qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "waypoints.qh"
   7
   8 #include <common/t_items.qh>
   9
  10 #include <common/items/_mod.qh>
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/triggers/trigger/jumppads.qh>
  15
  16 .float speed;
  17
  18 void navigation_dynamicgoal_init(entity this, bool initially_static)
  19 {
  20         this.navigation_dynamicgoal = true;
  21         this.bot_basewaypoint = this.nearestwaypoint;
  22         if(initially_static)
  23                 this.nearestwaypointtimeout = -1;
  24         else
  25                 this.nearestwaypointtimeout = time;
  26 }
  27
  28 void navigation_dynamicgoal_set(entity this)
  29 {
  30         this.nearestwaypointtimeout = time;
  31 }
  32
  33 void navigation_dynamicgoal_unset(entity this)
  34 {
  35         if(this.bot_basewaypoint)
  36                 this.nearestwaypoint = this.bot_basewaypoint;
  37         this.nearestwaypointtimeout = -1;
  38 }
  39
  40 // rough simulation of walking from one point to another to test if a path
  41 // can be traveled, used for waypoint linking and havocbot
  42 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
  43 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
  44 {
  45         vector org;
  46         vector move;
  47         vector dir;
  48         float dist;
  49         float totaldist;
  50         float stepdist;
  51         float ignorehazards;
  52         float swimming;
  53
  54         if(autocvar_bot_debug_tracewalk)
  55         {
  56                 debugresetnodes();
  57                 debugnode(e, start);
  58         }
  59
  60         move = end - start;
  61         move.z = 0;
  62         org = start;
  63         dist = totaldist = vlen(move);
  64         dir = normalize(move);
  65         stepdist = 32;
  66         ignorehazards = false;
  67         swimming = false;
  68
  69         // Analyze starting point
  70         traceline(start, start, MOVE_NORMAL, e);
  71         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  72                 ignorehazards = true;
  73         else
  74         {
  75                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  76                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  77                 {
  78                         ignorehazards = true;
  79                         swimming = true;
  80                 }
  81         }
  82         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  83         if (trace_startsolid)
  84         {
  85                 // Bad start
  86                 if(autocvar_bot_debug_tracewalk)
  87                         debugnodestatus(start, DEBUG_NODE_FAIL);
  88
  89                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  90                 return false;
  91         }
  92
  93         vector end2 = end;
  94         if(end_height)
  95                 end2.z += end_height;
  96         // Movement loop
  97         for (;;)
  98         {
  99                 if (boxesoverlap(end, end2, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
 100                 {
 101                         // Succeeded
 102                         if(autocvar_bot_debug_tracewalk)
 103                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
 104
 105                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 106                         return true;
 107                 }
 108                 if(autocvar_bot_debug_tracewalk)
 109                         debugnode(e, org);
 110
 111                 if (dist <= 0)
 112                         break;
 113                 if (stepdist > dist)
 114                         stepdist = dist;
 115                 dist = dist - stepdist;
 116                 traceline(org, org, MOVE_NORMAL, e);
 117                 if (!ignorehazards)
 118                 {
 119                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 120                         {
 121                                 // hazards blocking path
 122                                 if(autocvar_bot_debug_tracewalk)
 123                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 124
 125                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 126                                 return false;
 127                         }
 128                 }
 129                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 130                 {
 131                         move = normalize(end - org);
 132                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
 133
 134                         if(autocvar_bot_debug_tracewalk)
 135                                 debugnode(e, trace_endpos);
 136
 137                         if (trace_fraction < 1)
 138                         {
 139                                 swimming = true;
 140                                 org = trace_endpos + normalize(org - trace_endpos) * stepdist;
 141                                 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
 142                                 {
 143                                         if(autocvar_bot_debug_tracewalk)
 144                                                 debugnode(e, org);
 145
 146                                         if(pointcontents(org) == CONTENT_EMPTY)
 147                                                 break;
 148                                 }
 149
 150                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 151                                 {
 152                                         if(autocvar_bot_debug_tracewalk)
 153                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 154
 155                                         return false;
 156                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 157                                 }
 158                                 continue;
 159
 160                         }
 161                         else
 162                                 org = trace_endpos;
 163                 }
 164                 else
 165                 {
 166                         move = dir * stepdist + org;
 167                         tracebox(org, m1, m2, move, movemode, e);
 168
 169                         if(autocvar_bot_debug_tracewalk)
 170                                 debugnode(e, trace_endpos);
 171
 172                         // hit something
 173                         if (trace_fraction < 1)
 174                         {
 175                                 // check if we can walk over this obstacle, possibly by jumpstepping
 176                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 177                                 if (trace_fraction < 1 || trace_startsolid)
 178                                 {
 179                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 180                                         if (trace_fraction < 1 || trace_startsolid)
 181                                         {
 182                                                 bool ladder_found = false;
 183                                                 FOREACH_ENTITY_CLASS("func_ladder", true,
 184                                                 {
 185                                                         if(boxesoverlap(org + jumpheight_vec + m1 + '-1 -1 -1', org + jumpheight_vec + m2 + '1 1 1', it.absmin, it.absmax))
 186                                                         if(boxesoverlap(end, end2, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
 187                                                                 ladder_found = true; // can't return here ("Loop mutex held by tracewalk" error)
 188                                                 });
 189                                                 if(ladder_found)
 190                                                 {
 191                                                         if(autocvar_bot_debug_tracewalk)
 192                                                                 debugnodestatus(end, DEBUG_NODE_SUCCESS);
 193
 194                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 195                                                         return true;
 196                                                 }
 197
 198                                                 if(autocvar_bot_debug_tracewalk)
 199                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 200
 201                                                 traceline( org, move, movemode, e);
 202
 203                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 204                                                 {
 205                                                         vector nextmove;
 206                                                         move = trace_endpos;
 207                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 208                                                         {
 209                                                                 nextmove = move + (dir * stepdist);
 210                                                                 traceline( move, nextmove, movemode, e);
 211                                                                 move = nextmove;
 212                                                         }
 213                                                 }
 214                                                 else
 215                                                 {
 216                                                         if(autocvar_bot_debug_tracewalk)
 217                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 218
 219                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 220                                                         //te_explosion(trace_endpos);
 221                                                         //print(ftos(e.dphitcontentsmask), "\n");
 222                                                         return false; // failed
 223                                                 }
 224                                         }
 225                                         else
 226                                                 move = trace_endpos;
 227                                 }
 228                                 else
 229                                         move = trace_endpos;
 230                         }
 231                         else
 232                                 move = trace_endpos;
 233
 234                         // trace down from stepheight as far as possible and move there,
 235                         // if this starts in solid we try again without the stepup, and
 236                         // if that also fails we assume it is a wall
 237                         // (this is the same logic as the Quake walkmove function used)
 238                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 239
 240                         // moved successfully
 241                         if(swimming)
 242                         {
 243                                 float c;
 244                                 c = pointcontents(org + '0 0 1');
 245                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 246                                         swimming = false;
 247                                 else
 248                                         continue;
 249                         }
 250
 251                         org = trace_endpos;
 252                 }
 253         }
 254
 255         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 256
 257         // moved but didn't arrive at the intended destination
 258         if(autocvar_bot_debug_tracewalk)
 259                 debugnodestatus(org, DEBUG_NODE_FAIL);
 260
 261         return false;
 262 }
 263
 264 /////////////////////////////////////////////////////////////////////////////
 265 // goal stack
 266 /////////////////////////////////////////////////////////////////////////////
 267
 268 // completely empty the goal stack, used when deciding where to go
 269 void navigation_clearroute(entity this)
 270 {
 271         this.goalcurrent_prev = this.goalcurrent;
 272         this.goalcurrent_distance = 10000000;
 273         this.goalcurrent_distance_time = 0;
 274         //print("bot ", etos(this), " clear\n");
 275         this.goalentity = NULL;
 276         this.goalcurrent = NULL;
 277         this.goalstack01 = NULL;
 278         this.goalstack02 = NULL;
 279         this.goalstack03 = NULL;
 280         this.goalstack04 = NULL;
 281         this.goalstack05 = NULL;
 282         this.goalstack06 = NULL;
 283         this.goalstack07 = NULL;
 284         this.goalstack08 = NULL;
 285         this.goalstack09 = NULL;
 286         this.goalstack10 = NULL;
 287         this.goalstack11 = NULL;
 288         this.goalstack12 = NULL;
 289         this.goalstack13 = NULL;
 290         this.goalstack14 = NULL;
 291         this.goalstack15 = NULL;
 292         this.goalstack16 = NULL;
 293         this.goalstack17 = NULL;
 294         this.goalstack18 = NULL;
 295         this.goalstack19 = NULL;
 296         this.goalstack20 = NULL;
 297         this.goalstack21 = NULL;
 298         this.goalstack22 = NULL;
 299         this.goalstack23 = NULL;
 300         this.goalstack24 = NULL;
 301         this.goalstack25 = NULL;
 302         this.goalstack26 = NULL;
 303         this.goalstack27 = NULL;
 304         this.goalstack28 = NULL;
 305         this.goalstack29 = NULL;
 306         this.goalstack30 = NULL;
 307         this.goalstack31 = NULL;
 308 }
 309
 310 // add a new goal at the beginning of the stack
 311 // (in other words: add a new prerequisite before going to the later goals)
 312 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 313 // next-closest WP on the shortest path to the WP
 314 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 315 // steps to the goal, and then recalculate the path.
 316 void navigation_pushroute(entity this, entity e)
 317 {
 318         this.goalcurrent_prev = this.goalcurrent;
 319         this.goalcurrent_distance = 10000000;
 320         this.goalcurrent_distance_time = 0;
 321         //print("bot ", etos(this), " push ", etos(e), "\n");
 322         if(this.goalstack31 == this.goalentity)
 323                 this.goalentity = NULL;
 324         this.goalstack31 = this.goalstack30;
 325         this.goalstack30 = this.goalstack29;
 326         this.goalstack29 = this.goalstack28;
 327         this.goalstack28 = this.goalstack27;
 328         this.goalstack27 = this.goalstack26;
 329         this.goalstack26 = this.goalstack25;
 330         this.goalstack25 = this.goalstack24;
 331         this.goalstack24 = this.goalstack23;
 332         this.goalstack23 = this.goalstack22;
 333         this.goalstack22 = this.goalstack21;
 334         this.goalstack21 = this.goalstack20;
 335         this.goalstack20 = this.goalstack19;
 336         this.goalstack19 = this.goalstack18;
 337         this.goalstack18 = this.goalstack17;
 338         this.goalstack17 = this.goalstack16;
 339         this.goalstack16 = this.goalstack15;
 340         this.goalstack15 = this.goalstack14;
 341         this.goalstack14 = this.goalstack13;
 342         this.goalstack13 = this.goalstack12;
 343         this.goalstack12 = this.goalstack11;
 344         this.goalstack11 = this.goalstack10;
 345         this.goalstack10 = this.goalstack09;
 346         this.goalstack09 = this.goalstack08;
 347         this.goalstack08 = this.goalstack07;
 348         this.goalstack07 = this.goalstack06;
 349         this.goalstack06 = this.goalstack05;
 350         this.goalstack05 = this.goalstack04;
 351         this.goalstack04 = this.goalstack03;
 352         this.goalstack03 = this.goalstack02;
 353         this.goalstack02 = this.goalstack01;
 354         this.goalstack01 = this.goalcurrent;
 355         this.goalcurrent = e;
 356 }
 357
 358 // remove first goal from stack
 359 // (in other words: remove a prerequisite for reaching the later goals)
 360 // (used when a spawnfunc_waypoint is reached)
 361 void navigation_poproute(entity this)
 362 {
 363         this.goalcurrent_prev = this.goalcurrent;
 364         this.goalcurrent_distance = 10000000;
 365         this.goalcurrent_distance_time = 0;
 366         //print("bot ", etos(this), " pop\n");
 367         if(this.goalcurrent == this.goalentity)
 368                 this.goalentity = NULL;
 369         this.goalcurrent = this.goalstack01;
 370         this.goalstack01 = this.goalstack02;
 371         this.goalstack02 = this.goalstack03;
 372         this.goalstack03 = this.goalstack04;
 373         this.goalstack04 = this.goalstack05;
 374         this.goalstack05 = this.goalstack06;
 375         this.goalstack06 = this.goalstack07;
 376         this.goalstack07 = this.goalstack08;
 377         this.goalstack08 = this.goalstack09;
 378         this.goalstack09 = this.goalstack10;
 379         this.goalstack10 = this.goalstack11;
 380         this.goalstack11 = this.goalstack12;
 381         this.goalstack12 = this.goalstack13;
 382         this.goalstack13 = this.goalstack14;
 383         this.goalstack14 = this.goalstack15;
 384         this.goalstack15 = this.goalstack16;
 385         this.goalstack16 = this.goalstack17;
 386         this.goalstack17 = this.goalstack18;
 387         this.goalstack18 = this.goalstack19;
 388         this.goalstack19 = this.goalstack20;
 389         this.goalstack20 = this.goalstack21;
 390         this.goalstack21 = this.goalstack22;
 391         this.goalstack22 = this.goalstack23;
 392         this.goalstack23 = this.goalstack24;
 393         this.goalstack24 = this.goalstack25;
 394         this.goalstack25 = this.goalstack26;
 395         this.goalstack26 = this.goalstack27;
 396         this.goalstack27 = this.goalstack28;
 397         this.goalstack28 = this.goalstack29;
 398         this.goalstack29 = this.goalstack30;
 399         this.goalstack30 = this.goalstack31;
 400         this.goalstack31 = NULL;
 401 }
 402
 403 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 404 {
 405         float dist;
 406         dist = vlen(v - org);
 407         if (bestdist > dist)
 408         {
 409                 traceline(v, org, true, ent);
 410                 if (trace_fraction == 1)
 411                 {
 412                         if (walkfromwp)
 413                         {
 414                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
 415                                         return true;
 416                         }
 417                         else
 418                         {
 419                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, 0, bot_navigation_movemode))
 420                                         return true;
 421                         }
 422                 }
 423         }
 424         return false;
 425 }
 426
 427 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 428 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 429 {
 430         vector pm1 = ent.origin + ent.mins;
 431         vector pm2 = ent.origin + ent.maxs;
 432
 433         // do two scans, because box test is cheaper
 434         IL_EACH(g_waypoints, it != ent && it != except,
 435         {
 436                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 437                         return it;
 438         });
 439
 440         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 441         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 442         // TODO possibly make other code have the same support for bboxes
 443         if(ent.tag_entity)
 444                 org = org + ent.tag_entity.origin;
 445         if (navigation_testtracewalk)
 446                 te_plasmaburn(org);
 447
 448         entity best = NULL;
 449         vector v;
 450
 451         if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
 452         {
 453                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 454                 IL_EACH(g_waypoints, it != ent,
 455                 {
 456                         if(it.wpisbox)
 457                         {
 458                                 vector wm1 = it.absmin;
 459                                 vector wm2 = it.absmax;
 460                                 v.x = bound(wm1_x, org.x, wm2_x);
 461                                 v.y = bound(wm1_y, org.y, wm2_y);
 462                                 v.z = bound(wm1_z, org.z, wm2_z);
 463                         }
 464                         else
 465                                 v = it.origin;
 466                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, 1050))
 467                                 navigation_item_addlink(it, ent);
 468                 });
 469         }
 470
 471         // box check failed, try walk
 472         IL_EACH(g_waypoints, it != ent,
 473         {
 474                 if(it.wpisbox)
 475                 {
 476                         vector wm1 = it.origin + it.mins;
 477                         vector wm2 = it.origin + it.maxs;
 478                         v.x = bound(wm1_x, org.x, wm2_x);
 479                         v.y = bound(wm1_y, org.y, wm2_y);
 480                         v.z = bound(wm1_z, org.z, wm2_z);
 481                 }
 482                 else
 483                         v = it.origin;
 484                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 485                 {
 486                         bestdist = vlen(v - org);
 487                         best = it;
 488                 }
 489         });
 490         return best;
 491 }
 492 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 493 {
 494         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 495         if (autocvar_g_waypointeditor_auto)
 496         {
 497                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 498                 if (wp && !wp2)
 499                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 500         }
 501         return wp;
 502 }
 503
 504 // finds the waypoints near the bot initiating a navigation query
 505 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 506 {
 507         vector v, m1, m2;
 508         //navigation_testtracewalk = true;
 509         int c = 0;
 510         float v_height;
 511         IL_EACH(g_waypoints, !it.wpconsidered,
 512         {
 513                 if (it.wpisbox)
 514                 {
 515                         m1 = it.origin + it.mins;
 516                         m2 = it.origin + it.maxs;
 517                         v = this.origin;
 518                         v.x = bound(m1_x, v.x, m2_x);
 519                         v.y = bound(m1_y, v.y, m2_y);
 520                         v.z = m1.z;
 521                         v_height = m2.z - m1.z;
 522                 }
 523                 else
 524                 {
 525                         v = it.origin;
 526                         v_height = 0;
 527                 }
 528                 vector diff = v - this.origin;
 529                 diff.z = max(0, diff.z);
 530                 if(vdist(diff, <, maxdist))
 531                 {
 532                         it.wpconsidered = true;
 533                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 534                         {
 535                                 it.wpnearestpoint = v;
 536                                 it.wpcost = waypoint_getdistancecost(this.origin, v) + it.dmg;
 537                                 it.wpfire = 1;
 538                                 it.enemy = NULL;
 539                                 c = c + 1;
 540                         }
 541                 }
 542         });
 543         //navigation_testtracewalk = false;
 544         return c;
 545 }
 546
 547 // updates a path link if a spawnfunc_waypoint link is better than the current one
 548 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 549 {
 550         vector m1;
 551         vector m2;
 552         vector v;
 553         if (wp.wpisbox)
 554         {
 555                 m1 = wp.absmin;
 556                 m2 = wp.absmax;
 557                 v.x = bound(m1_x, p.x, m2_x);
 558                 v.y = bound(m1_y, p.y, m2_y);
 559                 v.z = bound(m1_z, p.z, m2_z);
 560         }
 561         else
 562                 v = wp.origin;
 563         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 564                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 565         else
 566                 cost += waypoint_getdistancecost(p, v);
 567         if (wp.wpcost > cost)
 568         {
 569                 wp.wpcost = cost;
 570                 wp.enemy = w;
 571                 wp.wpfire = 1;
 572                 wp.wpnearestpoint = v;
 573         }
 574 }
 575
 576 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 577 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 578 {
 579         float cost, cost2;
 580         vector p;
 581
 582         IL_EACH(g_waypoints, true,
 583         {
 584                 it.wpconsidered = false;
 585                 it.wpnearestpoint = '0 0 0';
 586                 it.wpcost = 10000000;
 587                 it.wpfire = 0;
 588                 it.enemy = NULL;
 589         });
 590
 591         if(fixed_source_waypoint)
 592         {
 593                 fixed_source_waypoint.wpconsidered = true;
 594                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 595                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 596                 fixed_source_waypoint.wpfire = 1;
 597                 fixed_source_waypoint.enemy = NULL;
 598         }
 599         else
 600         {
 601                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 602                 // as this search is expensive we will use lower values if the bot is on the air
 603                 float increment, maxdistance;
 604                 if(IS_ONGROUND(this))
 605                 {
 606                         increment = 750;
 607                         maxdistance = 50000;
 608                 }
 609                 else
 610                 {
 611                         increment = 500;
 612                         maxdistance = 1500;
 613                 }
 614
 615                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 616         }
 617
 618         bool searching = true;
 619         while (searching)
 620         {
 621                 searching = false;
 622                 IL_EACH(g_waypoints, it.wpfire,
 623                 {
 624                         searching = true;
 625                         it.wpfire = 0;
 626                         cost = it.wpcost;
 627                         p = it.wpnearestpoint;
 628                         entity wp;
 629                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 630                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 631                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 632                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 633                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 634                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 635                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 636                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 637                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 638                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 639                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 640                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 641                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 642                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 643                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 644                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 645                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 646                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 647                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 648                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 649                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 650                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 651                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 652                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 653                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 654                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 655                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 656                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 657                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 658                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 659                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 660                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 661                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 662                 });
 663         }
 664 }
 665
 666 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 667 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 668 {
 669         float cost, cost2;
 670         vector p;
 671         IL_EACH(g_waypoints, true,
 672         {
 673                 it.wpconsidered = false;
 674                 it.wpnearestpoint = '0 0 0';
 675                 it.wpcost = 10000000;
 676                 it.wpfire = 0;
 677                 it.enemy = NULL;
 678         });
 679
 680         if(fixed_source_waypoint)
 681         {
 682                 fixed_source_waypoint.wpconsidered = true;
 683                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 684                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 685                 fixed_source_waypoint.wpfire = 1;
 686                 fixed_source_waypoint.enemy = NULL;
 687         }
 688         else
 689         {
 690                 error("need to start with a waypoint\n");
 691         }
 692
 693         bool searching = true;
 694         while (searching)
 695         {
 696                 searching = false;
 697                 IL_EACH(g_waypoints, it.wpfire,
 698                 {
 699                         searching = true;
 700                         it.wpfire = 0;
 701                         cost = it.wpcost; // cost to walk from it to home
 702                         p = it.wpnearestpoint;
 703                         entity wp = it;
 704                         IL_EACH(g_waypoints, it != wp,
 705                         {
 706                                 if(!waypoint_islinked(it, wp))
 707                                         continue;
 708                                 cost2 = cost + it.dmg;
 709                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 710                         });
 711                 });
 712         }
 713 }
 714
 715 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 716 void navigation_routerating(entity this, entity e, float f, float rangebias)
 717 {
 718         if (!e)
 719                 return;
 720
 721         if(e.blacklisted)
 722                 return;
 723
 724         rangebias = waypoint_getdistancecost_simple(rangebias);
 725         f = waypoint_getdistancecost_simple(f);
 726
 727         if (IS_PLAYER(e))
 728         {
 729                 bool rate_wps = false;
 730                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 731                         rate_wps = true;
 732
 733                 if(!IS_ONGROUND(e))
 734                 {
 735                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 736                         int t = pointcontents(trace_endpos + '0 0 1');
 737                         if(t != CONTENT_SOLID )
 738                         {
 739                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 740                                         rate_wps = true;
 741                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 742                                         return;
 743                         }
 744                 }
 745
 746                 if(rate_wps)
 747                 {
 748                         entity theEnemy = e;
 749                         entity best_wp = NULL;
 750                         float best_dist = 10000;
 751                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 752                                 && vdist(it.origin - this.origin, >, 100)
 753                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 754                         {
 755                                 float dist = vlen(it.origin - theEnemy.origin);
 756                                 if (dist < best_dist)
 757                                 {
 758                                         best_wp = it;
 759                                         best_dist = dist;
 760                                 }
 761                         });
 762                         if (!best_wp)
 763                                 return;
 764                         e = best_wp;
 765                 }
 766         }
 767
 768         vector goal_org = (e.absmin + e.absmax) * 0.5;
 769
 770         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 771
 772         // Evaluate path using jetpack
 773         if(g_jetpack)
 774         if(this.items & IT_JETPACK)
 775         if(autocvar_bot_ai_navigation_jetpack)
 776         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 777         {
 778                 vector pointa, pointb;
 779
 780                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 781
 782                 // Point A
 783                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 784                 pointa = trace_endpos - '0 0 1';
 785
 786                 // Point B
 787                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
 788                 pointb = trace_endpos - '0 0 1';
 789
 790                 // Can I see these two points from the sky?
 791                 traceline(pointa, pointb, MOVE_NORMAL, this);
 792
 793                 if(trace_fraction==1)
 794                 {
 795                         LOG_DEBUG("jetpack ai: can bridge these two points");
 796
 797                         // Lower the altitude of these points as much as possible
 798                         float zdistance, xydistance, cost, t, fuel;
 799                         vector down, npa, npb;
 800
 801                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 802
 803                         do{
 804                                 npa = pointa + down;
 805                                 npb = pointb + down;
 806
 807                                 if(npa.z<=this.absmax.z)
 808                                         break;
 809
 810                                 if(npb.z<=e.absmax.z)
 811                                         break;
 812
 813                                 traceline(npa, npb, MOVE_NORMAL, this);
 814                                 if(trace_fraction==1)
 815                                 {
 816                                         pointa = npa;
 817                                         pointb = npb;
 818                                 }
 819                         }
 820                         while(trace_fraction == 1);
 821
 822
 823                         // Rough estimation of fuel consumption
 824                         // (ignores acceleration and current xyz velocity)
 825                         xydistance = vlen(pointa - pointb);
 826                         zdistance = fabs(pointa.z - this.origin.z);
 827
 828                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 829                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 830                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 831
 832                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 833
 834                         // enough fuel ?
 835                         if(this.ammo_fuel>fuel)
 836                         {
 837                                 // Estimate cost
 838                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 839                                 //  - between air and ground speeds)
 840
 841                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 842                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 843                                 cost *= 1.5;
 844
 845                                 // Compare against other goals
 846                                 f = f * rangebias / (rangebias + cost);
 847
 848                                 if (navigation_bestrating < f)
 849                                 {
 850                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 851                                         navigation_bestrating = f;
 852                                         navigation_bestgoal = e;
 853                                         this.navigation_jetpack_goal = e;
 854                                         this.navigation_jetpack_point = pointb;
 855                                 }
 856                                 return;
 857                         }
 858                 }
 859         }
 860
 861         entity nwp;
 862         //te_wizspike(e.origin);
 863         //bprint(etos(e));
 864         //bprint("\n");
 865         // update the cached spawnfunc_waypoint link on a dynamic item entity
 866         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 867         {
 868                 nwp = e;
 869         }
 870         else
 871         {
 872                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 873                         e.nearestwaypoint = NULL;
 874
 875                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
 876                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 877                 {
 878                         nwp = navigation_findnearestwaypoint(e, true);
 879                         if(nwp)
 880                         {
 881                                 e.nearestwaypoint = nwp;
 882
 883                                 vector m1 = nwp.absmin, m2 = nwp.absmax;
 884                                 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
 885                                 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
 886                                 vector ve = (e.absmin - e.absmax) * 0.5;
 887                                 ve.x = bound(m1.x, ve.x, m2.x);
 888                                 ve.y = bound(m1.y, ve.y, m2.y);
 889                                 ve.z = bound(m1.z, ve.z, m2.z);
 890
 891                                 m1 = e.absmin; m2 = e.absmax;
 892                                 m1.x = e.origin.x; m1.y = e.origin.y;
 893                                 m2.x = e.origin.x; m2.y = e.origin.y;
 894                                 vector vnwp = nwp.origin;
 895                                 vnwp.x = bound(m1.x, vnwp.x, m2.x);
 896                                 vnwp.y = bound(m1.y, vnwp.y, m2.y);
 897                                 vnwp.z = bound(m1.z, vnwp.z, m2.z);
 898                                 e.nearestwaypoint_dist = vlen(ve - vnwp);
 899                         }
 900                         else
 901                         {
 902                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
 903
 904                                 if(!e.navigation_dynamicgoal)
 905                                         e.blacklisted = true;
 906
 907                                 if(e.blacklisted)
 908                                 {
 909                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
 910                                         return;
 911                                 }
 912                         }
 913
 914                         if(e.navigation_dynamicgoal)
 915                                 e.nearestwaypointtimeout = time + 2;
 916                         else if(autocvar_g_waypointeditor)
 917                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
 918                 }
 919                 nwp = e.nearestwaypoint;
 920         }
 921
 922         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
 923         if (nwp)
 924         if (nwp.wpcost < 10000000)
 925         {
 926                 //te_wizspike(nwp.wpnearestpoint);
 927                 float cost = nwp.wpcost + waypoint_getdistancecost(nwp.wpnearestpoint, goal_org);
 928                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
 929                 f = f * rangebias / (rangebias + cost);
 930                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
 931                 if (navigation_bestrating < f)
 932                 {
 933                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 934                         navigation_bestrating = f;
 935                         navigation_bestgoal = e;
 936                 }
 937         }
 938 }
 939
 940 // adds an item to the the goal stack with the path to a given item
 941 bool navigation_routetogoal(entity this, entity e, vector startposition)
 942 {
 943         // if there is no goal, just exit
 944         if (!e)
 945                 return false;
 946
 947         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
 948         {
 949                 // force teleport destination as route destination
 950                 e.wp00.enemy = e;
 951                 e = e.wp00;
 952         }
 953
 954         this.goalentity = e;
 955
 956         // put the entity on the goal stack
 957         //print("routetogoal ", etos(e), "\n");
 958         navigation_pushroute(this, e);
 959
 960         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 961         {
 962                 this.wp_goal_prev1 = this.wp_goal_prev0;
 963                 this.wp_goal_prev0 = e;
 964         }
 965
 966         if(g_jetpack)
 967         if(e==this.navigation_jetpack_goal)
 968                 return true;
 969
 970         // if it can reach the goal there is nothing more to do
 971         vector dest = (e.absmin + e.absmax) * 0.5;
 972         dest.z = e.absmin.z;
 973         float dest_height = e.absmax.z - e.absmin.z;
 974         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
 975                 return true;
 976
 977         entity nearest_wp = NULL;
 978         // see if there are waypoints describing a path to the item
 979         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 980         {
 981                 e = e.nearestwaypoint;
 982                 nearest_wp = e;
 983         }
 984         else
 985                 e = e.enemy; // we already have added it, so...
 986
 987         if(e == NULL)
 988                 return false;
 989
 990         if(nearest_wp && nearest_wp.enemy)
 991         {
 992                 // often path can be optimized by not adding the nearest waypoint
 993                 if (this.goalentity.nearestwaypoint_dist < 8)
 994                         e = nearest_wp.enemy;
 995                 else
 996                 {
 997                         if (this.goalentity.navigation_dynamicgoal)
 998                         {
 999                                 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
1000                                 dest.z = this.goalentity.absmin.z;
1001                                 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1002                                 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1003                                         e = nearest_wp.enemy;
1004                         }
1005                         else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1006                                 e = nearest_wp.enemy;
1007                 }
1008         }
1009
1010         for (;;)
1011         {
1012                 // add the spawnfunc_waypoint to the path
1013                 navigation_pushroute(this, e);
1014                 e = e.enemy;
1015
1016                 if(e==NULL)
1017                         break;
1018         }
1019
1020         return false;
1021 }
1022
1023 // removes any currently touching waypoints from the goal stack
1024 // (this is how bots detect if they reached a goal)
1025 void navigation_poptouchedgoals(entity this)
1026 {
1027         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1028         {
1029                 // make sure jumppad is really hit, don't rely on distance based checks
1030                 // as they may report a touch even if it didn't really happen
1031                 if(this.lastteleporttime > 0
1032                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1033                 {
1034                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1035                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1036                         {
1037                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1038                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1039                         }
1040                         navigation_poproute(this);
1041                 }
1042                 else
1043                         return;
1044         }
1045
1046         // If for some reason the bot is closer to the next goal, pop the current one
1047         if(this.goalstack01 && !wasfreed(this.goalstack01))
1048         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1049         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1050         {
1051                 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1052                 dest.z = this.goalstack01.absmin.z;
1053                 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1054                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1055                 {
1056                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1057                         navigation_poproute(this);
1058                         // TODO this may also be a nice idea to do "early" (e.g. by
1059                         // manipulating the vlen() comparisons) to shorten paths in
1060                         // general - this would make bots walk more "on rails" than
1061                         // "zigzagging" which they currently do with sufficiently
1062                         // random-like waypoints, and thus can make a nice bot
1063                         // personality property
1064                 }
1065         }
1066
1067         // Loose goal touching check when running
1068         if(this.aistatus & AI_STATUS_RUNNING)
1069         if(this.goalcurrent.classname=="waypoint")
1070         if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
1071         {
1072                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1073                 {
1074                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1075                         if(trace_fraction==1)
1076                         {
1077                                 // Detect personal waypoints
1078                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1079                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1080                                 {
1081                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1082                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1083                                 }
1084
1085                                 navigation_poproute(this);
1086                         }
1087                 }
1088         }
1089
1090         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1091         {
1092                 vector gc_min = this.goalcurrent.absmin;
1093                 vector gc_max = this.goalcurrent.absmax;
1094                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1095                 {
1096                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1097                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1098                 }
1099                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1100                         break;
1101
1102                 // Detect personal waypoints
1103                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1104                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1105                 {
1106                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1107                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1108                 }
1109
1110                 navigation_poproute(this);
1111         }
1112 }
1113
1114 // begin a goal selection session (queries spawnfunc_waypoint network)
1115 void navigation_goalrating_start(entity this)
1116 {
1117         if(this.aistatus & AI_STATUS_STUCK)
1118                 return;
1119
1120         this.navigation_jetpack_goal = NULL;
1121         navigation_bestrating = -1;
1122         navigation_clearroute(this);
1123         navigation_bestgoal = NULL;
1124         navigation_markroutes(this, NULL);
1125 }
1126
1127 // ends a goal selection session (updates goal stack to the best goal)
1128 void navigation_goalrating_end(entity this)
1129 {
1130         if(this.aistatus & AI_STATUS_STUCK)
1131                 return;
1132
1133         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1134         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1135
1136         // If the bot got stuck then try to reach the farthest waypoint
1137         if (!this.goalentity && autocvar_bot_wander_enable)
1138         {
1139                 if (!(this.aistatus & AI_STATUS_STUCK))
1140                 {
1141                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1142                         this.aistatus |= AI_STATUS_STUCK;
1143                 }
1144         }
1145 }
1146
1147 void botframe_updatedangerousobjects(float maxupdate)
1148 {
1149         vector m1, m2, v, o;
1150         float c, d, danger;
1151         c = 0;
1152         IL_EACH(g_waypoints, true,
1153         {
1154                 danger = 0;
1155                 m1 = it.absmin;
1156                 m2 = it.absmax;
1157                 IL_EACH(g_bot_dodge, it.bot_dodge,
1158                 {
1159                         v = it.origin;
1160                         v.x = bound(m1_x, v.x, m2_x);
1161                         v.y = bound(m1_y, v.y, m2_y);
1162                         v.z = bound(m1_z, v.z, m2_z);
1163                         o = (it.absmin + it.absmax) * 0.5;
1164                         d = waypoint_getdistancecost_simple(it.bot_dodgerating) - waypoint_getdistancecost(o, v);
1165                         if (d > 0)
1166                         {
1167                                 traceline(o, v, true, NULL);
1168                                 if (trace_fraction == 1)
1169                                         danger = danger + d;
1170                         }
1171                 });
1172                 it.dmg = danger;
1173                 c = c + 1;
1174                 if (c >= maxupdate)
1175                         break;
1176         });
1177 }
1178
1179 void navigation_unstuck(entity this)
1180 {
1181         float search_radius = 1000;
1182
1183         if (!autocvar_bot_wander_enable)
1184                 return;
1185
1186         if (!bot_waypoint_queue_owner)
1187         {
1188                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1189                 bot_waypoint_queue_owner = this;
1190                 bot_waypoint_queue_bestgoal = NULL;
1191                 bot_waypoint_queue_bestgoalrating = 0;
1192         }
1193
1194         if(bot_waypoint_queue_owner!=this)
1195                 return;
1196
1197         if (bot_waypoint_queue_goal)
1198         {
1199                 // evaluate the next goal on the queue
1200                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1201                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1202                 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1203                 dest.z = bot_waypoint_queue_goal.absmin.z;
1204                 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1205                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1206                 {
1207                         if( d > bot_waypoint_queue_bestgoalrating)
1208                         {
1209                                 bot_waypoint_queue_bestgoalrating = d;
1210                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1211                         }
1212                 }
1213                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1214
1215                 if (!bot_waypoint_queue_goal)
1216                 {
1217                         if (bot_waypoint_queue_bestgoal)
1218                         {
1219                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1220                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1221                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1222                                 this.aistatus &= ~AI_STATUS_STUCK;
1223                         }
1224                         else
1225                         {
1226                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1227                         }
1228
1229                         bot_waypoint_queue_owner = NULL;
1230                 }
1231         }
1232         else
1233         {
1234                 if(bot_strategytoken!=this)
1235                         return;
1236
1237                 // build a new queue
1238                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1239
1240                 entity first = NULL;
1241
1242                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1243                 {
1244                         if(bot_waypoint_queue_goal)
1245                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1246                         else
1247                                 first = it;
1248
1249                         bot_waypoint_queue_goal = it;
1250                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1251                 });
1252
1253                 if (first)
1254                         bot_waypoint_queue_goal = first;
1255                 else
1256                 {
1257                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1258                         bot_waypoint_queue_owner = NULL;
1259                 }
1260         }
1261 }
1262
1263 // Support for debugging tracewalk visually
1264
1265 void debugresetnodes()
1266 {
1267         debuglastnode = '0 0 0';
1268 }
1269
1270 void debugnode(entity this, vector node)
1271 {
1272         if (!IS_PLAYER(this))
1273                 return;
1274
1275         if(debuglastnode=='0 0 0')
1276         {
1277                 debuglastnode = node;
1278                 return;
1279         }
1280
1281         te_lightning2(NULL, node, debuglastnode);
1282         debuglastnode = node;
1283 }
1284
1285 void debugnodestatus(vector position, float status)
1286 {
1287         vector c;
1288
1289         switch (status)
1290         {
1291                 case DEBUG_NODE_SUCCESS:
1292                         c = '0 15 0';
1293                         break;
1294                 case DEBUG_NODE_WARNING:
1295                         c = '15 15 0';
1296                         break;
1297                 case DEBUG_NODE_FAIL:
1298                         c = '15 0 0';
1299                         break;
1300                 default:
1301                         c = '15 15 15';
1302         }
1303
1304         te_customflash(position, 40,  2, c);
1305 }
1306
1307 // Support for debugging the goal stack visually
1308
1309 .float goalcounter;
1310 .vector lastposition;
1311
1312 // Debug the goal stack visually
1313 void debuggoalstack(entity this)
1314 {
1315         entity goal;
1316         vector org, go;
1317
1318         if(this.goalcounter==0)goal=this.goalcurrent;
1319         else if(this.goalcounter==1)goal=this.goalstack01;
1320         else if(this.goalcounter==2)goal=this.goalstack02;
1321         else if(this.goalcounter==3)goal=this.goalstack03;
1322         else if(this.goalcounter==4)goal=this.goalstack04;
1323         else if(this.goalcounter==5)goal=this.goalstack05;
1324         else if(this.goalcounter==6)goal=this.goalstack06;
1325         else if(this.goalcounter==7)goal=this.goalstack07;
1326         else if(this.goalcounter==8)goal=this.goalstack08;
1327         else if(this.goalcounter==9)goal=this.goalstack09;
1328         else if(this.goalcounter==10)goal=this.goalstack10;
1329         else if(this.goalcounter==11)goal=this.goalstack11;
1330         else if(this.goalcounter==12)goal=this.goalstack12;
1331         else if(this.goalcounter==13)goal=this.goalstack13;
1332         else if(this.goalcounter==14)goal=this.goalstack14;
1333         else if(this.goalcounter==15)goal=this.goalstack15;
1334         else if(this.goalcounter==16)goal=this.goalstack16;
1335         else if(this.goalcounter==17)goal=this.goalstack17;
1336         else if(this.goalcounter==18)goal=this.goalstack18;
1337         else if(this.goalcounter==19)goal=this.goalstack19;
1338         else if(this.goalcounter==20)goal=this.goalstack20;
1339         else if(this.goalcounter==21)goal=this.goalstack21;
1340         else if(this.goalcounter==22)goal=this.goalstack22;
1341         else if(this.goalcounter==23)goal=this.goalstack23;
1342         else if(this.goalcounter==24)goal=this.goalstack24;
1343         else if(this.goalcounter==25)goal=this.goalstack25;
1344         else if(this.goalcounter==26)goal=this.goalstack26;
1345         else if(this.goalcounter==27)goal=this.goalstack27;
1346         else if(this.goalcounter==28)goal=this.goalstack28;
1347         else if(this.goalcounter==29)goal=this.goalstack29;
1348         else if(this.goalcounter==30)goal=this.goalstack30;
1349         else if(this.goalcounter==31)goal=this.goalstack31;
1350         else goal=NULL;
1351
1352         if(goal==NULL)
1353         {
1354                 this.goalcounter = 0;
1355                 this.lastposition='0 0 0';
1356                 return;
1357         }
1358
1359         if(this.lastposition=='0 0 0')
1360                 org = this.origin;
1361         else
1362                 org = this.lastposition;
1363
1364
1365         go = ( goal.absmin + goal.absmax ) * 0.5;
1366         te_lightning2(NULL, org, go);
1367         this.lastposition = go;
1368
1369         this.goalcounter++;
1370 }