;
1271
1272         // if it can reach the goal there is nothing more to do
1273         vector dest = '0 0 0';
1274         float dest_height = 0;
1275         SET_TRACEWALK_DESTCOORDS(e, startposition, dest, dest_height);
1276         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1277                 return true;
1278
1279         entity nearest_wp = NULL;
1280         // see if there are waypoints describing a path to the item
1281         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1282         {
1283                 e = e.nearestwaypoint;
1284                 nearest_wp = e;
1285         }
1286         else if(teleport_goal)
1287                 e = teleport_goal;
1288         else
1289                 e = e.enemy; // we already have added it, so...
1290
1291         if(e == NULL)
1292                 return false;
1293
1294         if(nearest_wp && nearest_wp.enemy)
1295         {
1296                 // often path can be optimized by not adding the nearest waypoint
1297                 if (this.goalentity.nearestwaypoint_dist < 8)
1298                         e = nearest_wp.enemy;
1299                 else
1300                 {
1301                         if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1302                         {
1303                                 SET_TRACEWALK_DESTCOORDS(e, nearest_wp.enemy.origin, dest, dest_height);
1304                                 if(vdist(dest - nearest_wp.enemy.origin, <, 1050))
1305                                 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1306                                         e = nearest_wp.enemy;
1307                         }
1308                         else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1309                                 e = nearest_wp.enemy;
1310                 }
1311         }
1312
1313         for (;;)
1314         {
1315                 // add the spawnfunc_waypoint to the path
1316                 navigation_pushroute(this, e);
1317                 e = e.enemy;
1318
1319                 if(e==NULL)
1320                         break;
1321         }
1322
1323         return false;
1324 }
1325
1326 // removes any currently touching waypoints from the goal stack
1327 // (this is how bots detect if they reached a goal)
1328 void navigation_poptouchedgoals(entity this)
1329 {
1330         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1331         {
1332                 // make sure jumppad is really hit, don't rely on distance based checks
1333                 // as they may report a touch even if it didn't really happen
1334                 if(this.lastteleporttime > 0
1335                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1336                 {
1337                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1338                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1339                         {
1340                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1341                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1342                         }
1343                         navigation_poproute(this);
1344                 }
1345                 else
1346                         return;
1347         }
1348
1349         // If for some reason the bot is closer to the next goal, pop the current one
1350         if(this.goalstack01 && !wasfreed(this.goalstack01))
1351         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1352         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1353         {
1354                 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1355                 dest.z = this.goalstack01.absmin.z;
1356                 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1357                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1358                 {
1359                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1360                         navigation_poproute(this);
1361                         if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1362                                 return;
1363                         // TODO this may also be a nice idea to do "early" (e.g. by
1364                         // manipulating the vlen() comparisons) to shorten paths in
1365                         // general - this would make bots walk more "on rails" than
1366                         // "zigzagging" which they currently do with sufficiently
1367                         // random-like waypoints, and thus can make a nice bot
1368                         // personality property
1369                 }
1370         }
1371
1372         // Loose goal touching check when running
1373         if(this.aistatus & AI_STATUS_RUNNING)
1374         if(this.goalcurrent.classname=="waypoint")
1375         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1376         {
1377                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1378                 {
1379                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1380                         if(trace_fraction==1)
1381                         {
1382                                 // Detect personal waypoints
1383                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1384                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1385                                 {
1386                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1387                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1388                                 }
1389
1390                                 navigation_poproute(this);
1391                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1392                                         return;
1393                         }
1394                 }
1395         }
1396
1397         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1398         {
1399                 vector gc_min = this.goalcurrent.absmin;
1400                 vector gc_max = this.goalcurrent.absmax;
1401                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1402                 {
1403                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1404                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1405                 }
1406                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1407                         break;
1408
1409                 // Detect personal waypoints
1410                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1411                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1412                 {
1413                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1414                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1415                 }
1416
1417                 navigation_poproute(this);
1418                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1419                         return;
1420         }
1421 }
1422
1423 // begin a goal selection session (queries spawnfunc_waypoint network)
1424 void navigation_goalrating_start(entity this)
1425 {
1426         if(this.aistatus & AI_STATUS_STUCK)
1427                 return;
1428
1429         this.navigation_jetpack_goal = NULL;
1430         navigation_bestrating = -1;
1431         navigation_clearroute(this);
1432         navigation_bestgoal = NULL;
1433         navigation_markroutes(this, NULL);
1434 }
1435
1436 // ends a goal selection session (updates goal stack to the best goal)
1437 void navigation_goalrating_end(entity this)
1438 {
1439         if(this.aistatus & AI_STATUS_STUCK)
1440                 return;
1441
1442         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1443         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1444
1445         // If the bot got stuck then try to reach the farthest waypoint
1446         if (!this.goalentity && autocvar_bot_wander_enable)
1447         {
1448                 if (!(this.aistatus & AI_STATUS_STUCK))
1449                 {
1450                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1451                         this.aistatus |= AI_STATUS_STUCK;
1452                 }
1453         }
1454 }
1455
1456 void botframe_updatedangerousobjects(float maxupdate)
1457 {
1458         vector m1, m2, v, o;
1459         float c, d, danger;
1460         c = 0;
1461         entity wp_cur;
1462         IL_EACH(g_waypoints, true,
1463         {
1464                 danger = 0;
1465                 m1 = it.absmin;
1466                 m2 = it.absmax;
1467                 wp_cur = it;
1468                 IL_EACH(g_bot_dodge, it.bot_dodge,
1469                 {
1470                         v = it.origin;
1471                         v.x = bound(m1_x, v.x, m2_x);
1472                         v.y = bound(m1_y, v.y, m2_y);
1473                         v.z = bound(m1_z, v.z, m2_z);
1474                         o = (it.absmin + it.absmax) * 0.5;
1475                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1476                         if (d > 0)
1477                         {
1478                                 traceline(o, v, true, NULL);
1479                                 if (trace_fraction == 1)
1480                                         danger = danger + d;
1481                         }
1482                 });
1483                 it.dmg = danger;
1484                 c = c + 1;
1485                 if (c >= maxupdate)
1486                         break;
1487         });
1488 }
1489
1490 void navigation_unstuck(entity this)
1491 {
1492         float search_radius = 1000;
1493
1494         if (!autocvar_bot_wander_enable)
1495                 return;
1496
1497         if (!bot_waypoint_queue_owner)
1498         {
1499                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1500                 bot_waypoint_queue_owner = this;
1501                 bot_waypoint_queue_bestgoal = NULL;
1502                 bot_waypoint_queue_bestgoalrating = 0;
1503         }
1504
1505         if(bot_waypoint_queue_owner!=this)
1506                 return;
1507
1508         if (bot_waypoint_queue_goal)
1509         {
1510                 // evaluate the next goal on the queue
1511                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1512                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1513                 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1514                 dest.z = bot_waypoint_queue_goal.absmin.z;
1515                 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1516                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1517                 {
1518                         if( d > bot_waypoint_queue_bestgoalrating)
1519                         {
1520                                 bot_waypoint_queue_bestgoalrating = d;
1521                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1522                         }
1523                 }
1524                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1525
1526                 if (!bot_waypoint_queue_goal)
1527                 {
1528                         if (bot_waypoint_queue_bestgoal)
1529                         {
1530                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1531                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1532                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1533                                 this.aistatus &= ~AI_STATUS_STUCK;
1534                         }
1535                         else
1536                         {
1537                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1538                         }
1539
1540                         bot_waypoint_queue_owner = NULL;
1541                 }
1542         }
1543         else
1544         {
1545                 if(bot_strategytoken!=this)
1546                         return;
1547
1548                 // build a new queue
1549                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1550
1551                 entity first = NULL;
1552
1553                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1554                 {
1555                         if(bot_waypoint_queue_goal)
1556                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1557                         else
1558                                 first = it;
1559
1560                         bot_waypoint_queue_goal = it;
1561                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1562                 });
1563
1564                 if (first)
1565                         bot_waypoint_queue_goal = first;
1566                 else
1567                 {
1568                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1569                         bot_waypoint_queue_owner = NULL;
1570                 }
1571         }
1572 }
1573
1574 // Support for debugging tracewalk visually
1575
1576 void debugresetnodes()
1577 {
1578         debuglastnode = '0 0 0';
1579 }
1580
1581 void debugnode(entity this, vector node)
1582 {
1583         if (!IS_PLAYER(this))
1584                 return;
1585
1586         if(debuglastnode=='0 0 0')
1587         {
1588                 debuglastnode = node;
1589                 return;
1590         }
1591
1592         te_lightning2(NULL, node, debuglastnode);
1593         debuglastnode = node;
1594 }
1595
1596 void debugnodestatus(vector position, float status)
1597 {
1598         vector c;
1599
1600         switch (status)
1601         {
1602                 case DEBUG_NODE_SUCCESS:
1603                         c = '0 15 0';
1604                         break;
1605                 case DEBUG_NODE_WARNING:
1606                         c = '15 15 0';
1607                         break;
1608                 case DEBUG_NODE_FAIL:
1609                         c = '15 0 0';
1610                         break;
1611                 default:
1612                         c = '15 15 15';
1613         }
1614
1615         te_customflash(position, 40,  2, c);
1616 }
1617
1618 // Support for debugging the goal stack visually
1619
1620 .float goalcounter;
1621 .vector lastposition;
1622
1623 // Debug the goal stack visually
1624 void debuggoalstack(entity this)
1625 {
1626         entity goal;
1627         vector org, go;
1628
1629         if(this.goalcounter==0)goal=this.goalcurrent;
1630         else if(this.goalcounter==1)goal=this.goalstack01;
1631         else if(this.goalcounter==2)goal=this.goalstack02;
1632         else if(this.goalcounter==3)goal=this.goalstack03;
1633         else if(this.goalcounter==4)goal=this.goalstack04;
1634         else if(this.goalcounter==5)goal=this.goalstack05;
1635         else if(this.goalcounter==6)goal=this.goalstack06;
1636         else if(this.goalcounter==7)goal=this.goalstack07;
1637         else if(this.goalcounter==8)goal=this.goalstack08;
1638         else if(this.goalcounter==9)goal=this.goalstack09;
1639         else if(this.goalcounter==10)goal=this.goalstack10;
1640         else if(this.goalcounter==11)goal=this.goalstack11;
1641         else if(this.goalcounter==12)goal=this.goalstack12;
1642         else if(this.goalcounter==13)goal=this.goalstack13;
1643         else if(this.goalcounter==14)goal=this.goalstack14;
1644         else if(this.goalcounter==15)goal=this.goalstack15;
1645         else if(this.goalcounter==16)goal=this.goalstack16;
1646         else if(this.goalcounter==17)goal=this.goalstack17;
1647         else if(this.goalcounter==18)goal=this.goalstack18;
1648         else if(this.goalcounter==19)goal=this.goalstack19;
1649         else if(this.goalcounter==20)goal=this.goalstack20;
1650         else if(this.goalcounter==21)goal=this.goalstack21;
1651         else if(this.goalcounter==22)goal=this.goalstack22;
1652         else if(this.goalcounter==23)goal=this.goalstack23;
1653         else if(this.goalcounter==24)goal=this.goalstack24;
1654         else if(this.goalcounter==25)goal=this.goalstack25;
1655         else if(this.goalcounter==26)goal=this.goalstack26;
1656         else if(this.goalcounter==27)goal=this.goalstack27;
1657         else if(this.goalcounter==28)goal=this.goalstack28;
1658         else if(this.goalcounter==29)goal=this.goalstack29;
1659         else if(this.goalcounter==30)goal=this.goalstack30;
1660         else if(this.goalcounter==31)goal=this.goalstack31;
1661         else goal=NULL;
1662
1663         if(goal==NULL)
1664         {
1665                 this.goalcounter = 0;
1666                 this.lastposition='0 0 0';
1667                 return;
1668         }
1669
1670         if(this.lastposition=='0 0 0')
1671                 org = this.origin;
1672         else
1673                 org = this.lastposition;
1674
1675
1676         go = ( goal.absmin + goal.absmax ) * 0.5;
1677         te_lightning2(NULL, org, go);
1678         this.lastposition = go;
1679
1680         this.goalcounter++;
1681 }