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