Bot AI: while bunnyhopping detect waypoints way under bots (up to 250 qu) for smoothe...
[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/mapobjects/func/ladder.qh>
17 #include <common/mapobjects/trigger/jumppads.qh>
18
19 .float speed;
20
21 void navigation_goalrating_timeout_set(entity this)
22 {
23         if(IS_MOVABLE(this.goalentity))
24                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
25         else
26                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
27 }
28
29 // use this when current goal must be discarded immediately
30 void navigation_goalrating_timeout_force(entity this)
31 {
32         navigation_goalrating_timeout_expire(this, 0);
33 }
34
35 // use this when current goal can be kept for a short while to increase the chance
36 // of bot touching a waypoint, which helps to find a new goal more efficiently
37 void navigation_goalrating_timeout_expire(entity this, float seconds)
38 {
39         if (seconds <= 0)
40                 this.bot_strategytime = 0;
41         else if (this.bot_strategytime > time + seconds)
42                 this.bot_strategytime = time + seconds;
43 }
44
45 bool navigation_goalrating_timeout(entity this)
46 {
47         return this.bot_strategytime < time;
48 }
49
50 void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds)
51 {
52         this.bot_strategytime = max(this.bot_strategytime, time + seconds);
53 }
54
55 #define MAX_CHASE_DISTANCE 700
56 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
57 {
58         vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
59         if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
60                 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
61         {
62                 return true;
63         }
64
65         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
66         {
67                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
68                 {
69                         this.ignoregoal = this.goalentity;
70                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
71                         return true;
72                 }
73         }
74         return false;
75 }
76
77 void navigation_dynamicgoal_init(entity this, bool initially_static)
78 {
79         this.navigation_dynamicgoal = true;
80         this.bot_basewaypoint = this.nearestwaypoint;
81         if(initially_static)
82                 this.nearestwaypointtimeout = -1;
83         else
84                 this.nearestwaypointtimeout = time;
85 }
86
87 void navigation_dynamicgoal_set(entity this, entity dropper)
88 {
89         this.nearestwaypointtimeout = time;
90         if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
91                 this.nearestwaypoint = dropper.nearestwaypoint;
92         if (this.nearestwaypoint)
93                 this.nearestwaypointtimeout += 2;
94 }
95
96 void navigation_dynamicgoal_unset(entity this)
97 {
98         if(this.bot_basewaypoint)
99                 this.nearestwaypoint = this.bot_basewaypoint;
100         this.nearestwaypointtimeout = -1;
101 }
102
103 // returns point of ent closer to org
104 vector get_closer_dest(entity ent, vector org)
105 {
106         vector dest = '0 0 0';
107         if ((ent.classname != "waypoint") || ent.wpisbox)
108         {
109                 vector wm1 = ent.origin + ent.mins;
110                 vector wm2 = ent.origin + ent.maxs;
111                 dest.x = bound(wm1.x, org.x, wm2.x);
112                 dest.y = bound(wm1.y, org.y, wm2.y);
113                 dest.z = bound(wm1.z, org.z, wm2.z);
114         }
115         else
116                 dest = ent.origin;
117         return dest;
118 }
119
120 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
121 {
122         if ((ent.classname != "waypoint") || ent.wpisbox)
123         {
124                 vector wm1 = ent.origin + ent.mins;
125                 vector wm2 = ent.origin + ent.maxs;
126                 if (IS_PLAYER(ent) || IS_MONSTER(ent))
127                 {
128                         // move destination point out of player bbox otherwise tracebox always fails
129                         // (if bot_navigation_ignoreplayers is false)
130                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
131                         wm2 += vec2(PL_MAX_CONST) + '1 1 0';
132                 }
133                 // set destination point to x and y coords of ent that are closer to org
134                 // z coord is set to ent's min height
135                 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
136                 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
137                 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
138                         && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
139                 {
140                         tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
141                         tracewalk_dest_height = 0;
142                         fix_player_dest = false;
143                 }
144                 else
145                 {
146                         tracewalk_dest.z = wm1.z;
147                         tracewalk_dest_height = wm2.z - wm1.z;
148                 }
149         }
150         else
151         {
152                 tracewalk_dest = ent.origin;
153                 tracewalk_dest_height = 0;
154         }
155         if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
156         {
157                 // snap player to the ground
158                 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
159                 {
160                         // bot is right under the player
161                         tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
162                         tracewalk_dest = trace_endpos;
163                         tracewalk_dest_height = 0;
164                 }
165                 else
166                 {
167                         tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
168                         if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
169                         {
170                                 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
171                                 tracewalk_dest.z = trace_endpos.z;
172                         }
173                 }
174         }
175 }
176
177 // returns point of ent closer to org
178 vector set_tracewalk_dest_2(entity ent, vector org)
179 {
180         vector closer_dest = '0 0 0';
181         if ((ent.classname != "waypoint") || ent.wpisbox)
182         {
183                 vector wm1 = ent.origin + ent.mins;
184                 vector wm2 = ent.origin + ent.maxs;
185                 closer_dest.x = bound(wm1.x, org.x, wm2.x);
186                 closer_dest.y = bound(wm1.y, org.y, wm2.y);
187                 closer_dest.z = bound(wm1.z, org.z, wm2.z);
188                 // set destination point to x and y coords of ent that are closer to org
189                 // z coord is set to ent's min height
190                 tracewalk_dest.x = closer_dest.x;
191                 tracewalk_dest.y = closer_dest.y;
192                 tracewalk_dest.z = wm1.z;
193                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
194         }
195         else
196         {
197                 closer_dest = ent.origin;
198                 tracewalk_dest = closer_dest;
199                 tracewalk_dest_height = 0;
200         }
201         return closer_dest;
202 }
203
204 bool navigation_check_submerged_state(entity ent, vector pos)
205 {
206         bool submerged;
207         if(IS_PLAYER(ent))
208                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
209         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
210                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
211         else
212         {
213                 submerged = SUBMERGED(pos);
214                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
215                 //  is actually submerged because often they are inside some solid.
216                 //  That's why submerged state is saved now that we know current pos is
217                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
218                 if(!ent.navigation_dynamicgoal)
219                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
220         }
221         return submerged;
222 }
223
224 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
225 {
226         IL_EACH(g_ladders, it.classname == "func_ladder",
227         {
228                 if(it.bot_pickup)
229                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
230                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
231                 {
232                         vector top = org;
233                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
234                         tracebox(org, m1, m2, top, movemode, e);
235                         if(trace_fraction == 1)
236                                 return true;
237                 }
238         });
239         return false;
240 }
241
242 // Unfortuntely we can't use trace_inwater since it doesn't hold the fraction of the total
243 // distance that was traveled before impact as the description in the engine (collision.h) says.
244 // It would have helped to speed up tracewalk underwater
245 vector resurface_limited(vector org, float lim, vector m1)
246 {
247         if (WETFEET(org + eZ * (lim - org.z)))
248                 org.z = lim;
249         else
250         {
251                 float RES_min_h = org.z;
252                 float RES_max_h = lim;
253                 do {
254                         org.z = 0.5 * (RES_min_h + RES_max_h);
255                         if(WETFEET(org))
256                                 RES_min_h = org.z;
257                         else
258                                 RES_max_h = org.z;
259                 } while (RES_max_h - RES_min_h >= 1);
260                 org.z = RES_min_h;
261         }
262         return org;
263 }
264 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
265
266 #define NAV_WALK 0
267 #define NAV_SWIM_ONWATER 1
268 #define NAV_SWIM_UNDERWATER 2
269
270 // rough simulation of walking from one point to another to test if a path
271 // can be traveled, used for waypoint linking and havocbot
272 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
273 // INFO: the command sv_cmd trace walk is useful to test this function in game
274 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
275 {
276         if(autocvar_bot_debug_tracewalk)
277         {
278                 debugresetnodes();
279                 debugnode(e, start);
280         }
281
282         vector org = start;
283         vector flatdir = end - start;
284         flatdir.z = 0;
285         float flatdist = vlen(flatdir);
286         flatdir = normalize(flatdir);
287         float stepdist = 32;
288         bool ignorehazards = false;
289         int nav_action;
290
291         // Analyze starting point
292         if (IN_LAVA(start))
293                 ignorehazards = true;
294
295         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
296         if (trace_startsolid)
297         {
298                 // Bad start
299                 if(autocvar_bot_debug_tracewalk)
300                         debugnodestatus(start, DEBUG_NODE_FAIL);
301
302                 //print("tracewalk: ", vtos(start), " is a bad start\n");
303                 return false;
304         }
305
306         vector end2 = end;
307         if(end_height)
308                 end2.z += end_height;
309
310         vector fixed_end = end;
311         vector move;
312
313         if (flatdist > 0 && WETFEET(org))
314         {
315                 if (SUBMERGED(org))
316                         nav_action = NAV_SWIM_UNDERWATER;
317                 else
318                 {
319                         // tracebox down by player's height
320                         // useful to know if water level is so low that bot can still walk
321                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
322                         if (SUBMERGED(trace_endpos))
323                         {
324                                 org = trace_endpos;
325                                 nav_action = NAV_SWIM_UNDERWATER;
326                         }
327                         else
328                                 nav_action = NAV_WALK;
329                 }
330         }
331         else
332                 nav_action =  NAV_WALK;
333
334         // Movement loop
335         while (true)
336         {
337                 if (flatdist <= 0)
338                 {
339                         bool success = true;
340                         if (org.z > end2.z + 1)
341                         {
342                                 tracebox(org, m1, m2, end2, movemode, e);
343                                 org = trace_endpos;
344                                 if (org.z > end2.z + 1)
345                                         success = false;
346                         }
347                         else if (org.z < end.z - 1)
348                         {
349                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
350                                 if (SUBMERGED(trace_endpos))
351                                 {
352                                         vector v = trace_endpos;
353                                         tracebox(v, m1, m2, end, movemode, e);
354                                         if(trace_endpos.z >= end.z - 1)
355                                         {
356                                                 RESURFACE_LIMITED(v, trace_endpos.z);
357                                                 trace_endpos = v;
358                                         }
359                                 }
360                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
361                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
362                                 org = trace_endpos;
363                                 if (org.z < end.z - 1)
364                                         success = false;
365                         }
366
367                         if (success)
368                         {
369                                 // Succeeded
370                                 if(autocvar_bot_debug_tracewalk)
371                                 {
372                                         debugnode(e, org);
373                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
374                                 }
375
376                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
377                                 return true;
378                         }
379                 }
380
381                 if(autocvar_bot_debug_tracewalk)
382                         debugnode(e, org);
383
384                 if (flatdist <= 0)
385                         break;
386
387                 if (stepdist > flatdist)
388                         stepdist = flatdist;
389                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
390                 {
391                         // can't use movement direction here to calculate move because of
392                         // precision errors especially when direction has a high enough z value
393                         //water_dir = normalize(water_end - org);
394                         //move = org + water_dir * stepdist;
395                         fixed_end.z = bound(end.z, org.z, end2.z);
396                         if (stepdist == flatdist) {
397                                 move = fixed_end;
398                                 flatdist = 0;
399                         } else {
400                                 move = org + (fixed_end - org) * (stepdist / flatdist);
401                                 flatdist = vlen(vec2(fixed_end - move));
402                         }
403                 }
404                 else // horiz. direction
405                 {
406                         flatdist -= stepdist;
407                         move = org + flatdir * stepdist;
408                 }
409
410                 if(nav_action == NAV_SWIM_ONWATER)
411                 {
412                         tracebox(org, m1, m2, move, movemode, e); // swim
413
414                         // hit something
415                         if (trace_fraction < 1)
416                         {
417                                 // stepswim
418                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
419
420                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
421                                 {
422                                         org = trace_endpos;
423                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
424                                         {
425                                                 if(autocvar_bot_debug_tracewalk)
426                                                 {
427                                                         debugnode(e, org);
428                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
429                                                 }
430
431                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
432                                                 return true;
433                                         }
434
435                                         if(autocvar_bot_debug_tracewalk)
436                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
437
438                                         return false;
439                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
440                                 }
441
442                                 //succesful stepswim
443
444                                 if (flatdist <= 0)
445                                 {
446                                         org = trace_endpos;
447                                         continue;
448                                 }
449
450                                 if (org.z <= move.z) // going horiz.
451                                 {
452                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
453                                         org = trace_endpos;
454                                         nav_action = NAV_WALK;
455                                         continue;
456                                 }
457                         }
458
459                         if (org.z <= move.z) // going horiz.
460                         {
461                                 org = trace_endpos;
462                                 nav_action = NAV_SWIM_ONWATER;
463                         }
464                         else // going down
465                         {
466                                 org = trace_endpos;
467                                 if (SUBMERGED(org))
468                                         nav_action = NAV_SWIM_UNDERWATER;
469                                 else
470                                         nav_action = NAV_SWIM_ONWATER;
471                         }
472                 }
473                 else if(nav_action == NAV_SWIM_UNDERWATER)
474                 {
475                         if (move.z >= org.z) // swimming upwards or horiz.
476                         {
477                                 tracebox(org, m1, m2, move, movemode, e); // swim
478
479                                 bool stepswum = false;
480
481                                 // hit something
482                                 if (trace_fraction < 1)
483                                 {
484                                         // stepswim
485                                         vector stepswim_move = move + stepheightvec;
486                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
487                                                 stepswim_move.z = end2.z;
488
489                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
490
491                                         // hit something
492                                         if (trace_startsolid)
493                                         {
494                                                 if(autocvar_bot_debug_tracewalk)
495                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
496
497                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
498                                                 return false;
499                                         }
500
501                                         if (trace_fraction < 1)
502                                         {
503                                                 float org_z_prev = org.z;
504                                                 RESURFACE_LIMITED(org, end2.z);
505                                                 if(org.z == org_z_prev)
506                                                 {
507                                                         if(autocvar_bot_debug_tracewalk)
508                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
509
510                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
511                                                         return false;
512                                                 }
513                                                 if(SUBMERGED(org))
514                                                         nav_action = NAV_SWIM_UNDERWATER;
515                                                 else
516                                                         nav_action = NAV_SWIM_ONWATER;
517
518                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
519                                                 // but we can't do it properly right now... apply this workaround instead
520                                                 if (flatdist <= 0)
521                                                         flatdist = 1;
522
523                                                 continue;
524                                         }
525
526                                         //succesful stepswim
527
528                                         if (flatdist <= 0)
529                                         {
530                                                 org = trace_endpos;
531                                                 continue;
532                                         }
533
534                                         stepswum = true;
535                                 }
536
537                                 if (!WETFEET(trace_endpos))
538                                 {
539                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
540                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
541                                         if (!stepswum && SUBMERGED(trace_endpos))
542                                         {
543                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
544                                                 org = trace_endpos;
545                                                 nav_action = NAV_SWIM_ONWATER;
546                                                 continue;
547                                         }
548
549                                         // not submerged
550                                         org = trace_endpos;
551                                         nav_action = NAV_WALK;
552                                         continue;
553                                 }
554
555                                 // wetfeet
556                                 org = trace_endpos;
557                                 nav_action = NAV_SWIM_UNDERWATER;
558                                 continue;
559                         }
560                         else //if (move.z < org.z) // swimming downwards
561                         {
562                                 tracebox(org, m1, m2, move, movemode, e); // swim
563
564                                 // hit something
565                                 if (trace_fraction < 1)
566                                 {
567                                         // stepswim
568                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
569
570                                         // hit something
571                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
572                                         {
573                                                 if(autocvar_bot_debug_tracewalk)
574                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
575
576                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
577                                                 return false;
578                                         }
579
580                                         //succesful stepswim
581
582                                         if (flatdist <= 0)
583                                         {
584                                                 org = trace_endpos;
585                                                 continue;
586                                         }
587
588                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
589                                         {
590                                                 // stepswim caused upwards direction
591                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
592                                                 if (!SUBMERGED(trace_endpos))
593                                                 {
594                                                         org = trace_endpos;
595                                                         nav_action = NAV_WALK;
596                                                         continue;
597                                                 }
598                                         }
599                                 }
600
601                                 org = trace_endpos;
602                                 nav_action = NAV_SWIM_UNDERWATER;
603                                 continue;
604                         }
605                 }
606                 else if(nav_action == NAV_WALK)
607                 {
608                         // walk
609                         tracebox(org, m1, m2, move, movemode, e);
610
611                         if(autocvar_bot_debug_tracewalk)
612                                 debugnode(e, trace_endpos);
613
614                         // hit something
615                         if (trace_fraction < 1)
616                         {
617                                 // check if we can walk over this obstacle, possibly by jumpstepping
618                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
619                                 if (trace_fraction < 1 || trace_startsolid)
620                                 {
621                                         if (trace_startsolid) // hit ceiling above org
622                                         {
623                                                 // reduce stepwalk height
624                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
625                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
626                                         }
627                                         else //if (trace_fraction < 1)
628                                         {
629                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
630                                                 if (trace_startsolid) // hit ceiling above org
631                                                 {
632                                                         // reduce jumpstepwalk height
633                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
634                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
635                                                 }
636                                         }
637
638                                         if (trace_fraction < 1)
639                                         {
640                                                 vector v = trace_endpos;
641                                                 v.z = org.z + jumpheight_vec.z;
642                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
643                                                 {
644                                                         if(autocvar_bot_debug_tracewalk)
645                                                         {
646                                                                 debugnode(e, v);
647                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
648                                                         }
649
650                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
651                                                         return true;
652                                                 }
653
654                                                 if(autocvar_bot_debug_tracewalk)
655                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
656
657                                                 traceline( org, move, movemode, e);
658
659                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
660                                                 {
661                                                         vector nextmove;
662                                                         move = trace_endpos;
663                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
664                                                         {
665                                                                 nextmove = move + (flatdir * stepdist);
666                                                                 traceline( move, nextmove, movemode, e);
667                                                                 move = nextmove;
668                                                         }
669                                                         flatdist = vlen(vec2(end - move));
670                                                 }
671                                                 else
672                                                 {
673                                                         if(autocvar_bot_debug_tracewalk)
674                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
675
676                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
677                                                         //te_explosion(trace_endpos);
678                                                         //print(ftos(e.dphitcontentsmask), "\n");
679                                                         return false; // failed
680                                                 }
681                                         }
682                                         else
683                                                 move = trace_endpos;
684                                 }
685                                 else
686                                         move = trace_endpos;
687                         }
688                         else
689                                 move = trace_endpos;
690
691                         // trace down from stepheight as far as possible and move there,
692                         // if this starts in solid we try again without the stepup, and
693                         // if that also fails we assume it is a wall
694                         // (this is the same logic as the Quake walkmove function used)
695                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
696
697                         org = trace_endpos;
698
699                         if (!ignorehazards)
700                         {
701                                 if (IN_LAVA(org))
702                                 {
703                                         if(autocvar_bot_debug_tracewalk)
704                                         {
705                                                 debugnode(e, trace_endpos);
706                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
707                                         }
708
709                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
710                                         return false;
711                                 }
712                         }
713
714                         if (flatdist <= 0)
715                         {
716                                 if(move.z >= end2.z && org.z < end2.z)
717                                         org.z = end2.z;
718                                 continue;
719                         }
720
721                         if(org.z > move.z - 1 || !SUBMERGED(org))
722                         {
723                                 nav_action = NAV_WALK;
724                                 continue;
725                         }
726
727                         // ended up submerged while walking
728                         if(autocvar_bot_debug_tracewalk)
729                                 debugnode(e, org);
730
731                         RESURFACE_LIMITED(org, move.z);
732                         nav_action = NAV_SWIM_ONWATER;
733                         continue;
734                 }
735         }
736
737         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
738
739         // moved but didn't arrive at the intended destination
740         if(autocvar_bot_debug_tracewalk)
741                 debugnodestatus(org, DEBUG_NODE_FAIL);
742
743         return false;
744 }
745
746 /////////////////////////////////////////////////////////////////////////////
747 // goal stack
748 /////////////////////////////////////////////////////////////////////////////
749
750 // completely empty the goal stack, used when deciding where to go
751 void navigation_clearroute(entity this)
752 {
753         this.lastteleporttime = 0;
754         this.goalcurrent_prev = this.goalcurrent;
755         this.goalcurrent_distance_2d = FLOAT_MAX;
756         this.goalcurrent_distance_z = FLOAT_MAX;
757         this.goalcurrent_distance_time = 0;
758         this.goalentity_lock_timeout = 0;
759         this.goalentity_shouldbefrozen = false;
760         this.goalentity = NULL;
761         this.goalcurrent = NULL;
762         this.goalstack01 = NULL;
763         this.goalstack02 = NULL;
764         this.goalstack03 = NULL;
765         this.goalstack04 = NULL;
766         this.goalstack05 = NULL;
767         this.goalstack06 = NULL;
768         this.goalstack07 = NULL;
769         this.goalstack08 = NULL;
770         this.goalstack09 = NULL;
771         this.goalstack10 = NULL;
772         this.goalstack11 = NULL;
773         this.goalstack12 = NULL;
774         this.goalstack13 = NULL;
775         this.goalstack14 = NULL;
776         this.goalstack15 = NULL;
777         this.goalstack16 = NULL;
778         this.goalstack17 = NULL;
779         this.goalstack18 = NULL;
780         this.goalstack19 = NULL;
781         this.goalstack20 = NULL;
782         this.goalstack21 = NULL;
783         this.goalstack22 = NULL;
784         this.goalstack23 = NULL;
785         this.goalstack24 = NULL;
786         this.goalstack25 = NULL;
787         this.goalstack26 = NULL;
788         this.goalstack27 = NULL;
789         this.goalstack28 = NULL;
790         this.goalstack29 = NULL;
791         this.goalstack30 = NULL;
792         this.goalstack31 = NULL;
793 }
794
795 // add a new goal at the beginning of the stack
796 // (in other words: add a new prerequisite before going to the later goals)
797 // NOTE: when a waypoint is added, the WP gets pushed first, then the
798 // next-closest WP on the shortest path to the WP
799 // That means, if the stack overflows, the bot will know how to do the FIRST 32
800 // steps to the goal, and then recalculate the path.
801 void navigation_pushroute(entity this, entity e)
802 {
803         this.goalcurrent_prev = this.goalcurrent;
804         this.goalcurrent_distance_2d = FLOAT_MAX;
805         this.goalcurrent_distance_z = FLOAT_MAX;
806         this.goalcurrent_distance_time = 0;
807         //print("bot ", etos(this), " push ", etos(e), "\n");
808         if(this.goalstack31 == this.goalentity)
809                 this.goalentity = NULL;
810         this.goalstack31 = this.goalstack30;
811         this.goalstack30 = this.goalstack29;
812         this.goalstack29 = this.goalstack28;
813         this.goalstack28 = this.goalstack27;
814         this.goalstack27 = this.goalstack26;
815         this.goalstack26 = this.goalstack25;
816         this.goalstack25 = this.goalstack24;
817         this.goalstack24 = this.goalstack23;
818         this.goalstack23 = this.goalstack22;
819         this.goalstack22 = this.goalstack21;
820         this.goalstack21 = this.goalstack20;
821         this.goalstack20 = this.goalstack19;
822         this.goalstack19 = this.goalstack18;
823         this.goalstack18 = this.goalstack17;
824         this.goalstack17 = this.goalstack16;
825         this.goalstack16 = this.goalstack15;
826         this.goalstack15 = this.goalstack14;
827         this.goalstack14 = this.goalstack13;
828         this.goalstack13 = this.goalstack12;
829         this.goalstack12 = this.goalstack11;
830         this.goalstack11 = this.goalstack10;
831         this.goalstack10 = this.goalstack09;
832         this.goalstack09 = this.goalstack08;
833         this.goalstack08 = this.goalstack07;
834         this.goalstack07 = this.goalstack06;
835         this.goalstack06 = this.goalstack05;
836         this.goalstack05 = this.goalstack04;
837         this.goalstack04 = this.goalstack03;
838         this.goalstack03 = this.goalstack02;
839         this.goalstack02 = this.goalstack01;
840         this.goalstack01 = this.goalcurrent;
841         this.goalcurrent = e;
842 }
843
844 // remove first goal from stack
845 // (in other words: remove a prerequisite for reaching the later goals)
846 // (used when a spawnfunc_waypoint is reached)
847 void navigation_poproute(entity this)
848 {
849         this.goalcurrent_prev = this.goalcurrent;
850         this.goalcurrent_distance_2d = FLOAT_MAX;
851         this.goalcurrent_distance_z = FLOAT_MAX;
852         this.goalcurrent_distance_time = 0;
853         //print("bot ", etos(this), " pop\n");
854         if(this.goalcurrent == this.goalentity)
855         {
856                 this.goalentity = NULL;
857                 this.goalentity_lock_timeout = 0;
858         }
859         this.goalcurrent = this.goalstack01;
860         this.goalstack01 = this.goalstack02;
861         this.goalstack02 = this.goalstack03;
862         this.goalstack03 = this.goalstack04;
863         this.goalstack04 = this.goalstack05;
864         this.goalstack05 = this.goalstack06;
865         this.goalstack06 = this.goalstack07;
866         this.goalstack07 = this.goalstack08;
867         this.goalstack08 = this.goalstack09;
868         this.goalstack09 = this.goalstack10;
869         this.goalstack10 = this.goalstack11;
870         this.goalstack11 = this.goalstack12;
871         this.goalstack12 = this.goalstack13;
872         this.goalstack13 = this.goalstack14;
873         this.goalstack14 = this.goalstack15;
874         this.goalstack15 = this.goalstack16;
875         this.goalstack16 = this.goalstack17;
876         this.goalstack17 = this.goalstack18;
877         this.goalstack18 = this.goalstack19;
878         this.goalstack19 = this.goalstack20;
879         this.goalstack20 = this.goalstack21;
880         this.goalstack21 = this.goalstack22;
881         this.goalstack22 = this.goalstack23;
882         this.goalstack23 = this.goalstack24;
883         this.goalstack24 = this.goalstack25;
884         this.goalstack25 = this.goalstack26;
885         this.goalstack26 = this.goalstack27;
886         this.goalstack27 = this.goalstack28;
887         this.goalstack28 = this.goalstack29;
888         this.goalstack29 = this.goalstack30;
889         this.goalstack30 = this.goalstack31;
890         this.goalstack31 = NULL;
891 }
892
893 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
894 // waypoint destination coordinates instead of v (only useful for box waypoints)
895 // for normal waypoints v2 == v and v2_height == 0
896 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)
897 {
898         if (vdist(v - org, <, bestdist))
899         {
900                 traceline(v, org, true, ent);
901                 if (trace_fraction == 1)
902                 {
903                         if (walkfromwp)
904                         {
905                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
906                                         return true;
907                         }
908                         else
909                         {
910                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
911                                         return true;
912                         }
913                 }
914         }
915         return false;
916 }
917
918 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
919 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
920 {
921         if(ent.tag_entity)
922                 ent = ent.tag_entity;
923
924         vector pm1 = ent.origin + ent.mins;
925         vector pm2 = ent.origin + ent.maxs;
926
927         if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent))
928         {
929                 // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links
930                 // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu)
931                 // isn't detected as the nearest waypoint
932                 IL_EACH(g_waypoints, it != ent && it != except,
933                 {
934                         if (boxesoverlap(pm1, pm2, it.absmin, it.absmax))
935                                 return it;
936                 });
937         }
938         else
939         {
940                 // do two scans, because box test is cheaper
941                 IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
942                 {
943                         if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
944                         {
945                                 if(walkfromwp && !ent.navigation_dynamicgoal)
946                                         waypoint_clearlinks(ent); // initialize wpXXmincost fields
947                                 return it;
948                         }
949                 });
950         }
951
952         vector org = ent.origin;
953         if (navigation_testtracewalk)
954                 te_plasmaburn(org);
955
956         entity best = NULL;
957         vector v = '0 0 0';
958
959         if(ent.size && !IS_PLAYER(ent))
960         {
961                 org += 0.5 * (ent.mins + ent.maxs);
962                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
963         }
964
965         // box check failed, try walk
966         IL_EACH(g_waypoints, it != ent,
967         {
968                 if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK))
969                         continue;
970                 v = it.origin;
971
972                 if (walkfromwp)
973                 {
974                         set_tracewalk_dest(ent, v, true);
975                         if (trace_ent == ent)
976                         {
977                                 bestdist = 0;
978                                 best = it;
979                                 break;
980                         }
981                 }
982                 else
983                         set_tracewalk_dest(it, org, false);
984
985                 if (navigation_waypoint_will_link(v, org, ent,
986                         tracewalk_dest, tracewalk_dest_height,
987                         tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
988                 {
989                         if (walkfromwp)
990                                 bestdist = vlen(tracewalk_dest - v);
991                         else
992                                 bestdist = vlen(v - org);
993                         best = it;
994                 }
995         });
996         if(!best && !ent.navigation_dynamicgoal)
997         {
998                 int solid_save = ent.solid;
999                 ent.solid = SOLID_BSP;
1000                 IL_EACH(g_jumppads, true,
1001                 {
1002                         if(trigger_push_test(it, ent))
1003                         {
1004                                 best = it.nearestwaypoint;
1005                                 break;
1006                         }
1007                 });
1008                 ent.solid = solid_save;
1009         }
1010         return best;
1011 }
1012 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1013 {
1014         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1015         if (autocvar_g_waypointeditor_auto)
1016         {
1017                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1018                 if (wp && !wp2)
1019                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1020         }
1021         return wp;
1022 }
1023
1024 // finds the waypoints near the bot initiating a navigation query
1025 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1026 {
1027         //navigation_testtracewalk = true;
1028         int c = 0;
1029         IL_EACH(g_waypoints, !it.wpconsidered,
1030         {
1031                 set_tracewalk_dest(it, this.origin, false);
1032
1033                 vector diff = tracewalk_dest - this.origin;
1034                 diff.z = max(0, diff.z);
1035                 if(vdist(diff, <, maxdist))
1036                 {
1037                         it.wpconsidered = true;
1038                         if (tracewalk(this, this.origin, this.mins, this.maxs,
1039                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1040                         {
1041                                 it.wpnearestpoint = tracewalk_dest;
1042                                 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1043                                 it.wpfire = 1;
1044                                 it.enemy = NULL;
1045                                 c = c + 1;
1046                         }
1047                 }
1048         });
1049         //navigation_testtracewalk = false;
1050         return c;
1051 }
1052
1053 // updates a path link if a spawnfunc_waypoint link is better than the current one
1054 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1055 {
1056         vector m1, m2;
1057         vector v;
1058         if (wp.wpisbox)
1059         {
1060                 m1 = wp.origin + wp.mins;
1061                 m2 = wp.origin + wp.maxs;
1062                 v.x = bound(m1_x, p.x, m2_x);
1063                 v.y = bound(m1_y, p.y, m2_y);
1064                 v.z = bound(m1_z, p.z, m2_z);
1065         }
1066         else
1067                 v = wp.origin;
1068         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1069                 cost += w.wp00mincost; // assuming teleport has exactly one destination
1070         else
1071                 cost += waypoint_gettravelcost(p, v, w, wp);
1072         if (wp.wpcost > cost)
1073         {
1074                 wp.wpcost = cost;
1075                 wp.enemy = w;
1076                 wp.wpfire = 1;
1077                 wp.wpnearestpoint = v;
1078         }
1079 }
1080
1081 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1082 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1083 {
1084         float cost, cost2;
1085         vector p;
1086
1087         IL_EACH(g_waypoints, true,
1088         {
1089                 it.wpconsidered = false;
1090                 it.wpnearestpoint = '0 0 0';
1091                 it.wpcost = 10000000;
1092                 it.wpfire = 0;
1093                 it.enemy = NULL;
1094         });
1095
1096         if(fixed_source_waypoint)
1097         {
1098                 fixed_source_waypoint.wpconsidered = true;
1099                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1100                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1101                 fixed_source_waypoint.wpfire = 1;
1102                 fixed_source_waypoint.enemy = NULL;
1103         }
1104         else
1105         {
1106                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1107                 // as this search is expensive we will use lower values if the bot is on the air
1108                 float increment, maxdistance;
1109                 if(IS_ONGROUND(this))
1110                 {
1111                         increment = 750;
1112                         maxdistance = 50000;
1113                 }
1114                 else
1115                 {
1116                         increment = 500;
1117                         maxdistance = 1500;
1118                 }
1119
1120                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1121         }
1122
1123         bool searching = true;
1124         while (searching)
1125         {
1126                 searching = false;
1127                 IL_EACH(g_waypoints, it.wpfire,
1128                 {
1129                         searching = true;
1130                         it.wpfire = 0;
1131                         cost = it.wpcost;
1132                         p = it.wpnearestpoint;
1133                         entity wp;
1134                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1135                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1162                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1163                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1164                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1165                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1166                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1167                 });
1168         }
1169 }
1170
1171 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1172 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1173 {
1174         float cost, cost2;
1175         vector p;
1176         IL_EACH(g_waypoints, true,
1177         {
1178                 it.wpconsidered = false;
1179                 it.wpnearestpoint = '0 0 0';
1180                 it.wpcost = 10000000;
1181                 it.wpfire = 0;
1182                 it.enemy = NULL;
1183         });
1184
1185         if(fixed_source_waypoint)
1186         {
1187                 fixed_source_waypoint.wpconsidered = true;
1188                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1189                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1190                 fixed_source_waypoint.wpfire = 1;
1191                 fixed_source_waypoint.enemy = NULL;
1192         }
1193         else
1194         {
1195                 error("need to start with a waypoint\n");
1196         }
1197
1198         bool searching = true;
1199         while (searching)
1200         {
1201                 searching = false;
1202                 IL_EACH(g_waypoints, it.wpfire,
1203                 {
1204                         searching = true;
1205                         it.wpfire = 0;
1206                         cost = it.wpcost; // cost to walk from it to home
1207                         p = it.wpnearestpoint;
1208                         entity wp = it;
1209                         IL_EACH(g_waypoints, it != wp,
1210                         {
1211                                 if(!waypoint_islinked(it, wp))
1212                                         continue;
1213                                 cost2 = cost + it.dmg;
1214                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1215                         });
1216                 });
1217         }
1218 }
1219
1220 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1221 void navigation_routerating(entity this, entity e, float f, float rangebias)
1222 {
1223         if (!e || e.blacklisted) { return; }
1224
1225         rangebias = waypoint_getlinearcost(rangebias);
1226         f = waypoint_getlinearcost(f);
1227
1228         if (IS_PLAYER(e))
1229         {
1230                 bool rate_wps = false;
1231                 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1232                         || (e.flags & FL_PARTIALGROUND))
1233                 {
1234                         rate_wps = true;
1235                 }
1236
1237                 if(!IS_ONGROUND(e))
1238                 {
1239                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1240                         int t = pointcontents(trace_endpos + '0 0 1');
1241                         if(t != CONTENT_SOLID )
1242                         {
1243                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1244                                         rate_wps = true;
1245                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1246                                         return;
1247                         }
1248                 }
1249
1250                 if(rate_wps)
1251                 {
1252                         entity theEnemy = e;
1253                         entity best_wp = NULL;
1254                         float best_dist = FLOAT_MAX;
1255                         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1256                                 && vdist(it.origin - theEnemy.origin, <, 500)
1257                                 && vdist(it.origin - this.origin, >, 100)
1258                                 && vdist(it.origin - this.origin, <, 10000),
1259                         {
1260                                 float dist = vlen2(it.origin - theEnemy.origin);
1261                                 if (dist < best_dist)
1262                                 {
1263                                         best_wp = it;
1264                                         best_dist = dist;
1265                                 }
1266                         });
1267                         if (!best_wp)
1268                                 return;
1269                         e = best_wp;
1270                 }
1271         }
1272
1273         vector goal_org = (e.absmin + e.absmax) * 0.5;
1274
1275         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1276
1277         // Evaluate path using jetpack
1278         if(this.items & IT_JETPACK)
1279         if(autocvar_bot_ai_navigation_jetpack)
1280         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1281         {
1282                 vector pointa, pointb;
1283
1284                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1285
1286                 // Point A
1287                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1288                 pointa = trace_endpos - '0 0 1';
1289
1290                 // Point B
1291                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1292                 pointb = trace_endpos - '0 0 1';
1293
1294                 // Can I see these two points from the sky?
1295                 traceline(pointa, pointb, MOVE_NORMAL, this);
1296
1297                 if(trace_fraction==1)
1298                 {
1299                         LOG_DEBUG("jetpack ai: can bridge these two points");
1300
1301                         // Lower the altitude of these points as much as possible
1302                         float zdistance, xydistance, cost, t, fuel;
1303                         vector down, npa, npb;
1304
1305                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1306
1307                         do{
1308                                 npa = pointa + down;
1309                                 npb = pointb + down;
1310
1311                                 if(npa.z<=this.absmax.z)
1312                                         break;
1313
1314                                 if(npb.z<=e.absmax.z)
1315                                         break;
1316
1317                                 traceline(npa, npb, MOVE_NORMAL, this);
1318                                 if(trace_fraction==1)
1319                                 {
1320                                         pointa = npa;
1321                                         pointb = npb;
1322                                 }
1323                         }
1324                         while(trace_fraction == 1);
1325
1326
1327                         // Rough estimation of fuel consumption
1328                         // (ignores acceleration and current xyz velocity)
1329                         xydistance = vlen(pointa - pointb);
1330                         zdistance = fabs(pointa.z - this.origin.z);
1331
1332                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1333                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1334                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1335
1336                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
1337
1338                         // enough fuel ?
1339                         if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO))
1340                         {
1341                                 // Estimate cost
1342                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1343                                 //  - between air and ground speeds)
1344
1345                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1346                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1347                                 cost *= 1.5;
1348
1349                                 // Compare against other goals
1350                                 f = f * rangebias / (rangebias + cost);
1351
1352                                 if (navigation_bestrating < f)
1353                                 {
1354                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1355                                         navigation_bestrating = f;
1356                                         navigation_bestgoal = e;
1357                                         this.navigation_jetpack_goal = e;
1358                                         this.navigation_jetpack_point = pointb;
1359                                 }
1360                                 return;
1361                         }
1362                 }
1363         }
1364
1365         entity nwp;
1366         //te_wizspike(e.origin);
1367         //bprint(etos(e));
1368         //bprint("\n");
1369         // update the cached spawnfunc_waypoint link on a dynamic item entity
1370         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1371         {
1372                 nwp = e;
1373         }
1374         else
1375         {
1376                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1377                         e.nearestwaypoint = NULL;
1378
1379                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1380                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1381                 {
1382                         if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1383                                 e.nearestwaypoint = nwp = e.goalcurrent;
1384                         else
1385                                 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1386                         if(!nwp)
1387                         {
1388                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1389
1390                                 if(!e.navigation_dynamicgoal)
1391                                         e.blacklisted = true;
1392
1393                                 if(e.blacklisted)
1394                                 {
1395                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1396                                         return;
1397                                 }
1398                         }
1399
1400                         if(e.navigation_dynamicgoal)
1401                                 e.nearestwaypointtimeout = time + 2;
1402                         else if(autocvar_g_waypointeditor)
1403                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1404                 }
1405                 nwp = e.nearestwaypoint;
1406         }
1407
1408         if (nwp && nwp.wpcost < 10000000)
1409         {
1410                 //te_wizspike(nwp.wpnearestpoint);
1411                 float nwptoitem_cost = 0;
1412                 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1413                         nwptoitem_cost = nwp.wp00mincost;
1414                 else
1415                         nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1416                 float cost = nwp.wpcost + nwptoitem_cost;
1417                 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1418                 f = f * rangebias / (rangebias + cost);
1419                 LOG_DEBUG("         ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1420                 if (navigation_bestrating < f)
1421                 {
1422                         LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1423                         navigation_bestrating = f;
1424                         navigation_bestgoal = e;
1425                 }
1426         }
1427 }
1428
1429 // adds an item to the the goal stack with the path to a given item
1430 bool navigation_routetogoal(entity this, entity e, vector startposition)
1431 {
1432         // if there is no goal, just exit
1433         if (!e)
1434                 return false;
1435
1436         entity teleport_goal = NULL;
1437
1438         this.goalentity = e;
1439
1440         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1441         {
1442                 // force teleport destination as route destination
1443                 teleport_goal = e;
1444                 navigation_pushroute(this, e.wp00);
1445                 this.goalentity = e.wp00;
1446         }
1447
1448         // put the entity on the goal stack
1449         //print("routetogoal ", etos(e), "\n");
1450         navigation_pushroute(this, e);
1451
1452         if(teleport_goal)
1453                 e = this.goalentity;
1454
1455         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1456         {
1457                 this.wp_goal_prev1 = this.wp_goal_prev0;
1458                 this.wp_goal_prev0 = e;
1459         }
1460
1461         if(g_jetpack)
1462         if(e==this.navigation_jetpack_goal)
1463                 return true;
1464
1465         // if it can reach the goal there is nothing more to do
1466         set_tracewalk_dest(e, startposition, true);
1467         if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1468                 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1469                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1470         {
1471                 return true;
1472         }
1473
1474         entity nearest_wp = NULL;
1475         // see if there are waypoints describing a path to the item
1476         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1477         {
1478                 e = e.nearestwaypoint;
1479                 nearest_wp = e;
1480         }
1481         else if(teleport_goal)
1482                 e = teleport_goal;
1483         else
1484                 e = e.enemy; // we already have added it, so...
1485
1486         if(e == NULL)
1487                 return false;
1488
1489         if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK))
1490         {
1491                 // often path can be optimized by not adding the nearest waypoint
1492                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1493                 {
1494                         if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1495                         {
1496                                 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1497                                         e = nearest_wp.enemy;
1498                                 else
1499                                 {
1500                                         set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1501                                         if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1502                                                 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1503                                                 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1504                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1505                                         {
1506                                                 e = nearest_wp.enemy;
1507                                         }
1508                                 }
1509                         }
1510                 }
1511                 else
1512                 {
1513                         // NOTE unlike waypoints, items hold incoming links
1514                         navigation_item_initlinks_ifneeded(this.goalentity);
1515                         int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy);
1516                         if (link_num >= 0)
1517                         {
1518                                 if (navigation_item_iswalkablelink(this.goalentity, link_num))
1519                                         e = nearest_wp.enemy;
1520                         }
1521                         else // untested link
1522                         {
1523                                 entity wp = nearest_wp.enemy;
1524                                 entity goal = this.goalentity;
1525                                 bool walkable = false;
1526                                 if (checkpvs(wp.origin, goal))
1527                                 {
1528                                         set_tracewalk_dest(goal, wp.origin, false);
1529                                         if (vdist(tracewalk_dest - wp.origin, <, 1050)
1530                                                 && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST,
1531                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1532                                         {
1533                                                 walkable = true;
1534                                                 e = nearest_wp.enemy;
1535                                         }
1536                                 }
1537                                 navigation_item_add_link(wp, goal, walkable);
1538                         }
1539                 }
1540         }
1541
1542         for (;;)
1543         {
1544                 // add the spawnfunc_waypoint to the path
1545                 navigation_pushroute(this, e);
1546                 e = e.enemy;
1547
1548                 if(e==NULL)
1549                         break;
1550         }
1551
1552         return false;
1553 }
1554
1555 // shorten path by removing intermediate goals
1556 bool navigation_shortenpath(entity this)
1557 {
1558         if (!this.goalstack01 || wasfreed(this.goalstack01))
1559                 return false;
1560         if (this.bot_tracewalk_time > time)
1561                 return false;
1562         this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1563
1564         bool cut_allowed = false;
1565         entity next = this.goalentity;
1566         // evaluate whether bot can discard current route and chase directly a player, trying to
1567         // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1568         if (IS_MOVABLE(next))
1569         {
1570                 set_tracewalk_dest(next, this.origin, true);
1571                 if (vdist(this.origin - tracewalk_dest, <, 200))
1572                         cut_allowed = true;
1573                 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1574                         && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1575                         && vdist(this.origin - this.goalcurrent.origin, >, 100)
1576                         && checkpvs(this.origin + this.view_ofs, next))
1577                 {
1578                         if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1579                                 cut_allowed = true;
1580                         else
1581                         {
1582                                 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1583                                 while (deviation.y < -180) deviation.y += 360;
1584                                 while (deviation.y > 180) deviation.y -= 360;
1585                                 if (fabs(deviation.y) > 25)
1586                                         cut_allowed = true;
1587                         }
1588                 }
1589                 if (cut_allowed)
1590                 {
1591                         if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1592                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1593                         {
1594                                 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1595                                 do
1596                                 {
1597                                         navigation_poproute(this);
1598                                 }
1599                                 while (this.goalcurrent != next);
1600                                 return true;
1601                         }
1602                         return false;
1603                 }
1604         }
1605
1606         next = this.goalstack01;
1607         // if for some reason the bot is closer to the next goal, pop the current one
1608         if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP))
1609                 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1610                 && checkpvs(this.origin + this.view_ofs, next))
1611         {
1612                 set_tracewalk_dest(next, this.origin, true);
1613                 cut_allowed = true;
1614         }
1615
1616         if (cut_allowed)
1617         {
1618                 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1619                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1620                 {
1621                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1622                         navigation_poproute(this);
1623                         return true;
1624                 }
1625         }
1626         return false;
1627 }
1628
1629 // removes any currently touching waypoints from the goal stack
1630 // (this is how bots detect if they reached a goal)
1631 int navigation_poptouchedgoals(entity this)
1632 {
1633         int removed_goals = 0;
1634
1635         if(!this.goalcurrent)
1636                 return removed_goals;
1637
1638         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1639         {
1640                 if (!this.goalcurrent.wpisbox // warpzone
1641                         && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
1642                 {
1643                         // immediately remove origin and destination waypoints
1644                         navigation_poproute(this);
1645                         ++removed_goals;
1646                         navigation_poproute(this);
1647                         ++removed_goals;
1648                         this.lastteleporttime = 0;
1649                 }
1650
1651                 // make sure jumppad is really hit, don't rely on distance based checks
1652                 // as they may report a touch even if it didn't really happen
1653                 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1654                 {
1655                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1656                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1657                         {
1658                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1659                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1660                         }
1661                         if(this.jumppadcount)
1662                         {
1663                                 // remove jumppad waypoint after a random delay to prevent bots getting
1664                                 // stuck on certain jumppads that require an extra initial horizontal speed
1665                                 float max_delay = 0.1;
1666                                 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1667                                         max_delay = 0.05;
1668                                 if (time - this.lastteleporttime < random() * max_delay)
1669                                         return removed_goals;
1670                         }
1671                         else if (this.goalcurrent.wpisbox) // teleport
1672                         {
1673                                 // immediately remove origin and destination waypoints
1674                                 navigation_poproute(this);
1675                                 ++removed_goals;
1676                         }
1677                         navigation_poproute(this);
1678                         this.lastteleporttime = 0;
1679                         ++removed_goals;
1680                 }
1681                 return removed_goals;
1682         }
1683         else if (this.lastteleporttime > 0)
1684         {
1685                 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1686                 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1687                 // if so immediately fix bot path by removing skipped goals
1688                 entity tele_ent = NULL;
1689                 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1690                         tele_ent = this.goalstack01;
1691                 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1692                         tele_ent = this.goalstack02;
1693                 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1694                         tele_ent = this.goalstack03;
1695                 if (tele_ent && TELEPORT_USED(this, tele_ent))
1696                 {
1697                         if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1698                         if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1699                         {
1700                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1701                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1702                         }
1703                         while (this.goalcurrent != tele_ent)
1704                         {
1705                                 navigation_poproute(this);
1706                                 ++removed_goals;
1707                         }
1708                         navigation_poproute(this);
1709                         this.lastteleporttime = 0;
1710                         ++removed_goals;
1711                         return removed_goals;
1712                 }
1713                 // reset of lastteleporttime can be overriden by a jumppad when it's set
1714                 // in more than one frame: make sure it's reset
1715                 this.lastteleporttime = 0;
1716         }
1717
1718         // Loose goal touching check when running
1719         // check goalstack01 to make sure waypoint isn't the final goal
1720         if(this.aistatus & AI_STATUS_RUNNING && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP)
1721                 && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed))
1722         {
1723                 vector gco = this.goalcurrent.origin;
1724                 float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE;
1725                 // also detect waypoints when bot is way above them but with a narrower horizontal range
1726                 // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding)
1727                 if(vdist(this.origin - gco, <, min_dist)
1728                         || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist)))
1729                 {
1730                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1731                         if(trace_fraction==1)
1732                         {
1733                                 // Detect personal waypoints
1734                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1735                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1736                                 {
1737                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1738                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1739                                 }
1740
1741                                 navigation_poproute(this);
1742                                 ++removed_goals;
1743                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1744                                         return removed_goals;
1745                         }
1746                 }
1747         }
1748
1749         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1750         {
1751                 vector gc_min = this.goalcurrent.absmin;
1752                 vector gc_max = this.goalcurrent.absmax;
1753                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1754                 {
1755                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1756                         gc_max = this.goalcurrent.origin + '1 1 1' * 12 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z);
1757                 }
1758                 if (time < this.ladder_time)
1759                 {
1760                         if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
1761                                 break;
1762                 }
1763                 else
1764                 {
1765                         if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1766                                 break;
1767                 }
1768
1769                 // Detect personal waypoints
1770                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1771                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1772                 {
1773                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1774                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1775                 }
1776
1777                 navigation_poproute(this);
1778                 ++removed_goals;
1779                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1780                         return removed_goals;
1781         }
1782         return removed_goals;
1783 }
1784
1785 entity navigation_get_really_close_waypoint(entity this)
1786 {
1787         entity wp = this.goalcurrent;
1788         if(!wp)
1789                 wp = this.goalcurrent_prev;
1790         if(!wp)
1791                 return NULL;
1792         float min_dist = ((this.aistatus & AI_STATUS_RUNNING) ? BOT_BUNNYHOP_WP_DETECTION_RANGE : 50);
1793         if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, min_dist))
1794         {
1795                 wp = this.goalcurrent_prev;
1796                 if(!wp)
1797                         return NULL;
1798         }
1799         if(wp.classname != "waypoint")
1800         {
1801                 wp = wp.nearestwaypoint;
1802                 if(!wp)
1803                         return NULL;
1804         }
1805         if(vdist(wp.origin - this.origin, >, min_dist))
1806         {
1807                 wp = NULL;
1808                 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
1809                 {
1810                         if(vdist(it.origin - this.origin, <, min_dist))
1811                         {
1812                                 wp = it;
1813                                 break;
1814                         }
1815                 });
1816                 if(!wp)
1817                         return NULL;
1818         }
1819         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1820                 return NULL;
1821
1822         set_tracewalk_dest(wp, this.origin, false);
1823         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1824                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1825         {
1826                 return NULL;
1827         }
1828         return wp;
1829 }
1830
1831 // begin a goal selection session (queries spawnfunc_waypoint network)
1832 void navigation_goalrating_start(entity this)
1833 {
1834         if(this.aistatus & AI_STATUS_STUCK)
1835                 return;
1836
1837         this.navigation_jetpack_goal = NULL;
1838         navigation_bestrating = -1;
1839         entity wp = navigation_get_really_close_waypoint(this);
1840         navigation_clearroute(this);
1841         navigation_bestgoal = NULL;
1842         navigation_markroutes(this, wp);
1843         this.goalstack31 = wp; // temporarly save the really close waypoint
1844 }
1845
1846 // ends a goal selection session (updates goal stack to the best goal)
1847 void navigation_goalrating_end(entity this)
1848 {
1849         if(this.aistatus & AI_STATUS_STUCK)
1850                 return;
1851
1852         entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
1853         this.goalstack31 = NULL;
1854
1855         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1856         LOG_DEBUG("best goal ", navigation_bestgoal.classname);
1857
1858         if (wp && this.goalcurrent == wp)
1859                 navigation_poproute(this);
1860
1861         // If the bot got stuck then try to reach the farthest waypoint
1862         if (!this.goalentity)
1863         {
1864                 if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
1865                 {
1866                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1867                         this.aistatus |= AI_STATUS_STUCK;
1868                 }
1869                 this.goalentity_shouldbefrozen = false;
1870         }
1871         else
1872                 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1873 }
1874
1875 void botframe_updatedangerousobjects(float maxupdate)
1876 {
1877         vector m1, m2, v, o;
1878         float c, d, danger;
1879         c = 0;
1880         entity wp_cur;
1881         IL_EACH(g_waypoints, true,
1882         {
1883                 danger = 0;
1884                 m1 = it.absmin;
1885                 m2 = it.absmax;
1886                 wp_cur = it;
1887                 IL_EACH(g_bot_dodge, it.bot_dodge,
1888                 {
1889                         v = it.origin;
1890                         v.x = bound(m1_x, v.x, m2_x);
1891                         v.y = bound(m1_y, v.y, m2_y);
1892                         v.z = bound(m1_z, v.z, m2_z);
1893                         o = (it.absmin + it.absmax) * 0.5;
1894                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1895                         if (d > 0)
1896                         {
1897                                 traceline(o, v, true, NULL);
1898                                 if (trace_fraction == 1)
1899                                         danger = danger + d;
1900                         }
1901                 });
1902                 it.dmg = danger;
1903                 c = c + 1;
1904                 if (c >= maxupdate)
1905                         break;
1906         });
1907 }
1908
1909 void navigation_unstuck(entity this)
1910 {
1911         if (!autocvar_bot_wander_enable)
1912                 return;
1913
1914         bool has_user_waypoints = false;
1915         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1916         {
1917                 has_user_waypoints = true;
1918                 break;
1919         });
1920         if (!has_user_waypoints)
1921                 return;
1922
1923         float search_radius = 1000;
1924
1925         if (!bot_waypoint_queue_owner)
1926         {
1927                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1928                 bot_waypoint_queue_owner = this;
1929                 bot_waypoint_queue_bestgoal = NULL;
1930                 bot_waypoint_queue_bestgoalrating = 0;
1931         }
1932
1933         if(bot_waypoint_queue_owner!=this)
1934                 return;
1935
1936         if (bot_waypoint_queue_goal)
1937         {
1938                 // evaluate the next goal on the queue
1939                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1940                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d));
1941                 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1942                 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1943                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1944                 {
1945                         if( d > bot_waypoint_queue_bestgoalrating)
1946                         {
1947                                 bot_waypoint_queue_bestgoalrating = d;
1948                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1949                         }
1950                 }
1951
1952                 // move to a random waypoint while bot is searching for a walkable path;
1953                 // this is usually sufficient to unstuck bots from bad spots or when other
1954                 // bots of the same team block all their ways
1955                 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1956                 {
1957                         navigation_clearroute(this);
1958                         navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1959                         navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1960                 }
1961
1962                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1963
1964                 if (!bot_waypoint_queue_goal)
1965                 {
1966                         if (bot_waypoint_queue_bestgoal)
1967                         {
1968                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1969                                 navigation_clearroute(this);
1970                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1971                                 navigation_goalrating_timeout_set(this);
1972                                 this.aistatus &= ~AI_STATUS_STUCK;
1973                         }
1974                         else
1975                         {
1976                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1977                         }
1978
1979                         bot_waypoint_queue_owner = NULL;
1980                 }
1981         }
1982         else
1983         {
1984                 if(bot_strategytoken!=this)
1985                         return;
1986
1987                 // build a new queue
1988                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1989
1990                 entity first = NULL;
1991
1992                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1993                 {
1994                         if(bot_waypoint_queue_goal)
1995                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1996                         else
1997                                 first = it;
1998
1999                         bot_waypoint_queue_goal = it;
2000                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
2001                 });
2002
2003                 if (first)
2004                         bot_waypoint_queue_goal = first;
2005                 else
2006                 {
2007                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
2008                         bot_waypoint_queue_owner = NULL;
2009                 }
2010         }
2011 }
2012
2013 // Support for debugging tracewalk visually
2014
2015 void debugresetnodes()
2016 {
2017         debuglastnode = '0 0 0';
2018 }
2019
2020 void debugnode(entity this, vector node)
2021 {
2022         if (!IS_PLAYER(this))
2023                 return;
2024
2025         if(debuglastnode=='0 0 0')
2026         {
2027                 debuglastnode = node;
2028                 return;
2029         }
2030
2031         te_lightning2(NULL, node, debuglastnode);
2032         debuglastnode = node;
2033 }
2034
2035 void debugnodestatus(vector position, float status)
2036 {
2037         vector c;
2038
2039         switch (status)
2040         {
2041                 case DEBUG_NODE_SUCCESS:
2042                         c = '0 15 0';
2043                         break;
2044                 case DEBUG_NODE_WARNING:
2045                         c = '15 15 0';
2046                         break;
2047                 case DEBUG_NODE_FAIL:
2048                         c = '15 0 0';
2049                         break;
2050                 default:
2051                         c = '15 15 15';
2052         }
2053
2054         te_customflash(position, 40,  2, c);
2055 }
2056
2057 // Support for debugging the goal stack visually
2058
2059 .float goalcounter;
2060 .vector lastposition;
2061
2062 // Debug the goal stack visually
2063 void debuggoalstack(entity this)
2064 {
2065         entity goal;
2066         vector org, go;
2067
2068         if(this.goalcounter==0)goal=this.goalcurrent;
2069         else if(this.goalcounter==1)goal=this.goalstack01;
2070         else if(this.goalcounter==2)goal=this.goalstack02;
2071         else if(this.goalcounter==3)goal=this.goalstack03;
2072         else if(this.goalcounter==4)goal=this.goalstack04;
2073         else if(this.goalcounter==5)goal=this.goalstack05;
2074         else if(this.goalcounter==6)goal=this.goalstack06;
2075         else if(this.goalcounter==7)goal=this.goalstack07;
2076         else if(this.goalcounter==8)goal=this.goalstack08;
2077         else if(this.goalcounter==9)goal=this.goalstack09;
2078         else if(this.goalcounter==10)goal=this.goalstack10;
2079         else if(this.goalcounter==11)goal=this.goalstack11;
2080         else if(this.goalcounter==12)goal=this.goalstack12;
2081         else if(this.goalcounter==13)goal=this.goalstack13;
2082         else if(this.goalcounter==14)goal=this.goalstack14;
2083         else if(this.goalcounter==15)goal=this.goalstack15;
2084         else if(this.goalcounter==16)goal=this.goalstack16;
2085         else if(this.goalcounter==17)goal=this.goalstack17;
2086         else if(this.goalcounter==18)goal=this.goalstack18;
2087         else if(this.goalcounter==19)goal=this.goalstack19;
2088         else if(this.goalcounter==20)goal=this.goalstack20;
2089         else if(this.goalcounter==21)goal=this.goalstack21;
2090         else if(this.goalcounter==22)goal=this.goalstack22;
2091         else if(this.goalcounter==23)goal=this.goalstack23;
2092         else if(this.goalcounter==24)goal=this.goalstack24;
2093         else if(this.goalcounter==25)goal=this.goalstack25;
2094         else if(this.goalcounter==26)goal=this.goalstack26;
2095         else if(this.goalcounter==27)goal=this.goalstack27;
2096         else if(this.goalcounter==28)goal=this.goalstack28;
2097         else if(this.goalcounter==29)goal=this.goalstack29;
2098         else if(this.goalcounter==30)goal=this.goalstack30;
2099         else if(this.goalcounter==31)goal=this.goalstack31;
2100         else goal=NULL;
2101
2102         if(goal==NULL)
2103         {
2104                 this.goalcounter = 0;
2105                 this.lastposition='0 0 0';
2106                 return;
2107         }
2108
2109         if(this.lastposition=='0 0 0')
2110                 org = this.origin;
2111         else
2112                 org = this.lastposition;
2113
2114
2115         go = ( goal.absmin + goal.absmax ) * 0.5;
2116         te_lightning2(NULL, org, go);
2117         this.lastposition = go;
2118
2119         this.goalcounter++;
2120 }