qcsrc/server/bot/default/navigation.qc

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