Merge branch 'terencehill/bot_waypoints' into terencehill/bot_ai
[xonotic/xonotic-data.pk3dir.git] / 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_goalrating_timeout_set(entity this)
21 {
22         if(IS_MOVABLE(this.goalentity))
23                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
24         else
25                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
26 }
27
28 // use this when current goal must be discarded immediately
29 void navigation_goalrating_timeout_force(entity this)
30 {
31         navigation_goalrating_timeout_expire(this, 0);
32 }
33
34 // use this when current goal can be kept for a short while to increase the chance
35 // of bot touching a waypoint, which helps to find a new goal more efficiently
36 void navigation_goalrating_timeout_expire(entity this, float seconds)
37 {
38         if (seconds <= 0)
39                 this.bot_strategytime = 0;
40         else if (this.bot_strategytime > time + seconds)
41                 this.bot_strategytime = time + seconds;
42 }
43
44 bool navigation_goalrating_timeout(entity this)
45 {
46         return this.bot_strategytime < time;
47 }
48
49 #define MAX_CHASE_DISTANCE 700
50 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
51 {
52         if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
53                 return true;
54
55         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
56         {
57                 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
58                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
59                 {
60                         this.ignoregoal = this.goalentity;
61                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
62                         return true;
63                 }
64         }
65         return false;
66 }
67
68 void navigation_dynamicgoal_init(entity this, bool initially_static)
69 {
70         this.navigation_dynamicgoal = true;
71         this.bot_basewaypoint = this.nearestwaypoint;
72         if(initially_static)
73                 this.nearestwaypointtimeout = -1;
74         else
75                 this.nearestwaypointtimeout = time;
76 }
77
78 void navigation_dynamicgoal_set(entity this)
79 {
80         this.nearestwaypointtimeout = time;
81         if (this.nearestwaypoint)
82                 this.nearestwaypointtimeout += 2;
83 }
84
85 void navigation_dynamicgoal_unset(entity this)
86 {
87         if(this.bot_basewaypoint)
88                 this.nearestwaypoint = this.bot_basewaypoint;
89         this.nearestwaypointtimeout = -1;
90 }
91
92 // returns point of ent closer to org
93 vector get_closer_dest(entity ent, vector org)
94 {
95         vector dest = '0 0 0';
96         if ((ent.classname != "waypoint") || ent.wpisbox)
97         {
98                 vector wm1 = ent.origin + ent.mins;
99                 vector wm2 = ent.origin + ent.maxs;
100                 dest.x = bound(wm1.x, org.x, wm2.x);
101                 dest.y = bound(wm1.y, org.y, wm2.y);
102                 dest.z = bound(wm1.z, org.z, wm2.z);
103         }
104         else
105                 dest = ent.origin;
106         return dest;
107 }
108
109 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
110 {
111         if ((ent.classname != "waypoint") || ent.wpisbox)
112         {
113                 vector wm1 = ent.origin + ent.mins;
114                 vector wm2 = ent.origin + ent.maxs;
115                 if (IS_PLAYER(ent) || IS_MONSTER(ent))
116                 {
117                         // move destination point out of player bbox otherwise tracebox always fails
118                         // (if bot_navigation_ignoreplayers is false)
119                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
120                         wm2 += vec2(PL_MAX_CONST) + '1 1 0';
121                 }
122                 // set destination point to x and y coords of ent that are closer to org
123                 // z coord is set to ent's min height
124                 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
125                 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
126                 tracewalk_dest.z = wm1.z;
127                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
128         }
129         else
130         {
131                 tracewalk_dest = ent.origin;
132                 tracewalk_dest_height = 0;
133         }
134         if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
135         {
136                 // snap player to the ground
137                 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
138                 {
139                         // bot is right under the player
140                         tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
141                         tracewalk_dest = trace_endpos;
142                         tracewalk_dest_height = 0;
143                 }
144                 else
145                 {
146                         tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
147                         if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
148                         {
149                                 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
150                                 tracewalk_dest.z = trace_endpos.z;
151                         }
152                 }
153         }
154 }
155
156 // returns point of ent closer to org
157 vector set_tracewalk_dest_2(entity ent, vector org)
158 {
159         vector closer_dest = '0 0 0';
160         if ((ent.classname != "waypoint") || ent.wpisbox)
161         {
162                 vector wm1 = ent.origin + ent.mins;
163                 vector wm2 = ent.origin + ent.maxs;
164                 closer_dest.x = bound(wm1.x, org.x, wm2.x);
165                 closer_dest.y = bound(wm1.y, org.y, wm2.y);
166                 closer_dest.z = bound(wm1.z, org.z, wm2.z);
167                 // set destination point to x and y coords of ent that are closer to org
168                 // z coord is set to ent's min height
169                 tracewalk_dest.x = closer_dest.x;
170                 tracewalk_dest.y = closer_dest.y;
171                 tracewalk_dest.z = wm1.z;
172                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
173         }
174         else
175         {
176                 closer_dest = ent.origin;
177                 tracewalk_dest = closer_dest;
178                 tracewalk_dest_height = 0;
179         }
180         return closer_dest;
181 }
182
183 bool navigation_check_submerged_state(entity ent, vector pos)
184 {
185         bool submerged;
186         if(IS_PLAYER(ent))
187                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
188         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
189                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
190         else
191         {
192                 submerged = SUBMERGED(pos);
193                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
194                 //  is actually submerged because often they are inside some solid.
195                 //  That's why submerged state is saved now that we know current pos is
196                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
197                 if(!ent.navigation_dynamicgoal)
198                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
199         }
200         return submerged;
201 }
202
203 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
204 {
205         IL_EACH(g_ladders, it.classname == "func_ladder",
206         {
207                 if(it.bot_pickup)
208                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
209                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
210                 {
211                         vector top = org;
212                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
213                         tracebox(org, m1, m2, top, movemode, e);
214                         if(trace_fraction == 1)
215                                 return true;
216                 }
217         });
218         return false;
219 }
220
221 vector resurface_limited(vector org, float lim, vector m1)
222 {
223         if (WETFEET(org + eZ * (lim - org.z)))
224                 org.z = lim;
225         else
226         {
227                 float RES_min_h = org.z;
228                 float RES_max_h = lim;
229                 do {
230                         org.z = 0.5 * (RES_min_h + RES_max_h);
231                         if(WETFEET(org))
232                                 RES_min_h = org.z;
233                         else
234                                 RES_max_h = org.z;
235                 } while (RES_max_h - RES_min_h >= 1);
236                 org.z = RES_min_h;
237         }
238         return org;
239 }
240 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
241
242 #define NAV_WALK 0
243 #define NAV_SWIM_ONWATER 1
244 #define NAV_SWIM_UNDERWATER 2
245
246 // rough simulation of walking from one point to another to test if a path
247 // can be traveled, used for waypoint linking and havocbot
248 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
249 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
250 {
251         if(autocvar_bot_debug_tracewalk)
252         {
253                 debugresetnodes();
254                 debugnode(e, start);
255         }
256
257         vector org = start;
258         vector flatdir = end - start;
259         flatdir.z = 0;
260         float flatdist = vlen(flatdir);
261         flatdir = normalize(flatdir);
262         float stepdist = 32;
263         bool ignorehazards = false;
264         int nav_action;
265
266         // Analyze starting point
267         traceline(start, start, MOVE_NORMAL, e);
268         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
269                 ignorehazards = true;
270
271         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
272         if (trace_startsolid)
273         {
274                 // Bad start
275                 if(autocvar_bot_debug_tracewalk)
276                         debugnodestatus(start, DEBUG_NODE_FAIL);
277
278                 //print("tracewalk: ", vtos(start), " is a bad start\n");
279                 return false;
280         }
281
282         vector end2 = end;
283         if(end_height)
284                 end2.z += end_height;
285
286         vector fixed_end = end;
287         vector move;
288
289         if (flatdist > 0 && WETFEET(org))
290         {
291                 if (SUBMERGED(org))
292                         nav_action = NAV_SWIM_UNDERWATER;
293                 else
294                 {
295                         // tracebox down by player's height
296                         // useful to know if water level is so low that bot can still walk
297                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
298                         if (SUBMERGED(trace_endpos))
299                         {
300                                 org = trace_endpos;
301                                 nav_action = NAV_SWIM_UNDERWATER;
302                         }
303                         else
304                                 nav_action = NAV_WALK;
305                 }
306         }
307         else
308                 nav_action =  NAV_WALK;
309
310         // Movement loop
311         while (true)
312         {
313                 if (flatdist <= 0)
314                 {
315                         bool success = true;
316                         if (org.z > end2.z + 1)
317                         {
318                                 tracebox(org, m1, m2, end2, movemode, e);
319                                 org = trace_endpos;
320                                 if (org.z > end2.z + 1)
321                                         success = false;
322                         }
323                         else if (org.z < end.z - 1)
324                         {
325                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
326                                 if (SUBMERGED(trace_endpos))
327                                 {
328                                         vector v = trace_endpos;
329                                         tracebox(v, m1, m2, end, movemode, e);
330                                         if(trace_endpos.z >= end.z - 1)
331                                         {
332                                                 RESURFACE_LIMITED(v, trace_endpos.z);
333                                                 trace_endpos = v;
334                                         }
335                                 }
336                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
337                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
338                                 org = trace_endpos;
339                                 if (org.z < end.z - 1)
340                                         success = false;
341                         }
342
343                         if (success)
344                         {
345                                 // Succeeded
346                                 if(autocvar_bot_debug_tracewalk)
347                                 {
348                                         debugnode(e, org);
349                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
350                                 }
351
352                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
353                                 return true;
354                         }
355                 }
356
357                 if(autocvar_bot_debug_tracewalk)
358                         debugnode(e, org);
359
360                 if (flatdist <= 0)
361                         break;
362
363                 if (stepdist > flatdist)
364                         stepdist = flatdist;
365                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
366                 {
367                         // can't use movement direction here to calculate move because of
368                         // precision errors especially when direction has a high enough z value
369                         //water_dir = normalize(water_end - org);
370                         //move = org + water_dir * stepdist;
371                         fixed_end.z = bound(end.z, org.z, end2.z);
372                         if (stepdist == flatdist) {
373                                 move = fixed_end;
374                                 flatdist = 0;
375                         } else {
376                                 move = org + (fixed_end - org) * (stepdist / flatdist);
377                                 flatdist = vlen(vec2(fixed_end - move));
378                         }
379                 }
380                 else // horiz. direction
381                 {
382                         flatdist -= stepdist;
383                         move = org + flatdir * stepdist;
384                 }
385
386                 if(nav_action == NAV_SWIM_ONWATER)
387                 {
388                         tracebox(org, m1, m2, move, movemode, e); // swim
389
390                         // hit something
391                         if (trace_fraction < 1)
392                         {
393                                 // stepswim
394                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
395
396                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
397                                 {
398                                         org = trace_endpos;
399                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
400                                         {
401                                                 if(autocvar_bot_debug_tracewalk)
402                                                 {
403                                                         debugnode(e, org);
404                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
405                                                 }
406
407                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
408                                                 return true;
409                                         }
410
411                                         if(autocvar_bot_debug_tracewalk)
412                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
413
414                                         return false;
415                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
416                                 }
417
418                                 //succesful stepswim
419
420                                 if (flatdist <= 0)
421                                 {
422                                         org = trace_endpos;
423                                         continue;
424                                 }
425
426                                 if (org.z <= move.z) // going horiz.
427                                 {
428                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
429                                         org = trace_endpos;
430                                         nav_action = NAV_WALK;
431                                         continue;
432                                 }
433                         }
434
435                         if (org.z <= move.z) // going horiz.
436                         {
437                                 org = trace_endpos;
438                                 nav_action = NAV_SWIM_ONWATER;
439                         }
440                         else // going down
441                         {
442                                 org = trace_endpos;
443                                 if (SUBMERGED(org))
444                                         nav_action = NAV_SWIM_UNDERWATER;
445                                 else
446                                         nav_action = NAV_SWIM_ONWATER;
447                         }
448                 }
449                 else if(nav_action == NAV_SWIM_UNDERWATER)
450                 {
451                         if (move.z >= org.z) // swimming upwards or horiz.
452                         {
453                                 tracebox(org, m1, m2, move, movemode, e); // swim
454
455                                 bool stepswum = false;
456
457                                 // hit something
458                                 if (trace_fraction < 1)
459                                 {
460                                         // stepswim
461                                         vector stepswim_move = move + stepheightvec;
462                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
463                                                 stepswim_move.z = end2.z;
464
465                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
466
467                                         // hit something
468                                         if (trace_startsolid)
469                                         {
470                                                 if(autocvar_bot_debug_tracewalk)
471                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
472
473                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
474                                                 return false;
475                                         }
476
477                                         if (trace_fraction < 1)
478                                         {
479                                                 float org_z_prev = org.z;
480                                                 RESURFACE_LIMITED(org, end2.z);
481                                                 if(org.z == org_z_prev)
482                                                 {
483                                                         if(autocvar_bot_debug_tracewalk)
484                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
485
486                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
487                                                         return false;
488                                                 }
489                                                 if(SUBMERGED(org))
490                                                         nav_action = NAV_SWIM_UNDERWATER;
491                                                 else
492                                                         nav_action = NAV_SWIM_ONWATER;
493
494                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
495                                                 // but we can't do it properly right now... apply this workaround instead
496                                                 if (flatdist <= 0)
497                                                         flatdist = 1;
498
499                                                 continue;
500                                         }
501
502                                         //succesful stepswim
503
504                                         if (flatdist <= 0)
505                                         {
506                                                 org = trace_endpos;
507                                                 continue;
508                                         }
509
510                                         stepswum = true;
511                                 }
512
513                                 if (!WETFEET(trace_endpos))
514                                 {
515                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
516                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
517                                         if (!stepswum && SUBMERGED(trace_endpos))
518                                         {
519                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
520                                                 org = trace_endpos;
521                                                 nav_action = NAV_SWIM_ONWATER;
522                                                 continue;
523                                         }
524
525                                         // not submerged
526                                         org = trace_endpos;
527                                         nav_action = NAV_WALK;
528                                         continue;
529                                 }
530
531                                 // wetfeet
532                                 org = trace_endpos;
533                                 nav_action = NAV_SWIM_UNDERWATER;
534                                 continue;
535                         }
536                         else //if (move.z < org.z) // swimming downwards
537                         {
538                                 tracebox(org, m1, m2, move, movemode, e); // swim
539
540                                 // hit something
541                                 if (trace_fraction < 1)
542                                 {
543                                         // stepswim
544                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
545
546                                         // hit something
547                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
548                                         {
549                                                 if(autocvar_bot_debug_tracewalk)
550                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
551
552                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
553                                                 return false;
554                                         }
555
556                                         //succesful stepswim
557
558                                         if (flatdist <= 0)
559                                         {
560                                                 org = trace_endpos;
561                                                 continue;
562                                         }
563
564                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
565                                         {
566                                                 // stepswim caused upwards direction
567                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
568                                                 if (!SUBMERGED(trace_endpos))
569                                                 {
570                                                         org = trace_endpos;
571                                                         nav_action = NAV_WALK;
572                                                         continue;
573                                                 }
574                                         }
575                                 }
576
577                                 org = trace_endpos;
578                                 nav_action = NAV_SWIM_UNDERWATER;
579                                 continue;
580                         }
581                 }
582                 else if(nav_action == NAV_WALK)
583                 {
584                         // walk
585                         tracebox(org, m1, m2, move, movemode, e);
586
587                         if(autocvar_bot_debug_tracewalk)
588                                 debugnode(e, trace_endpos);
589
590                         // hit something
591                         if (trace_fraction < 1)
592                         {
593                                 // check if we can walk over this obstacle, possibly by jumpstepping
594                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
595                                 if (trace_fraction < 1 || trace_startsolid)
596                                 {
597                                         if (trace_startsolid) // hit ceiling above org
598                                         {
599                                                 // reduce stepwalk height
600                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
601                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
602                                         }
603                                         else //if (trace_fraction < 1)
604                                         {
605                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
606                                                 if (trace_startsolid) // hit ceiling above org
607                                                 {
608                                                         // reduce jumpstepwalk height
609                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
610                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
611                                                 }
612                                         }
613
614                                         if (trace_fraction < 1)
615                                         {
616                                                 vector v = trace_endpos;
617                                                 v.z = org.z + jumpheight_vec.z;
618                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
619                                                 {
620                                                         if(autocvar_bot_debug_tracewalk)
621                                                         {
622                                                                 debugnode(e, v);
623                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
624                                                         }
625
626                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
627                                                         return true;
628                                                 }
629
630                                                 if(autocvar_bot_debug_tracewalk)
631                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
632
633                                                 traceline( org, move, movemode, e);
634
635                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
636                                                 {
637                                                         vector nextmove;
638                                                         move = trace_endpos;
639                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
640                                                         {
641                                                                 nextmove = move + (flatdir * stepdist);
642                                                                 traceline( move, nextmove, movemode, e);
643                                                                 move = nextmove;
644                                                         }
645                                                         flatdist = vlen(vec2(end - move));
646                                                 }
647                                                 else
648                                                 {
649                                                         if(autocvar_bot_debug_tracewalk)
650                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
651
652                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
653                                                         //te_explosion(trace_endpos);
654                                                         //print(ftos(e.dphitcontentsmask), "\n");
655                                                         return false; // failed
656                                                 }
657                                         }
658                                         else
659                                                 move = trace_endpos;
660                                 }
661                                 else
662                                         move = trace_endpos;
663                         }
664                         else
665                                 move = trace_endpos;
666
667                         // trace down from stepheight as far as possible and move there,
668                         // if this starts in solid we try again without the stepup, and
669                         // if that also fails we assume it is a wall
670                         // (this is the same logic as the Quake walkmove function used)
671                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
672
673                         org = trace_endpos;
674
675                         if (!ignorehazards)
676                         {
677                                 if (IN_LAVA(org))
678                                 {
679                                         if(autocvar_bot_debug_tracewalk)
680                                         {
681                                                 debugnode(e, trace_endpos);
682                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
683                                         }
684
685                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
686                                         return false;
687                                 }
688                         }
689
690                         if (flatdist <= 0)
691                         {
692                                 if(move.z >= end2.z && org.z < end2.z)
693                                         org.z = end2.z;
694                                 continue;
695                         }
696
697                         if(org.z > move.z - 1 || !SUBMERGED(org))
698                         {
699                                 nav_action = NAV_WALK;
700                                 continue;
701                         }
702
703                         // ended up submerged while walking
704                         if(autocvar_bot_debug_tracewalk)
705                                 debugnode(e, org);
706
707                         RESURFACE_LIMITED(org, move.z);
708                         nav_action = NAV_SWIM_ONWATER;
709                         continue;
710                 }
711         }
712
713         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
714
715         // moved but didn't arrive at the intended destination
716         if(autocvar_bot_debug_tracewalk)
717                 debugnodestatus(org, DEBUG_NODE_FAIL);
718
719         return false;
720 }
721
722 /////////////////////////////////////////////////////////////////////////////
723 // goal stack
724 /////////////////////////////////////////////////////////////////////////////
725
726 // completely empty the goal stack, used when deciding where to go
727 void navigation_clearroute(entity this)
728 {
729         this.goalcurrent_prev = this.goalcurrent;
730         this.goalcurrent_distance_2d = FLOAT_MAX;
731         this.goalcurrent_distance_z = FLOAT_MAX;
732         this.goalcurrent_distance_time = 0;
733         this.goalentity_lock_timeout = 0;
734         this.goalentity = NULL;
735         this.goalcurrent = NULL;
736         this.goalstack01 = NULL;
737         this.goalstack02 = NULL;
738         this.goalstack03 = NULL;
739         this.goalstack04 = NULL;
740         this.goalstack05 = NULL;
741         this.goalstack06 = NULL;
742         this.goalstack07 = NULL;
743         this.goalstack08 = NULL;
744         this.goalstack09 = NULL;
745         this.goalstack10 = NULL;
746         this.goalstack11 = NULL;
747         this.goalstack12 = NULL;
748         this.goalstack13 = NULL;
749         this.goalstack14 = NULL;
750         this.goalstack15 = NULL;
751         this.goalstack16 = NULL;
752         this.goalstack17 = NULL;
753         this.goalstack18 = NULL;
754         this.goalstack19 = NULL;
755         this.goalstack20 = NULL;
756         this.goalstack21 = NULL;
757         this.goalstack22 = NULL;
758         this.goalstack23 = NULL;
759         this.goalstack24 = NULL;
760         this.goalstack25 = NULL;
761         this.goalstack26 = NULL;
762         this.goalstack27 = NULL;
763         this.goalstack28 = NULL;
764         this.goalstack29 = NULL;
765         this.goalstack30 = NULL;
766         this.goalstack31 = NULL;
767 }
768
769 // add a new goal at the beginning of the stack
770 // (in other words: add a new prerequisite before going to the later goals)
771 // NOTE: when a waypoint is added, the WP gets pushed first, then the
772 // next-closest WP on the shortest path to the WP
773 // That means, if the stack overflows, the bot will know how to do the FIRST 32
774 // steps to the goal, and then recalculate the path.
775 void navigation_pushroute(entity this, entity e)
776 {
777         this.goalcurrent_prev = this.goalcurrent;
778         this.goalcurrent_distance_2d = FLOAT_MAX;
779         this.goalcurrent_distance_z = FLOAT_MAX;
780         this.goalcurrent_distance_time = 0;
781         //print("bot ", etos(this), " push ", etos(e), "\n");
782         if(this.goalstack31 == this.goalentity)
783                 this.goalentity = NULL;
784         this.goalstack31 = this.goalstack30;
785         this.goalstack30 = this.goalstack29;
786         this.goalstack29 = this.goalstack28;
787         this.goalstack28 = this.goalstack27;
788         this.goalstack27 = this.goalstack26;
789         this.goalstack26 = this.goalstack25;
790         this.goalstack25 = this.goalstack24;
791         this.goalstack24 = this.goalstack23;
792         this.goalstack23 = this.goalstack22;
793         this.goalstack22 = this.goalstack21;
794         this.goalstack21 = this.goalstack20;
795         this.goalstack20 = this.goalstack19;
796         this.goalstack19 = this.goalstack18;
797         this.goalstack18 = this.goalstack17;
798         this.goalstack17 = this.goalstack16;
799         this.goalstack16 = this.goalstack15;
800         this.goalstack15 = this.goalstack14;
801         this.goalstack14 = this.goalstack13;
802         this.goalstack13 = this.goalstack12;
803         this.goalstack12 = this.goalstack11;
804         this.goalstack11 = this.goalstack10;
805         this.goalstack10 = this.goalstack09;
806         this.goalstack09 = this.goalstack08;
807         this.goalstack08 = this.goalstack07;
808         this.goalstack07 = this.goalstack06;
809         this.goalstack06 = this.goalstack05;
810         this.goalstack05 = this.goalstack04;
811         this.goalstack04 = this.goalstack03;
812         this.goalstack03 = this.goalstack02;
813         this.goalstack02 = this.goalstack01;
814         this.goalstack01 = this.goalcurrent;
815         this.goalcurrent = e;
816 }
817
818 // remove first goal from stack
819 // (in other words: remove a prerequisite for reaching the later goals)
820 // (used when a spawnfunc_waypoint is reached)
821 void navigation_poproute(entity this)
822 {
823         this.goalcurrent_prev = this.goalcurrent;
824         this.goalcurrent_distance_2d = FLOAT_MAX;
825         this.goalcurrent_distance_z = FLOAT_MAX;
826         this.goalcurrent_distance_time = 0;
827         //print("bot ", etos(this), " pop\n");
828         if(this.goalcurrent == this.goalentity)
829         {
830                 this.goalentity = NULL;
831                 this.goalentity_lock_timeout = 0;
832         }
833         this.goalcurrent = this.goalstack01;
834         this.goalstack01 = this.goalstack02;
835         this.goalstack02 = this.goalstack03;
836         this.goalstack03 = this.goalstack04;
837         this.goalstack04 = this.goalstack05;
838         this.goalstack05 = this.goalstack06;
839         this.goalstack06 = this.goalstack07;
840         this.goalstack07 = this.goalstack08;
841         this.goalstack08 = this.goalstack09;
842         this.goalstack09 = this.goalstack10;
843         this.goalstack10 = this.goalstack11;
844         this.goalstack11 = this.goalstack12;
845         this.goalstack12 = this.goalstack13;
846         this.goalstack13 = this.goalstack14;
847         this.goalstack14 = this.goalstack15;
848         this.goalstack15 = this.goalstack16;
849         this.goalstack16 = this.goalstack17;
850         this.goalstack17 = this.goalstack18;
851         this.goalstack18 = this.goalstack19;
852         this.goalstack19 = this.goalstack20;
853         this.goalstack20 = this.goalstack21;
854         this.goalstack21 = this.goalstack22;
855         this.goalstack22 = this.goalstack23;
856         this.goalstack23 = this.goalstack24;
857         this.goalstack24 = this.goalstack25;
858         this.goalstack25 = this.goalstack26;
859         this.goalstack26 = this.goalstack27;
860         this.goalstack27 = this.goalstack28;
861         this.goalstack28 = this.goalstack29;
862         this.goalstack29 = this.goalstack30;
863         this.goalstack30 = this.goalstack31;
864         this.goalstack31 = NULL;
865 }
866
867 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
868 // waypoint destination coordinates instead of v (only useful for box waypoints)
869 // for normal waypoints v2 == v and v2_height == 0
870 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)
871 {
872         if (vdist(v - org, <, bestdist))
873         {
874                 traceline(v, org, true, ent);
875                 if (trace_fraction == 1)
876                 {
877                         if (walkfromwp)
878                         {
879                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
880                                         return true;
881                         }
882                         else
883                         {
884                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
885                                         return true;
886                         }
887                 }
888         }
889         return false;
890 }
891
892 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
893 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
894 {
895         if(ent.tag_entity)
896                 ent = ent.tag_entity;
897
898         vector pm1 = ent.origin + ent.mins;
899         vector pm2 = ent.origin + ent.maxs;
900
901         // do two scans, because box test is cheaper
902         IL_EACH(g_waypoints, it != ent && it != except,
903         {
904                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
905                 {
906                         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
907                         {
908                                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
909                                 navigation_item_addlink(it, ent);
910                         }
911                         return it;
912                 }
913         });
914
915         vector org = ent.origin;
916         if (navigation_testtracewalk)
917                 te_plasmaburn(org);
918
919         entity best = NULL;
920         vector v = '0 0 0';
921
922         if(ent.size && !IS_PLAYER(ent))
923         {
924                 org += 0.5 * (ent.mins + ent.maxs);
925                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
926         }
927
928         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
929         {
930                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
931                 IL_EACH(g_waypoints, it != ent,
932                 {
933                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
934                                 continue;
935
936                         set_tracewalk_dest(ent, it.origin, false);
937                         if (vdist(tracewalk_dest - it.origin, <, 1050)
938                                 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
939                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
940                         {
941                                 navigation_item_addlink(it, ent);
942                         }
943                 });
944         }
945
946         // box check failed, try walk
947         IL_EACH(g_waypoints, it != ent,
948         {
949                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
950                         continue;
951                 v = it.origin;
952
953                 if (walkfromwp)
954                 {
955                         set_tracewalk_dest(ent, v, true);
956                         if (trace_ent == ent)
957                         {
958                                 bestdist = 0;
959                                 best = it;
960                                 break;
961                         }
962                 }
963                 else
964                         set_tracewalk_dest(it, org, false);
965
966                 if (navigation_waypoint_will_link(v, org, ent,
967                         tracewalk_dest, tracewalk_dest_height,
968                         tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
969                 {
970                         if (walkfromwp)
971                                 bestdist = vlen(tracewalk_dest - v);
972                         else
973                                 bestdist = vlen(v - org);
974                         best = it;
975                 }
976         });
977         if(!best && !ent.navigation_dynamicgoal)
978         {
979                 int solid_save = ent.solid;
980                 ent.solid = SOLID_BSP;
981                 IL_EACH(g_jumppads, true,
982                 {
983                         if(trigger_push_test(it, ent))
984                         {
985                                 best = it.nearestwaypoint;
986                                 break;
987                         }
988                 });
989                 ent.solid = solid_save;
990         }
991         return best;
992 }
993 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
994 {
995         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
996         if (autocvar_g_waypointeditor_auto)
997         {
998                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
999                 if (wp && !wp2)
1000                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1001         }
1002         return wp;
1003 }
1004
1005 // finds the waypoints near the bot initiating a navigation query
1006 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1007 {
1008         //navigation_testtracewalk = true;
1009         int c = 0;
1010         IL_EACH(g_waypoints, !it.wpconsidered,
1011         {
1012                 set_tracewalk_dest(it, this.origin, false);
1013
1014                 vector diff = tracewalk_dest - this.origin;
1015                 diff.z = max(0, diff.z);
1016                 if(vdist(diff, <, maxdist))
1017                 {
1018                         it.wpconsidered = true;
1019                         if (tracewalk(this, this.origin, this.mins, this.maxs,
1020                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1021                         {
1022                                 it.wpnearestpoint = tracewalk_dest;
1023                                 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1024                                 it.wpfire = 1;
1025                                 it.enemy = NULL;
1026                                 c = c + 1;
1027                         }
1028                 }
1029         });
1030         //navigation_testtracewalk = false;
1031         return c;
1032 }
1033
1034 // updates a path link if a spawnfunc_waypoint link is better than the current one
1035 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1036 {
1037         vector m1, m2;
1038         vector v;
1039         if (wp.wpisbox)
1040         {
1041                 m1 = wp.origin + wp.mins;
1042                 m2 = wp.origin + wp.maxs;
1043                 v.x = bound(m1_x, p.x, m2_x);
1044                 v.y = bound(m1_y, p.y, m2_y);
1045                 v.z = bound(m1_z, p.z, m2_z);
1046         }
1047         else
1048                 v = wp.origin;
1049         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1050                 cost += w.wp00mincost; // assuming teleport has exactly one destination
1051         else
1052                 cost += waypoint_gettravelcost(p, v, w, wp);
1053         if (wp.wpcost > cost)
1054         {
1055                 wp.wpcost = cost;
1056                 wp.enemy = w;
1057                 wp.wpfire = 1;
1058                 wp.wpnearestpoint = v;
1059         }
1060 }
1061
1062 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1063 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1064 {
1065         float cost, cost2;
1066         vector p;
1067
1068         IL_EACH(g_waypoints, true,
1069         {
1070                 it.wpconsidered = false;
1071                 it.wpnearestpoint = '0 0 0';
1072                 it.wpcost = 10000000;
1073                 it.wpfire = 0;
1074                 it.enemy = NULL;
1075         });
1076
1077         if(fixed_source_waypoint)
1078         {
1079                 fixed_source_waypoint.wpconsidered = true;
1080                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1081                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1082                 fixed_source_waypoint.wpfire = 1;
1083                 fixed_source_waypoint.enemy = NULL;
1084         }
1085         else
1086         {
1087                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1088                 // as this search is expensive we will use lower values if the bot is on the air
1089                 float increment, maxdistance;
1090                 if(IS_ONGROUND(this))
1091                 {
1092                         increment = 750;
1093                         maxdistance = 50000;
1094                 }
1095                 else
1096                 {
1097                         increment = 500;
1098                         maxdistance = 1500;
1099                 }
1100
1101                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1102         }
1103
1104         bool searching = true;
1105         while (searching)
1106         {
1107                 searching = false;
1108                 IL_EACH(g_waypoints, it.wpfire,
1109                 {
1110                         searching = true;
1111                         it.wpfire = 0;
1112                         cost = it.wpcost;
1113                         p = it.wpnearestpoint;
1114                         entity wp;
1115                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1116                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1117                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1118                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1119                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1120                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1121                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1122                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1123                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1124                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1125                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1126                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1127                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1128                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1129                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1130                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1131                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1132                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1133                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1134                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1135                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1148                 });
1149         }
1150 }
1151
1152 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1153 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1154 {
1155         float cost, cost2;
1156         vector p;
1157         IL_EACH(g_waypoints, true,
1158         {
1159                 it.wpconsidered = false;
1160                 it.wpnearestpoint = '0 0 0';
1161                 it.wpcost = 10000000;
1162                 it.wpfire = 0;
1163                 it.enemy = NULL;
1164         });
1165
1166         if(fixed_source_waypoint)
1167         {
1168                 fixed_source_waypoint.wpconsidered = true;
1169                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1170                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1171                 fixed_source_waypoint.wpfire = 1;
1172                 fixed_source_waypoint.enemy = NULL;
1173         }
1174         else
1175         {
1176                 error("need to start with a waypoint\n");
1177         }
1178
1179         bool searching = true;
1180         while (searching)
1181         {
1182                 searching = false;
1183                 IL_EACH(g_waypoints, it.wpfire,
1184                 {
1185                         searching = true;
1186                         it.wpfire = 0;
1187                         cost = it.wpcost; // cost to walk from it to home
1188                         p = it.wpnearestpoint;
1189                         entity wp = it;
1190                         IL_EACH(g_waypoints, it != wp,
1191                         {
1192                                 if(!waypoint_islinked(it, wp))
1193                                         continue;
1194                                 cost2 = cost + it.dmg;
1195                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1196                         });
1197                 });
1198         }
1199 }
1200
1201 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1202 void navigation_routerating(entity this, entity e, float f, float rangebias)
1203 {
1204         if (!e)
1205                 return;
1206
1207         if(e.blacklisted)
1208                 return;
1209
1210         rangebias = waypoint_getlinearcost(rangebias);
1211         f = waypoint_getlinearcost(f);
1212
1213         if (IS_PLAYER(e))
1214         {
1215                 bool rate_wps = false;
1216                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
1217                         rate_wps = true;
1218
1219                 if(!IS_ONGROUND(e))
1220                 {
1221                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1222                         int t = pointcontents(trace_endpos + '0 0 1');
1223                         if(t != CONTENT_SOLID )
1224                         {
1225                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1226                                         rate_wps = true;
1227                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1228                                         return;
1229                         }
1230                 }
1231
1232                 if(rate_wps)
1233                 {
1234                         entity theEnemy = e;
1235                         entity best_wp = NULL;
1236                         float best_dist = 10000;
1237                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
1238                                 && vdist(it.origin - this.origin, >, 100)
1239                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1240                         {
1241                                 float dist = vlen(it.origin - theEnemy.origin);
1242                                 if (dist < best_dist)
1243                                 {
1244                                         best_wp = it;
1245                                         best_dist = dist;
1246                                 }
1247                         });
1248                         if (!best_wp)
1249                                 return;
1250                         e = best_wp;
1251                 }
1252         }
1253
1254         vector goal_org = (e.absmin + e.absmax) * 0.5;
1255
1256         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1257
1258         // Evaluate path using jetpack
1259         if(g_jetpack)
1260         if(this.items & IT_JETPACK)
1261         if(autocvar_bot_ai_navigation_jetpack)
1262         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1263         {
1264                 vector pointa, pointb;
1265
1266                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1267
1268                 // Point A
1269                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1270                 pointa = trace_endpos - '0 0 1';
1271
1272                 // Point B
1273                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1274                 pointb = trace_endpos - '0 0 1';
1275
1276                 // Can I see these two points from the sky?
1277                 traceline(pointa, pointb, MOVE_NORMAL, this);
1278
1279                 if(trace_fraction==1)
1280                 {
1281                         LOG_DEBUG("jetpack ai: can bridge these two points");
1282
1283                         // Lower the altitude of these points as much as possible
1284                         float zdistance, xydistance, cost, t, fuel;
1285                         vector down, npa, npb;
1286
1287                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1288
1289                         do{
1290                                 npa = pointa + down;
1291                                 npb = pointb + down;
1292
1293                                 if(npa.z<=this.absmax.z)
1294                                         break;
1295
1296                                 if(npb.z<=e.absmax.z)
1297                                         break;
1298
1299                                 traceline(npa, npb, MOVE_NORMAL, this);
1300                                 if(trace_fraction==1)
1301                                 {
1302                                         pointa = npa;
1303                                         pointb = npb;
1304                                 }
1305                         }
1306                         while(trace_fraction == 1);
1307
1308
1309                         // Rough estimation of fuel consumption
1310                         // (ignores acceleration and current xyz velocity)
1311                         xydistance = vlen(pointa - pointb);
1312                         zdistance = fabs(pointa.z - this.origin.z);
1313
1314                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1315                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1316                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1317
1318                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
1319
1320                         // enough fuel ?
1321                         if(this.ammo_fuel>fuel)
1322                         {
1323                                 // Estimate cost
1324                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1325                                 //  - between air and ground speeds)
1326
1327                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1328                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1329                                 cost *= 1.5;
1330
1331                                 // Compare against other goals
1332                                 f = f * rangebias / (rangebias + cost);
1333
1334                                 if (navigation_bestrating < f)
1335                                 {
1336                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1337                                         navigation_bestrating = f;
1338                                         navigation_bestgoal = e;
1339                                         this.navigation_jetpack_goal = e;
1340                                         this.navigation_jetpack_point = pointb;
1341                                 }
1342                                 return;
1343                         }
1344                 }
1345         }
1346
1347         entity nwp;
1348         //te_wizspike(e.origin);
1349         //bprint(etos(e));
1350         //bprint("\n");
1351         // update the cached spawnfunc_waypoint link on a dynamic item entity
1352         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1353         {
1354                 nwp = e;
1355         }
1356         else
1357         {
1358                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1359                         e.nearestwaypoint = NULL;
1360
1361                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1362                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1363                 {
1364                         if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1365                                 e.nearestwaypoint = nwp = e.goalcurrent;
1366                         else
1367                                 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1368                         if(!nwp)
1369                         {
1370                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1371
1372                                 if(!e.navigation_dynamicgoal)
1373                                         e.blacklisted = true;
1374
1375                                 if(e.blacklisted)
1376                                 {
1377                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1378                                         return;
1379                                 }
1380                         }
1381
1382                         if(e.navigation_dynamicgoal)
1383                                 e.nearestwaypointtimeout = time + 2;
1384                         else if(autocvar_g_waypointeditor)
1385                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1386                 }
1387                 nwp = e.nearestwaypoint;
1388         }
1389
1390         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1391         if (nwp && nwp.wpcost < 10000000)
1392         {
1393                 //te_wizspike(nwp.wpnearestpoint);
1394                 float nwptoitem_cost = 0;
1395                 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1396                         nwptoitem_cost = nwp.wp00mincost;
1397                 else
1398                         nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1399                 float cost = nwp.wpcost + nwptoitem_cost;
1400                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1401                 f = f * rangebias / (rangebias + cost);
1402                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1403                 if (navigation_bestrating < f)
1404                 {
1405                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1406                         navigation_bestrating = f;
1407                         navigation_bestgoal = e;
1408                 }
1409         }
1410 }
1411
1412 // adds an item to the the goal stack with the path to a given item
1413 bool navigation_routetogoal(entity this, entity e, vector startposition)
1414 {
1415         // if there is no goal, just exit
1416         if (!e)
1417                 return false;
1418
1419         entity teleport_goal = NULL;
1420
1421         this.goalentity = e;
1422
1423         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1424         {
1425                 // force teleport destination as route destination
1426                 teleport_goal = e;
1427                 navigation_pushroute(this, e.wp00);
1428                 this.goalentity = e.wp00;
1429         }
1430
1431         // put the entity on the goal stack
1432         //print("routetogoal ", etos(e), "\n");
1433         navigation_pushroute(this, e);
1434
1435         if(teleport_goal)
1436                 e = this.goalentity;
1437
1438         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1439         {
1440                 this.wp_goal_prev1 = this.wp_goal_prev0;
1441                 this.wp_goal_prev0 = e;
1442         }
1443
1444         if(g_jetpack)
1445         if(e==this.navigation_jetpack_goal)
1446                 return true;
1447
1448         // if it can reach the goal there is nothing more to do
1449         set_tracewalk_dest(e, startposition, true);
1450         if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1451                 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1452                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1453         {
1454                 return true;
1455         }
1456
1457         entity nearest_wp = NULL;
1458         // see if there are waypoints describing a path to the item
1459         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1460         {
1461                 e = e.nearestwaypoint;
1462                 nearest_wp = e;
1463         }
1464         else if(teleport_goal)
1465                 e = teleport_goal;
1466         else
1467                 e = e.enemy; // we already have added it, so...
1468
1469         if(e == NULL)
1470                 return false;
1471
1472         if(nearest_wp && nearest_wp.enemy)
1473         {
1474                 // often path can be optimized by not adding the nearest waypoint
1475                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1476                 {
1477                         if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1478                         {
1479                                 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1480                                         e = nearest_wp.enemy;
1481                                 else
1482                                 {
1483                                         set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1484                                         if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1485                                                 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1486                                                 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1487                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1488                                         {
1489                                                 e = nearest_wp.enemy;
1490                                         }
1491                                 }
1492                         }
1493                 }
1494                 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1495                         e = nearest_wp.enemy;
1496         }
1497
1498         for (;;)
1499         {
1500                 // add the spawnfunc_waypoint to the path
1501                 navigation_pushroute(this, e);
1502                 e = e.enemy;
1503
1504                 if(e==NULL)
1505                         break;
1506         }
1507
1508         return false;
1509 }
1510
1511 // shorten path by removing intermediate goals
1512 void navigation_shortenpath(entity this)
1513 {
1514         if (!this.goalstack01 || wasfreed(this.goalstack01))
1515                 return;
1516         if (this.bot_tracewalk_time > time)
1517                 return;
1518         this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1519
1520         bool cut_allowed = false;
1521         entity next = this.goalentity;
1522         // evaluate whether bot can discard current route and chase directly a player, trying to
1523         // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1524         if (IS_MOVABLE(next))
1525         {
1526                 set_tracewalk_dest(next, this.origin, true);
1527                 if (vdist(this.origin - tracewalk_dest, <, 200))
1528                         cut_allowed = true;
1529                 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1530                         && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1531                         && vdist(this.origin - this.goalcurrent.origin, >, 100)
1532                         && checkpvs(this.origin + this.view_ofs, next))
1533                 {
1534                         if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1535                                 cut_allowed = true;
1536                         else
1537                         {
1538                                 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1539                                 while (deviation.y < -180) deviation.y += 360;
1540                                 while (deviation.y > 180) deviation.y -= 360;
1541                                 if (fabs(deviation.y) > 25)
1542                                         cut_allowed = true;
1543                         }
1544                 }
1545                 if (cut_allowed)
1546                 {
1547                         if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1548                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1549                         {
1550                                 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1551                                 do
1552                                 {
1553                                         navigation_poproute(this);
1554                                 }
1555                                 while (this.goalcurrent != next);
1556                         }
1557                         return;
1558                 }
1559         }
1560
1561         next = this.goalstack01;
1562         // if for some reason the bot is closer to the next goal, pop the current one
1563         if (!IS_MOVABLE(next) // already checked in the previous case
1564                 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1565                 && checkpvs(this.origin + this.view_ofs, next))
1566         {
1567                 set_tracewalk_dest(next, this.origin, true);
1568                 cut_allowed = true;
1569         }
1570
1571         if (cut_allowed)
1572         {
1573                 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1574                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1575                 {
1576                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue"); 
1577                         navigation_poproute(this);
1578                 }
1579         }
1580 }
1581
1582 // removes any currently touching waypoints from the goal stack
1583 // (this is how bots detect if they reached a goal)
1584 int navigation_poptouchedgoals(entity this)
1585 {
1586         int removed_goals = 0;
1587
1588         if(!this.goalcurrent)
1589                 return removed_goals;
1590
1591         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1592         {
1593                 // make sure jumppad is really hit, don't rely on distance based checks
1594                 // as they may report a touch even if it didn't really happen
1595                 if(this.lastteleporttime > 0
1596                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1597                 {
1598                         if (this.jumppadcount && !boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax,
1599                                 this.lastteleport_origin + STAT(PL_MIN, this), this.lastteleport_origin + STAT(PL_MAX, this)))
1600                         {
1601                                 return;
1602                         }
1603
1604                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1605                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1606                         {
1607                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1608                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1609                         }
1610                         navigation_poproute(this);
1611                         this.lastteleporttime = 0;
1612                         ++removed_goals;
1613                 }
1614                 else
1615                         return removed_goals;
1616         }
1617
1618         // Loose goal touching check when running
1619         if(this.aistatus & AI_STATUS_RUNNING)
1620         if(this.goalcurrent.classname=="waypoint")
1621         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1622         {
1623                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1624                 {
1625                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1626                         if(trace_fraction==1)
1627                         {
1628                                 // Detect personal waypoints
1629                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1630                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1631                                 {
1632                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1633                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1634                                 }
1635
1636                                 navigation_poproute(this);
1637                                 ++removed_goals;
1638                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1639                                         return removed_goals;
1640                         }
1641                 }
1642         }
1643
1644         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1645         {
1646                 vector gc_min = this.goalcurrent.absmin;
1647                 vector gc_max = this.goalcurrent.absmax;
1648                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1649                 {
1650                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1651                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1652                 }
1653                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1654                         break;
1655
1656                 // Detect personal waypoints
1657                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1658                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1659                 {
1660                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1661                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1662                 }
1663
1664                 navigation_poproute(this);
1665                 ++removed_goals;
1666                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1667                         return removed_goals;
1668         }
1669         return removed_goals;
1670 }
1671
1672 entity navigation_get_really_close_waypoint(entity this)
1673 {
1674         entity wp = this.goalcurrent;
1675         if(!wp)
1676                 wp = this.goalcurrent_prev;
1677         if(!wp)
1678                 return NULL;
1679         if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1680         {
1681                 wp = this.goalcurrent_prev;
1682                 if(!wp)
1683                         return NULL;
1684         }
1685         if(wp.classname != "waypoint")
1686         {
1687                 wp = wp.nearestwaypoint;
1688                 if(!wp)
1689                         return NULL;
1690         }
1691         if(vdist(wp.origin - this.origin, >, 50))
1692         {
1693                 wp = NULL;
1694                 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1695                 {
1696                         if(vdist(it.origin - this.origin, <, 50))
1697                         {
1698                                 wp = it;
1699                                 break;
1700                         }
1701                 });
1702                 if(!wp)
1703                         return NULL;
1704         }
1705         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1706                 return NULL;
1707
1708         set_tracewalk_dest(wp, this.origin, false);
1709         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1710                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1711         {
1712                 return NULL;
1713         }
1714         return wp;
1715 }
1716
1717 // begin a goal selection session (queries spawnfunc_waypoint network)
1718 void navigation_goalrating_start(entity this)
1719 {
1720         if(this.aistatus & AI_STATUS_STUCK)
1721                 return;
1722
1723         this.navigation_jetpack_goal = NULL;
1724         navigation_bestrating = -1;
1725         entity wp = navigation_get_really_close_waypoint(this);
1726         navigation_clearroute(this);
1727         navigation_bestgoal = NULL;
1728         navigation_markroutes(this, wp);
1729 }
1730
1731 // ends a goal selection session (updates goal stack to the best goal)
1732 void navigation_goalrating_end(entity this)
1733 {
1734         if(this.aistatus & AI_STATUS_STUCK)
1735                 return;
1736
1737         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1738         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1739
1740         // If the bot got stuck then try to reach the farthest waypoint
1741         if (!this.goalentity && autocvar_bot_wander_enable)
1742         {
1743                 if (!(this.aistatus & AI_STATUS_STUCK))
1744                 {
1745                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1746                         this.aistatus |= AI_STATUS_STUCK;
1747                 }
1748         }
1749 }
1750
1751 void botframe_updatedangerousobjects(float maxupdate)
1752 {
1753         vector m1, m2, v, o;
1754         float c, d, danger;
1755         c = 0;
1756         entity wp_cur;
1757         IL_EACH(g_waypoints, true,
1758         {
1759                 danger = 0;
1760                 m1 = it.absmin;
1761                 m2 = it.absmax;
1762                 wp_cur = it;
1763                 IL_EACH(g_bot_dodge, it.bot_dodge,
1764                 {
1765                         v = it.origin;
1766                         v.x = bound(m1_x, v.x, m2_x);
1767                         v.y = bound(m1_y, v.y, m2_y);
1768                         v.z = bound(m1_z, v.z, m2_z);
1769                         o = (it.absmin + it.absmax) * 0.5;
1770                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1771                         if (d > 0)
1772                         {
1773                                 traceline(o, v, true, NULL);
1774                                 if (trace_fraction == 1)
1775                                         danger = danger + d;
1776                         }
1777                 });
1778                 it.dmg = danger;
1779                 c = c + 1;
1780                 if (c >= maxupdate)
1781                         break;
1782         });
1783 }
1784
1785 void navigation_unstuck(entity this)
1786 {
1787         float search_radius = 1000;
1788
1789         if (!autocvar_bot_wander_enable)
1790                 return;
1791
1792         if (!bot_waypoint_queue_owner)
1793         {
1794                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1795                 bot_waypoint_queue_owner = this;
1796                 bot_waypoint_queue_bestgoal = NULL;
1797                 bot_waypoint_queue_bestgoalrating = 0;
1798         }
1799
1800         if(bot_waypoint_queue_owner!=this)
1801                 return;
1802
1803         if (bot_waypoint_queue_goal)
1804         {
1805                 // evaluate the next goal on the queue
1806                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1807                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1808                 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1809                 if (tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1810                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1811                 {
1812                         if( d > bot_waypoint_queue_bestgoalrating)
1813                         {
1814                                 bot_waypoint_queue_bestgoalrating = d;
1815                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1816                         }
1817                 }
1818                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1819
1820                 if (!bot_waypoint_queue_goal)
1821                 {
1822                         if (bot_waypoint_queue_bestgoal)
1823                         {
1824                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1825                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1826                                 navigation_goalrating_timeout_set(this);
1827                                 this.aistatus &= ~AI_STATUS_STUCK;
1828                         }
1829                         else
1830                         {
1831                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1832                         }
1833
1834                         bot_waypoint_queue_owner = NULL;
1835                 }
1836         }
1837         else
1838         {
1839                 if(bot_strategytoken!=this)
1840                         return;
1841
1842                 // build a new queue
1843                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1844
1845                 entity first = NULL;
1846
1847                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1848                 {
1849                         if(bot_waypoint_queue_goal)
1850                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1851                         else
1852                                 first = it;
1853
1854                         bot_waypoint_queue_goal = it;
1855                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1856                 });
1857
1858                 if (first)
1859                         bot_waypoint_queue_goal = first;
1860                 else
1861                 {
1862                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1863                         bot_waypoint_queue_owner = NULL;
1864                 }
1865         }
1866 }
1867
1868 // Support for debugging tracewalk visually
1869
1870 void debugresetnodes()
1871 {
1872         debuglastnode = '0 0 0';
1873 }
1874
1875 void debugnode(entity this, vector node)
1876 {
1877         if (!IS_PLAYER(this))
1878                 return;
1879
1880         if(debuglastnode=='0 0 0')
1881         {
1882                 debuglastnode = node;
1883                 return;
1884         }
1885
1886         te_lightning2(NULL, node, debuglastnode);
1887         debuglastnode = node;
1888 }
1889
1890 void debugnodestatus(vector position, float status)
1891 {
1892         vector c;
1893
1894         switch (status)
1895         {
1896                 case DEBUG_NODE_SUCCESS:
1897                         c = '0 15 0';
1898                         break;
1899                 case DEBUG_NODE_WARNING:
1900                         c = '15 15 0';
1901                         break;
1902                 case DEBUG_NODE_FAIL:
1903                         c = '15 0 0';
1904                         break;
1905                 default:
1906                         c = '15 15 15';
1907         }
1908
1909         te_customflash(position, 40,  2, c);
1910 }
1911
1912 // Support for debugging the goal stack visually
1913
1914 .float goalcounter;
1915 .vector lastposition;
1916
1917 // Debug the goal stack visually
1918 void debuggoalstack(entity this)
1919 {
1920         entity goal;
1921         vector org, go;
1922
1923         if(this.goalcounter==0)goal=this.goalcurrent;
1924         else if(this.goalcounter==1)goal=this.goalstack01;
1925         else if(this.goalcounter==2)goal=this.goalstack02;
1926         else if(this.goalcounter==3)goal=this.goalstack03;
1927         else if(this.goalcounter==4)goal=this.goalstack04;
1928         else if(this.goalcounter==5)goal=this.goalstack05;
1929         else if(this.goalcounter==6)goal=this.goalstack06;
1930         else if(this.goalcounter==7)goal=this.goalstack07;
1931         else if(this.goalcounter==8)goal=this.goalstack08;
1932         else if(this.goalcounter==9)goal=this.goalstack09;
1933         else if(this.goalcounter==10)goal=this.goalstack10;
1934         else if(this.goalcounter==11)goal=this.goalstack11;
1935         else if(this.goalcounter==12)goal=this.goalstack12;
1936         else if(this.goalcounter==13)goal=this.goalstack13;
1937         else if(this.goalcounter==14)goal=this.goalstack14;
1938         else if(this.goalcounter==15)goal=this.goalstack15;
1939         else if(this.goalcounter==16)goal=this.goalstack16;
1940         else if(this.goalcounter==17)goal=this.goalstack17;
1941         else if(this.goalcounter==18)goal=this.goalstack18;
1942         else if(this.goalcounter==19)goal=this.goalstack19;
1943         else if(this.goalcounter==20)goal=this.goalstack20;
1944         else if(this.goalcounter==21)goal=this.goalstack21;
1945         else if(this.goalcounter==22)goal=this.goalstack22;
1946         else if(this.goalcounter==23)goal=this.goalstack23;
1947         else if(this.goalcounter==24)goal=this.goalstack24;
1948         else if(this.goalcounter==25)goal=this.goalstack25;
1949         else if(this.goalcounter==26)goal=this.goalstack26;
1950         else if(this.goalcounter==27)goal=this.goalstack27;
1951         else if(this.goalcounter==28)goal=this.goalstack28;
1952         else if(this.goalcounter==29)goal=this.goalstack29;
1953         else if(this.goalcounter==30)goal=this.goalstack30;
1954         else if(this.goalcounter==31)goal=this.goalstack31;
1955         else goal=NULL;
1956
1957         if(goal==NULL)
1958         {
1959                 this.goalcounter = 0;
1960                 this.lastposition='0 0 0';
1961                 return;
1962         }
1963
1964         if(this.lastposition=='0 0 0')
1965                 org = this.origin;
1966         else
1967                 org = this.lastposition;
1968
1969
1970         go = ( goal.absmin + goal.absmax ) * 0.5;
1971         te_lightning2(NULL, org, go);
1972         this.lastposition = go;
1973
1974         this.goalcounter++;
1975 }