qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "waypoints.qh"
   7
   8 #include <common/t_items.qh>
   9
  10 #include <common/items/_mod.qh>
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/triggers/trigger/jumppads.qh>
  15
  16 .float speed;
  17
  18 void navigation_dynamicgoal_init(entity this, bool initially_static)
  19 {
  20         this.navigation_dynamicgoal = true;
  21         this.bot_basewaypoint = this.nearestwaypoint;
  22         if(initially_static)
  23                 this.nearestwaypointtimeout = -1;
  24         else
  25                 this.nearestwaypointtimeout = time;
  26 }
  27
  28 void navigation_dynamicgoal_set(entity this)
  29 {
  30         this.nearestwaypointtimeout = time;
  31 }
  32
  33 void navigation_dynamicgoal_unset(entity this)
  34 {
  35         if(this.bot_basewaypoint)
  36                 this.nearestwaypoint = this.bot_basewaypoint;
  37         this.nearestwaypointtimeout = -1;
  38 }
  39
  40 // rough simulation of walking from one point to another to test if a path
  41 // can be traveled, used for waypoint linking and havocbot
  42 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
  43 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
  44 {
  45         if(autocvar_bot_debug_tracewalk)
  46         {
  47                 debugresetnodes();
  48                 debugnode(e, start);
  49         }
  50
  51         vector org = start;
  52         vector dir = end - start;
  53         dir.z = 0;
  54         float dist = vlen(dir);
  55         dir = normalize(dir);
  56         float stepdist = 32;
  57         bool ignorehazards = false;
  58         bool swimming = false;
  59
  60         // Analyze starting point
  61         traceline(start, start, MOVE_NORMAL, e);
  62         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  63                 ignorehazards = true;
  64         else
  65         {
  66                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  67                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  68                 {
  69                         ignorehazards = true;
  70                         swimming = true;
  71                 }
  72         }
  73         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  74         if (trace_startsolid)
  75         {
  76                 // Bad start
  77                 if(autocvar_bot_debug_tracewalk)
  78                         debugnodestatus(start, DEBUG_NODE_FAIL);
  79
  80                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  81                 return false;
  82         }
  83
  84         vector end2 = end;
  85         if(end_height)
  86                 end2.z += end_height;
  87         // Movement loop
  88         for (;;)
  89         {
  90                 if (boxesoverlap(end, end2, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  91                 {
  92                         // Succeeded
  93                         if(autocvar_bot_debug_tracewalk)
  94                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  95
  96                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  97                         return true;
  98                 }
  99                 if(autocvar_bot_debug_tracewalk)
 100                         debugnode(e, org);
 101
 102                 if (dist <= 0)
 103                         break;
 104                 if (stepdist > dist)
 105                         stepdist = dist;
 106                 dist = dist - stepdist;
 107                 traceline(org, org, MOVE_NORMAL, e);
 108                 if (!ignorehazards)
 109                 {
 110                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 111                         {
 112                                 // hazards blocking path
 113                                 if(autocvar_bot_debug_tracewalk)
 114                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 115
 116                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 117                                 return false;
 118                         }
 119                 }
 120                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 121                 {
 122                         vector move = org + normalize(end - org) * stepdist;
 123                         tracebox(org, m1, m2, move, movemode, e);
 124
 125                         if(autocvar_bot_debug_tracewalk)
 126                                 debugnode(e, trace_endpos);
 127
 128                         if (trace_fraction < 1)
 129                         {
 130                                 swimming = true;
 131                                 org = trace_endpos + normalize(org - trace_endpos) * stepdist;
 132                                 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
 133                                 {
 134                                         if(autocvar_bot_debug_tracewalk)
 135                                                 debugnode(e, org);
 136
 137                                         if(pointcontents(org) == CONTENT_EMPTY)
 138                                                 break;
 139                                 }
 140
 141                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 142                                 {
 143                                         if(autocvar_bot_debug_tracewalk)
 144                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 145
 146                                         return false;
 147                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 148                                 }
 149                                 continue;
 150
 151                         }
 152                         else
 153                                 org = trace_endpos;
 154                 }
 155                 else
 156                 {
 157                         vector move = org + dir * stepdist;
 158                         tracebox(org, m1, m2, move, movemode, e);
 159
 160                         if(autocvar_bot_debug_tracewalk)
 161                                 debugnode(e, trace_endpos);
 162
 163                         // hit something
 164                         if (trace_fraction < 1)
 165                         {
 166                                 // check if we can walk over this obstacle, possibly by jumpstepping
 167                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 168                                 if (trace_fraction < 1 || trace_startsolid)
 169                                 {
 170                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 171                                         if (trace_fraction < 1 || trace_startsolid)
 172                                         {
 173                                                 bool ladder_found = false;
 174                                                 IL_EACH(g_ladders, it.classname == "func_ladder",
 175                                                 {
 176                                                         if(it.bot_pickup)
 177                                                         if(boxesoverlap(move + jumpheight_vec + m1 + '-1 -1 -1', move + jumpheight_vec + m2 + '1 1 1', it.absmin, it.absmax))
 178                                                         if(boxesoverlap(end, end2, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
 179                                                                 ladder_found = true; // can't return here ("Loop mutex held by tracewalk" error)
 180                                                 });
 181                                                 if(ladder_found)
 182                                                 {
 183                                                         if(autocvar_bot_debug_tracewalk)
 184                                                                 debugnodestatus(end, DEBUG_NODE_SUCCESS);
 185
 186                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 187                                                         return true;
 188                                                 }
 189
 190                                                 if(autocvar_bot_debug_tracewalk)
 191                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 192
 193                                                 traceline( org, move, movemode, e);
 194
 195                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 196                                                 {
 197                                                         vector nextmove;
 198                                                         move = trace_endpos;
 199                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 200                                                         {
 201                                                                 nextmove = move + (dir * stepdist);
 202                                                                 traceline( move, nextmove, movemode, e);
 203                                                                 move = nextmove;
 204                                                         }
 205                                                 }
 206                                                 else
 207                                                 {
 208                                                         if(autocvar_bot_debug_tracewalk)
 209                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 210
 211                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 212                                                         //te_explosion(trace_endpos);
 213                                                         //print(ftos(e.dphitcontentsmask), "\n");
 214                                                         return false; // failed
 215                                                 }
 216                                         }
 217                                         else
 218                                                 move = trace_endpos;
 219                                 }
 220                                 else
 221                                         move = trace_endpos;
 222                         }
 223                         else
 224                                 move = trace_endpos;
 225
 226                         // trace down from stepheight as far as possible and move there,
 227                         // if this starts in solid we try again without the stepup, and
 228                         // if that also fails we assume it is a wall
 229                         // (this is the same logic as the Quake walkmove function used)
 230                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 231
 232                         // moved successfully
 233                         if(swimming)
 234                         {
 235                                 float c;
 236                                 c = pointcontents(org + '0 0 1');
 237                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 238                                         swimming = false;
 239                                 else
 240                                         continue;
 241                         }
 242
 243                         org = trace_endpos;
 244                 }
 245         }
 246
 247         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 248
 249         // moved but didn't arrive at the intended destination
 250         if(autocvar_bot_debug_tracewalk)
 251                 debugnodestatus(org, DEBUG_NODE_FAIL);
 252
 253         return false;
 254 }
 255
 256 /////////////////////////////////////////////////////////////////////////////
 257 // goal stack
 258 /////////////////////////////////////////////////////////////////////////////
 259
 260 // completely empty the goal stack, used when deciding where to go
 261 void navigation_clearroute(entity this)
 262 {
 263         this.goalcurrent_prev = this.goalcurrent;
 264         this.goalcurrent_distance = 10000000;
 265         this.goalcurrent_distance_time = 0;
 266         //print("bot ", etos(this), " clear\n");
 267         this.goalentity = NULL;
 268         this.goalcurrent = NULL;
 269         this.goalstack01 = NULL;
 270         this.goalstack02 = NULL;
 271         this.goalstack03 = NULL;
 272         this.goalstack04 = NULL;
 273         this.goalstack05 = NULL;
 274         this.goalstack06 = NULL;
 275         this.goalstack07 = NULL;
 276         this.goalstack08 = NULL;
 277         this.goalstack09 = NULL;
 278         this.goalstack10 = NULL;
 279         this.goalstack11 = NULL;
 280         this.goalstack12 = NULL;
 281         this.goalstack13 = NULL;
 282         this.goalstack14 = NULL;
 283         this.goalstack15 = NULL;
 284         this.goalstack16 = NULL;
 285         this.goalstack17 = NULL;
 286         this.goalstack18 = NULL;
 287         this.goalstack19 = NULL;
 288         this.goalstack20 = NULL;
 289         this.goalstack21 = NULL;
 290         this.goalstack22 = NULL;
 291         this.goalstack23 = NULL;
 292         this.goalstack24 = NULL;
 293         this.goalstack25 = NULL;
 294         this.goalstack26 = NULL;
 295         this.goalstack27 = NULL;
 296         this.goalstack28 = NULL;
 297         this.goalstack29 = NULL;
 298         this.goalstack30 = NULL;
 299         this.goalstack31 = NULL;
 300 }
 301
 302 // add a new goal at the beginning of the stack
 303 // (in other words: add a new prerequisite before going to the later goals)
 304 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 305 // next-closest WP on the shortest path to the WP
 306 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 307 // steps to the goal, and then recalculate the path.
 308 void navigation_pushroute(entity this, entity e)
 309 {
 310         this.goalcurrent_prev = this.goalcurrent;
 311         this.goalcurrent_distance = 10000000;
 312         this.goalcurrent_distance_time = 0;
 313         //print("bot ", etos(this), " push ", etos(e), "\n");
 314         if(this.goalstack31 == this.goalentity)
 315                 this.goalentity = NULL;
 316         this.goalstack31 = this.goalstack30;
 317         this.goalstack30 = this.goalstack29;
 318         this.goalstack29 = this.goalstack28;
 319         this.goalstack28 = this.goalstack27;
 320         this.goalstack27 = this.goalstack26;
 321         this.goalstack26 = this.goalstack25;
 322         this.goalstack25 = this.goalstack24;
 323         this.goalstack24 = this.goalstack23;
 324         this.goalstack23 = this.goalstack22;
 325         this.goalstack22 = this.goalstack21;
 326         this.goalstack21 = this.goalstack20;
 327         this.goalstack20 = this.goalstack19;
 328         this.goalstack19 = this.goalstack18;
 329         this.goalstack18 = this.goalstack17;
 330         this.goalstack17 = this.goalstack16;
 331         this.goalstack16 = this.goalstack15;
 332         this.goalstack15 = this.goalstack14;
 333         this.goalstack14 = this.goalstack13;
 334         this.goalstack13 = this.goalstack12;
 335         this.goalstack12 = this.goalstack11;
 336         this.goalstack11 = this.goalstack10;
 337         this.goalstack10 = this.goalstack09;
 338         this.goalstack09 = this.goalstack08;
 339         this.goalstack08 = this.goalstack07;
 340         this.goalstack07 = this.goalstack06;
 341         this.goalstack06 = this.goalstack05;
 342         this.goalstack05 = this.goalstack04;
 343         this.goalstack04 = this.goalstack03;
 344         this.goalstack03 = this.goalstack02;
 345         this.goalstack02 = this.goalstack01;
 346         this.goalstack01 = this.goalcurrent;
 347         this.goalcurrent = e;
 348 }
 349
 350 // remove first goal from stack
 351 // (in other words: remove a prerequisite for reaching the later goals)
 352 // (used when a spawnfunc_waypoint is reached)
 353 void navigation_poproute(entity this)
 354 {
 355         this.goalcurrent_prev = this.goalcurrent;
 356         this.goalcurrent_distance = 10000000;
 357         this.goalcurrent_distance_time = 0;
 358         //print("bot ", etos(this), " pop\n");
 359         if(this.goalcurrent == this.goalentity)
 360                 this.goalentity = NULL;
 361         this.goalcurrent = this.goalstack01;
 362         this.goalstack01 = this.goalstack02;
 363         this.goalstack02 = this.goalstack03;
 364         this.goalstack03 = this.goalstack04;
 365         this.goalstack04 = this.goalstack05;
 366         this.goalstack05 = this.goalstack06;
 367         this.goalstack06 = this.goalstack07;
 368         this.goalstack07 = this.goalstack08;
 369         this.goalstack08 = this.goalstack09;
 370         this.goalstack09 = this.goalstack10;
 371         this.goalstack10 = this.goalstack11;
 372         this.goalstack11 = this.goalstack12;
 373         this.goalstack12 = this.goalstack13;
 374         this.goalstack13 = this.goalstack14;
 375         this.goalstack14 = this.goalstack15;
 376         this.goalstack15 = this.goalstack16;
 377         this.goalstack16 = this.goalstack17;
 378         this.goalstack17 = this.goalstack18;
 379         this.goalstack18 = this.goalstack19;
 380         this.goalstack19 = this.goalstack20;
 381         this.goalstack20 = this.goalstack21;
 382         this.goalstack21 = this.goalstack22;
 383         this.goalstack22 = this.goalstack23;
 384         this.goalstack23 = this.goalstack24;
 385         this.goalstack24 = this.goalstack25;
 386         this.goalstack25 = this.goalstack26;
 387         this.goalstack26 = this.goalstack27;
 388         this.goalstack27 = this.goalstack28;
 389         this.goalstack28 = this.goalstack29;
 390         this.goalstack29 = this.goalstack30;
 391         this.goalstack30 = this.goalstack31;
 392         this.goalstack31 = NULL;
 393 }
 394
 395 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 396 {
 397         float dist;
 398         dist = vlen(v - org);
 399         if (bestdist > dist)
 400         {
 401                 traceline(v, org, true, ent);
 402                 if (trace_fraction == 1)
 403                 {
 404                         if (walkfromwp)
 405                         {
 406                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
 407                                         return true;
 408                         }
 409                         else
 410                         {
 411                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, 0, bot_navigation_movemode))
 412                                         return true;
 413                         }
 414                 }
 415         }
 416         return false;
 417 }
 418
 419 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 420 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 421 {
 422         vector pm1 = ent.origin + ent.mins;
 423         vector pm2 = ent.origin + ent.maxs;
 424
 425         // do two scans, because box test is cheaper
 426         IL_EACH(g_waypoints, it != ent && it != except,
 427         {
 428                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 429                         return it;
 430         });
 431
 432         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 433         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 434         // TODO possibly make other code have the same support for bboxes
 435         if(ent.tag_entity)
 436                 org = org + ent.tag_entity.origin;
 437         if (navigation_testtracewalk)
 438                 te_plasmaburn(org);
 439
 440         entity best = NULL;
 441         vector v;
 442
 443         if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
 444         {
 445                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 446                 IL_EACH(g_waypoints, it != ent,
 447                 {
 448                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 449                                 continue;
 450
 451                         if(it.wpisbox)
 452                         {
 453                                 vector wm1 = it.absmin;
 454                                 vector wm2 = it.absmax;
 455                                 v.x = bound(wm1_x, org.x, wm2_x);
 456                                 v.y = bound(wm1_y, org.y, wm2_y);
 457                                 v.z = bound(wm1_z, org.z, wm2_z);
 458                         }
 459                         else
 460                                 v = it.origin;
 461                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, 1050))
 462                                 navigation_item_addlink(it, ent);
 463                 });
 464         }
 465
 466         // box check failed, try walk
 467         IL_EACH(g_waypoints, it != ent,
 468         {
 469                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 470                         continue;
 471
 472                 if(it.wpisbox)
 473                 {
 474                         vector wm1 = it.origin + it.mins;
 475                         vector wm2 = it.origin + it.maxs;
 476                         v.x = bound(wm1_x, org.x, wm2_x);
 477                         v.y = bound(wm1_y, org.y, wm2_y);
 478                         v.z = bound(wm1_z, org.z, wm2_z);
 479                 }
 480                 else
 481                         v = it.origin;
 482                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 483                 {
 484                         bestdist = vlen(v - org);
 485                         best = it;
 486                 }
 487         });
 488         return best;
 489 }
 490 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 491 {
 492         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 493         if (autocvar_g_waypointeditor_auto)
 494         {
 495                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 496                 if (wp && !wp2)
 497                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 498         }
 499         return wp;
 500 }
 501
 502 // finds the waypoints near the bot initiating a navigation query
 503 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 504 {
 505         vector v, m1, m2;
 506         //navigation_testtracewalk = true;
 507         int c = 0;
 508         float v_height;
 509         IL_EACH(g_waypoints, !it.wpconsidered,
 510         {
 511                 if (it.wpisbox)
 512                 {
 513                         m1 = it.origin + it.mins;
 514                         m2 = it.origin + it.maxs;
 515                         v = this.origin;
 516                         v.x = bound(m1_x, v.x, m2_x);
 517                         v.y = bound(m1_y, v.y, m2_y);
 518                         v.z = m1.z;
 519                         v_height = m2.z - m1.z;
 520                 }
 521                 else
 522                 {
 523                         v = it.origin;
 524                         v_height = 0;
 525                 }
 526                 vector diff = v - this.origin;
 527                 diff.z = max(0, diff.z);
 528                 if(vdist(diff, <, maxdist))
 529                 {
 530                         it.wpconsidered = true;
 531                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 532                         {
 533                                 it.wpnearestpoint = v;
 534                                 it.wpcost = waypoint_gettravelcost(this.origin, v) + it.dmg;
 535                                 it.wpfire = 1;
 536                                 it.enemy = NULL;
 537                                 c = c + 1;
 538                         }
 539                 }
 540         });
 541         //navigation_testtracewalk = false;
 542         return c;
 543 }
 544
 545 // updates a path link if a spawnfunc_waypoint link is better than the current one
 546 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 547 {
 548         vector m1;
 549         vector m2;
 550         vector v;
 551         if (wp.wpisbox)
 552         {
 553                 m1 = wp.absmin;
 554                 m2 = wp.absmax;
 555                 v.x = bound(m1_x, p.x, m2_x);
 556                 v.y = bound(m1_y, p.y, m2_y);
 557                 v.z = bound(m1_z, p.z, m2_z);
 558         }
 559         else
 560                 v = wp.origin;
 561         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 562                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 563         else
 564                 cost += waypoint_gettravelcost(p, v);
 565         if (wp.wpcost > cost)
 566         {
 567                 wp.wpcost = cost;
 568                 wp.enemy = w;
 569                 wp.wpfire = 1;
 570                 wp.wpnearestpoint = v;
 571         }
 572 }
 573
 574 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 575 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 576 {
 577         float cost, cost2;
 578         vector p;
 579
 580         IL_EACH(g_waypoints, true,
 581         {
 582                 it.wpconsidered = false;
 583                 it.wpnearestpoint = '0 0 0';
 584                 it.wpcost = 10000000;
 585                 it.wpfire = 0;
 586                 it.enemy = NULL;
 587         });
 588
 589         if(fixed_source_waypoint)
 590         {
 591                 fixed_source_waypoint.wpconsidered = true;
 592                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 593                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 594                 fixed_source_waypoint.wpfire = 1;
 595                 fixed_source_waypoint.enemy = NULL;
 596         }
 597         else
 598         {
 599                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 600                 // as this search is expensive we will use lower values if the bot is on the air
 601                 float increment, maxdistance;
 602                 if(IS_ONGROUND(this))
 603                 {
 604                         increment = 750;
 605                         maxdistance = 50000;
 606                 }
 607                 else
 608                 {
 609                         increment = 500;
 610                         maxdistance = 1500;
 611                 }
 612
 613                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 614         }
 615
 616         bool searching = true;
 617         while (searching)
 618         {
 619                 searching = false;
 620                 IL_EACH(g_waypoints, it.wpfire,
 621                 {
 622                         searching = true;
 623                         it.wpfire = 0;
 624                         cost = it.wpcost;
 625                         p = it.wpnearestpoint;
 626                         entity wp;
 627                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 628                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 629                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 630                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 631                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 632                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 633                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 634                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 635                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 636                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 637                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 638                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 639                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 640                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 641                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 642                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 643                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 644                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 645                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 646                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 647                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 648                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 649                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 650                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 651                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 652                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 653                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 654                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 655                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 656                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 657                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 658                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 659                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 660                 });
 661         }
 662 }
 663
 664 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 665 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 666 {
 667         float cost, cost2;
 668         vector p;
 669         IL_EACH(g_waypoints, true,
 670         {
 671                 it.wpconsidered = false;
 672                 it.wpnearestpoint = '0 0 0';
 673                 it.wpcost = 10000000;
 674                 it.wpfire = 0;
 675                 it.enemy = NULL;
 676         });
 677
 678         if(fixed_source_waypoint)
 679         {
 680                 fixed_source_waypoint.wpconsidered = true;
 681                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 682                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 683                 fixed_source_waypoint.wpfire = 1;
 684                 fixed_source_waypoint.enemy = NULL;
 685         }
 686         else
 687         {
 688                 error("need to start with a waypoint\n");
 689         }
 690
 691         bool searching = true;
 692         while (searching)
 693         {
 694                 searching = false;
 695                 IL_EACH(g_waypoints, it.wpfire,
 696                 {
 697                         searching = true;
 698                         it.wpfire = 0;
 699                         cost = it.wpcost; // cost to walk from it to home
 700                         p = it.wpnearestpoint;
 701                         entity wp = it;
 702                         IL_EACH(g_waypoints, it != wp,
 703                         {
 704                                 if(!waypoint_islinked(it, wp))
 705                                         continue;
 706                                 cost2 = cost + it.dmg;
 707                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 708                         });
 709                 });
 710         }
 711 }
 712
 713 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 714 void navigation_routerating(entity this, entity e, float f, float rangebias)
 715 {
 716         if (!e)
 717                 return;
 718
 719         if(e.blacklisted)
 720                 return;
 721
 722         rangebias = waypoint_getlinearcost(rangebias);
 723         f = waypoint_getlinearcost(f);
 724
 725         if (IS_PLAYER(e))
 726         {
 727                 bool rate_wps = false;
 728                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 729                         rate_wps = true;
 730
 731                 if(!IS_ONGROUND(e))
 732                 {
 733                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 734                         int t = pointcontents(trace_endpos + '0 0 1');
 735                         if(t != CONTENT_SOLID )
 736                         {
 737                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 738                                         rate_wps = true;
 739                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 740                                         return;
 741                         }
 742                 }
 743
 744                 if(rate_wps)
 745                 {
 746                         entity theEnemy = e;
 747                         entity best_wp = NULL;
 748                         float best_dist = 10000;
 749                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 750                                 && vdist(it.origin - this.origin, >, 100)
 751                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 752                         {
 753                                 float dist = vlen(it.origin - theEnemy.origin);
 754                                 if (dist < best_dist)
 755                                 {
 756                                         best_wp = it;
 757                                         best_dist = dist;
 758                                 }
 759                         });
 760                         if (!best_wp)
 761                                 return;
 762                         e = best_wp;
 763                 }
 764         }
 765
 766         vector goal_org = (e.absmin + e.absmax) * 0.5;
 767
 768         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 769
 770         // Evaluate path using jetpack
 771         if(g_jetpack)
 772         if(this.items & IT_JETPACK)
 773         if(autocvar_bot_ai_navigation_jetpack)
 774         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 775         {
 776                 vector pointa, pointb;
 777
 778                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 779
 780                 // Point A
 781                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 782                 pointa = trace_endpos - '0 0 1';
 783
 784                 // Point B
 785                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
 786                 pointb = trace_endpos - '0 0 1';
 787
 788                 // Can I see these two points from the sky?
 789                 traceline(pointa, pointb, MOVE_NORMAL, this);
 790
 791                 if(trace_fraction==1)
 792                 {
 793                         LOG_DEBUG("jetpack ai: can bridge these two points");
 794
 795                         // Lower the altitude of these points as much as possible
 796                         float zdistance, xydistance, cost, t, fuel;
 797                         vector down, npa, npb;
 798
 799                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 800
 801                         do{
 802                                 npa = pointa + down;
 803                                 npb = pointb + down;
 804
 805                                 if(npa.z<=this.absmax.z)
 806                                         break;
 807
 808                                 if(npb.z<=e.absmax.z)
 809                                         break;
 810
 811                                 traceline(npa, npb, MOVE_NORMAL, this);
 812                                 if(trace_fraction==1)
 813                                 {
 814                                         pointa = npa;
 815                                         pointb = npb;
 816                                 }
 817                         }
 818                         while(trace_fraction == 1);
 819
 820
 821                         // Rough estimation of fuel consumption
 822                         // (ignores acceleration and current xyz velocity)
 823                         xydistance = vlen(pointa - pointb);
 824                         zdistance = fabs(pointa.z - this.origin.z);
 825
 826                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 827                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 828                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 829
 830                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 831
 832                         // enough fuel ?
 833                         if(this.ammo_fuel>fuel)
 834                         {
 835                                 // Estimate cost
 836                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 837                                 //  - between air and ground speeds)
 838
 839                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 840                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 841                                 cost *= 1.5;
 842
 843                                 // Compare against other goals
 844                                 f = f * rangebias / (rangebias + cost);
 845
 846                                 if (navigation_bestrating < f)
 847                                 {
 848                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 849                                         navigation_bestrating = f;
 850                                         navigation_bestgoal = e;
 851                                         this.navigation_jetpack_goal = e;
 852                                         this.navigation_jetpack_point = pointb;
 853                                 }
 854                                 return;
 855                         }
 856                 }
 857         }
 858
 859         entity nwp;
 860         //te_wizspike(e.origin);
 861         //bprint(etos(e));
 862         //bprint("\n");
 863         // update the cached spawnfunc_waypoint link on a dynamic item entity
 864         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 865         {
 866                 nwp = e;
 867         }
 868         else
 869         {
 870                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 871                         e.nearestwaypoint = NULL;
 872
 873                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
 874                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 875                 {
 876                         nwp = navigation_findnearestwaypoint(e, true);
 877                         if(nwp)
 878                         {
 879                                 e.nearestwaypoint = nwp;
 880
 881                                 vector m1 = nwp.absmin, m2 = nwp.absmax;
 882                                 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
 883                                 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
 884                                 vector ve = (e.absmin - e.absmax) * 0.5;
 885                                 ve.x = bound(m1.x, ve.x, m2.x);
 886                                 ve.y = bound(m1.y, ve.y, m2.y);
 887                                 ve.z = bound(m1.z, ve.z, m2.z);
 888
 889                                 m1 = e.absmin; m2 = e.absmax;
 890                                 m1.x = e.origin.x; m1.y = e.origin.y;
 891                                 m2.x = e.origin.x; m2.y = e.origin.y;
 892                                 vector vnwp = nwp.origin;
 893                                 vnwp.x = bound(m1.x, vnwp.x, m2.x);
 894                                 vnwp.y = bound(m1.y, vnwp.y, m2.y);
 895                                 vnwp.z = bound(m1.z, vnwp.z, m2.z);
 896                                 e.nearestwaypoint_dist = vlen(ve - vnwp);
 897                         }
 898                         else
 899                         {
 900                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
 901
 902                                 if(!e.navigation_dynamicgoal)
 903                                         e.blacklisted = true;
 904
 905                                 if(e.blacklisted)
 906                                 {
 907                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
 908                                         return;
 909                                 }
 910                         }
 911
 912                         if(e.navigation_dynamicgoal)
 913                                 e.nearestwaypointtimeout = time + 2;
 914                         else if(autocvar_g_waypointeditor)
 915                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
 916                 }
 917                 nwp = e.nearestwaypoint;
 918         }
 919
 920         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
 921         if (nwp)
 922         if (nwp.wpcost < 10000000)
 923         {
 924                 //te_wizspike(nwp.wpnearestpoint);
 925                 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org);
 926                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
 927                 f = f * rangebias / (rangebias + cost);
 928                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
 929                 if (navigation_bestrating < f)
 930                 {
 931                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 932                         navigation_bestrating = f;
 933                         navigation_bestgoal = e;
 934                 }
 935         }
 936 }
 937
 938 // adds an item to the the goal stack with the path to a given item
 939 bool navigation_routetogoal(entity this, entity e, vector startposition)
 940 {
 941         // if there is no goal, just exit
 942         if (!e)
 943                 return false;
 944
 945         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
 946         {
 947                 // force teleport destination as route destination
 948                 e.wp00.enemy = e;
 949                 e = e.wp00;
 950         }
 951
 952         this.goalentity = e;
 953
 954         // put the entity on the goal stack
 955         //print("routetogoal ", etos(e), "\n");
 956         navigation_pushroute(this, e);
 957
 958         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 959         {
 960                 this.wp_goal_prev1 = this.wp_goal_prev0;
 961                 this.wp_goal_prev0 = e;
 962         }
 963
 964         if(g_jetpack)
 965         if(e==this.navigation_jetpack_goal)
 966                 return true;
 967
 968         // if it can reach the goal there is nothing more to do
 969         vector dest = (e.absmin + e.absmax) * 0.5;
 970         dest.z = e.absmin.z;
 971         float dest_height = e.absmax.z - e.absmin.z;
 972         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
 973                 return true;
 974
 975         entity nearest_wp = NULL;
 976         // see if there are waypoints describing a path to the item
 977         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 978         {
 979                 e = e.nearestwaypoint;
 980                 nearest_wp = e;
 981         }
 982         else
 983                 e = e.enemy; // we already have added it, so...
 984
 985         if(e == NULL)
 986                 return false;
 987
 988         if(nearest_wp && nearest_wp.enemy)
 989         {
 990                 // often path can be optimized by not adding the nearest waypoint
 991                 if (this.goalentity.nearestwaypoint_dist < 8)
 992                         e = nearest_wp.enemy;
 993                 else
 994                 {
 995                         if (this.goalentity.navigation_dynamicgoal)
 996                         {
 997                                 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
 998                                 dest.z = this.goalentity.absmin.z;
 999                                 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1000                                 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1001                                         e = nearest_wp.enemy;
1002                         }
1003                         else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1004                                 e = nearest_wp.enemy;
1005                 }
1006         }
1007
1008         for (;;)
1009         {
1010                 // add the spawnfunc_waypoint to the path
1011                 navigation_pushroute(this, e);
1012                 e = e.enemy;
1013
1014                 if(e==NULL)
1015                         break;
1016         }
1017
1018         return false;
1019 }
1020
1021 // removes any currently touching waypoints from the goal stack
1022 // (this is how bots detect if they reached a goal)
1023 void navigation_poptouchedgoals(entity this)
1024 {
1025         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1026         {
1027                 // make sure jumppad is really hit, don't rely on distance based checks
1028                 // as they may report a touch even if it didn't really happen
1029                 if(this.lastteleporttime > 0
1030                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1031                 {
1032                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1033                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1034                         {
1035                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1036                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1037                         }
1038                         navigation_poproute(this);
1039                 }
1040                 else
1041                         return;
1042         }
1043
1044         // If for some reason the bot is closer to the next goal, pop the current one
1045         if(this.goalstack01 && !wasfreed(this.goalstack01))
1046         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1047         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1048         {
1049                 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1050                 dest.z = this.goalstack01.absmin.z;
1051                 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1052                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1053                 {
1054                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1055                         navigation_poproute(this);
1056                         // TODO this may also be a nice idea to do "early" (e.g. by
1057                         // manipulating the vlen() comparisons) to shorten paths in
1058                         // general - this would make bots walk more "on rails" than
1059                         // "zigzagging" which they currently do with sufficiently
1060                         // random-like waypoints, and thus can make a nice bot
1061                         // personality property
1062                 }
1063         }
1064
1065         // Loose goal touching check when running
1066         if(this.aistatus & AI_STATUS_RUNNING)
1067         if(this.goalcurrent.classname=="waypoint")
1068         if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
1069         {
1070                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1071                 {
1072                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1073                         if(trace_fraction==1)
1074                         {
1075                                 // Detect personal waypoints
1076                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1077                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1078                                 {
1079                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1080                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1081                                 }
1082
1083                                 navigation_poproute(this);
1084                         }
1085                 }
1086         }
1087
1088         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1089         {
1090                 vector gc_min = this.goalcurrent.absmin;
1091                 vector gc_max = this.goalcurrent.absmax;
1092                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1093                 {
1094                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1095                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1096                 }
1097                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1098                         break;
1099
1100                 // Detect personal waypoints
1101                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1102                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1103                 {
1104                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1105                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1106                 }
1107
1108                 navigation_poproute(this);
1109         }
1110 }
1111
1112 // begin a goal selection session (queries spawnfunc_waypoint network)
1113 void navigation_goalrating_start(entity this)
1114 {
1115         if(this.aistatus & AI_STATUS_STUCK)
1116                 return;
1117
1118         this.navigation_jetpack_goal = NULL;
1119         navigation_bestrating = -1;
1120         navigation_clearroute(this);
1121         navigation_bestgoal = NULL;
1122         navigation_markroutes(this, NULL);
1123 }
1124
1125 // ends a goal selection session (updates goal stack to the best goal)
1126 void navigation_goalrating_end(entity this)
1127 {
1128         if(this.aistatus & AI_STATUS_STUCK)
1129                 return;
1130
1131         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1132         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1133
1134         // If the bot got stuck then try to reach the farthest waypoint
1135         if (!this.goalentity && autocvar_bot_wander_enable)
1136         {
1137                 if (!(this.aistatus & AI_STATUS_STUCK))
1138                 {
1139                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1140                         this.aistatus |= AI_STATUS_STUCK;
1141                 }
1142         }
1143 }
1144
1145 void botframe_updatedangerousobjects(float maxupdate)
1146 {
1147         vector m1, m2, v, o;
1148         float c, d, danger;
1149         c = 0;
1150         IL_EACH(g_waypoints, true,
1151         {
1152                 danger = 0;
1153                 m1 = it.absmin;
1154                 m2 = it.absmax;
1155                 IL_EACH(g_bot_dodge, it.bot_dodge,
1156                 {
1157                         v = it.origin;
1158                         v.x = bound(m1_x, v.x, m2_x);
1159                         v.y = bound(m1_y, v.y, m2_y);
1160                         v.z = bound(m1_z, v.z, m2_z);
1161                         o = (it.absmin + it.absmax) * 0.5;
1162                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v);
1163                         if (d > 0)
1164                         {
1165                                 traceline(o, v, true, NULL);
1166                                 if (trace_fraction == 1)
1167                                         danger = danger + d;
1168                         }
1169                 });
1170                 it.dmg = danger;
1171                 c = c + 1;
1172                 if (c >= maxupdate)
1173                         break;
1174         });
1175 }
1176
1177 void navigation_unstuck(entity this)
1178 {
1179         float search_radius = 1000;
1180
1181         if (!autocvar_bot_wander_enable)
1182                 return;
1183
1184         if (!bot_waypoint_queue_owner)
1185         {
1186                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1187                 bot_waypoint_queue_owner = this;
1188                 bot_waypoint_queue_bestgoal = NULL;
1189                 bot_waypoint_queue_bestgoalrating = 0;
1190         }
1191
1192         if(bot_waypoint_queue_owner!=this)
1193                 return;
1194
1195         if (bot_waypoint_queue_goal)
1196         {
1197                 // evaluate the next goal on the queue
1198                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1199                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1200                 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1201                 dest.z = bot_waypoint_queue_goal.absmin.z;
1202                 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1203                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1204                 {
1205                         if( d > bot_waypoint_queue_bestgoalrating)
1206                         {
1207                                 bot_waypoint_queue_bestgoalrating = d;
1208                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1209                         }
1210                 }
1211                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1212
1213                 if (!bot_waypoint_queue_goal)
1214                 {
1215                         if (bot_waypoint_queue_bestgoal)
1216                         {
1217                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1218                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1219                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1220                                 this.aistatus &= ~AI_STATUS_STUCK;
1221                         }
1222                         else
1223                         {
1224                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1225                         }
1226
1227                         bot_waypoint_queue_owner = NULL;
1228                 }
1229         }
1230         else
1231         {
1232                 if(bot_strategytoken!=this)
1233                         return;
1234
1235                 // build a new queue
1236                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1237
1238                 entity first = NULL;
1239
1240                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1241                 {
1242                         if(bot_waypoint_queue_goal)
1243                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1244                         else
1245                                 first = it;
1246
1247                         bot_waypoint_queue_goal = it;
1248                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1249                 });
1250
1251                 if (first)
1252                         bot_waypoint_queue_goal = first;
1253                 else
1254                 {
1255                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1256                         bot_waypoint_queue_owner = NULL;
1257                 }
1258         }
1259 }
1260
1261 // Support for debugging tracewalk visually
1262
1263 void debugresetnodes()
1264 {
1265         debuglastnode = '0 0 0';
1266 }
1267
1268 void debugnode(entity this, vector node)
1269 {
1270         if (!IS_PLAYER(this))
1271                 return;
1272
1273         if(debuglastnode=='0 0 0')
1274         {
1275                 debuglastnode = node;
1276                 return;
1277         }
1278
1279         te_lightning2(NULL, node, debuglastnode);
1280         debuglastnode = node;
1281 }
1282
1283 void debugnodestatus(vector position, float status)
1284 {
1285         vector c;
1286
1287         switch (status)
1288         {
1289                 case DEBUG_NODE_SUCCESS:
1290                         c = '0 15 0';
1291                         break;
1292                 case DEBUG_NODE_WARNING:
1293                         c = '15 15 0';
1294                         break;
1295                 case DEBUG_NODE_FAIL:
1296                         c = '15 0 0';
1297                         break;
1298                 default:
1299                         c = '15 15 15';
1300         }
1301
1302         te_customflash(position, 40,  2, c);
1303 }
1304
1305 // Support for debugging the goal stack visually
1306
1307 .float goalcounter;
1308 .vector lastposition;
1309
1310 // Debug the goal stack visually
1311 void debuggoalstack(entity this)
1312 {
1313         entity goal;
1314         vector org, go;
1315
1316         if(this.goalcounter==0)goal=this.goalcurrent;
1317         else if(this.goalcounter==1)goal=this.goalstack01;
1318         else if(this.goalcounter==2)goal=this.goalstack02;
1319         else if(this.goalcounter==3)goal=this.goalstack03;
1320         else if(this.goalcounter==4)goal=this.goalstack04;
1321         else if(this.goalcounter==5)goal=this.goalstack05;
1322         else if(this.goalcounter==6)goal=this.goalstack06;
1323         else if(this.goalcounter==7)goal=this.goalstack07;
1324         else if(this.goalcounter==8)goal=this.goalstack08;
1325         else if(this.goalcounter==9)goal=this.goalstack09;
1326         else if(this.goalcounter==10)goal=this.goalstack10;
1327         else if(this.goalcounter==11)goal=this.goalstack11;
1328         else if(this.goalcounter==12)goal=this.goalstack12;
1329         else if(this.goalcounter==13)goal=this.goalstack13;
1330         else if(this.goalcounter==14)goal=this.goalstack14;
1331         else if(this.goalcounter==15)goal=this.goalstack15;
1332         else if(this.goalcounter==16)goal=this.goalstack16;
1333         else if(this.goalcounter==17)goal=this.goalstack17;
1334         else if(this.goalcounter==18)goal=this.goalstack18;
1335         else if(this.goalcounter==19)goal=this.goalstack19;
1336         else if(this.goalcounter==20)goal=this.goalstack20;
1337         else if(this.goalcounter==21)goal=this.goalstack21;
1338         else if(this.goalcounter==22)goal=this.goalstack22;
1339         else if(this.goalcounter==23)goal=this.goalstack23;
1340         else if(this.goalcounter==24)goal=this.goalstack24;
1341         else if(this.goalcounter==25)goal=this.goalstack25;
1342         else if(this.goalcounter==26)goal=this.goalstack26;
1343         else if(this.goalcounter==27)goal=this.goalstack27;
1344         else if(this.goalcounter==28)goal=this.goalstack28;
1345         else if(this.goalcounter==29)goal=this.goalstack29;
1346         else if(this.goalcounter==30)goal=this.goalstack30;
1347         else if(this.goalcounter==31)goal=this.goalstack31;
1348         else goal=NULL;
1349
1350         if(goal==NULL)
1351         {
1352                 this.goalcounter = 0;
1353                 this.lastposition='0 0 0';
1354                 return;
1355         }
1356
1357         if(this.lastposition=='0 0 0')
1358                 org = this.origin;
1359         else
1360                 org = this.lastposition;
1361
1362
1363         go = ( goal.absmin + goal.absmax ) * 0.5;
1364         te_lightning2(NULL, org, go);
1365         this.lastposition = go;
1366
1367         this.goalcounter++;
1368 }