Fix jetpack sound continuing when entering vehicle
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / default / navigation.qc
1 #include "navigation.qh"
2
3 #include "cvars.qh"
4
5 #include "bot.qh"
6 #include "waypoints.qh"
7
8 #include <common/t_items.qh>
9
10 #include <common/items/_mod.qh>
11
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/triggers/trigger/jumppads.qh>
15
16 .float speed;
17
18 // rough simulation of walking from one point to another to test if a path
19 // can be traveled, used for waypoint linking and havocbot
20
21 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
22 {
23         vector org;
24         vector move;
25         vector dir;
26         float dist;
27         float totaldist;
28         float stepdist;
29         float yaw;
30         float ignorehazards;
31         float swimming;
32
33         if(autocvar_bot_debug_tracewalk)
34         {
35                 debugresetnodes();
36                 debugnode(e, start);
37         }
38
39         move = end - start;
40         move.z = 0;
41         org = start;
42         dist = totaldist = vlen(move);
43         dir = normalize(move);
44         stepdist = 32;
45         ignorehazards = false;
46         swimming = false;
47
48         // Analyze starting point
49         traceline(start, start, MOVE_NORMAL, e);
50         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
51                 ignorehazards = true;
52         else
53         {
54                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
55                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
56                 {
57                         ignorehazards = true;
58                         swimming = true;
59                 }
60         }
61         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
62         if (trace_startsolid)
63         {
64                 // Bad start
65                 if(autocvar_bot_debug_tracewalk)
66                         debugnodestatus(start, DEBUG_NODE_FAIL);
67
68                 //print("tracewalk: ", vtos(start), " is a bad start\n");
69                 return false;
70         }
71
72         // Movement loop
73         yaw = vectoyaw(move);
74         move = end - org;
75         for (;;)
76         {
77                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
78                 {
79                         // Succeeded
80                         if(autocvar_bot_debug_tracewalk)
81                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
82
83                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
84                         return true;
85                 }
86                 if(autocvar_bot_debug_tracewalk)
87                         debugnode(e, org);
88
89                 if (dist <= 0)
90                         break;
91                 if (stepdist > dist)
92                         stepdist = dist;
93                 dist = dist - stepdist;
94                 traceline(org, org, MOVE_NORMAL, e);
95                 if (!ignorehazards)
96                 {
97                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
98                         {
99                                 // hazards blocking path
100                                 if(autocvar_bot_debug_tracewalk)
101                                         debugnodestatus(org, DEBUG_NODE_FAIL);
102
103                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
104                                 return false;
105                         }
106                 }
107                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
108                 {
109                         move = normalize(end - org);
110                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
111
112                         if(autocvar_bot_debug_tracewalk)
113                                 debugnode(e, trace_endpos);
114
115                         if (trace_fraction < 1)
116                         {
117                                 swimming = true;
118                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
119                                 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
120                                 {
121                                                 if(autocvar_bot_debug_tracewalk)
122                                                         debugnode(e, org);
123
124                                         if(pointcontents(org) == CONTENT_EMPTY)
125                                                         break;
126                                 }
127
128                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
129                                 {
130                                         if(autocvar_bot_debug_tracewalk)
131                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
132
133                                         return false;
134                                         //print("tracewalk: ", vtos(start), " failed under water\n");
135                                 }
136                                 continue;
137
138                         }
139                         else
140                                 org = trace_endpos;
141                 }
142                 else
143                 {
144                         move = dir * stepdist + org;
145                         tracebox(org, m1, m2, move, movemode, e);
146
147                         if(autocvar_bot_debug_tracewalk)
148                                 debugnode(e, trace_endpos);
149
150                         // hit something
151                         if (trace_fraction < 1)
152                         {
153                                 // check if we can walk over this obstacle, possibly by jumpstepping
154                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
155                                 if (trace_fraction < 1 || trace_startsolid)
156                                 {
157                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
158                                         if (trace_fraction < 1 || trace_startsolid)
159                                         {
160                                                 if(autocvar_bot_debug_tracewalk)
161                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
162
163                                                 // check for doors
164                                                 traceline( org, move, movemode, e);
165                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
166                                                 {
167                                                         vector nextmove;
168                                                         move = trace_endpos;
169                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
170                                                         {
171                                                                 nextmove = move + (dir * stepdist);
172                                                                 traceline( move, nextmove, movemode, e);
173                                                                 move = nextmove;
174                                                         }
175                                                 }
176                                                 else
177                                                 {
178                                                         if(autocvar_bot_debug_tracewalk)
179                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
180
181                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
182                                                         //te_explosion(trace_endpos);
183                                                         //print(ftos(e.dphitcontentsmask), "\n");
184                                                         return false; // failed
185                                                 }
186                                         }
187                                         else
188                                                 move = trace_endpos;
189                                 }
190                                 else
191                                         move = trace_endpos;
192                         }
193                         else
194                                 move = trace_endpos;
195
196                         // trace down from stepheight as far as possible and move there,
197                         // if this starts in solid we try again without the stepup, and
198                         // if that also fails we assume it is a wall
199                         // (this is the same logic as the Quake walkmove function used)
200                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
201
202                         // moved successfully
203                         if(swimming)
204                         {
205                                 float c;
206                                 c = pointcontents(org + '0 0 1');
207                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
208                                         swimming = false;
209                                 else
210                                         continue;
211                         }
212
213                         org = trace_endpos;
214                 }
215         }
216
217         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
218
219         // moved but didn't arrive at the intended destination
220         if(autocvar_bot_debug_tracewalk)
221                 debugnodestatus(org, DEBUG_NODE_FAIL);
222
223         return false;
224 }
225
226 /////////////////////////////////////////////////////////////////////////////
227 // goal stack
228 /////////////////////////////////////////////////////////////////////////////
229
230 // completely empty the goal stack, used when deciding where to go
231 void navigation_clearroute(entity this)
232 {
233         //print("bot ", etos(this), " clear\n");
234         this.navigation_hasgoals = false;
235         this.goalcurrent = NULL;
236         this.goalstack01 = NULL;
237         this.goalstack02 = NULL;
238         this.goalstack03 = NULL;
239         this.goalstack04 = NULL;
240         this.goalstack05 = NULL;
241         this.goalstack06 = NULL;
242         this.goalstack07 = NULL;
243         this.goalstack08 = NULL;
244         this.goalstack09 = NULL;
245         this.goalstack10 = NULL;
246         this.goalstack11 = NULL;
247         this.goalstack12 = NULL;
248         this.goalstack13 = NULL;
249         this.goalstack14 = NULL;
250         this.goalstack15 = NULL;
251         this.goalstack16 = NULL;
252         this.goalstack17 = NULL;
253         this.goalstack18 = NULL;
254         this.goalstack19 = NULL;
255         this.goalstack20 = NULL;
256         this.goalstack21 = NULL;
257         this.goalstack22 = NULL;
258         this.goalstack23 = NULL;
259         this.goalstack24 = NULL;
260         this.goalstack25 = NULL;
261         this.goalstack26 = NULL;
262         this.goalstack27 = NULL;
263         this.goalstack28 = NULL;
264         this.goalstack29 = NULL;
265         this.goalstack30 = NULL;
266         this.goalstack31 = NULL;
267 }
268
269 // add a new goal at the beginning of the stack
270 // (in other words: add a new prerequisite before going to the later goals)
271 // NOTE: when a waypoint is added, the WP gets pushed first, then the
272 // next-closest WP on the shortest path to the WP
273 // That means, if the stack overflows, the bot will know how to do the FIRST 32
274 // steps to the goal, and then recalculate the path.
275 void navigation_pushroute(entity this, entity e)
276 {
277         //print("bot ", etos(this), " push ", etos(e), "\n");
278         this.goalstack31 = this.goalstack30;
279         this.goalstack30 = this.goalstack29;
280         this.goalstack29 = this.goalstack28;
281         this.goalstack28 = this.goalstack27;
282         this.goalstack27 = this.goalstack26;
283         this.goalstack26 = this.goalstack25;
284         this.goalstack25 = this.goalstack24;
285         this.goalstack24 = this.goalstack23;
286         this.goalstack23 = this.goalstack22;
287         this.goalstack22 = this.goalstack21;
288         this.goalstack21 = this.goalstack20;
289         this.goalstack20 = this.goalstack19;
290         this.goalstack19 = this.goalstack18;
291         this.goalstack18 = this.goalstack17;
292         this.goalstack17 = this.goalstack16;
293         this.goalstack16 = this.goalstack15;
294         this.goalstack15 = this.goalstack14;
295         this.goalstack14 = this.goalstack13;
296         this.goalstack13 = this.goalstack12;
297         this.goalstack12 = this.goalstack11;
298         this.goalstack11 = this.goalstack10;
299         this.goalstack10 = this.goalstack09;
300         this.goalstack09 = this.goalstack08;
301         this.goalstack08 = this.goalstack07;
302         this.goalstack07 = this.goalstack06;
303         this.goalstack06 = this.goalstack05;
304         this.goalstack05 = this.goalstack04;
305         this.goalstack04 = this.goalstack03;
306         this.goalstack03 = this.goalstack02;
307         this.goalstack02 = this.goalstack01;
308         this.goalstack01 = this.goalcurrent;
309         this.goalcurrent = e;
310 }
311
312 // remove first goal from stack
313 // (in other words: remove a prerequisite for reaching the later goals)
314 // (used when a spawnfunc_waypoint is reached)
315 void navigation_poproute(entity this)
316 {
317         //print("bot ", etos(this), " pop\n");
318         this.goalcurrent = this.goalstack01;
319         this.goalstack01 = this.goalstack02;
320         this.goalstack02 = this.goalstack03;
321         this.goalstack03 = this.goalstack04;
322         this.goalstack04 = this.goalstack05;
323         this.goalstack05 = this.goalstack06;
324         this.goalstack06 = this.goalstack07;
325         this.goalstack07 = this.goalstack08;
326         this.goalstack08 = this.goalstack09;
327         this.goalstack09 = this.goalstack10;
328         this.goalstack10 = this.goalstack11;
329         this.goalstack11 = this.goalstack12;
330         this.goalstack12 = this.goalstack13;
331         this.goalstack13 = this.goalstack14;
332         this.goalstack14 = this.goalstack15;
333         this.goalstack15 = this.goalstack16;
334         this.goalstack16 = this.goalstack17;
335         this.goalstack17 = this.goalstack18;
336         this.goalstack18 = this.goalstack19;
337         this.goalstack19 = this.goalstack20;
338         this.goalstack20 = this.goalstack21;
339         this.goalstack21 = this.goalstack22;
340         this.goalstack22 = this.goalstack23;
341         this.goalstack23 = this.goalstack24;
342         this.goalstack24 = this.goalstack25;
343         this.goalstack25 = this.goalstack26;
344         this.goalstack26 = this.goalstack27;
345         this.goalstack27 = this.goalstack28;
346         this.goalstack28 = this.goalstack29;
347         this.goalstack29 = this.goalstack30;
348         this.goalstack30 = this.goalstack31;
349         this.goalstack31 = NULL;
350 }
351
352 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
353 {
354         float dist;
355         dist = vlen(v - org);
356         if (bestdist > dist)
357         {
358                 traceline(v, org, true, ent);
359                 if (trace_fraction == 1)
360                 {
361                         if (walkfromwp)
362                         {
363                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
364                                         return true;
365                         }
366                         else
367                         {
368                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
369                                         return true;
370                         }
371                 }
372         }
373         return false;
374 }
375
376 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
377 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
378 {
379         vector pm1 = ent.origin + ent.mins;
380         vector pm2 = ent.origin + ent.maxs;
381
382         // do two scans, because box test is cheaper
383         IL_EACH(g_waypoints, it != ent && it != except,
384         {
385                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
386                         return it;
387         });
388
389         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
390         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
391         // TODO possibly make other code have the same support for bboxes
392         if(ent.tag_entity)
393                 org = org + ent.tag_entity.origin;
394         if (navigation_testtracewalk)
395                 te_plasmaburn(org);
396
397         entity best = NULL;
398         vector v;
399
400         // box check failed, try walk
401         IL_EACH(g_waypoints, it != ent,
402         {
403                 if(it.wpisbox)
404                 {
405                         vector wm1 = it.origin + it.mins;
406                         vector wm2 = it.origin + it.maxs;
407                         v.x = bound(wm1_x, org.x, wm2_x);
408                         v.y = bound(wm1_y, org.y, wm2_y);
409                         v.z = bound(wm1_z, org.z, wm2_z);
410                 }
411                 else
412                         v = it.origin;
413                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
414                 {
415                         bestdist = vlen(v - org);
416                         best = it;
417                 }
418         });
419         return best;
420 }
421 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
422 {
423         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
424         if (autocvar_g_waypointeditor_auto)
425         {
426                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
427                 if (wp && !wp2)
428                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
429         }
430         return wp;
431 }
432
433 // finds the waypoints near the bot initiating a navigation query
434 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
435 {
436         vector v, m1, m2;
437 //      navigation_testtracewalk = true;
438         int c = 0;
439         IL_EACH(g_waypoints, !it.wpconsidered,
440         {
441                 if (it.wpisbox)
442                 {
443                         m1 = it.origin + it.mins;
444                         m2 = it.origin + it.maxs;
445                         v = this.origin;
446                         v.x = bound(m1_x, v.x, m2_x);
447                         v.y = bound(m1_y, v.y, m2_y);
448                         v.z = bound(m1_z, v.z, m2_z);
449                 }
450                 else
451                         v = it.origin;
452                 vector diff = v - this.origin;
453                 diff.z = max(0, diff.z);
454                 if(vdist(diff, <, maxdist))
455                 {
456                         it.wpconsidered = true;
457                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
458                         {
459                                 it.wpnearestpoint = v;
460                                 it.wpcost = vlen(v - this.origin) + it.dmg;
461                                 it.wpfire = 1;
462                                 it.enemy = NULL;
463                                 c = c + 1;
464                         }
465                 }
466         });
467         //navigation_testtracewalk = false;
468         return c;
469 }
470
471 // updates a path link if a spawnfunc_waypoint link is better than the current one
472 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
473 {
474         vector m1;
475         vector m2;
476         vector v;
477         if (wp.wpisbox)
478         {
479                 m1 = wp.absmin;
480                 m2 = wp.absmax;
481                 v.x = bound(m1_x, p.x, m2_x);
482                 v.y = bound(m1_y, p.y, m2_y);
483                 v.z = bound(m1_z, p.z, m2_z);
484         }
485         else
486                 v = wp.origin;
487         cost2 = cost2 + vlen(v - p);
488         if (wp.wpcost > cost2)
489         {
490                 wp.wpcost = cost2;
491                 wp.enemy = w;
492                 wp.wpfire = 1;
493                 wp.wpnearestpoint = v;
494         }
495 }
496
497 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
498 void navigation_markroutes(entity this, entity fixed_source_waypoint)
499 {
500         float cost, cost2;
501         vector p;
502
503         IL_EACH(g_waypoints, true,
504         {
505                 it.wpconsidered = false;
506                 it.wpnearestpoint = '0 0 0';
507                 it.wpcost = 10000000;
508                 it.wpfire = 0;
509                 it.enemy = NULL;
510         });
511
512         if(fixed_source_waypoint)
513         {
514                 fixed_source_waypoint.wpconsidered = true;
515                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
516                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
517                 fixed_source_waypoint.wpfire = 1;
518                 fixed_source_waypoint.enemy = NULL;
519         }
520         else
521         {
522                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
523                 // as this search is expensive we will use lower values if the bot is on the air
524                 float increment, maxdistance;
525                 if(IS_ONGROUND(this))
526                 {
527                         increment = 750;
528                         maxdistance = 50000;
529                 }
530                 else
531                 {
532                         increment = 500;
533                         maxdistance = 1500;
534                 }
535
536                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
537         }
538
539         bool searching = true;
540         while (searching)
541         {
542                 searching = false;
543                 IL_EACH(g_waypoints, it.wpfire,
544                 {
545                         searching = true;
546                         it.wpfire = 0;
547                         cost = it.wpcost;
548                         p = it.wpnearestpoint;
549                         entity wp;
550                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
551                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
552                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
553                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
554                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
555                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
556                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
557                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
558                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
559                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
560                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
561                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
562                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
563                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
564                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
565                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
566                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
567                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
568                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
569                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
570                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
571                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
572                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
573                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
574                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
575                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
576                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
577                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
578                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
579                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
580                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
581                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
582                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
583                 });
584         }
585 }
586
587 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
588 void navigation_markroutes_inverted(entity fixed_source_waypoint)
589 {
590         float cost, cost2;
591         vector p;
592         IL_EACH(g_waypoints, true,
593         {
594                 it.wpconsidered = false;
595                 it.wpnearestpoint = '0 0 0';
596                 it.wpcost = 10000000;
597                 it.wpfire = 0;
598                 it.enemy = NULL;
599         });
600
601         if(fixed_source_waypoint)
602         {
603                 fixed_source_waypoint.wpconsidered = true;
604                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
605                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
606                 fixed_source_waypoint.wpfire = 1;
607                 fixed_source_waypoint.enemy = NULL;
608         }
609         else
610         {
611                 error("need to start with a waypoint\n");
612         }
613
614         bool searching = true;
615         while (searching)
616         {
617                 searching = false;
618                 IL_EACH(g_waypoints, it.wpfire,
619                 {
620                         searching = true;
621                         it.wpfire = 0;
622                         cost = it.wpcost; // cost to walk from it to home
623                         p = it.wpnearestpoint;
624                         entity wp = it;
625                         IL_EACH(g_waypoints, true,
626                         {
627                                 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
628                                 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
629                                 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
630                                 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
631                                 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
632                                 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
633                                 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
634                                 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
635                                         continue;
636                                 cost2 = cost + it.dmg;
637                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
638                         });
639                 });
640         }
641 }
642
643 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
644 void navigation_routerating(entity this, entity e, float f, float rangebias)
645 {
646         entity nwp;
647         vector o;
648         if (!e)
649                 return;
650
651         if(e.blacklisted)
652                 return;
653
654         o = (e.absmin + e.absmax) * 0.5;
655
656         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
657
658         // Evaluate path using jetpack
659         if(g_jetpack)
660         if(this.items & IT_JETPACK)
661         if(autocvar_bot_ai_navigation_jetpack)
662         if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
663         {
664                 vector pointa, pointb;
665
666                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
667
668                 // Point A
669                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
670                 pointa = trace_endpos - '0 0 1';
671
672                 // Point B
673                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
674                 pointb = trace_endpos - '0 0 1';
675
676                 // Can I see these two points from the sky?
677                 traceline(pointa, pointb, MOVE_NORMAL, this);
678
679                 if(trace_fraction==1)
680                 {
681                         LOG_DEBUG("jetpack ai: can bridge these two points");
682
683                         // Lower the altitude of these points as much as possible
684                         float zdistance, xydistance, cost, t, fuel;
685                         vector down, npa, npb;
686
687                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
688
689                         do{
690                                 npa = pointa + down;
691                                 npb = pointb + down;
692
693                                 if(npa.z<=this.absmax.z)
694                                         break;
695
696                                 if(npb.z<=e.absmax.z)
697                                         break;
698
699                                 traceline(npa, npb, MOVE_NORMAL, this);
700                                 if(trace_fraction==1)
701                                 {
702                                         pointa = npa;
703                                         pointb = npb;
704                                 }
705                         }
706                         while(trace_fraction == 1);
707
708
709                         // Rough estimation of fuel consumption
710                         // (ignores acceleration and current xyz velocity)
711                         xydistance = vlen(pointa - pointb);
712                         zdistance = fabs(pointa.z - this.origin.z);
713
714                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
715                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
716                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
717
718                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
719
720                         // enough fuel ?
721                         if(this.ammo_fuel>fuel)
722                         {
723                                 // Estimate cost
724                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
725                                 //  - between air and ground speeds)
726
727                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
728                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
729                                 cost *= 1.5;
730
731                                 // Compare against other goals
732                                 f = f * rangebias / (rangebias + cost);
733
734                                 if (navigation_bestrating < f)
735                                 {
736                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
737                                         navigation_bestrating = f;
738                                         navigation_bestgoal = e;
739                                         this.navigation_jetpack_goal = e;
740                                         this.navigation_jetpack_point = pointb;
741                                 }
742                                 return;
743                         }
744                 }
745         }
746
747         //te_wizspike(e.origin);
748         //bprint(etos(e));
749         //bprint("\n");
750         // update the cached spawnfunc_waypoint link on a dynamic item entity
751         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
752         {
753                 nwp = e;
754         }
755         else
756         {
757                 float search;
758
759                 search = true;
760
761                 if(e.flags & FL_ITEM)
762                 {
763                         if (!(e.flags & FL_WEAPON))
764                         if(e.nearestwaypoint)
765                                 search = false;
766                 }
767                 else if (e.flags & FL_WEAPON)
768                 {
769                         if(e.classname != "droppedweapon")
770                         if(e.nearestwaypoint)
771                                 search = false;
772                 }
773
774                 if(search)
775                 if (time > e.nearestwaypointtimeout)
776                 {
777                         nwp = navigation_findnearestwaypoint(e, true);
778                         if(nwp)
779                                 e.nearestwaypoint = nwp;
780                         else
781                         {
782                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
783
784                                 if(e.flags & FL_ITEM)
785                                         e.blacklisted = true;
786                                 else if (e.flags & FL_WEAPON)
787                                 {
788                                         if(e.classname != "droppedweapon")
789                                                 e.blacklisted = true;
790                                 }
791
792                                 if(e.blacklisted)
793                                 {
794                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
795                                         return;
796                                 }
797                         }
798
799                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
800                         if(e.classname=="item_flag_team")
801                                 e.nearestwaypointtimeout = time + 2;
802                         else
803                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
804                 }
805                 nwp = e.nearestwaypoint;
806         }
807
808         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
809         if (nwp)
810         if (nwp.wpcost < 10000000)
811         {
812                 //te_wizspike(nwp.wpnearestpoint);
813                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
814                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
815                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
816                 if (navigation_bestrating < f)
817                 {
818                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
819                         navigation_bestrating = f;
820                         navigation_bestgoal = e;
821                 }
822         }
823 }
824
825 // adds an item to the the goal stack with the path to a given item
826 bool navigation_routetogoal(entity this, entity e, vector startposition)
827 {
828         this.goalentity = e;
829
830         // if there is no goal, just exit
831         if (!e)
832                 return false;
833
834         this.navigation_hasgoals = true;
835
836         // put the entity on the goal stack
837         //print("routetogoal ", etos(e), "\n");
838         navigation_pushroute(this, e);
839
840         if(g_jetpack)
841         if(e==this.navigation_jetpack_goal)
842                 return true;
843
844         // if it can reach the goal there is nothing more to do
845         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
846                 return true;
847
848         // see if there are waypoints describing a path to the item
849         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
850                 e = e.nearestwaypoint;
851         else
852                 e = e.enemy; // we already have added it, so...
853
854         if(e == NULL)
855                 return false;
856
857         for (;;)
858         {
859                 // add the spawnfunc_waypoint to the path
860                 navigation_pushroute(this, e);
861                 e = e.enemy;
862
863                 if(e==NULL)
864                         break;
865         }
866
867         return false;
868 }
869
870 // removes any currently touching waypoints from the goal stack
871 // (this is how bots detect if they reached a goal)
872 void navigation_poptouchedgoals(entity this)
873 {
874         vector org, m1, m2;
875         org = this.origin;
876         m1 = org + this.mins;
877         m2 = org + this.maxs;
878
879         while(this.goalcurrent && wasfreed(this.goalcurrent))
880                 navigation_poproute(this);
881
882         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
883         {
884                 // make sure jumppad is really hit, don't rely on distance based checks
885                 // as they may report a touch even if it didn't really happen
886                 if(this.lastteleporttime>0)
887                 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
888                 {
889                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
890                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
891                         {
892                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
893                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
894                         }
895                         navigation_poproute(this);
896                         return;
897                 }
898         }
899
900         // If for some reason the bot is closer to the next goal, pop the current one
901         if(this.goalstack01 && !wasfreed(this.goalstack01))
902         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
903         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
904         if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
905         {
906                 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
907                 navigation_poproute(this);
908                 // TODO this may also be a nice idea to do "early" (e.g. by
909                 // manipulating the vlen() comparisons) to shorten paths in
910                 // general - this would make bots walk more "on rails" than
911                 // "zigzagging" which they currently do with sufficiently
912                 // random-like waypoints, and thus can make a nice bot
913                 // personality property
914         }
915
916         // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
917         // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
918         if(IS_PLAYER(this.goalcurrent))
919                 navigation_poproute(this);
920
921         // Loose goal touching check when running
922         if(this.aistatus & AI_STATUS_RUNNING)
923         if(this.speed >= autocvar_sv_maxspeed) // if -really- running
924         if(this.goalcurrent.classname=="waypoint")
925         if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
926         {
927                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
928                 {
929                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
930                         if(trace_fraction==1)
931                         {
932                                 // Detect personal waypoints
933                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
934                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
935                                 {
936                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
937                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
938                                 }
939
940                                 navigation_poproute(this);
941                         }
942                 }
943         }
944
945         while (this.goalcurrent && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax))
946         {
947                 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
948                         break;
949
950                 // Detect personal waypoints
951                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
952                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
953                 {
954                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
955                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
956                 }
957
958                 navigation_poproute(this);
959         }
960 }
961
962 // begin a goal selection session (queries spawnfunc_waypoint network)
963 void navigation_goalrating_start(entity this)
964 {
965         if(this.aistatus & AI_STATUS_STUCK)
966                 return;
967
968         this.navigation_jetpack_goal = NULL;
969         navigation_bestrating = -1;
970         this.navigation_hasgoals = false;
971         navigation_clearroute(this);
972         navigation_bestgoal = NULL;
973         navigation_markroutes(this, NULL);
974 }
975
976 // ends a goal selection session (updates goal stack to the best goal)
977 void navigation_goalrating_end(entity this)
978 {
979         if(this.aistatus & AI_STATUS_STUCK)
980                 return;
981
982         navigation_routetogoal(this, navigation_bestgoal, this.origin);
983         LOG_DEBUG("best goal ", this.goalcurrent.classname);
984
985         // If the bot got stuck then try to reach the farthest waypoint
986         if (!this.navigation_hasgoals)
987         if (autocvar_bot_wander_enable)
988         {
989                 if (!(this.aistatus & AI_STATUS_STUCK))
990                 {
991                         LOG_DEBUG(this.netname, " cannot walk to any goal");
992                         this.aistatus |= AI_STATUS_STUCK;
993                 }
994
995                 this.navigation_hasgoals = false; // Reset this value
996         }
997 }
998
999 void botframe_updatedangerousobjects(float maxupdate)
1000 {
1001         vector m1, m2, v, o;
1002         float c, d, danger;
1003         c = 0;
1004         IL_EACH(g_waypoints, true,
1005         {
1006                 danger = 0;
1007                 m1 = it.mins;
1008                 m2 = it.maxs;
1009                 IL_EACH(g_bot_dodge, it.bot_dodge,
1010                 {
1011                         v = it.origin;
1012                         v.x = bound(m1_x, v.x, m2_x);
1013                         v.y = bound(m1_y, v.y, m2_y);
1014                         v.z = bound(m1_z, v.z, m2_z);
1015                         o = (it.absmin + it.absmax) * 0.5;
1016                         d = it.bot_dodgerating - vlen(o - v);
1017                         if (d > 0)
1018                         {
1019                                 traceline(o, v, true, NULL);
1020                                 if (trace_fraction == 1)
1021                                         danger = danger + d;
1022                         }
1023                 });
1024                 it.dmg = danger;
1025                 c = c + 1;
1026                 if (c >= maxupdate)
1027                         break;
1028         });
1029 }
1030
1031 void navigation_unstuck(entity this)
1032 {
1033         float search_radius = 1000;
1034
1035         if (!autocvar_bot_wander_enable)
1036                 return;
1037
1038         if (!bot_waypoint_queue_owner)
1039         {
1040                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1041                 bot_waypoint_queue_owner = this;
1042                 bot_waypoint_queue_bestgoal = NULL;
1043                 bot_waypoint_queue_bestgoalrating = 0;
1044         }
1045
1046         if(bot_waypoint_queue_owner!=this)
1047                 return;
1048
1049         if (bot_waypoint_queue_goal)
1050         {
1051                 // evaluate the next goal on the queue
1052                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1053                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1054                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1055                 {
1056                         if( d > bot_waypoint_queue_bestgoalrating)
1057                         {
1058                                 bot_waypoint_queue_bestgoalrating = d;
1059                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1060                         }
1061                 }
1062                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1063
1064                 if (!bot_waypoint_queue_goal)
1065                 {
1066                         if (bot_waypoint_queue_bestgoal)
1067                         {
1068                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1069                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1070                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1071                                 this.aistatus &= ~AI_STATUS_STUCK;
1072                         }
1073                         else
1074                         {
1075                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1076                         }
1077
1078                         bot_waypoint_queue_owner = NULL;
1079                 }
1080         }
1081         else
1082         {
1083                 if(bot_strategytoken!=this)
1084                         return;
1085
1086                 // build a new queue
1087                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1088
1089                 entity first = NULL;
1090
1091                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1092                 {
1093                         if(bot_waypoint_queue_goal)
1094                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1095                         else
1096                                 first = it;
1097
1098                         bot_waypoint_queue_goal = it;
1099                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1100                 });
1101
1102                 if (first)
1103                         bot_waypoint_queue_goal = first;
1104                 else
1105                 {
1106                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1107                         bot_waypoint_queue_owner = NULL;
1108                 }
1109         }
1110 }
1111
1112 // Support for debugging tracewalk visually
1113
1114 void debugresetnodes()
1115 {
1116         debuglastnode = '0 0 0';
1117 }
1118
1119 void debugnode(entity this, vector node)
1120 {
1121         if (!IS_PLAYER(this))
1122                 return;
1123
1124         if(debuglastnode=='0 0 0')
1125         {
1126                 debuglastnode = node;
1127                 return;
1128         }
1129
1130         te_lightning2(NULL, node, debuglastnode);
1131         debuglastnode = node;
1132 }
1133
1134 void debugnodestatus(vector position, float status)
1135 {
1136         vector c;
1137
1138         switch (status)
1139         {
1140                 case DEBUG_NODE_SUCCESS:
1141                         c = '0 15 0';
1142                         break;
1143                 case DEBUG_NODE_WARNING:
1144                         c = '15 15 0';
1145                         break;
1146                 case DEBUG_NODE_FAIL:
1147                         c = '15 0 0';
1148                         break;
1149                 default:
1150                         c = '15 15 15';
1151         }
1152
1153         te_customflash(position, 40,  2, c);
1154 }
1155
1156 // Support for debugging the goal stack visually
1157
1158 .float goalcounter;
1159 .vector lastposition;
1160
1161 // Debug the goal stack visually
1162 void debuggoalstack(entity this)
1163 {
1164         entity goal;
1165         vector org, go;
1166
1167         if(this.goalcounter==0)goal=this.goalcurrent;
1168         else if(this.goalcounter==1)goal=this.goalstack01;
1169         else if(this.goalcounter==2)goal=this.goalstack02;
1170         else if(this.goalcounter==3)goal=this.goalstack03;
1171         else if(this.goalcounter==4)goal=this.goalstack04;
1172         else if(this.goalcounter==5)goal=this.goalstack05;
1173         else if(this.goalcounter==6)goal=this.goalstack06;
1174         else if(this.goalcounter==7)goal=this.goalstack07;
1175         else if(this.goalcounter==8)goal=this.goalstack08;
1176         else if(this.goalcounter==9)goal=this.goalstack09;
1177         else if(this.goalcounter==10)goal=this.goalstack10;
1178         else if(this.goalcounter==11)goal=this.goalstack11;
1179         else if(this.goalcounter==12)goal=this.goalstack12;
1180         else if(this.goalcounter==13)goal=this.goalstack13;
1181         else if(this.goalcounter==14)goal=this.goalstack14;
1182         else if(this.goalcounter==15)goal=this.goalstack15;
1183         else if(this.goalcounter==16)goal=this.goalstack16;
1184         else if(this.goalcounter==17)goal=this.goalstack17;
1185         else if(this.goalcounter==18)goal=this.goalstack18;
1186         else if(this.goalcounter==19)goal=this.goalstack19;
1187         else if(this.goalcounter==20)goal=this.goalstack20;
1188         else if(this.goalcounter==21)goal=this.goalstack21;
1189         else if(this.goalcounter==22)goal=this.goalstack22;
1190         else if(this.goalcounter==23)goal=this.goalstack23;
1191         else if(this.goalcounter==24)goal=this.goalstack24;
1192         else if(this.goalcounter==25)goal=this.goalstack25;
1193         else if(this.goalcounter==26)goal=this.goalstack26;
1194         else if(this.goalcounter==27)goal=this.goalstack27;
1195         else if(this.goalcounter==28)goal=this.goalstack28;
1196         else if(this.goalcounter==29)goal=this.goalstack29;
1197         else if(this.goalcounter==30)goal=this.goalstack30;
1198         else if(this.goalcounter==31)goal=this.goalstack31;
1199         else goal=NULL;
1200
1201         if(goal==NULL)
1202         {
1203                 this.goalcounter = 0;
1204                 this.lastposition='0 0 0';
1205                 return;
1206         }
1207
1208         if(this.lastposition=='0 0 0')
1209                 org = this.origin;
1210         else
1211                 org = this.lastposition;
1212
1213
1214         go = ( goal.absmin + goal.absmax ) * 0.5;
1215         te_lightning2(NULL, org, go);
1216         this.lastposition = go;
1217
1218         this.goalcounter++;
1219 }