qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include <server/defs.qh>
   4 #include <server/miscfunctions.qh>
   5 #include "cvars.qh"
   6
   7 #include "bot.qh"
   8 #include "waypoints.qh"
   9
  10 #include <common/t_items.qh>
  11
  12 #include <common/items/_mod.qh>
  13
  14 #include <common/constants.qh>
  15 #include <common/net_linked.qh>
  16 #include <common/mapobjects/func/ladder.qh>
  17 #include <common/mapobjects/trigger/jumppads.qh>
  18
  19 .float speed;
  20
  21 void navigation_goalrating_timeout_set(entity this)
  22 {
  23         if(IS_MOVABLE(this.goalentity))
  24                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
  25         else
  26                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
  27 }
  28
  29 // use this when current goal must be discarded immediately
  30 void navigation_goalrating_timeout_force(entity this)
  31 {
  32         navigation_goalrating_timeout_expire(this, 0);
  33 }
  34
  35 // use this when current goal can be kept for a short while to increase the chance
  36 // of bot touching a waypoint, which helps to find a new goal more efficiently
  37 void navigation_goalrating_timeout_expire(entity this, float seconds)
  38 {
  39         if (seconds <= 0)
  40                 this.bot_strategytime = 0;
  41         else if (this.bot_strategytime > time + seconds)
  42                 this.bot_strategytime = time + seconds;
  43 }
  44
  45 bool navigation_goalrating_timeout(entity this)
  46 {
  47         return this.bot_strategytime < time;
  48 }
  49
  50 void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds)
  51 {
  52         this.bot_strategytime = max(this.bot_strategytime, time + seconds);
  53 }
  54
  55 #define MAX_CHASE_DISTANCE 700
  56 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
  57 {
  58         vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
  59         if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
  60                 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
  61         {
  62                 return true;
  63         }
  64
  65         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
  66         {
  67                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
  68                 {
  69                         this.ignoregoal = this.goalentity;
  70                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
  71                         return true;
  72                 }
  73         }
  74         return false;
  75 }
  76
  77 void navigation_dynamicgoal_init(entity this, bool initially_static)
  78 {
  79         this.navigation_dynamicgoal = true;
  80         this.bot_basewaypoint = this.nearestwaypoint;
  81         if(initially_static)
  82                 this.nearestwaypointtimeout = -1;
  83         else
  84                 this.nearestwaypointtimeout = time;
  85 }
  86
  87 void navigation_dynamicgoal_set(entity this, entity dropper)
  88 {
  89         this.nearestwaypointtimeout = time;
  90         if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
  91                 this.nearestwaypoint = dropper.nearestwaypoint;
  92         if (this.nearestwaypoint)
  93                 this.nearestwaypointtimeout += 2;
  94 }
  95
  96 void navigation_dynamicgoal_unset(entity this)
  97 {
  98         if(this.bot_basewaypoint)
  99                 this.nearestwaypoint = this.bot_basewaypoint;
 100         this.nearestwaypointtimeout = -1;
 101 }
 102
 103 // returns point of ent closer to org
 104 vector get_closer_dest(entity ent, vector org)
 105 {
 106         vector dest = '0 0 0';
 107         if ((ent.classname != "waypoint") || ent.wpisbox)
 108         {
 109                 vector wm1 = ent.origin + ent.mins;
 110                 vector wm2 = ent.origin + ent.maxs;
 111                 dest.x = bound(wm1.x, org.x, wm2.x);
 112                 dest.y = bound(wm1.y, org.y, wm2.y);
 113                 dest.z = bound(wm1.z, org.z, wm2.z);
 114         }
 115         else
 116                 dest = ent.origin;
 117         return dest;
 118 }
 119
 120 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
 121 {
 122         if ((ent.classname != "waypoint") || ent.wpisbox)
 123         {
 124                 vector wm1 = ent.origin + ent.mins;
 125                 vector wm2 = ent.origin + ent.maxs;
 126                 if (IS_PLAYER(ent) || IS_MONSTER(ent))
 127                 {
 128                         // move destination point out of player bbox otherwise tracebox always fails
 129                         // (if bot_navigation_ignoreplayers is false)
 130                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
 131                         wm2 += vec2(PL_MAX_CONST) + '1 1 0';
 132                 }
 133                 // set destination point to x and y coords of ent that are closer to org
 134                 // z coord is set to ent's min height
 135                 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
 136                 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
 137                 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
 138                         && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
 139                 {
 140                         tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
 141                         tracewalk_dest_height = 0;
 142                         fix_player_dest = false;
 143                 }
 144                 else
 145                 {
 146                         tracewalk_dest.z = wm1.z;
 147                         tracewalk_dest_height = wm2.z - wm1.z;
 148                 }
 149         }
 150         else
 151         {
 152                 tracewalk_dest = ent.origin;
 153                 tracewalk_dest_height = 0;
 154         }
 155         if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
 156         {
 157                 // snap player to the ground
 158                 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
 159                 {
 160                         // bot is right under the player
 161                         tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
 162                         tracewalk_dest = trace_endpos;
 163                         tracewalk_dest_height = 0;
 164                 }
 165                 else
 166                 {
 167                         tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
 168                         if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
 169                         {
 170                                 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
 171                                 tracewalk_dest.z = trace_endpos.z;
 172                         }
 173                 }
 174         }
 175 }
 176
 177 // returns point of ent closer to org
 178 vector set_tracewalk_dest_2(entity ent, vector org)
 179 {
 180         vector closer_dest = '0 0 0';
 181         if ((ent.classname != "waypoint") || ent.wpisbox)
 182         {
 183                 vector wm1 = ent.origin + ent.mins;
 184                 vector wm2 = ent.origin + ent.maxs;
 185                 closer_dest.x = bound(wm1.x, org.x, wm2.x);
 186                 closer_dest.y = bound(wm1.y, org.y, wm2.y);
 187                 closer_dest.z = bound(wm1.z, org.z, wm2.z);
 188                 // set destination point to x and y coords of ent that are closer to org
 189                 // z coord is set to ent's min height
 190                 tracewalk_dest.x = closer_dest.x;
 191                 tracewalk_dest.y = closer_dest.y;
 192                 tracewalk_dest.z = wm1.z;
 193                 tracewalk_dest_height = wm2.z - wm1.z; // destination height
 194         }
 195         else
 196         {
 197                 closer_dest = ent.origin;
 198                 tracewalk_dest = closer_dest;
 199                 tracewalk_dest_height = 0;
 200         }
 201         return closer_dest;
 202 }
 203
 204 bool navigation_check_submerged_state(entity ent, vector pos)
 205 {
 206         bool submerged;
 207         if(IS_PLAYER(ent))
 208                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
 209         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
 210                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
 211         else
 212         {
 213                 submerged = SUBMERGED(pos);
 214                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
 215                 //  is actually submerged because often they are inside some solid.
 216                 //  That's why submerged state is saved now that we know current pos is
 217                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
 218                 if(!ent.navigation_dynamicgoal)
 219                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
 220         }
 221         return submerged;
 222 }
 223
 224 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
 225 {
 226         IL_EACH(g_ladders, it.classname == "func_ladder",
 227         {
 228                 if(it.bot_pickup)
 229                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
 230                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
 231                 {
 232                         vector top = org;
 233                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
 234                         tracebox(org, m1, m2, top, movemode, e);
 235                         if(trace_fraction == 1)
 236                                 return true;
 237                 }
 238         });
 239         return false;
 240 }
 241
 242 vector resurface_limited(vector org, float lim, vector m1)
 243 {
 244         if (WETFEET(org + eZ * (lim - org.z)))
 245                 org.z = lim;
 246         else
 247         {
 248                 float RES_min_h = org.z;
 249                 float RES_max_h = lim;
 250                 do {
 251                         org.z = 0.5 * (RES_min_h + RES_max_h);
 252                         if(WETFEET(org))
 253                                 RES_min_h = org.z;
 254                         else
 255                                 RES_max_h = org.z;
 256                 } while (RES_max_h - RES_min_h >= 1);
 257                 org.z = RES_min_h;
 258         }
 259         return org;
 260 }
 261 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
 262
 263 #define NAV_WALK 0
 264 #define NAV_SWIM_ONWATER 1
 265 #define NAV_SWIM_UNDERWATER 2
 266
 267 // rough simulation of walking from one point to another to test if a path
 268 // can be traveled, used for waypoint linking and havocbot
 269 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
 270 // INFO: the command sv_cmd trace walk is useful to test this function in game
 271 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
 272 {
 273         if(autocvar_bot_debug_tracewalk)
 274         {
 275                 debugresetnodes();
 276                 debugnode(e, start);
 277         }
 278
 279         vector org = start;
 280         vector flatdir = end - start;
 281         flatdir.z = 0;
 282         float flatdist = vlen(flatdir);
 283         flatdir = normalize(flatdir);
 284         float stepdist = 32;
 285         bool ignorehazards = false;
 286         int nav_action;
 287
 288         // Analyze starting point
 289         if (IN_LAVA(start))
 290                 ignorehazards = true;
 291
 292         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 293         if (trace_startsolid)
 294         {
 295                 // Bad start
 296                 if(autocvar_bot_debug_tracewalk)
 297                         debugnodestatus(start, DEBUG_NODE_FAIL);
 298
 299                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 300                 return false;
 301         }
 302
 303         vector end2 = end;
 304         if(end_height)
 305                 end2.z += end_height;
 306
 307         vector fixed_end = end;
 308         vector move;
 309
 310         if (flatdist > 0 && WETFEET(org))
 311         {
 312                 if (SUBMERGED(org))
 313                         nav_action = NAV_SWIM_UNDERWATER;
 314                 else
 315                 {
 316                         // tracebox down by player's height
 317                         // useful to know if water level is so low that bot can still walk
 318                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
 319                         if (SUBMERGED(trace_endpos))
 320                         {
 321                                 org = trace_endpos;
 322                                 nav_action = NAV_SWIM_UNDERWATER;
 323                         }
 324                         else
 325                                 nav_action = NAV_WALK;
 326                 }
 327         }
 328         else
 329                 nav_action =  NAV_WALK;
 330
 331         // Movement loop
 332         while (true)
 333         {
 334                 if (flatdist <= 0)
 335                 {
 336                         bool success = true;
 337                         if (org.z > end2.z + 1)
 338                         {
 339                                 tracebox(org, m1, m2, end2, movemode, e);
 340                                 org = trace_endpos;
 341                                 if (org.z > end2.z + 1)
 342                                         success = false;
 343                         }
 344                         else if (org.z < end.z - 1)
 345                         {
 346                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
 347                                 if (SUBMERGED(trace_endpos))
 348                                 {
 349                                         vector v = trace_endpos;
 350                                         tracebox(v, m1, m2, end, movemode, e);
 351                                         if(trace_endpos.z >= end.z - 1)
 352                                         {
 353                                                 RESURFACE_LIMITED(v, trace_endpos.z);
 354                                                 trace_endpos = v;
 355                                         }
 356                                 }
 357                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
 358                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
 359                                 org = trace_endpos;
 360                                 if (org.z < end.z - 1)
 361                                         success = false;
 362                         }
 363
 364                         if (success)
 365                         {
 366                                 // Succeeded
 367                                 if(autocvar_bot_debug_tracewalk)
 368                                 {
 369                                         debugnode(e, org);
 370                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 371                                 }
 372
 373                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 374                                 return true;
 375                         }
 376                 }
 377
 378                 if(autocvar_bot_debug_tracewalk)
 379                         debugnode(e, org);
 380
 381                 if (flatdist <= 0)
 382                         break;
 383
 384                 if (stepdist > flatdist)
 385                         stepdist = flatdist;
 386                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
 387                 {
 388                         // can't use movement direction here to calculate move because of
 389                         // precision errors especially when direction has a high enough z value
 390                         //water_dir = normalize(water_end - org);
 391                         //move = org + water_dir * stepdist;
 392                         fixed_end.z = bound(end.z, org.z, end2.z);
 393                         if (stepdist == flatdist) {
 394                                 move = fixed_end;
 395                                 flatdist = 0;
 396                         } else {
 397                                 move = org + (fixed_end - org) * (stepdist / flatdist);
 398                                 flatdist = vlen(vec2(fixed_end - move));
 399                         }
 400                 }
 401                 else // horiz. direction
 402                 {
 403                         flatdist -= stepdist;
 404                         move = org + flatdir * stepdist;
 405                 }
 406
 407                 if(nav_action == NAV_SWIM_ONWATER)
 408                 {
 409                         tracebox(org, m1, m2, move, movemode, e); // swim
 410
 411                         // hit something
 412                         if (trace_fraction < 1)
 413                         {
 414                                 // stepswim
 415                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 416
 417                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 418                                 {
 419                                         org = trace_endpos;
 420                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
 421                                         {
 422                                                 if(autocvar_bot_debug_tracewalk)
 423                                                 {
 424                                                         debugnode(e, org);
 425                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 426                                                 }
 427
 428                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 429                                                 return true;
 430                                         }
 431
 432                                         if(autocvar_bot_debug_tracewalk)
 433                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 434
 435                                         return false;
 436                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 437                                 }
 438
 439                                 //succesful stepswim
 440
 441                                 if (flatdist <= 0)
 442                                 {
 443                                         org = trace_endpos;
 444                                         continue;
 445                                 }
 446
 447                                 if (org.z <= move.z) // going horiz.
 448                                 {
 449                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
 450                                         org = trace_endpos;
 451                                         nav_action = NAV_WALK;
 452                                         continue;
 453                                 }
 454                         }
 455
 456                         if (org.z <= move.z) // going horiz.
 457                         {
 458                                 org = trace_endpos;
 459                                 nav_action = NAV_SWIM_ONWATER;
 460                         }
 461                         else // going down
 462                         {
 463                                 org = trace_endpos;
 464                                 if (SUBMERGED(org))
 465                                         nav_action = NAV_SWIM_UNDERWATER;
 466                                 else
 467                                         nav_action = NAV_SWIM_ONWATER;
 468                         }
 469                 }
 470                 else if(nav_action == NAV_SWIM_UNDERWATER)
 471                 {
 472                         if (move.z >= org.z) // swimming upwards or horiz.
 473                         {
 474                                 tracebox(org, m1, m2, move, movemode, e); // swim
 475
 476                                 bool stepswum = false;
 477
 478                                 // hit something
 479                                 if (trace_fraction < 1)
 480                                 {
 481                                         // stepswim
 482                                         vector stepswim_move = move + stepheightvec;
 483                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
 484                                                 stepswim_move.z = end2.z;
 485
 486                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
 487
 488                                         // hit something
 489                                         if (trace_startsolid)
 490                                         {
 491                                                 if(autocvar_bot_debug_tracewalk)
 492                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 493
 494                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 495                                                 return false;
 496                                         }
 497
 498                                         if (trace_fraction < 1)
 499                                         {
 500                                                 float org_z_prev = org.z;
 501                                                 RESURFACE_LIMITED(org, end2.z);
 502                                                 if(org.z == org_z_prev)
 503                                                 {
 504                                                         if(autocvar_bot_debug_tracewalk)
 505                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 506
 507                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
 508                                                         return false;
 509                                                 }
 510                                                 if(SUBMERGED(org))
 511                                                         nav_action = NAV_SWIM_UNDERWATER;
 512                                                 else
 513                                                         nav_action = NAV_SWIM_ONWATER;
 514
 515                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
 516                                                 // but we can't do it properly right now... apply this workaround instead
 517                                                 if (flatdist <= 0)
 518                                                         flatdist = 1;
 519
 520                                                 continue;
 521                                         }
 522
 523                                         //succesful stepswim
 524
 525                                         if (flatdist <= 0)
 526                                         {
 527                                                 org = trace_endpos;
 528                                                 continue;
 529                                         }
 530
 531                                         stepswum = true;
 532                                 }
 533
 534                                 if (!WETFEET(trace_endpos))
 535                                 {
 536                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
 537                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
 538                                         if (!stepswum && SUBMERGED(trace_endpos))
 539                                         {
 540                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
 541                                                 org = trace_endpos;
 542                                                 nav_action = NAV_SWIM_ONWATER;
 543                                                 continue;
 544                                         }
 545
 546                                         // not submerged
 547                                         org = trace_endpos;
 548                                         nav_action = NAV_WALK;
 549                                         continue;
 550                                 }
 551
 552                                 // wetfeet
 553                                 org = trace_endpos;
 554                                 nav_action = NAV_SWIM_UNDERWATER;
 555                                 continue;
 556                         }
 557                         else //if (move.z < org.z) // swimming downwards
 558                         {
 559                                 tracebox(org, m1, m2, move, movemode, e); // swim
 560
 561                                 // hit something
 562                                 if (trace_fraction < 1)
 563                                 {
 564                                         // stepswim
 565                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 566
 567                                         // hit something
 568                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 569                                         {
 570                                                 if(autocvar_bot_debug_tracewalk)
 571                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
 572
 573                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 574                                                 return false;
 575                                         }
 576
 577                                         //succesful stepswim
 578
 579                                         if (flatdist <= 0)
 580                                         {
 581                                                 org = trace_endpos;
 582                                                 continue;
 583                                         }
 584
 585                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
 586                                         {
 587                                                 // stepswim caused upwards direction
 588                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
 589                                                 if (!SUBMERGED(trace_endpos))
 590                                                 {
 591                                                         org = trace_endpos;
 592                                                         nav_action = NAV_WALK;
 593                                                         continue;
 594                                                 }
 595                                         }
 596                                 }
 597
 598                                 org = trace_endpos;
 599                                 nav_action = NAV_SWIM_UNDERWATER;
 600                                 continue;
 601                         }
 602                 }
 603                 else if(nav_action == NAV_WALK)
 604                 {
 605                         // walk
 606                         tracebox(org, m1, m2, move, movemode, e);
 607
 608                         if(autocvar_bot_debug_tracewalk)
 609                                 debugnode(e, trace_endpos);
 610
 611                         // hit something
 612                         if (trace_fraction < 1)
 613                         {
 614                                 // check if we can walk over this obstacle, possibly by jumpstepping
 615                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 616                                 if (trace_fraction < 1 || trace_startsolid)
 617                                 {
 618                                         if (trace_startsolid) // hit ceiling above org
 619                                         {
 620                                                 // reduce stepwalk height
 621                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
 622                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 623                                         }
 624                                         else //if (trace_fraction < 1)
 625                                         {
 626                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 627                                                 if (trace_startsolid) // hit ceiling above org
 628                                                 {
 629                                                         // reduce jumpstepwalk height
 630                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
 631                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 632                                                 }
 633                                         }
 634
 635                                         if (trace_fraction < 1)
 636                                         {
 637                                                 vector v = trace_endpos;
 638                                                 v.z = org.z + jumpheight_vec.z;
 639                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 640                                                 {
 641                                                         if(autocvar_bot_debug_tracewalk)
 642                                                         {
 643                                                                 debugnode(e, v);
 644                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 645                                                         }
 646
 647                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 648                                                         return true;
 649                                                 }
 650
 651                                                 if(autocvar_bot_debug_tracewalk)
 652                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 653
 654                                                 traceline( org, move, movemode, e);
 655
 656                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 657                                                 {
 658                                                         vector nextmove;
 659                                                         move = trace_endpos;
 660                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 661                                                         {
 662                                                                 nextmove = move + (flatdir * stepdist);
 663                                                                 traceline( move, nextmove, movemode, e);
 664                                                                 move = nextmove;
 665                                                         }
 666                                                         flatdist = vlen(vec2(end - move));
 667                                                 }
 668                                                 else
 669                                                 {
 670                                                         if(autocvar_bot_debug_tracewalk)
 671                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 672
 673                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 674                                                         //te_explosion(trace_endpos);
 675                                                         //print(ftos(e.dphitcontentsmask), "\n");
 676                                                         return false; // failed
 677                                                 }
 678                                         }
 679                                         else
 680                                                 move = trace_endpos;
 681                                 }
 682                                 else
 683                                         move = trace_endpos;
 684                         }
 685                         else
 686                                 move = trace_endpos;
 687
 688                         // trace down from stepheight as far as possible and move there,
 689                         // if this starts in solid we try again without the stepup, and
 690                         // if that also fails we assume it is a wall
 691                         // (this is the same logic as the Quake walkmove function used)
 692                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 693
 694                         org = trace_endpos;
 695
 696                         if (!ignorehazards)
 697                         {
 698                                 if (IN_LAVA(org))
 699                                 {
 700                                         if(autocvar_bot_debug_tracewalk)
 701                                         {
 702                                                 debugnode(e, trace_endpos);
 703                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 704                                         }
 705
 706                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 707                                         return false;
 708                                 }
 709                         }
 710
 711                         if (flatdist <= 0)
 712                         {
 713                                 if(move.z >= end2.z && org.z < end2.z)
 714                                         org.z = end2.z;
 715                                 continue;
 716                         }
 717
 718                         if(org.z > move.z - 1 || !SUBMERGED(org))
 719                         {
 720                                 nav_action = NAV_WALK;
 721                                 continue;
 722                         }
 723
 724                         // ended up submerged while walking
 725                         if(autocvar_bot_debug_tracewalk)
 726                                 debugnode(e, org);
 727
 728                         RESURFACE_LIMITED(org, move.z);
 729                         nav_action = NAV_SWIM_ONWATER;
 730                         continue;
 731                 }
 732         }
 733
 734         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 735
 736         // moved but didn't arrive at the intended destination
 737         if(autocvar_bot_debug_tracewalk)
 738                 debugnodestatus(org, DEBUG_NODE_FAIL);
 739
 740         return false;
 741 }
 742
 743 /////////////////////////////////////////////////////////////////////////////
 744 // goal stack
 745 /////////////////////////////////////////////////////////////////////////////
 746
 747 // completely empty the goal stack, used when deciding where to go
 748 void navigation_clearroute(entity this)
 749 {
 750         this.lastteleporttime = 0;
 751         this.goalcurrent_prev = this.goalcurrent;
 752         this.goalcurrent_distance_2d = FLOAT_MAX;
 753         this.goalcurrent_distance_z = FLOAT_MAX;
 754         this.goalcurrent_distance_time = 0;
 755         this.goalentity_lock_timeout = 0;
 756         this.goalentity_shouldbefrozen = false;
 757         this.goalentity = NULL;
 758         this.goalcurrent = NULL;
 759         this.goalstack01 = NULL;
 760         this.goalstack02 = NULL;
 761         this.goalstack03 = NULL;
 762         this.goalstack04 = NULL;
 763         this.goalstack05 = NULL;
 764         this.goalstack06 = NULL;
 765         this.goalstack07 = NULL;
 766         this.goalstack08 = NULL;
 767         this.goalstack09 = NULL;
 768         this.goalstack10 = NULL;
 769         this.goalstack11 = NULL;
 770         this.goalstack12 = NULL;
 771         this.goalstack13 = NULL;
 772         this.goalstack14 = NULL;
 773         this.goalstack15 = NULL;
 774         this.goalstack16 = NULL;
 775         this.goalstack17 = NULL;
 776         this.goalstack18 = NULL;
 777         this.goalstack19 = NULL;
 778         this.goalstack20 = NULL;
 779         this.goalstack21 = NULL;
 780         this.goalstack22 = NULL;
 781         this.goalstack23 = NULL;
 782         this.goalstack24 = NULL;
 783         this.goalstack25 = NULL;
 784         this.goalstack26 = NULL;
 785         this.goalstack27 = NULL;
 786         this.goalstack28 = NULL;
 787         this.goalstack29 = NULL;
 788         this.goalstack30 = NULL;
 789         this.goalstack31 = NULL;
 790 }
 791
 792 // add a new goal at the beginning of the stack
 793 // (in other words: add a new prerequisite before going to the later goals)
 794 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 795 // next-closest WP on the shortest path to the WP
 796 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 797 // steps to the goal, and then recalculate the path.
 798 void navigation_pushroute(entity this, entity e)
 799 {
 800         this.goalcurrent_prev = this.goalcurrent;
 801         this.goalcurrent_distance_2d = FLOAT_MAX;
 802         this.goalcurrent_distance_z = FLOAT_MAX;
 803         this.goalcurrent_distance_time = 0;
 804         //print("bot ", etos(this), " push ", etos(e), "\n");
 805         if(this.goalstack31 == this.goalentity)
 806                 this.goalentity = NULL;
 807         this.goalstack31 = this.goalstack30;
 808         this.goalstack30 = this.goalstack29;
 809         this.goalstack29 = this.goalstack28;
 810         this.goalstack28 = this.goalstack27;
 811         this.goalstack27 = this.goalstack26;
 812         this.goalstack26 = this.goalstack25;
 813         this.goalstack25 = this.goalstack24;
 814         this.goalstack24 = this.goalstack23;
 815         this.goalstack23 = this.goalstack22;
 816         this.goalstack22 = this.goalstack21;
 817         this.goalstack21 = this.goalstack20;
 818         this.goalstack20 = this.goalstack19;
 819         this.goalstack19 = this.goalstack18;
 820         this.goalstack18 = this.goalstack17;
 821         this.goalstack17 = this.goalstack16;
 822         this.goalstack16 = this.goalstack15;
 823         this.goalstack15 = this.goalstack14;
 824         this.goalstack14 = this.goalstack13;
 825         this.goalstack13 = this.goalstack12;
 826         this.goalstack12 = this.goalstack11;
 827         this.goalstack11 = this.goalstack10;
 828         this.goalstack10 = this.goalstack09;
 829         this.goalstack09 = this.goalstack08;
 830         this.goalstack08 = this.goalstack07;
 831         this.goalstack07 = this.goalstack06;
 832         this.goalstack06 = this.goalstack05;
 833         this.goalstack05 = this.goalstack04;
 834         this.goalstack04 = this.goalstack03;
 835         this.goalstack03 = this.goalstack02;
 836         this.goalstack02 = this.goalstack01;
 837         this.goalstack01 = this.goalcurrent;
 838         this.goalcurrent = e;
 839 }
 840
 841 // remove first goal from stack
 842 // (in other words: remove a prerequisite for reaching the later goals)
 843 // (used when a spawnfunc_waypoint is reached)
 844 void navigation_poproute(entity this)
 845 {
 846         this.goalcurrent_prev = this.goalcurrent;
 847         this.goalcurrent_distance_2d = FLOAT_MAX;
 848         this.goalcurrent_distance_z = FLOAT_MAX;
 849         this.goalcurrent_distance_time = 0;
 850         //print("bot ", etos(this), " pop\n");
 851         if(this.goalcurrent == this.goalentity)
 852         {
 853                 this.goalentity = NULL;
 854                 this.goalentity_lock_timeout = 0;
 855         }
 856         this.goalcurrent = this.goalstack01;
 857         this.goalstack01 = this.goalstack02;
 858         this.goalstack02 = this.goalstack03;
 859         this.goalstack03 = this.goalstack04;
 860         this.goalstack04 = this.goalstack05;
 861         this.goalstack05 = this.goalstack06;
 862         this.goalstack06 = this.goalstack07;
 863         this.goalstack07 = this.goalstack08;
 864         this.goalstack08 = this.goalstack09;
 865         this.goalstack09 = this.goalstack10;
 866         this.goalstack10 = this.goalstack11;
 867         this.goalstack11 = this.goalstack12;
 868         this.goalstack12 = this.goalstack13;
 869         this.goalstack13 = this.goalstack14;
 870         this.goalstack14 = this.goalstack15;
 871         this.goalstack15 = this.goalstack16;
 872         this.goalstack16 = this.goalstack17;
 873         this.goalstack17 = this.goalstack18;
 874         this.goalstack18 = this.goalstack19;
 875         this.goalstack19 = this.goalstack20;
 876         this.goalstack20 = this.goalstack21;
 877         this.goalstack21 = this.goalstack22;
 878         this.goalstack22 = this.goalstack23;
 879         this.goalstack23 = this.goalstack24;
 880         this.goalstack24 = this.goalstack25;
 881         this.goalstack25 = this.goalstack26;
 882         this.goalstack26 = this.goalstack27;
 883         this.goalstack27 = this.goalstack28;
 884         this.goalstack28 = this.goalstack29;
 885         this.goalstack29 = this.goalstack30;
 886         this.goalstack30 = this.goalstack31;
 887         this.goalstack31 = NULL;
 888 }
 889
 890 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 891 // waypoint destination coordinates instead of v (only useful for box waypoints)
 892 // for normal waypoints v2 == v and v2_height == 0
 893 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
 894 {
 895         if (vdist(v - org, <, bestdist))
 896         {
 897                 traceline(v, org, true, ent);
 898                 if (trace_fraction == 1)
 899                 {
 900                         if (walkfromwp)
 901                         {
 902                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 903                                         return true;
 904                         }
 905                         else
 906                         {
 907                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 908                                         return true;
 909                         }
 910                 }
 911         }
 912         return false;
 913 }
 914
 915 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 916 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 917 {
 918         if(ent.tag_entity)
 919                 ent = ent.tag_entity;
 920
 921         vector pm1 = ent.origin + ent.mins;
 922         vector pm2 = ent.origin + ent.maxs;
 923
 924         // do two scans, because box test is cheaper
 925         IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
 926         {
 927                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 928                 {
 929                         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 930                         {
 931                                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 932                                 navigation_item_addlink(it, ent);
 933                         }
 934                         return it;
 935                 }
 936         });
 937
 938         vector org = ent.origin;
 939         if (navigation_testtracewalk)
 940                 te_plasmaburn(org);
 941
 942         entity best = NULL;
 943         vector v = '0 0 0';
 944
 945         if(ent.size && !IS_PLAYER(ent))
 946         {
 947                 org += 0.5 * (ent.mins + ent.maxs);
 948                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 949         }
 950
 951         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 952         {
 953                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 954                 IL_EACH(g_waypoints, it != ent,
 955                 {
 956                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 957                                 continue;
 958
 959                         set_tracewalk_dest(ent, it.origin, false);
 960                         if (vdist(tracewalk_dest - it.origin, <, 1050)
 961                                 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
 962                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
 963                         {
 964                                 navigation_item_addlink(it, ent);
 965                         }
 966                 });
 967         }
 968
 969         // box check failed, try walk
 970         IL_EACH(g_waypoints, it != ent,
 971         {
 972                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 973                         continue;
 974                 v = it.origin;
 975
 976                 if (walkfromwp)
 977                 {
 978                         set_tracewalk_dest(ent, v, true);
 979                         if (trace_ent == ent)
 980                         {
 981                                 bestdist = 0;
 982                                 best = it;
 983                                 break;
 984                         }
 985                 }
 986                 else
 987                         set_tracewalk_dest(it, org, false);
 988
 989                 if (navigation_waypoint_will_link(v, org, ent,
 990                         tracewalk_dest, tracewalk_dest_height,
 991                         tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
 992                 {
 993                         if (walkfromwp)
 994                                 bestdist = vlen(tracewalk_dest - v);
 995                         else
 996                                 bestdist = vlen(v - org);
 997                         best = it;
 998                 }
 999         });
1000         if(!best && !ent.navigation_dynamicgoal)
1001         {
1002                 int solid_save = ent.solid;
1003                 ent.solid = SOLID_BSP;
1004                 IL_EACH(g_jumppads, true,
1005                 {
1006                         if(trigger_push_test(it, ent))
1007                         {
1008                                 best = it.nearestwaypoint;
1009                                 break;
1010                         }
1011                 });
1012                 ent.solid = solid_save;
1013         }
1014         return best;
1015 }
1016 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1017 {
1018         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1019         if (autocvar_g_waypointeditor_auto)
1020         {
1021                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1022                 if (wp && !wp2)
1023                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1024         }
1025         return wp;
1026 }
1027
1028 // finds the waypoints near the bot initiating a navigation query
1029 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1030 {
1031         //navigation_testtracewalk = true;
1032         int c = 0;
1033         IL_EACH(g_waypoints, !it.wpconsidered,
1034         {
1035                 set_tracewalk_dest(it, this.origin, false);
1036
1037                 vector diff = tracewalk_dest - this.origin;
1038                 diff.z = max(0, diff.z);
1039                 if(vdist(diff, <, maxdist))
1040                 {
1041                         it.wpconsidered = true;
1042                         if (tracewalk(this, this.origin, this.mins, this.maxs,
1043                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1044                         {
1045                                 it.wpnearestpoint = tracewalk_dest;
1046                                 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1047                                 it.wpfire = 1;
1048                                 it.enemy = NULL;
1049                                 c = c + 1;
1050                         }
1051                 }
1052         });
1053         //navigation_testtracewalk = false;
1054         return c;
1055 }
1056
1057 // updates a path link if a spawnfunc_waypoint link is better than the current one
1058 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1059 {
1060         vector m1, m2;
1061         vector v;
1062         if (wp.wpisbox)
1063         {
1064                 m1 = wp.origin + wp.mins;
1065                 m2 = wp.origin + wp.maxs;
1066                 v.x = bound(m1_x, p.x, m2_x);
1067                 v.y = bound(m1_y, p.y, m2_y);
1068                 v.z = bound(m1_z, p.z, m2_z);
1069         }
1070         else
1071                 v = wp.origin;
1072         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1073                 cost += w.wp00mincost; // assuming teleport has exactly one destination
1074         else
1075                 cost += waypoint_gettravelcost(p, v, w, wp);
1076         if (wp.wpcost > cost)
1077         {
1078                 wp.wpcost = cost;
1079                 wp.enemy = w;
1080                 wp.wpfire = 1;
1081                 wp.wpnearestpoint = v;
1082         }
1083 }
1084
1085 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1086 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1087 {
1088         float cost, cost2;
1089         vector p;
1090
1091         IL_EACH(g_waypoints, true,
1092         {
1093                 it.wpconsidered = false;
1094                 it.wpnearestpoint = '0 0 0';
1095                 it.wpcost = 10000000;
1096                 it.wpfire = 0;
1097                 it.enemy = NULL;
1098         });
1099
1100         if(fixed_source_waypoint)
1101         {
1102                 fixed_source_waypoint.wpconsidered = true;
1103                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1104                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1105                 fixed_source_waypoint.wpfire = 1;
1106                 fixed_source_waypoint.enemy = NULL;
1107         }
1108         else
1109         {
1110                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1111                 // as this search is expensive we will use lower values if the bot is on the air
1112                 float increment, maxdistance;
1113                 if(IS_ONGROUND(this))
1114                 {
1115                         increment = 750;
1116                         maxdistance = 50000;
1117                 }
1118                 else
1119                 {
1120                         increment = 500;
1121                         maxdistance = 1500;
1122                 }
1123
1124                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1125         }
1126
1127         bool searching = true;
1128         while (searching)
1129         {
1130                 searching = false;
1131                 IL_EACH(g_waypoints, it.wpfire,
1132                 {
1133                         searching = true;
1134                         it.wpfire = 0;
1135                         cost = it.wpcost;
1136                         p = it.wpnearestpoint;
1137                         entity wp;
1138                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1162                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1163                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1164                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1165                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1166                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1167                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1168                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1169                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1170                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1171                 });
1172         }
1173 }
1174
1175 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1176 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1177 {
1178         float cost, cost2;
1179         vector p;
1180         IL_EACH(g_waypoints, true,
1181         {
1182                 it.wpconsidered = false;
1183                 it.wpnearestpoint = '0 0 0';
1184                 it.wpcost = 10000000;
1185                 it.wpfire = 0;
1186                 it.enemy = NULL;
1187         });
1188
1189         if(fixed_source_waypoint)
1190         {
1191                 fixed_source_waypoint.wpconsidered = true;
1192                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1193                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1194                 fixed_source_waypoint.wpfire = 1;
1195                 fixed_source_waypoint.enemy = NULL;
1196         }
1197         else
1198         {
1199                 error("need to start with a waypoint\n");
1200         }
1201
1202         bool searching = true;
1203         while (searching)
1204         {
1205                 searching = false;
1206                 IL_EACH(g_waypoints, it.wpfire,
1207                 {
1208                         searching = true;
1209                         it.wpfire = 0;
1210                         cost = it.wpcost; // cost to walk from it to home
1211                         p = it.wpnearestpoint;
1212                         entity wp = it;
1213                         IL_EACH(g_waypoints, it != wp,
1214                         {
1215                                 if(!waypoint_islinked(it, wp))
1216                                         continue;
1217                                 cost2 = cost + it.dmg;
1218                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1219                         });
1220                 });
1221         }
1222 }
1223
1224 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1225 void navigation_routerating(entity this, entity e, float f, float rangebias)
1226 {
1227         if (!e || e.blacklisted) { return; }
1228
1229         rangebias = waypoint_getlinearcost(rangebias);
1230         f = waypoint_getlinearcost(f);
1231
1232         if (IS_PLAYER(e))
1233         {
1234                 bool rate_wps = false;
1235                 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1236                         || (e.flags & FL_PARTIALGROUND))
1237                 {
1238                         rate_wps = true;
1239                 }
1240
1241                 if(!IS_ONGROUND(e))
1242                 {
1243                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1244                         int t = pointcontents(trace_endpos + '0 0 1');
1245                         if(t != CONTENT_SOLID )
1246                         {
1247                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1248                                         rate_wps = true;
1249                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1250                                         return;
1251                         }
1252                 }
1253
1254                 if(rate_wps)
1255                 {
1256                         entity theEnemy = e;
1257                         entity best_wp = NULL;
1258                         float best_dist = FLOAT_MAX;
1259                         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1260                                 && vdist(it.origin - theEnemy.origin, <, 500)
1261                                 && vdist(it.origin - this.origin, >, 100)
1262                                 && vdist(it.origin - this.origin, <, 10000),
1263                         {
1264                                 float dist = vlen2(it.origin - theEnemy.origin);
1265                                 if (dist < best_dist)
1266                                 {
1267                                         best_wp = it;
1268                                         best_dist = dist;
1269                                 }
1270                         });
1271                         if (!best_wp)
1272                                 return;
1273                         e = best_wp;
1274                 }
1275         }
1276
1277         vector goal_org = (e.absmin + e.absmax) * 0.5;
1278
1279         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1280
1281         // Evaluate path using jetpack
1282         if(this.items & IT_JETPACK)
1283         if(autocvar_bot_ai_navigation_jetpack)
1284         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1285         {
1286                 vector pointa, pointb;
1287
1288                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1289
1290                 // Point A
1291                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1292                 pointa = trace_endpos - '0 0 1';
1293
1294                 // Point B
1295                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1296                 pointb = trace_endpos - '0 0 1';
1297
1298                 // Can I see these two points from the sky?
1299                 traceline(pointa, pointb, MOVE_NORMAL, this);
1300
1301                 if(trace_fraction==1)
1302                 {
1303                         LOG_DEBUG("jetpack ai: can bridge these two points");
1304
1305                         // Lower the altitude of these points as much as possible
1306                         float zdistance, xydistance, cost, t, fuel;
1307                         vector down, npa, npb;
1308
1309                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1310
1311                         do{
1312                                 npa = pointa + down;
1313                                 npb = pointb + down;
1314
1315                                 if(npa.z<=this.absmax.z)
1316                                         break;
1317
1318                                 if(npb.z<=e.absmax.z)
1319                                         break;
1320
1321                                 traceline(npa, npb, MOVE_NORMAL, this);
1322                                 if(trace_fraction==1)
1323                                 {
1324                                         pointa = npa;
1325                                         pointb = npb;
1326                                 }
1327                         }
1328                         while(trace_fraction == 1);
1329
1330
1331                         // Rough estimation of fuel consumption
1332                         // (ignores acceleration and current xyz velocity)
1333                         xydistance = vlen(pointa - pointb);
1334                         zdistance = fabs(pointa.z - this.origin.z);
1335
1336                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1337                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1338                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1339
1340                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
1341
1342                         // enough fuel ?
1343                         if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO))
1344                         {
1345                                 // Estimate cost
1346                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1347                                 //  - between air and ground speeds)
1348
1349                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1350                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1351                                 cost *= 1.5;
1352
1353                                 // Compare against other goals
1354                                 f = f * rangebias / (rangebias + cost);
1355
1356                                 if (navigation_bestrating < f)
1357                                 {
1358                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1359                                         navigation_bestrating = f;
1360                                         navigation_bestgoal = e;
1361                                         this.navigation_jetpack_goal = e;
1362                                         this.navigation_jetpack_point = pointb;
1363                                 }
1364                                 return;
1365                         }
1366                 }
1367         }
1368
1369         entity nwp;
1370         //te_wizspike(e.origin);
1371         //bprint(etos(e));
1372         //bprint("\n");
1373         // update the cached spawnfunc_waypoint link on a dynamic item entity
1374         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1375         {
1376                 nwp = e;
1377         }
1378         else
1379         {
1380                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1381                         e.nearestwaypoint = NULL;
1382
1383                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1384                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1385                 {
1386                         if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1387                                 e.nearestwaypoint = nwp = e.goalcurrent;
1388                         else
1389                                 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1390                         if(!nwp)
1391                         {
1392                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1393
1394                                 if(!e.navigation_dynamicgoal)
1395                                         e.blacklisted = true;
1396
1397                                 if(e.blacklisted)
1398                                 {
1399                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1400                                         return;
1401                                 }
1402                         }
1403
1404                         if(e.navigation_dynamicgoal)
1405                                 e.nearestwaypointtimeout = time + 2;
1406                         else if(autocvar_g_waypointeditor)
1407                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1408                 }
1409                 nwp = e.nearestwaypoint;
1410         }
1411
1412         if (nwp && nwp.wpcost < 10000000)
1413         {
1414                 //te_wizspike(nwp.wpnearestpoint);
1415                 float nwptoitem_cost = 0;
1416                 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1417                         nwptoitem_cost = nwp.wp00mincost;
1418                 else
1419                         nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1420                 float cost = nwp.wpcost + nwptoitem_cost;
1421                 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1422                 f = f * rangebias / (rangebias + cost);
1423                 LOG_DEBUG("         ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1424                 if (navigation_bestrating < f)
1425                 {
1426                         LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1427                         navigation_bestrating = f;
1428                         navigation_bestgoal = e;
1429                 }
1430         }
1431 }
1432
1433 // adds an item to the the goal stack with the path to a given item
1434 bool navigation_routetogoal(entity this, entity e, vector startposition)
1435 {
1436         // if there is no goal, just exit
1437         if (!e)
1438                 return false;
1439
1440         entity teleport_goal = NULL;
1441
1442         this.goalentity = e;
1443
1444         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1445         {
1446                 // force teleport destination as route destination
1447                 teleport_goal = e;
1448                 navigation_pushroute(this, e.wp00);
1449                 this.goalentity = e.wp00;
1450         }
1451
1452         // put the entity on the goal stack
1453         //print("routetogoal ", etos(e), "\n");
1454         navigation_pushroute(this, e);
1455
1456         if(teleport_goal)
1457                 e = this.goalentity;
1458
1459         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1460         {
1461                 this.wp_goal_prev1 = this.wp_goal_prev0;
1462                 this.wp_goal_prev0 = e;
1463         }
1464
1465         if(g_jetpack)
1466         if(e==this.navigation_jetpack_goal)
1467                 return true;
1468
1469         // if it can reach the goal there is nothing more to do
1470         set_tracewalk_dest(e, startposition, true);
1471         if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1472                 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1473                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1474         {
1475                 return true;
1476         }
1477
1478         entity nearest_wp = NULL;
1479         // see if there are waypoints describing a path to the item
1480         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1481         {
1482                 e = e.nearestwaypoint;
1483                 nearest_wp = e;
1484         }
1485         else if(teleport_goal)
1486                 e = teleport_goal;
1487         else
1488                 e = e.enemy; // we already have added it, so...
1489
1490         if(e == NULL)
1491                 return false;
1492
1493         if(nearest_wp && nearest_wp.enemy)
1494         {
1495                 // often path can be optimized by not adding the nearest waypoint
1496                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1497                 {
1498                         if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1499                         {
1500                                 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1501                                         e = nearest_wp.enemy;
1502                                 else
1503                                 {
1504                                         set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1505                                         if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1506                                                 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1507                                                 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1508                                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1509                                         {
1510                                                 e = nearest_wp.enemy;
1511                                         }
1512                                 }
1513                         }
1514                 }
1515                 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1516                         e = nearest_wp.enemy;
1517         }
1518
1519         for (;;)
1520         {
1521                 // add the spawnfunc_waypoint to the path
1522                 navigation_pushroute(this, e);
1523                 e = e.enemy;
1524
1525                 if(e==NULL)
1526                         break;
1527         }
1528
1529         return false;
1530 }
1531
1532 // shorten path by removing intermediate goals
1533 bool navigation_shortenpath(entity this)
1534 {
1535         if (!this.goalstack01 || wasfreed(this.goalstack01))
1536                 return false;
1537         if (this.bot_tracewalk_time > time)
1538                 return false;
1539         this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1540
1541         bool cut_allowed = false;
1542         entity next = this.goalentity;
1543         // evaluate whether bot can discard current route and chase directly a player, trying to
1544         // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1545         if (IS_MOVABLE(next))
1546         {
1547                 set_tracewalk_dest(next, this.origin, true);
1548                 if (vdist(this.origin - tracewalk_dest, <, 200))
1549                         cut_allowed = true;
1550                 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1551                         && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1552                         && vdist(this.origin - this.goalcurrent.origin, >, 100)
1553                         && checkpvs(this.origin + this.view_ofs, next))
1554                 {
1555                         if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1556                                 cut_allowed = true;
1557                         else
1558                         {
1559                                 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1560                                 while (deviation.y < -180) deviation.y += 360;
1561                                 while (deviation.y > 180) deviation.y -= 360;
1562                                 if (fabs(deviation.y) > 25)
1563                                         cut_allowed = true;
1564                         }
1565                 }
1566                 if (cut_allowed)
1567                 {
1568                         if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1569                                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1570                         {
1571                                 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1572                                 do
1573                                 {
1574                                         navigation_poproute(this);
1575                                 }
1576                                 while (this.goalcurrent != next);
1577                                 return true;
1578                         }
1579                         return false;
1580                 }
1581         }
1582
1583         next = this.goalstack01;
1584         // if for some reason the bot is closer to the next goal, pop the current one
1585         if (!IS_MOVABLE(next) && !this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)
1586                 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1587                 && checkpvs(this.origin + this.view_ofs, next))
1588         {
1589                 set_tracewalk_dest(next, this.origin, true);
1590                 cut_allowed = true;
1591         }
1592
1593         if (cut_allowed)
1594         {
1595                 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1596                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1597                 {
1598                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1599                         navigation_poproute(this);
1600                         return true;
1601                 }
1602         }
1603         return false;
1604 }
1605
1606 // removes any currently touching waypoints from the goal stack
1607 // (this is how bots detect if they reached a goal)
1608 int navigation_poptouchedgoals(entity this)
1609 {
1610         int removed_goals = 0;
1611
1612         if(!this.goalcurrent)
1613                 return removed_goals;
1614
1615         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1616         {
1617                 if (!this.goalcurrent.wpisbox // warpzone
1618                         && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
1619                 {
1620                         // immediately remove origin and destination waypoints
1621                         navigation_poproute(this);
1622                         ++removed_goals;
1623                         navigation_poproute(this);
1624                         ++removed_goals;
1625                         this.lastteleporttime = 0;
1626                 }
1627
1628                 // make sure jumppad is really hit, don't rely on distance based checks
1629                 // as they may report a touch even if it didn't really happen
1630                 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1631                 {
1632                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1633                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1634                         {
1635                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1636                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1637                         }
1638                         if(this.jumppadcount)
1639                         {
1640                                 // remove jumppad waypoint after a random delay to prevent bots getting
1641                                 // stuck on certain jumppads that require an extra initial horizontal speed
1642                                 float max_delay = 0.1;
1643                                 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1644                                         max_delay = 0.05;
1645                                 if (time - this.lastteleporttime < random() * max_delay)
1646                                         return removed_goals;
1647                         }
1648                         else if (this.goalcurrent.wpisbox) // teleport
1649                         {
1650                                 // immediately remove origin and destination waypoints
1651                                 navigation_poproute(this);
1652                                 ++removed_goals;
1653                         }
1654                         navigation_poproute(this);
1655                         this.lastteleporttime = 0;
1656                         ++removed_goals;
1657                 }
1658                 return removed_goals;
1659         }
1660         else if (this.lastteleporttime > 0)
1661         {
1662                 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1663                 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1664                 // if so immediately fix bot path by removing skipped goals
1665                 entity tele_ent = NULL;
1666                 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1667                         tele_ent = this.goalstack01;
1668                 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1669                         tele_ent = this.goalstack02;
1670                 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1671                         tele_ent = this.goalstack03;
1672                 if (tele_ent && TELEPORT_USED(this, tele_ent))
1673                 {
1674                         if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1675                         if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1676                         {
1677                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1678                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1679                         }
1680                         while (this.goalcurrent != tele_ent)
1681                         {
1682                                 navigation_poproute(this);
1683                                 ++removed_goals;
1684                         }
1685                         navigation_poproute(this);
1686                         this.lastteleporttime = 0;
1687                         ++removed_goals;
1688                         return removed_goals;
1689                 }
1690                 // reset of lastteleporttime can be overriden by a jumppad when it's set
1691                 // in more than one frame: make sure it's reset
1692                 this.lastteleporttime = 0;
1693         }
1694
1695         // Loose goal touching check when running
1696         if(this.aistatus & AI_STATUS_RUNNING)
1697         if(this.goalcurrent.classname=="waypoint")
1698         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1699         {
1700                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1701                 {
1702                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1703                         if(trace_fraction==1)
1704                         {
1705                                 // Detect personal waypoints
1706                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1707                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1708                                 {
1709                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1710                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1711                                 }
1712
1713                                 navigation_poproute(this);
1714                                 ++removed_goals;
1715                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1716                                         return removed_goals;
1717                         }
1718                 }
1719         }
1720
1721         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1722         {
1723                 vector gc_min = this.goalcurrent.absmin;
1724                 vector gc_max = this.goalcurrent.absmax;
1725                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1726                 {
1727                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1728                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1729                 }
1730                 if (time < this.ladder_time)
1731                 {
1732                         if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
1733                                 break;
1734                 }
1735                 else
1736                 {
1737                         if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1738                                 break;
1739                 }
1740
1741                 // Detect personal waypoints
1742                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1743                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1744                 {
1745                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1746                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1747                 }
1748
1749                 navigation_poproute(this);
1750                 ++removed_goals;
1751                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1752                         return removed_goals;
1753         }
1754         return removed_goals;
1755 }
1756
1757 entity navigation_get_really_close_waypoint(entity this)
1758 {
1759         entity wp = this.goalcurrent;
1760         if(!wp)
1761                 wp = this.goalcurrent_prev;
1762         if(!wp)
1763                 return NULL;
1764         if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1765         {
1766                 wp = this.goalcurrent_prev;
1767                 if(!wp)
1768                         return NULL;
1769         }
1770         if(wp.classname != "waypoint")
1771         {
1772                 wp = wp.nearestwaypoint;
1773                 if(!wp)
1774                         return NULL;
1775         }
1776         if(vdist(wp.origin - this.origin, >, 50))
1777         {
1778                 wp = NULL;
1779                 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
1780                 {
1781                         if(vdist(it.origin - this.origin, <, 50))
1782                         {
1783                                 wp = it;
1784                                 break;
1785                         }
1786                 });
1787                 if(!wp)
1788                         return NULL;
1789         }
1790         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1791                 return NULL;
1792
1793         set_tracewalk_dest(wp, this.origin, false);
1794         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1795                 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1796         {
1797                 return NULL;
1798         }
1799         return wp;
1800 }
1801
1802 // begin a goal selection session (queries spawnfunc_waypoint network)
1803 void navigation_goalrating_start(entity this)
1804 {
1805         if(this.aistatus & AI_STATUS_STUCK)
1806                 return;
1807
1808         this.navigation_jetpack_goal = NULL;
1809         navigation_bestrating = -1;
1810         entity wp = navigation_get_really_close_waypoint(this);
1811         navigation_clearroute(this);
1812         navigation_bestgoal = NULL;
1813         navigation_markroutes(this, wp);
1814         this.goalstack31 = wp; // temporarly save the really close waypoint
1815 }
1816
1817 // ends a goal selection session (updates goal stack to the best goal)
1818 void navigation_goalrating_end(entity this)
1819 {
1820         if(this.aistatus & AI_STATUS_STUCK)
1821                 return;
1822
1823         entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
1824         this.goalstack31 = NULL;
1825
1826         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1827         LOG_DEBUG("best goal ", navigation_bestgoal.classname);
1828
1829         if (wp && this.goalcurrent == wp)
1830                 navigation_poproute(this);
1831
1832         // If the bot got stuck then try to reach the farthest waypoint
1833         if (!this.goalentity)
1834         {
1835                 if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
1836                 {
1837                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1838                         this.aistatus |= AI_STATUS_STUCK;
1839                 }
1840                 this.goalentity_shouldbefrozen = false;
1841         }
1842         else
1843                 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1844 }
1845
1846 void botframe_updatedangerousobjects(float maxupdate)
1847 {
1848         vector m1, m2, v, o;
1849         float c, d, danger;
1850         c = 0;
1851         entity wp_cur;
1852         IL_EACH(g_waypoints, true,
1853         {
1854                 danger = 0;
1855                 m1 = it.absmin;
1856                 m2 = it.absmax;
1857                 wp_cur = it;
1858                 IL_EACH(g_bot_dodge, it.bot_dodge,
1859                 {
1860                         v = it.origin;
1861                         v.x = bound(m1_x, v.x, m2_x);
1862                         v.y = bound(m1_y, v.y, m2_y);
1863                         v.z = bound(m1_z, v.z, m2_z);
1864                         o = (it.absmin + it.absmax) * 0.5;
1865                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1866                         if (d > 0)
1867                         {
1868                                 traceline(o, v, true, NULL);
1869                                 if (trace_fraction == 1)
1870                                         danger = danger + d;
1871                         }
1872                 });
1873                 it.dmg = danger;
1874                 c = c + 1;
1875                 if (c >= maxupdate)
1876                         break;
1877         });
1878 }
1879
1880 void navigation_unstuck(entity this)
1881 {
1882         if (!autocvar_bot_wander_enable)
1883                 return;
1884
1885         bool has_user_waypoints = false;
1886         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1887         {
1888                 has_user_waypoints = true;
1889                 break;
1890         });
1891         if (!has_user_waypoints)
1892                 return;
1893
1894         float search_radius = 1000;
1895
1896         if (!bot_waypoint_queue_owner)
1897         {
1898                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1899                 bot_waypoint_queue_owner = this;
1900                 bot_waypoint_queue_bestgoal = NULL;
1901                 bot_waypoint_queue_bestgoalrating = 0;
1902         }
1903
1904         if(bot_waypoint_queue_owner!=this)
1905                 return;
1906
1907         if (bot_waypoint_queue_goal)
1908         {
1909                 // evaluate the next goal on the queue
1910                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1911                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d));
1912                 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1913                 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1914                         tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1915                 {
1916                         if( d > bot_waypoint_queue_bestgoalrating)
1917                         {
1918                                 bot_waypoint_queue_bestgoalrating = d;
1919                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1920                         }
1921                 }
1922
1923                 // move to a random waypoint while bot is searching for a walkable path;
1924                 // this is usually sufficient to unstuck bots from bad spots or when other
1925                 // bots of the same team block all their ways
1926                 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1927                 {
1928                         navigation_clearroute(this);
1929                         navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1930                         navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1931                 }
1932
1933                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1934
1935                 if (!bot_waypoint_queue_goal)
1936                 {
1937                         if (bot_waypoint_queue_bestgoal)
1938                         {
1939                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1940                                 navigation_clearroute(this);
1941                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1942                                 navigation_goalrating_timeout_set(this);
1943                                 this.aistatus &= ~AI_STATUS_STUCK;
1944                         }
1945                         else
1946                         {
1947                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1948                         }
1949
1950                         bot_waypoint_queue_owner = NULL;
1951                 }
1952         }
1953         else
1954         {
1955                 if(bot_strategytoken!=this)
1956                         return;
1957
1958                 // build a new queue
1959                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1960
1961                 entity first = NULL;
1962
1963                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1964                 {
1965                         if(bot_waypoint_queue_goal)
1966                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1967                         else
1968                                 first = it;
1969
1970                         bot_waypoint_queue_goal = it;
1971                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1972                 });
1973
1974                 if (first)
1975                         bot_waypoint_queue_goal = first;
1976                 else
1977                 {
1978                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1979                         bot_waypoint_queue_owner = NULL;
1980                 }
1981         }
1982 }
1983
1984 // Support for debugging tracewalk visually
1985
1986 void debugresetnodes()
1987 {
1988         debuglastnode = '0 0 0';
1989 }
1990
1991 void debugnode(entity this, vector node)
1992 {
1993         if (!IS_PLAYER(this))
1994                 return;
1995
1996         if(debuglastnode=='0 0 0')
1997         {
1998                 debuglastnode = node;
1999                 return;
2000         }
2001
2002         te_lightning2(NULL, node, debuglastnode);
2003         debuglastnode = node;
2004 }
2005
2006 void debugnodestatus(vector position, float status)
2007 {
2008         vector c;
2009
2010         switch (status)
2011         {
2012                 case DEBUG_NODE_SUCCESS:
2013                         c = '0 15 0';
2014                         break;
2015                 case DEBUG_NODE_WARNING:
2016                         c = '15 15 0';
2017                         break;
2018                 case DEBUG_NODE_FAIL:
2019                         c = '15 0 0';
2020                         break;
2021                 default:
2022                         c = '15 15 15';
2023         }
2024
2025         te_customflash(position, 40,  2, c);
2026 }
2027
2028 // Support for debugging the goal stack visually
2029
2030 .float goalcounter;
2031 .vector lastposition;
2032
2033 // Debug the goal stack visually
2034 void debuggoalstack(entity this)
2035 {
2036         entity goal;
2037         vector org, go;
2038
2039         if(this.goalcounter==0)goal=this.goalcurrent;
2040         else if(this.goalcounter==1)goal=this.goalstack01;
2041         else if(this.goalcounter==2)goal=this.goalstack02;
2042         else if(this.goalcounter==3)goal=this.goalstack03;
2043         else if(this.goalcounter==4)goal=this.goalstack04;
2044         else if(this.goalcounter==5)goal=this.goalstack05;
2045         else if(this.goalcounter==6)goal=this.goalstack06;
2046         else if(this.goalcounter==7)goal=this.goalstack07;
2047         else if(this.goalcounter==8)goal=this.goalstack08;
2048         else if(this.goalcounter==9)goal=this.goalstack09;
2049         else if(this.goalcounter==10)goal=this.goalstack10;
2050         else if(this.goalcounter==11)goal=this.goalstack11;
2051         else if(this.goalcounter==12)goal=this.goalstack12;
2052         else if(this.goalcounter==13)goal=this.goalstack13;
2053         else if(this.goalcounter==14)goal=this.goalstack14;
2054         else if(this.goalcounter==15)goal=this.goalstack15;
2055         else if(this.goalcounter==16)goal=this.goalstack16;
2056         else if(this.goalcounter==17)goal=this.goalstack17;
2057         else if(this.goalcounter==18)goal=this.goalstack18;
2058         else if(this.goalcounter==19)goal=this.goalstack19;
2059         else if(this.goalcounter==20)goal=this.goalstack20;
2060         else if(this.goalcounter==21)goal=this.goalstack21;
2061         else if(this.goalcounter==22)goal=this.goalstack22;
2062         else if(this.goalcounter==23)goal=this.goalstack23;
2063         else if(this.goalcounter==24)goal=this.goalstack24;
2064         else if(this.goalcounter==25)goal=this.goalstack25;
2065         else if(this.goalcounter==26)goal=this.goalstack26;
2066         else if(this.goalcounter==27)goal=this.goalstack27;
2067         else if(this.goalcounter==28)goal=this.goalstack28;
2068         else if(this.goalcounter==29)goal=this.goalstack29;
2069         else if(this.goalcounter==30)goal=this.goalstack30;
2070         else if(this.goalcounter==31)goal=this.goalstack31;
2071         else goal=NULL;
2072
2073         if(goal==NULL)
2074         {
2075                 this.goalcounter = 0;
2076                 this.lastposition='0 0 0';
2077                 return;
2078         }
2079
2080         if(this.lastposition=='0 0 0')
2081                 org = this.origin;
2082         else
2083                 org = this.lastposition;
2084
2085
2086         go = ( goal.absmin + goal.absmax ) * 0.5;
2087         te_lightning2(NULL, org, go);
2088         this.lastposition = go;
2089
2090         this.goalcounter++;
2091 }