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 ERASEABLE
  51 void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds)
  52 {
  53         this.bot_strategytime = max(this.bot_strategytime, time + seconds);
  54 }
  55
  56 #define MAX_CHASE_DISTANCE 700
  57 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
  58 {
  59         vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
  60         if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
  61                 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
  62         {
  63                 return true;
  64         }
  65
  66         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
  67         {
  68                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
  69                 {
  70                         this.ignoregoal = this.goalentity;
  71                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
  72                         return true;
  73                 }
  74         }
  75         return false;
  76 }
  77
  78 void navigation_dynamicgoal_init(entity this, bool initially_static)
  79 {
  80         this.navigation_dynamicgoal = true;
  81         this.bot_basewaypoint = this.nearestwaypoint;
  82         if(initially_static)
  83                 this.nearestwaypointtimeout = -1;
  84         else
  85                 this.nearestwaypointtimeout = time;
  86 }
  87
  88 void navigation_dynamicgoal_set(entity this, entity dropper)
  89 {
  90         this.nearestwaypointtimeout = time;
  91         if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
  92                 this.nearestwaypoint = dropper.nearestwaypoint;
  93         if (this.nearestwaypoint)
  94                 this.nearestwaypointtimeout += 2;
  95 }
  96
  97 void navigation_dynamicgoal_unset(entity this)
  98 {
  99         if(this.bot_basewaypoint)
 100                 this.nearestwaypoint = this.bot_basewaypoint;
 101         this.nearestwaypointtimeout = -1;
 102 }
 103
 104 // returns point of ent closer to org
 105 vector get_closer_dest(entity ent, vector org)
 106 {
 107         vector dest = '0 0 0';
 108         if ((ent.classname != "waypoint") || ent.wpisbox)
 109         {
 110                 vector wm1 = ent.origin + ent.mins;
 111                 vector wm2 = ent.origin + ent.maxs;
 112                 dest.x = bound(wm1.x, org.x, wm2.x);
 113                 dest.y = bound(wm1.y, org.y, wm2.y);
 114                 dest.z = bound(wm1.z, org.z, wm2.z);
 115         }
 116         else
 117                 dest = ent.origin;
 118         return dest;
 119 }
 120
 121 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
 122 {
 123         if ((ent.classname != "waypoint") || ent.wpisbox)
 124         {
 125                 vector wm1 = ent.origin + ent.mins;
 126                 vector wm2 = ent.origin + ent.maxs;
 127                 if (IS_PLAYER(ent) || IS_MONSTER(ent))
 128                 {
 129                         // move destination point out of player bbox otherwise tracebox always fails
 130                         // (if bot_navigation_ignoreplayers is false)
 131                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
 132                         wm2 += vec2(PL_MAX_CONST) + '1 1 0';
 133                 }
 134                 // set destination point to x and y coords of ent that are closer to org
 135                 // z coord is set to ent's min height
 136                 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
 137                 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
 138                 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
 139                         && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
 140                 {
 141                         tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
 142                         tracewalk_dest_height = 0;
 143                         fix_player_dest = false;
 144                 }
 145                 else
 146                 {
 147                         tracewalk_dest.z = wm1.z;
 148                         tracewalk_dest_height = wm2.z - wm1.z;
 149                 }
 150         }
 151         else
 152         {
 153                 tracewalk_dest = ent.origin;
 154                 tracewalk_dest_height = 0;
 155         }
 156         if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
 157         {
 158                 // snap player to the ground
 159                 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
 160                 {
 161                         // bot is right under the player
 162                         tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
 163                         tracewalk_dest = trace_endpos;
 164                         tracewalk_dest_height = 0;
 165                 }
 166                 else
 167                 {
 168                         tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
 169                         if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
 170                         {
 171                                 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
 172                                 tracewalk_dest.z = trace_endpos.z;
 173                         }
 174                 }
 175         }
 176 }
 177
 178 // returns point of ent closer to org
 179 vector set_tracewalk_dest_2(entity ent, vector org)
 180 {
 181         vector closer_dest = '0 0 0';
 182         if ((ent.classname != "waypoint") || ent.wpisbox)
 183         {
 184                 vector wm1 = ent.origin + ent.mins;
 185                 vector wm2 = ent.origin + ent.maxs;
 186                 closer_dest.x = bound(wm1.x, org.x, wm2.x);
 187                 closer_dest.y = bound(wm1.y, org.y, wm2.y);
 188                 closer_dest.z = bound(wm1.z, org.z, wm2.z);
 189                 // set destination point to x and y coords of ent that are closer to org
 190                 // z coord is set to ent's min height
 191                 tracewalk_dest.x = closer_dest.x;
 192                 tracewalk_dest.y = closer_dest.y;
 193                 tracewalk_dest.z = wm1.z;
 194                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
 195         }
 196         else
 197         {
 198                 closer_dest = ent.origin;
 199                 tracewalk_dest = closer_dest;
 200                 tracewalk_dest_height = 0;
 201         }
 202         return closer_dest;
 203 }
 204
 205 bool navigation_check_submerged_state(entity ent, vector pos)
 206 {
 207         bool submerged;
 208         if(IS_PLAYER(ent))
 209                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
 210         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
 211                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
 212         else
 213         {
 214                 submerged = SUBMERGED(pos);
 215                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
 216                 //  is actually submerged because often they are inside some solid.
 217                 //  That's why submerged state is saved now that we know current pos is
 218                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
 219                 if(!ent.navigation_dynamicgoal)
 220                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
 221         }
 222         return submerged;
 223 }
 224
 225 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
 226 {
 227         IL_EACH(g_ladders, it.classname == "func_ladder",
 228         {
 229                 if(it.bot_pickup)
 230                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
 231                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
 232                 {
 233                         vector top = org;
 234                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
 235                         tracebox(org, m1, m2, top, movemode, e);
 236                         if(trace_fraction == 1)
 237                                 return true;
 238                 }
 239         });
 240         return false;
 241 }
 242
 243 // Unfortuntely we can't use trace_inwater since it doesn't hold the fraction of the total
 244 // distance that was traveled before impact as the description in the engine (collision.h) says.
 245 // It would have helped to speed up tracewalk underwater
 246 vector resurface_limited(vector org, float lim, vector m1)
 247 {
 248         if (WETFEET(org + eZ * (lim - org.z)))
 249                 org.z = lim;
 250         else
 251         {
 252                 float RES_min_h = org.z;
 253                 float RES_max_h = lim;
 254                 do {
 255                         org.z = 0.5 * (RES_min_h + RES_max_h);
 256                         if(WETFEET(org))
 257                                 RES_min_h = org.z;
 258                         else
 259                                 RES_max_h = org.z;
 260                 } while (RES_max_h - RES_min_h >= 1);
 261                 org.z = RES_min_h;
 262         }
 263         return org;
 264 }
 265 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
 266
 267 #define NAV_WALK 0
 268 #define NAV_SWIM_ONWATER 1
 269 #define NAV_SWIM_UNDERWATER 2
 270
 271 // rough simulation of walking from one point to another to test if a path
 272 // can be traveled, used for waypoint linking and havocbot
 273 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
 274 // INFO: the command sv_cmd trace walk is useful to test this function in game
 275 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
 276 {
 277         if(autocvar_bot_debug_tracewalk)
 278         {
 279                 debugresetnodes();
 280                 debugnode(e, start);
 281         }
 282
 283         vector org = start;
 284         vector flatdir = end - start;
 285         flatdir.z = 0;
 286         float flatdist = vlen(flatdir);
 287         flatdir = normalize(flatdir);
 288         float stepdist = 32;
 289         bool ignorehazards = false;
 290         int nav_action;
 291
 292         // Analyze starting point
 293         if (IN_LAVA(start))
 294                 ignorehazards = true;
 295
 296         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 297         if (trace_startsolid)
 298         {
 299                 // Bad start
 300                 if(autocvar_bot_debug_tracewalk)
 301                         debugnodestatus(start, DEBUG_NODE_FAIL);
 302
 303                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 304                 return false;
 305         }
 306
 307         vector end2 = end;
 308         if(end_height)
 309                 end2.z += end_height;
 310
 311         vector fixed_end = end;
 312         vector move;
 313
 314         if (flatdist > 0 && WETFEET(org))
 315         {
 316                 if (SUBMERGED(org))
 317                         nav_action = NAV_SWIM_UNDERWATER;
 318                 else
 319                 {
 320                         // tracebox down by player's height
 321                         // useful to know if water level is so low that bot can still walk
 322                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
 323                         if (SUBMERGED(trace_endpos))
 324                         {
 325                                 org = trace_endpos;
 326                                 nav_action = NAV_SWIM_UNDERWATER;
 327                         }
 328                         else
 329                                 nav_action = NAV_WALK;
 330                 }
 331         }
 332         else
 333                 nav_action =  NAV_WALK;
 334
 335         // Movement loop
 336         while (true)
 337         {
 338                 if (flatdist <= 0)
 339                 {
 340                         bool success = true;
 341                         if (org.z > end2.z + 1)
 342                         {
 343                                 tracebox(org, m1, m2, end2, movemode, e);
 344                                 org = trace_endpos;
 345                                 if (org.z > end2.z + 1)
 346                                         success = false;
 347                         }
 348                         else if (org.z < end.z - 1)
 349                         {
 350                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
 351                                 if (SUBMERGED(trace_endpos))
 352                                 {
 353                                         vector v = trace_endpos;
 354                                         tracebox(v, m1, m2, end, movemode, e);
 355                                         if(trace_endpos.z >= end.z - 1)
 356                                         {
 357                                                 RESURFACE_LIMITED(v, trace_endpos.z);
 358                                                 trace_endpos = v;
 359                                         }
 360                                 }
 361                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
 362                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
 363                                 org = trace_endpos;
 364                                 if (org.z < end.z - 1)
 365                                         success = false;
 366                         }
 367
 368                         if (success)
 369                         {
 370                                 // Succeeded
 371                                 if(autocvar_bot_debug_tracewalk)
 372                                 {
 373                                         debugnode(e, org);
 374                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 375                                 }
 376
 377                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 378                                 return true;
 379                         }
 380                 }
 381
 382                 if(autocvar_bot_debug_tracewalk)
 383                         debugnode(e, org);
 384
 385                 if (flatdist <= 0)
 386                         break;
 387
 388                 if (stepdist > flatdist)
 389                         stepdist = flatdist;
 390                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
 391                 {
 392                         // can't use movement direction here to calculate move because of
 393                         // precision errors especially when direction has a high enough z value
 394                         //water_dir = normalize(water_end - org);
 395                         //move = org + water_dir * stepdist;
 396                         fixed_end.z = bound(end.z, org.z, end2.z);
 397                         if (stepdist == flatdist) {
 398                                 move = fixed_end;
 399                                 flatdist = 0;
 400                         } else {
 401                                 move = org + (fixed_end - org) * (stepdist / flatdist);
 402                                 flatdist = vlen(vec2(fixed_end - move));
 403                         }
 404                 }
 405                 else // horiz. direction
 406                 {
 407                         flatdist -= stepdist;
 408                         move = org + flatdir * stepdist;
 409                 }
 410
 411                 if(nav_action == NAV_SWIM_ONWATER)
 412                 {
 413                         tracebox(org, m1, m2, move, movemode, e); // swim
 414
 415                         // hit something
 416                         if (trace_fraction < 1)
 417                         {
 418                                 // stepswim
 419                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 420
 421                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 422                                 {
 423                                         org = trace_endpos;
 424                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
 425                                         {
 426                                                 if(autocvar_bot_debug_tracewalk)
 427                                                 {
 428                                                         debugnode(e, org);
 429                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 430                                                 }
 431
 432                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 433                                                 return true;
 434                                         }
 435
 436                                         if(autocvar_bot_debug_tracewalk)
 437                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 438
 439                                         return false;
 440                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 441                                 }
 442
 443                                 //succesful stepswim
 444
 445                                 if (flatdist <= 0)
 446                                 {
 447                                         org = trace_endpos;
 448                                         continue;
 449                                 }
 450
 451                                 if (org.z <= move.z) // going horiz.
 452                                 {
 453                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
 454                                         org = trace_endpos;
 455                                         nav_action = NAV_WALK;
 456                                         continue;
 457                                 }
 458                         }
 459
 460                         if (org.z <= move.z) // going horiz.
 461                         {
 462                                 org = trace_endpos;
 463                                 nav_action = NAV_SWIM_ONWATER;
 464                         }
 465                         else // going down
 466                         {
 467                                 org = trace_endpos;
 468                                 if (SUBMERGED(org))
 469                                         nav_action = NAV_SWIM_UNDERWATER;
 470                                 else
 471                                         nav_action = NAV_SWIM_ONWATER;
 472                         }
 473                 }
 474                 else if(nav_action == NAV_SWIM_UNDERWATER)
 475                 {
 476                         if (move.z >= org.z) // swimming upwards or horiz.
 477                         {
 478                                 tracebox(org, m1, m2, move, movemode, e); // swim
 479
 480                                 bool stepswum = false;
 481
 482                                 // hit something
 483                                 if (trace_fraction < 1)
 484                                 {
 485                                         // stepswim
 486                                         vector stepswim_move = move + stepheightvec;
 487                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
 488                                                 stepswim_move.z = end2.z;
 489
 490                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
 491
 492                                         // hit something
 493                                         if (trace_startsolid)
 494                                         {
 495                                                 if(autocvar_bot_debug_tracewalk)
 496                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 497
 498                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 499                                                 return false;
 500                                         }
 501
 502                                         if (trace_fraction < 1)
 503                                         {
 504                                                 float org_z_prev = org.z;
 505                                                 RESURFACE_LIMITED(org, end2.z);
 506                                                 if(org.z == org_z_prev)
 507                                                 {
 508                                                         if(autocvar_bot_debug_tracewalk)
 509                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 510
 511                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
 512                                                         return false;
 513                                                 }
 514                                                 if(SUBMERGED(org))
 515                                                         nav_action = NAV_SWIM_UNDERWATER;
 516                                                 else
 517                                                         nav_action = NAV_SWIM_ONWATER;
 518
 519                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
 520                                                 // but we can't do it properly right now... apply this workaround instead
 521                                                 if (flatdist <= 0)
 522                                                         flatdist = 1;
 523
 524                                                 continue;
 525                                         }
 526
 527                                         //succesful stepswim
 528
 529                                         if (flatdist <= 0)
 530                                         {
 531                                                 org = trace_endpos;
 532                                                 continue;
 533                                         }
 534
 535                                         stepswum = true;
 536                                 }
 537
 538                                 if (!WETFEET(trace_endpos))
 539                                 {
 540                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
 541                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
 542                                         if (!stepswum && SUBMERGED(trace_endpos))
 543                                         {
 544                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
 545                                                 org = trace_endpos;
 546                                                 nav_action = NAV_SWIM_ONWATER;
 547                                                 continue;
 548                                         }
 549
 550                                         // not submerged
 551                                         org = trace_endpos;
 552                                         nav_action = NAV_WALK;
 553                                         continue;
 554                                 }
 555
 556                                 // wetfeet
 557                                 org = trace_endpos;
 558                                 nav_action = NAV_SWIM_UNDERWATER;
 559                                 continue;
 560                         }
 561                         else //if (move.z < org.z) // swimming downwards
 562                         {
 563                                 tracebox(org, m1, m2, move, movemode, e); // swim
 564
 565                                 // hit something
 566                                 if (trace_fraction < 1)
 567                                 {
 568                                         // stepswim
 569                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 570
 571                                         // hit something
 572                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 573                                         {
 574                                                 if(autocvar_bot_debug_tracewalk)
 575                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
 576
 577                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 578                                                 return false;
 579                                         }
 580
 581                                         //succesful stepswim
 582
 583                                         if (flatdist <= 0)
 584                                         {
 585                                                 org = trace_endpos;
 586                                                 continue;
 587                                         }
 588
 589                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
 590                                         {
 591                                                 // stepswim caused upwards direction
 592                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
 593                                                 if (!SUBMERGED(trace_endpos))
 594                                                 {
 595                                                         org = trace_endpos;
 596                                                         nav_action = NAV_WALK;
 597                                                         continue;
 598                                                 }
 599                                         }
 600                                 }
 601
 602                                 org = trace_endpos;
 603                                 nav_action = NAV_SWIM_UNDERWATER;
 604                                 continue;
 605                         }
 606                 }
 607                 else if(nav_action == NAV_WALK)
 608                 {
 609                         // walk
 610                         tracebox(org, m1, m2, move, movemode, e);
 611
 612                         if(autocvar_bot_debug_tracewalk)
 613                                 debugnode(e, trace_endpos);
 614
 615                         // hit something
 616                         if (trace_fraction < 1)
 617                         {
 618                                 // check if we can walk over this obstacle, possibly by jumpstepping
 619                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 620                                 if (trace_fraction < 1 || trace_startsolid)
 621                                 {
 622                                         if (trace_startsolid) // hit ceiling above org
 623                                         {
 624                                                 // reduce stepwalk height
 625                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
 626                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 627                                         }
 628                                         else //if (trace_fraction < 1)
 629                                         {
 630                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 631                                                 if (trace_startsolid) // hit ceiling above org
 632                                                 {
 633                                                         // reduce jumpstepwalk height
 634                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
 635                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 636                                                 }
 637                                         }
 638
 639                                         if (trace_fraction < 1)
 640                                         {
 641                                                 vector v = trace_endpos;
 642                                                 v.z = org.z + jumpheight_vec.z;
 643                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 644                                                 {
 645                                                         if(autocvar_bot_debug_tracewalk)
 646                                                         {
 647                                                                 debugnode(e, v);
 648                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 649                                                         }
 650
 651                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 652                                                         return true;
 653                                                 }
 654
 655                                                 if(autocvar_bot_debug_tracewalk)
 656                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 657
 658                                                 traceline( org, move, movemode, e);
 659
 660                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 661                                                 {
 662                                                         vector nextmove;
 663                                                         move = trace_endpos;
 664                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 665                                                         {
 666                                                                 nextmove = move + (flatdir * stepdist);
 667                                                                 traceline( move, nextmove, movemode, e);
 668                                                                 move = nextmove;
 669                                                         }
 670                                                         flatdist = vlen(vec2(end - move));
 671                                                 }
 672                                                 else
 673                                                 {
 674                                                         if(autocvar_bot_debug_tracewalk)
 675                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 676
 677                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 678                                                         //te_explosion(trace_endpos);
 679                                                         //print(ftos(e.dphitcontentsmask), "\n");
 680                                                         return false; // failed
 681                                                 }
 682                                         }
 683                                         else
 684                                                 move = trace_endpos;
 685                                 }
 686                                 else
 687                                         move = trace_endpos;
 688                         }
 689                         else
 690                                 move = trace_endpos;
 691
 692                         // trace down from stepheight as far as possible and move there,
 693                         // if this starts in solid we try again without the stepup, and
 694                         // if that also fails we assume it is a wall
 695                         // (this is the same logic as the Quake walkmove function used)
 696                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 697
 698                         org = trace_endpos;
 699
 700                         if (!ignorehazards)
 701                         {
 702                                 if (IN_LAVA(org))
 703                                 {
 704                                         if(autocvar_bot_debug_tracewalk)
 705                                         {
 706                                                 debugnode(e, trace_endpos);
 707                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 708                                         }
 709
 710                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 711                                         return false;
 712                                 }
 713                         }
 714
 715                         if (flatdist <= 0)
 716                         {
 717                                 if(move.z >= end2.z && org.z < end2.z)
 718                                         org.z = end2.z;
 719                                 continue;
 720                         }
 721
 722                         if(org.z > move.z - 1 || !SUBMERGED(org))
 723                         {
 724                                 nav_action = NAV_WALK;
 725                                 continue;
 726                         }
 727
 728                         // ended up submerged while walking
 729                         if(autocvar_bot_debug_tracewalk)
 730                                 debugnode(e, org);
 731
 732                         RESURFACE_LIMITED(org, move.z);
 733                         nav_action = NAV_SWIM_ONWATER;
 734                         continue;
 735                 }
 736         }
 737
 738         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 739
 740         // moved but didn't arrive at the intended destination
 741         if(autocvar_bot_debug_tracewalk)
 742                 debugnodestatus(org, DEBUG_NODE_FAIL);
 743
 744         return false;
 745 }
 746
 747 /////////////////////////////////////////////////////////////////////////////
 748 // goal stack
 749 /////////////////////////////////////////////////////////////////////////////
 750
 751 // completely empty the goal stack, used when deciding where to go
 752 void navigation_clearroute(entity this)
 753 {
 754         this.lastteleporttime = 0;
 755         this.goalcurrent_prev = this.goalcurrent;
 756         this.goalcurrent_distance_2d = FLOAT_MAX;
 757         this.goalcurrent_distance_z = FLOAT_MAX;
 758         this.goalcurrent_distance_time = 0;
 759         this.goalentity_lock_timeout = 0;
 760         this.goalentity_shouldbefrozen = false;
 761         this.goalentity = NULL;
 762         this.goalcurrent = NULL;
 763         this.goalstack01 = NULL;
 764         this.goalstack02 = NULL;
 765         this.goalstack03 = NULL;
 766         this.goalstack04 = NULL;
 767         this.goalstack05 = NULL;
 768         this.goalstack06 = NULL;
 769         this.goalstack07 = NULL;
 770         this.goalstack08 = NULL;
 771         this.goalstack09 = NULL;
 772         this.goalstack10 = NULL;
 773         this.goalstack11 = NULL;
 774         this.goalstack12 = NULL;
 775         this.goalstack13 = NULL;
 776         this.goalstack14 = NULL;
 777         this.goalstack15 = NULL;
 778         this.goalstack16 = NULL;
 779         this.goalstack17 = NULL;
 780         this.goalstack18 = NULL;
 781         this.goalstack19 = NULL;
 782         this.goalstack20 = NULL;
 783         this.goalstack21 = NULL;
 784         this.goalstack22 = NULL;
 785         this.goalstack23 = NULL;
 786         this.goalstack24 = NULL;
 787         this.goalstack25 = NULL;
 788         this.goalstack26 = NULL;
 789         this.goalstack27 = NULL;
 790         this.goalstack28 = NULL;
 791         this.goalstack29 = NULL;
 792         this.goalstack30 = NULL;
 793         this.goalstack31 = NULL;
 794 }
 795
 796 // add a new goal at the beginning of the stack
 797 // (in other words: add a new prerequisite before going to the later goals)
 798 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 799 // next-closest WP on the shortest path to the WP
 800 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 801 // steps to the goal, and then recalculate the path.
 802 void navigation_pushroute(entity this, entity e)
 803 {
 804         this.goalcurrent_prev = this.goalcurrent;
 805         this.goalcurrent_distance_2d = FLOAT_MAX;
 806         this.goalcurrent_distance_z = FLOAT_MAX;
 807         this.goalcurrent_distance_time = 0;
 808         //print("bot ", etos(this), " push ", etos(e), "\n");
 809         if(this.goalstack31 == this.goalentity)
 810                 this.goalentity = NULL;
 811         this.goalstack31 = this.goalstack30;
 812         this.goalstack30 = this.goalstack29;
 813         this.goalstack29 = this.goalstack28;
 814         this.goalstack28 = this.goalstack27;
 815         this.goalstack27 = this.goalstack26;
 816         this.goalstack26 = this.goalstack25;
 817         this.goalstack25 = this.goalstack24;
 818         this.goalstack24 = this.goalstack23;
 819         this.goalstack23 = this.goalstack22;
 820         this.goalstack22 = this.goalstack21;
 821         this.goalstack21 = this.goalstack20;
 822         this.goalstack20 = this.goalstack19;
 823         this.goalstack19 = this.goalstack18;
 824         this.goalstack18 = this.goalstack17;
 825         this.goalstack17 = this.goalstack16;
 826         this.goalstack16 = this.goalstack15;
 827         this.goalstack15 = this.goalstack14;
 828         this.goalstack14 = this.goalstack13;
 829         this.goalstack13 = this.goalstack12;
 830         this.goalstack12 = this.goalstack11;
 831         this.goalstack11 = this.goalstack10;
 832         this.goalstack10 = this.goalstack09;
 833         this.goalstack09 = this.goalstack08;
 834         this.goalstack08 = this.goalstack07;
 835         this.goalstack07 = this.goalstack06;
 836         this.goalstack06 = this.goalstack05;
 837         this.goalstack05 = this.goalstack04;
 838         this.goalstack04 = this.goalstack03;
 839         this.goalstack03 = this.goalstack02;
 840         this.goalstack02 = this.goalstack01;
 841         this.goalstack01 = this.goalcurrent;
 842         this.goalcurrent = e;
 843 }
 844
 845 // remove first goal from stack
 846 // (in other words: remove a prerequisite for reaching the later goals)
 847 // (used when a spawnfunc_waypoint is reached)
 848 void navigation_poproute(entity this)
 849 {
 850         this.goalcurrent_prev = this.goalcurrent;
 851         this.goalcurrent_distance_2d = FLOAT_MAX;
 852         this.goalcurrent_distance_z = FLOAT_MAX;
 853         this.goalcurrent_distance_time = 0;
 854         //print("bot ", etos(this), " pop\n");
 855         if(this.goalcurrent == this.goalentity)
 856         {
 857                 this.goalentity = NULL;
 858                 this.goalentity_lock_timeout = 0;
 859         }
 860         this.goalcurrent = this.goalstack01;
 861         this.goalstack01 = this.goalstack02;
 862         this.goalstack02 = this.goalstack03;
 863         this.goalstack03 = this.goalstack04;
 864         this.goalstack04 = this.goalstack05;
 865         this.goalstack05 = this.goalstack06;
 866         this.goalstack06 = this.goalstack07;
 867         this.goalstack07 = this.goalstack08;
 868         this.goalstack08 = this.goalstack09;
 869         this.goalstack09 = this.goalstack10;
 870         this.goalstack10 = this.goalstack11;
 871         this.goalstack11 = this.goalstack12;
 872         this.goalstack12 = this.goalstack13;
 873         this.goalstack13 = this.goalstack14;
 874         this.goalstack14 = this.goalstack15;
 875         this.goalstack15 = this.goalstack16;
 876         this.goalstack16 = this.goalstack17;
 877         this.goalstack17 = this.goalstack18;
 878         this.goalstack18 = this.goalstack19;
 879         this.goalstack19 = this.goalstack20;
 880         this.goalstack20 = this.goalstack21;
 881         this.goalstack21 = this.goalstack22;
 882         this.goalstack22 = this.goalstack23;
 883         this.goalstack23 = this.goalstack24;
 884         this.goalstack24 = this.goalstack25;
 885         this.goalstack25 = this.goalstack26;
 886         this.goalstack26 = this.goalstack27;
 887         this.goalstack27 = this.goalstack28;
 888         this.goalstack28 = this.goalstack29;
 889         this.goalstack29 = this.goalstack30;
 890         this.goalstack30 = this.goalstack31;
 891         this.goalstack31 = NULL;
 892 }
 893
 894 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 895 // waypoint destination coordinates instead of v (only useful for box waypoints)
 896 // for normal waypoints v2 == v and v2_height == 0
 897 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)
 898 {
 899         if (vdist(v - org, <, bestdist))
 900         {
 901                 traceline(v, org, true, ent);
 902                 if (trace_fraction == 1)
 903                 {
 904                         if (walkfromwp)
 905                         {
 906                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 907                                         return true;
 908                         }
 909                         else
 910                         {
 911                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 912                                         return true;
 913                         }
 914                 }
 915         }
 916         return false;
 917 }
 918
 919 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 920 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 921 {
 922         if(ent.tag_entity)
 923                 ent = ent.tag_entity;
 924
 925         vector pm1 = ent.origin + ent.mins;
 926         vector pm2 = ent.origin + ent.maxs;
 927
 928         if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent))
 929         {
 930                 // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links
 931                 // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu)
 932                 // isn't detected as the nearest waypoint
 933                 IL_EACH(g_waypoints, it != ent && it != except,
 934                 {
 935                         if (boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 936                                 return it;
 937                 });
 938         }
 939         else
 940         {
 941                 // do two scans, because box test is cheaper
 942                 IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
 943                 {
 944                         if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 945                         {
 946                                 if(walkfromwp && !ent.navigation_dynamicgoal)
 947                                         waypoint_clearlinks(ent); // initialize wpXXmincost fields
 948                                 return it;
 949                         }
 950                 });
 951         }
 952
 953         vector org = ent.origin;
 954         if (navigation_testtracewalk)
 955                 te_plasmaburn(org);
 956
 957         entity best = NULL;
 958         vector v = '0 0 0';
 959
 960         if(ent.size && !IS_PLAYER(ent))
 961         {
 962                 org += 0.5 * (ent.mins + ent.maxs);
 963                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 964         }
 965
 966         // box check failed, try walk
 967         IL_EACH(g_waypoints, it != ent,
 968         {
 969                 if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK))
 970                         continue;
 971                 v = it.origin;
 972
 973                 if (walkfromwp)
 974                 {
 975                         set_tracewalk_dest(ent, v, true);
 976                         if (trace_ent == ent)
 977                         {
 978                                 bestdist = 0;
 979                                 best = it;
 980                                 break;
 981                         }
 982                 }
 983                 else
 984                         set_tracewalk_dest(it, org, false);
 985
 986                 if (navigation_waypoint_will_link(v, org, ent,
 987                         tracewalk_dest, tracewalk_dest_height,
 988                         tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
 989                 {
 990                         if (walkfromwp)
 991                                 bestdist = vlen(tracewalk_dest - v);
 992                         else
 993                                 bestdist = vlen(v - org);
 994                         best = it;
 995                 }
 996         });
 997         if(!best && !ent.navigation_dynamicgoal)
 998         {
 999                 int solid_save = ent.solid;
1000                 ent.solid = SOLID_BSP;
1001                 IL_EACH(g_jumppads, true,
1002                 {
1003                         if(trigger_push_test(it, ent))
1004                         {
1005                                 best = it.nearestwaypoint;
1006                                 break;
1007                         }
1008                 });
1009                 ent.solid = solid_save;
1010         }
1011         return best;
1012 }
1013 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1014 {
1015         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1016         if (autocvar_g_waypointeditor_auto)
1017         {
1018                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1019                 if (wp && !wp2)
1020                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1021         }
1022         return wp;
1023 }
1024
1025 // finds the waypoints near the bot initiating a navigation query
1026 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1027 {
1028         //navigation_testtracewalk = true;
1029         int c = 0;
1030         IL_EACH(g_waypoints, !it.wpconsidered,
1031         {
1032                 set_tracewalk_dest(it, this.origin, false);
1033
1034                 vector diff = tracewalk_dest - this.origin;
1035                 diff.z = max(0, diff.z);
1036                 if(vdist(diff, <, maxdist))
1037                 {
1038                         it.wpconsidered = true;
1039                         if (tracewalk(this, this.origin, this.mins, this.maxs,
1040                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1041                         {
1042                                 it.wpnearestpoint = tracewalk_dest;
1043                                 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1044                                 it.wpfire = 1;
1045                                 it.enemy = NULL;
1046                                 c = c + 1;
1047                         }
1048                 }
1049         });
1050         //navigation_testtracewalk = false;
1051         return c;
1052 }
1053
1054 // updates a path link if a spawnfunc_waypoint link is better than the current one
1055 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1056 {
1057         vector m1, m2;
1058         vector v;
1059         if (wp.wpisbox)
1060         {
1061                 m1 = wp.origin + wp.mins;
1062                 m2 = wp.origin + wp.maxs;
1063                 v.x = bound(m1_x, p.x, m2_x);
1064                 v.y = bound(m1_y, p.y, m2_y);
1065                 v.z = bound(m1_z, p.z, m2_z);
1066         }
1067         else
1068                 v = wp.origin;
1069         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1070                 cost += w.wp00mincost; // assuming teleport has exactly one destination
1071         else
1072                 cost += waypoint_gettravelcost(p, v, w, wp);
1073         if (wp.wpcost > cost)
1074         {
1075                 wp.wpcost = cost;
1076                 wp.enemy = w;
1077                 wp.wpfire = 1;
1078                 wp.wpnearestpoint = v;
1079         }
1080 }
1081
1082 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1083 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1084 {
1085         float cost, cost2;
1086         vector p;
1087
1088         IL_EACH(g_waypoints, true,
1089         {
1090                 it.wpconsidered = false;
1091                 it.wpnearestpoint = '0 0 0';
1092                 it.wpcost = 10000000;
1093                 it.wpfire = 0;
1094                 it.enemy = NULL;
1095         });
1096
1097         if(fixed_source_waypoint)
1098         {
1099                 fixed_source_waypoint.wpconsidered = true;
1100                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1101                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1102                 fixed_source_waypoint.wpfire = 1;
1103                 fixed_source_waypoint.enemy = NULL;
1104         }
1105         else
1106         {
1107                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1108                 // as this search is expensive we will use lower values if the bot is on the air
1109                 float increment, maxdistance;
1110                 if(IS_ONGROUND(this))
1111                 {
1112                         increment = 750;
1113                         maxdistance = 50000;
1114                 }
1115                 else
1116                 {
1117                         increment = 500;
1118                         maxdistance = 1500;
1119                 }
1120
1121                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1122         }
1123
1124         bool searching = true;
1125         while (searching)
1126         {
1127                 searching = false;
1128                 IL_EACH(g_waypoints, it.wpfire,
1129                 {
1130                         searching = true;
1131                         it.wpfire = 0;
1132                         cost = it.wpcost;
1133                         p = it.wpnearestpoint;
1134                         entity wp;
1135                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1162                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1163                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1164                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1165                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1166                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1167                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1168                 });
1169         }
1170 }
1171
1172 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1173 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1174 {
1175         float cost, cost2;
1176         vector p;
1177         IL_EACH(g_waypoints, true,
1178         {
1179                 it.wpconsidered = false;
1180                 it.wpnearestpoint = '0 0 0';
1181                 it.wpcost = 10000000;
1182                 it.wpfire = 0;
1183                 it.enemy = NULL;
1184         });
1185
1186         if(fixed_source_waypoint)
1187         {
1188                 fixed_source_waypoint.wpconsidered = true;
1189                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1190                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1191                 fixed_source_waypoint.wpfire = 1;
1192                 fixed_source_waypoint.enemy = NULL;
1193         }
1194         else
1195         {
1196                 error("need to start with a waypoint\n");
1197         }
1198
1199         bool searching = true;
1200         while (searching)
1201         {
1202                 searching = false;
1203                 IL_EACH(g_waypoints, it.wpfire,
1204                 {
1205                         searching = true;
1206                         it.wpfire = 0;
1207                         cost = it.wpcost; // cost to walk from it to home
1208                         p = it.wpnearestpoint;
1209                         entity wp = it;
1210                         IL_EACH(g_waypoints, it != wp,
1211                         {
1212                                 if(!waypoint_islinked(it, wp))
1213                                         continue;
1214                                 cost2 = cost + it.dmg;
1215                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1216                         });
1217                 });
1218         }
1219 }
1220
1221 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1222 void navigation_routerating(entity this, entity e, float f, float rangebias)
1223 {
1224         if (!e || e.blacklisted) { return; }
1225
1226         rangebias = waypoint_getlinearcost(rangebias);
1227         f = waypoint_getlinearcost(f);
1228
1229         if (IS_PLAYER(e))
1230         {
1231                 bool rate_wps = false;
1232                 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1233                         || (e.flags & FL_PARTIALGROUND))
1234                 {
1235                         rate_wps = true;
1236                 }
1237
1238                 if(!IS_ONGROUND(e))
1239                 {
1240                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1241                         int t = pointcontents(trace_endpos + '0 0 1');
1242                         if(t != CONTENT_SOLID )
1243                         {
1244                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1245                                         rate_wps = true;
1246                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1247                                         return;
1248                         }
1249                 }
1250
1251                 if(rate_wps)
1252                 {
1253                         entity theEnemy = e;
1254                         entity best_wp = NULL;
1255                         float best_dist = FLOAT_MAX;
1256                         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1257                                 && vdist(it.origin - theEnemy.origin, <, 500)
1258                                 && vdist(it.origin - this.origin, >, 100)
1259                                 && vdist(it.origin - this.origin, <, 10000),
1260                         {
1261                                 float dist = vlen2(it.origin - theEnemy.origin);
1262                                 if (dist < best_dist)
1263                                 {
1264                                         best_wp = it;
1265                                         best_dist = dist;
1266                                 }
1267                         });
1268                         if (!best_wp)
1269                                 return;
1270                         e = best_wp;
1271                 }
1272         }
1273
1274         vector goal_org = (e.absmin + e.absmax) * 0.5;
1275
1276         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1277
1278         // Evaluate path using jetpack
1279         if(this.items & IT_JETPACK)
1280         if(autocvar_bot_ai_navigation_jetpack)
1281         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1282         {
1283                 vector pointa, pointb;
1284
1285                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1286
1287                 // Point A
1288                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1289                 pointa = trace_endpos - '0 0 1';
1290
1291                 // Point B
1292                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1293                 pointb = trace_endpos - '0 0 1';
1294
1295                 // Can I see these two points from the sky?
1296                 traceline(pointa, pointb, MOVE_NORMAL, this);
1297
1298                 if(trace_fraction==1)
1299                 {
1300                         LOG_DEBUG("jetpack ai: can bridge these two points");
1301
1302                         // Lower the altitude of these points as much as possible
1303                         float zdistance, xydistance, cost, t, fuel;
1304                         vector down, npa, npb;
1305
1306                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1307
1308                         do{
1309                                 npa = pointa + down;
1310                                 npb = pointb + down;
1311
1312                                 if(npa.z<=this.absmax.z)
1313                                         break;
1314
1315                                 if(npb.z<=e.absmax.z)
1316                                         break;
1317
1318                                 traceline(npa, npb, MOVE_NORMAL, this);
1319                                 if(trace_fraction==1)
1320                                 {
1321                                         pointa = npa;
1322                                         pointb = npb;
1323                                 }
1324                         }
1325                         while(trace_fraction == 1);
1326
1327
1328                         // Rough estimation of fuel consumption
1329                         // (ignores acceleration and current xyz velocity)
1330                         xydistance = vlen(pointa - pointb);
1331                         zdistance = fabs(pointa.z - this.origin.z);
1332
1333                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1334                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1335                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1336
1337                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
1338
1339                         // enough fuel ?
1340                         if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO))
1341                         {
1342                                 // Estimate cost
1343                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1344                                 //  - between air and ground speeds)
1345
1346                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1347                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1348                                 cost *= 1.5;
1349
1350                                 // Compare against other goals
1351                                 f = f * rangebias / (rangebias + cost);
1352
1353                                 if (navigation_bestrating < f)
1354                                 {
1355                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1356                                         navigation_bestrating = f;
1357                                         navigation_bestgoal = e;
1358                                         this.navigation_jetpack_goal = e;
1359                                         this.navigation_jetpack_point = pointb;
1360                                 }
1361                                 return;
1362                         }
1363                 }
1364         }
1365
1366         entity nwp;
1367         //te_wizspike(e.origin);
1368         //bprint(etos(e));
1369         //bprint("\n");
1370         // update the cached spawnfunc_waypoint link on a dynamic item entity
1371         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1372         {
1373                 nwp = e;
1374         }
1375         else
1376         {
1377                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1378                         e.nearestwaypoint = NULL;
1379
1380                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1381                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1382                 {
1383                         if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1384                                 e.nearestwaypoint = nwp = e.goalcurrent;
1385                         else
1386                                 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1387                         if(!nwp)
1388                         {
1389                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1390
1391                                 if(!e.navigation_dynamicgoal)
1392                                         e.blacklisted = true;
1393
1394                                 if(e.blacklisted)
1395                                 {
1396                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1397                                         return;
1398                                 }
1399                         }
1400
1401                         if(e.navigation_dynamicgoal)
1402                                 e.nearestwaypointtimeout = time + 2;
1403                         else if(autocvar_g_waypointeditor)
1404                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1405                 }
1406                 nwp = e.nearestwaypoint;
1407         }
1408
1409         if (nwp && nwp.wpcost < 10000000)
1410         {
1411                 //te_wizspike(nwp.wpnearestpoint);
1412                 float nwptoitem_cost = 0;
1413                 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1414                         nwptoitem_cost = nwp.wp00mincost;
1415                 else
1416                         nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1417                 float cost = nwp.wpcost + nwptoitem_cost;
1418                 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1419                 f = f * rangebias / (rangebias + cost);
1420                 LOG_DEBUG("         ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1421                 if (navigation_bestrating < f)
1422                 {
1423                         LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1424                         navigation_bestrating = f;
1425                         navigation_bestgoal = e;
1426                 }
1427         }
1428 }
1429
1430 // adds an item to the the goal stack with the path to a given item
1431 bool navigation_routetogoal(entity this, entity e, vector startposition)
1432 {
1433         // if there is no goal, just exit
1434         if (!e)
1435                 return false;
1436
1437         entity teleport_goal = NULL;
1438
1439         this.goalentity = e;
1440
1441         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1442         {
1443                 // force teleport destination as route destination
1444                 teleport_goal = e;
1445                 navigation_pushroute(this, e.wp00);
1446                 this.goalentity = e.wp00;
1447         }
1448
1449         // put the entity on the goal stack
1450         //print("routetogoal ", etos(e), "\n");
1451         navigation_pushroute(this, e);
1452
1453         if(teleport_goal)
1454                 e = this.goalentity;
1455
1456         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1457         {
1458                 this.wp_goal_prev1 = this.wp_goal_prev0;
1459                 this.wp_goal_prev0 = e;
1460         }
1461
1462         if(g_jetpack)
1463         if(e==this.navigation_jetpack_goal)
1464                 return true;
1465
1466         // if it can reach the goal there is nothing more to do
1467         set_tracewalk_dest(e, startposition, true);
1468         if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1469                 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1470                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1471         {
1472                 return true;
1473         }
1474
1475         entity nearest_wp = NULL;
1476         // see if there are waypoints describing a path to the item
1477         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1478         {
1479                 e = e.nearestwaypoint;
1480                 nearest_wp = e;
1481         }
1482         else if(teleport_goal)
1483                 e = teleport_goal;
1484         else
1485                 e = e.enemy; // we already have added it, so...
1486
1487         if(e == NULL)
1488                 return false;
1489
1490         if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK))
1491         {
1492                 // often path can be optimized by not adding the nearest waypoint
1493                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1494                 {
1495                         if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1496                         {
1497                                 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1498                                         e = nearest_wp.enemy;
1499                                 else
1500                                 {
1501                                         set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1502                                         if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1503                                                 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1504                                                 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1505                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1506                                         {
1507                                                 e = nearest_wp.enemy;
1508                                         }
1509                                 }
1510                         }
1511                 }
1512                 else
1513                 {
1514                         // NOTE unlike waypoints, items hold incoming links
1515                         navigation_item_initlinks_ifneeded(this.goalentity);
1516                         int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy);
1517                         if (link_num >= 0)
1518                         {
1519                                 if (navigation_item_iswalkablelink(this.goalentity, link_num))
1520                                         e = nearest_wp.enemy;
1521                         }
1522                         else // untested link
1523                         {
1524                                 entity wp = nearest_wp.enemy;
1525                                 entity goal = this.goalentity;
1526                                 bool walkable = false;
1527                                 if (checkpvs(wp.origin, goal))
1528                                 {
1529                                         set_tracewalk_dest(goal, wp.origin, false);
1530                                         if (vdist(tracewalk_dest - wp.origin, <, 1050)
1531                                                 && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST,
1532                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1533                                         {
1534                                                 walkable = true;
1535                                                 e = nearest_wp.enemy;
1536                                         }
1537                                 }
1538                                 navigation_item_add_link(wp, goal, walkable);
1539                         }
1540                 }
1541         }
1542
1543         for (;;)
1544         {
1545                 // add the spawnfunc_waypoint to the path
1546                 navigation_pushroute(this, e);
1547                 e = e.enemy;
1548
1549                 if(e==NULL)
1550                         break;
1551         }
1552
1553         return false;
1554 }
1555
1556 // shorten path by removing intermediate goals
1557 bool navigation_shortenpath(entity this)
1558 {
1559         if (!this.goalstack01 || wasfreed(this.goalstack01))
1560                 return false;
1561         if (this.bot_tracewalk_time > time)
1562                 return false;
1563         this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1564
1565         bool cut_allowed = false;
1566         entity next = this.goalentity;
1567         // evaluate whether bot can discard current route and chase directly a player, trying to
1568         // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1569         if (IS_MOVABLE(next))
1570         {
1571                 set_tracewalk_dest(next, this.origin, true);
1572                 if (vdist(this.origin - tracewalk_dest, <, 200))
1573                         cut_allowed = true;
1574                 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1575                         && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1576                         && vdist(this.origin - this.goalcurrent.origin, >, 100)
1577                         && checkpvs(this.origin + this.view_ofs, next))
1578                 {
1579                         if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1580                                 cut_allowed = true;
1581                         else
1582                         {
1583                                 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1584                                 while (deviation.y < -180) deviation.y += 360;
1585                                 while (deviation.y > 180) deviation.y -= 360;
1586                                 if (fabs(deviation.y) > 25)
1587                                         cut_allowed = true;
1588                         }
1589                 }
1590                 if (cut_allowed)
1591                 {
1592                         if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1593                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1594                         {
1595                                 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1596                                 do
1597                                 {
1598                                         navigation_poproute(this);
1599                                 }
1600                                 while (this.goalcurrent != next);
1601                                 return true;
1602                         }
1603                         return false;
1604                 }
1605         }
1606
1607         next = this.goalstack01;
1608         // if for some reason the bot is closer to the next goal, pop the current one
1609         if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP))
1610                 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1611                 && checkpvs(this.origin + this.view_ofs, next))
1612         {
1613                 set_tracewalk_dest(next, this.origin, true);
1614                 cut_allowed = true;
1615         }
1616
1617         if (cut_allowed)
1618         {
1619                 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1620                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1621                 {
1622                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1623                         navigation_poproute(this);
1624                         return true;
1625                 }
1626         }
1627         return false;
1628 }
1629
1630 // removes any currently touching waypoints from the goal stack
1631 // (this is how bots detect if they reached a goal)
1632 int navigation_poptouchedgoals(entity this)
1633 {
1634         int removed_goals = 0;
1635
1636         if(!this.goalcurrent)
1637                 return removed_goals;
1638
1639         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1640         {
1641                 if (!this.goalcurrent.wpisbox // warpzone
1642                         && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
1643                 {
1644                         // immediately remove origin and destination waypoints
1645                         navigation_poproute(this);
1646                         ++removed_goals;
1647                         navigation_poproute(this);
1648                         ++removed_goals;
1649                         this.lastteleporttime = 0;
1650                 }
1651
1652                 // make sure jumppad is really hit, don't rely on distance based checks
1653                 // as they may report a touch even if it didn't really happen
1654                 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1655                 {
1656                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1657                         if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1658                         {
1659                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1660                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1661                         }
1662                         if(this.jumppadcount)
1663                         {
1664                                 // remove jumppad waypoint after a random delay to prevent bots getting
1665                                 // stuck on certain jumppads that require an extra initial horizontal speed
1666                                 float max_delay = 0.1;
1667                                 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1668                                         max_delay = 0.05;
1669                                 if (time - this.lastteleporttime < random() * max_delay)
1670                                         return removed_goals;
1671                         }
1672                         else if (this.goalcurrent.wpisbox) // teleport
1673                         {
1674                                 // immediately remove origin and destination waypoints
1675                                 navigation_poproute(this);
1676                                 ++removed_goals;
1677                         }
1678                         navigation_poproute(this);
1679                         this.lastteleporttime = 0;
1680                         ++removed_goals;
1681                 }
1682                 return removed_goals;
1683         }
1684         else if (this.lastteleporttime > 0)
1685         {
1686                 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1687                 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1688                 // if so immediately fix bot path by removing skipped goals
1689                 entity tele_ent = NULL;
1690                 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1691                         tele_ent = this.goalstack01;
1692                 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1693                         tele_ent = this.goalstack02;
1694                 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1695                         tele_ent = this.goalstack03;
1696                 if (tele_ent && TELEPORT_USED(this, tele_ent))
1697                 {
1698                         if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1699                         if ((tele_ent.wpflags & WAYPOINTFLAG_PERSONAL) && tele_ent.owner == this)
1700                         {
1701                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1702                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1703                         }
1704                         while (this.goalcurrent != tele_ent)
1705                         {
1706                                 navigation_poproute(this);
1707                                 ++removed_goals;
1708                         }
1709                         navigation_poproute(this);
1710                         this.lastteleporttime = 0;
1711                         ++removed_goals;
1712                         return removed_goals;
1713                 }
1714                 // reset of lastteleporttime can be overriden by a jumppad when it's set
1715                 // in more than one frame: make sure it's reset
1716                 this.lastteleporttime = 0;
1717         }
1718
1719         // Loose goal touching check when running
1720         // check goalstack01 to make sure waypoint isn't the final goal
1721         if((this.aistatus & AI_STATUS_RUNNING) && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP)
1722                 && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed))
1723         {
1724                 vector gco = this.goalcurrent.origin;
1725                 float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE;
1726                 // also detect waypoints when bot is way above them but with a narrower horizontal range
1727                 // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding)
1728                 if(vdist(this.origin - gco, <, min_dist)
1729                         || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist)))
1730                 {
1731                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1732                         if(trace_fraction==1)
1733                         {
1734                                 // Detect personal waypoints
1735                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1736                                 if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1737                                 {
1738                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1739                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1740                                 }
1741
1742                                 navigation_poproute(this);
1743                                 ++removed_goals;
1744                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1745                                         return removed_goals;
1746                         }
1747                 }
1748         }
1749
1750         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1751         {
1752                 vector gc_min = this.goalcurrent.absmin;
1753                 vector gc_max = this.goalcurrent.absmax;
1754                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1755                 {
1756                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1757                         gc_max = this.goalcurrent.origin + '1 1 1' * 12 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z);
1758                 }
1759                 if (time < this.ladder_time)
1760                 {
1761                         if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
1762                                 break;
1763                 }
1764                 else
1765                 {
1766                         if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1767                                 break;
1768                 }
1769
1770                 // Detect personal waypoints
1771                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1772                 if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1773                 {
1774                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1775                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1776                 }
1777
1778                 navigation_poproute(this);
1779                 ++removed_goals;
1780                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1781                         return removed_goals;
1782         }
1783         return removed_goals;
1784 }
1785
1786 entity navigation_get_really_close_waypoint(entity this)
1787 {
1788         entity wp = this.goalcurrent;
1789         if(!wp)
1790                 wp = this.goalcurrent_prev;
1791         if(!wp)
1792                 return NULL;
1793         float min_dist = ((this.aistatus & AI_STATUS_RUNNING) ? BOT_BUNNYHOP_WP_DETECTION_RANGE : 50);
1794         if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, min_dist))
1795         {
1796                 wp = this.goalcurrent_prev;
1797                 if(!wp)
1798                         return NULL;
1799         }
1800         if(wp.classname != "waypoint")
1801         {
1802                 wp = wp.nearestwaypoint;
1803                 if(!wp)
1804                         return NULL;
1805         }
1806         if(vdist(wp.origin - this.origin, >, min_dist))
1807         {
1808                 wp = NULL;
1809                 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
1810                 {
1811                         if(vdist(it.origin - this.origin, <, min_dist))
1812                         {
1813                                 wp = it;
1814                                 break;
1815                         }
1816                 });
1817                 if(!wp)
1818                         return NULL;
1819         }
1820         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1821                 return NULL;
1822
1823         set_tracewalk_dest(wp, this.origin, false);
1824         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1825                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1826         {
1827                 return NULL;
1828         }
1829         return wp;
1830 }
1831
1832 // begin a goal selection session (queries spawnfunc_waypoint network)
1833 void navigation_goalrating_start(entity this)
1834 {
1835         if(this.aistatus & AI_STATUS_STUCK)
1836                 return;
1837
1838         this.navigation_jetpack_goal = NULL;
1839         navigation_bestrating = -1;
1840         entity wp = navigation_get_really_close_waypoint(this);
1841         navigation_clearroute(this);
1842         navigation_bestgoal = NULL;
1843         navigation_markroutes(this, wp);
1844         this.goalstack31 = wp; // temporarly save the really close waypoint
1845 }
1846
1847 // ends a goal selection session (updates goal stack to the best goal)
1848 void navigation_goalrating_end(entity this)
1849 {
1850         if(this.aistatus & AI_STATUS_STUCK)
1851                 return;
1852
1853         entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
1854         this.goalstack31 = NULL;
1855
1856         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1857         LOG_DEBUG("best goal ", navigation_bestgoal.classname);
1858
1859         if (wp && this.goalcurrent == wp)
1860                 navigation_poproute(this);
1861
1862         // If the bot got stuck then try to reach the farthest waypoint
1863         if (!this.goalentity)
1864         {
1865                 if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
1866                 {
1867                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1868                         this.aistatus |= AI_STATUS_STUCK;
1869                 }
1870                 this.goalentity_shouldbefrozen = false;
1871         }
1872         else
1873                 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1874 }
1875
1876 void botframe_updatedangerousobjects(float maxupdate)
1877 {
1878         vector m1, m2, v, o;
1879         float c, d, danger;
1880         c = 0;
1881         entity wp_cur;
1882         IL_EACH(g_waypoints, true,
1883         {
1884                 danger = 0;
1885                 m1 = it.absmin;
1886                 m2 = it.absmax;
1887                 wp_cur = it;
1888                 IL_EACH(g_bot_dodge, it.bot_dodge,
1889                 {
1890                         v = it.origin;
1891                         v.x = bound(m1_x, v.x, m2_x);
1892                         v.y = bound(m1_y, v.y, m2_y);
1893                         v.z = bound(m1_z, v.z, m2_z);
1894                         o = (it.absmin + it.absmax) * 0.5;
1895                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1896                         if (d > 0)
1897                         {
1898                                 traceline(o, v, true, NULL);
1899                                 if (trace_fraction == 1)
1900                                         danger = danger + d;
1901                         }
1902                 });
1903                 it.dmg = danger;
1904                 c = c + 1;
1905                 if (c >= maxupdate)
1906                         break;
1907         });
1908 }
1909
1910 void navigation_unstuck(entity this)
1911 {
1912         if (!autocvar_bot_wander_enable)
1913                 return;
1914
1915         bool has_user_waypoints = false;
1916         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1917         {
1918                 has_user_waypoints = true;
1919                 break;
1920         });
1921         if (!has_user_waypoints)
1922                 return;
1923
1924         float search_radius = 1000;
1925
1926         if (!bot_waypoint_queue_owner)
1927         {
1928                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1929                 bot_waypoint_queue_owner = this;
1930                 bot_waypoint_queue_bestgoal = NULL;
1931                 bot_waypoint_queue_bestgoalrating = 0;
1932         }
1933
1934         if(bot_waypoint_queue_owner!=this)
1935                 return;
1936
1937         if (bot_waypoint_queue_goal)
1938         {
1939                 // evaluate the next goal on the queue
1940                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1941                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d));
1942                 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1943                 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1944                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1945                 {
1946                         if( d > bot_waypoint_queue_bestgoalrating)
1947                         {
1948                                 bot_waypoint_queue_bestgoalrating = d;
1949                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1950                         }
1951                 }
1952
1953                 // move to a random waypoint while bot is searching for a walkable path;
1954                 // this is usually sufficient to unstuck bots from bad spots or when other
1955                 // bots of the same team block all their ways
1956                 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1957                 {
1958                         navigation_clearroute(this);
1959                         navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1960                         navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1961                 }
1962
1963                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1964
1965                 if (!bot_waypoint_queue_goal)
1966                 {
1967                         if (bot_waypoint_queue_bestgoal)
1968                         {
1969                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1970                                 navigation_clearroute(this);
1971                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1972                                 navigation_goalrating_timeout_set(this);
1973                                 this.aistatus &= ~AI_STATUS_STUCK;
1974                         }
1975                         else
1976                         {
1977                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1978                         }
1979
1980                         bot_waypoint_queue_owner = NULL;
1981                 }
1982         }
1983         else
1984         {
1985                 if(bot_strategytoken!=this)
1986                         return;
1987
1988                 // build a new queue
1989                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1990
1991                 entity first = NULL;
1992
1993                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1994                 {
1995                         if(bot_waypoint_queue_goal)
1996                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1997                         else
1998                                 first = it;
1999
2000                         bot_waypoint_queue_goal = it;
2001                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
2002                 });
2003
2004                 if (first)
2005                         bot_waypoint_queue_goal = first;
2006                 else
2007                 {
2008                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
2009                         bot_waypoint_queue_owner = NULL;
2010                 }
2011         }
2012 }
2013
2014 // Support for debugging tracewalk visually
2015
2016 void debugresetnodes()
2017 {
2018         debuglastnode = '0 0 0';
2019 }
2020
2021 void debugnode(entity this, vector node)
2022 {
2023         if (!IS_PLAYER(this))
2024                 return;
2025
2026         if(debuglastnode=='0 0 0')
2027         {
2028                 debuglastnode = node;
2029                 return;
2030         }
2031
2032         te_lightning2(NULL, node, debuglastnode);
2033         debuglastnode = node;
2034 }
2035
2036 void debugnodestatus(vector position, float status)
2037 {
2038         vector c;
2039
2040         switch (status)
2041         {
2042                 case DEBUG_NODE_SUCCESS:
2043                         c = '0 15 0';
2044                         break;
2045                 case DEBUG_NODE_WARNING:
2046                         c = '15 15 0';
2047                         break;
2048                 case DEBUG_NODE_FAIL:
2049                         c = '15 0 0';
2050                         break;
2051                 default:
2052                         c = '15 15 15';
2053         }
2054
2055         te_customflash(position, 40,  2, c);
2056 }
2057
2058 // Support for debugging the goal stack visually
2059
2060 .float goalcounter;
2061 .vector lastposition;
2062
2063 // Debug the goal stack visually
2064 void debuggoalstack(entity this)
2065 {
2066         entity goal;
2067         vector org, go;
2068
2069         if(this.goalcounter==0)goal=this.goalcurrent;
2070         else if(this.goalcounter==1)goal=this.goalstack01;
2071         else if(this.goalcounter==2)goal=this.goalstack02;
2072         else if(this.goalcounter==3)goal=this.goalstack03;
2073         else if(this.goalcounter==4)goal=this.goalstack04;
2074         else if(this.goalcounter==5)goal=this.goalstack05;
2075         else if(this.goalcounter==6)goal=this.goalstack06;
2076         else if(this.goalcounter==7)goal=this.goalstack07;
2077         else if(this.goalcounter==8)goal=this.goalstack08;
2078         else if(this.goalcounter==9)goal=this.goalstack09;
2079         else if(this.goalcounter==10)goal=this.goalstack10;
2080         else if(this.goalcounter==11)goal=this.goalstack11;
2081         else if(this.goalcounter==12)goal=this.goalstack12;
2082         else if(this.goalcounter==13)goal=this.goalstack13;
2083         else if(this.goalcounter==14)goal=this.goalstack14;
2084         else if(this.goalcounter==15)goal=this.goalstack15;
2085         else if(this.goalcounter==16)goal=this.goalstack16;
2086         else if(this.goalcounter==17)goal=this.goalstack17;
2087         else if(this.goalcounter==18)goal=this.goalstack18;
2088         else if(this.goalcounter==19)goal=this.goalstack19;
2089         else if(this.goalcounter==20)goal=this.goalstack20;
2090         else if(this.goalcounter==21)goal=this.goalstack21;
2091         else if(this.goalcounter==22)goal=this.goalstack22;
2092         else if(this.goalcounter==23)goal=this.goalstack23;
2093         else if(this.goalcounter==24)goal=this.goalstack24;
2094         else if(this.goalcounter==25)goal=this.goalstack25;
2095         else if(this.goalcounter==26)goal=this.goalstack26;
2096         else if(this.goalcounter==27)goal=this.goalstack27;
2097         else if(this.goalcounter==28)goal=this.goalstack28;
2098         else if(this.goalcounter==29)goal=this.goalstack29;
2099         else if(this.goalcounter==30)goal=this.goalstack30;
2100         else if(this.goalcounter==31)goal=this.goalstack31;
2101         else goal=NULL;
2102
2103         if(goal==NULL)
2104         {
2105                 this.goalcounter = 0;
2106                 this.lastposition='0 0 0';
2107                 return;
2108         }
2109
2110         if(this.lastposition=='0 0 0')
2111                 org = this.origin;
2112         else
2113                 org = this.lastposition;
2114
2115
2116         go = ( goal.absmin + goal.absmax ) * 0.5;
2117         te_lightning2(NULL, org, go);
2118         this.lastposition = go;
2119
2120         this.goalcounter++;
2121 }