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