qcsrc/server/bot/default/navigation.qc

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