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 bool navigation_checkladders(entity e, vector org, vector move, vector m1, vector m2, vector end, vector end2, int movemode)
  41 {
  42         IL_EACH(g_ladders, it.classname == "func_ladder",
  43         {
  44                 if(it.bot_pickup)
  45                 if(boxesoverlap(move + m1 + '-1 -1 -1', move + m2 + '1 1 1', it.absmin, it.absmax))
  46                 if(boxesoverlap(end, end2, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
  47                 {
  48                         vector top = org;
  49                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
  50                         tracebox(org, m1, m2, top, movemode, e);
  51                         if(trace_fraction == 1)
  52                                 return true;
  53                 }
  54         });
  55         return false;
  56 }
  57
  58 // rough simulation of walking from one point to another to test if a path
  59 // can be traveled, used for waypoint linking and havocbot
  60 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
  61 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
  62 {
  63         if(autocvar_bot_debug_tracewalk)
  64         {
  65                 debugresetnodes();
  66                 debugnode(e, start);
  67         }
  68
  69         vector org = start;
  70         vector dir = end - start;
  71         dir.z = 0;
  72         float dist = vlen(dir);
  73         dir = normalize(dir);
  74         float stepdist = 32;
  75         bool ignorehazards = false;
  76         bool swimming = false;
  77
  78         // Analyze starting point
  79         traceline(start, start, MOVE_NORMAL, e);
  80         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  81                 ignorehazards = true;
  82         else
  83         {
  84                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  85                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  86                 {
  87                         ignorehazards = true;
  88                         swimming = true;
  89                 }
  90         }
  91         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  92         if (trace_startsolid)
  93         {
  94                 // Bad start
  95                 if(autocvar_bot_debug_tracewalk)
  96                         debugnodestatus(start, DEBUG_NODE_FAIL);
  97
  98                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  99                 return false;
 100         }
 101
 102         vector end2 = end;
 103         if(end_height)
 104                 end2.z += end_height;
 105         // Movement loop
 106         for (;;)
 107         {
 108                 if (boxesoverlap(end, end2, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
 109                 {
 110                         // Succeeded
 111                         if(autocvar_bot_debug_tracewalk)
 112                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
 113
 114                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 115                         return true;
 116                 }
 117                 if(autocvar_bot_debug_tracewalk)
 118                         debugnode(e, org);
 119
 120                 if (dist <= 0)
 121                         break;
 122                 if (stepdist > dist)
 123                         stepdist = dist;
 124                 dist = dist - stepdist;
 125                 traceline(org, org, MOVE_NORMAL, e);
 126                 if (!ignorehazards)
 127                 {
 128                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 129                         {
 130                                 // hazards blocking path
 131                                 if(autocvar_bot_debug_tracewalk)
 132                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 133
 134                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 135                                 return false;
 136                         }
 137                 }
 138                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 139                 {
 140                         vector water_end = end;
 141                         water_end.z = bound(end.z, org.z, end2.z);
 142                         vector water_dir = normalize(water_end - org);
 143                         vector move = org + water_dir * stepdist;
 144                         tracebox(org, m1, m2, move, movemode, e);
 145
 146                         if(autocvar_bot_debug_tracewalk)
 147                                 debugnode(e, trace_endpos);
 148
 149                         if (trace_fraction < 1)
 150                         {
 151                                 swimming = true;
 152                                 org = trace_endpos - water_dir * (stepdist / 2);
 153                                 for (; org.z < end2.z + e.maxs.z; org.z += stepdist)
 154                                 {
 155                                         if(autocvar_bot_debug_tracewalk)
 156                                                 debugnode(e, org);
 157
 158                                         if(pointcontents(org) == CONTENT_EMPTY)
 159                                                 break;
 160                                 }
 161
 162                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 163                                 {
 164                                         if(autocvar_bot_debug_tracewalk)
 165                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 166
 167                                         return false;
 168                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 169                                 }
 170
 171                                 if(navigation_checkladders(e, org, move, m1, m2, end, end2, movemode))
 172                                 {
 173                                         if(autocvar_bot_debug_tracewalk)
 174                                                 debugnodestatus(trace_endpos, DEBUG_NODE_SUCCESS);
 175
 176                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 177                                         return true;
 178                                 }
 179                                 continue;
 180
 181                         }
 182                         else
 183                                 org = trace_endpos;
 184                 }
 185                 else
 186                 {
 187                         vector move = org + dir * stepdist;
 188                         tracebox(org, m1, m2, move, movemode, e);
 189
 190                         if(autocvar_bot_debug_tracewalk)
 191                                 debugnode(e, trace_endpos);
 192
 193                         // hit something
 194                         if (trace_fraction < 1)
 195                         {
 196                                 // check if we can walk over this obstacle, possibly by jumpstepping
 197                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 198                                 if (trace_fraction < 1 || trace_startsolid)
 199                                 {
 200                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 201                                         if (trace_fraction < 1 || trace_startsolid)
 202                                         {
 203                                                 if(navigation_checkladders(e, trace_endpos - dir * (stepdist / 2),
 204                                                         move + jumpheight_vec, m1, m2, end, end2, movemode))
 205                                                 {
 206                                                         if(autocvar_bot_debug_tracewalk)
 207                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_SUCCESS);
 208
 209                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 210                                                         return true;
 211                                                 }
 212
 213                                                 if(autocvar_bot_debug_tracewalk)
 214                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 215
 216                                                 traceline( org, move, movemode, e);
 217
 218                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 219                                                 {
 220                                                         vector nextmove;
 221                                                         move = trace_endpos;
 222                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 223                                                         {
 224                                                                 nextmove = move + (dir * stepdist);
 225                                                                 traceline( move, nextmove, movemode, e);
 226                                                                 move = nextmove;
 227                                                         }
 228                                                 }
 229                                                 else
 230                                                 {
 231                                                         if(autocvar_bot_debug_tracewalk)
 232                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 233
 234                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 235                                                         //te_explosion(trace_endpos);
 236                                                         //print(ftos(e.dphitcontentsmask), "\n");
 237                                                         return false; // failed
 238                                                 }
 239                                         }
 240                                         else
 241                                                 move = trace_endpos;
 242                                 }
 243                                 else
 244                                         move = trace_endpos;
 245                         }
 246                         else
 247                                 move = trace_endpos;
 248
 249                         // trace down from stepheight as far as possible and move there,
 250                         // if this starts in solid we try again without the stepup, and
 251                         // if that also fails we assume it is a wall
 252                         // (this is the same logic as the Quake walkmove function used)
 253                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 254
 255                         // moved successfully
 256                         if(swimming)
 257                         {
 258                                 float c;
 259                                 c = pointcontents(org + '0 0 1');
 260                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 261                                         swimming = false;
 262                                 else
 263                                         continue;
 264                         }
 265
 266                         org = trace_endpos;
 267                 }
 268         }
 269
 270         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 271
 272         // moved but didn't arrive at the intended destination
 273         if(autocvar_bot_debug_tracewalk)
 274                 debugnodestatus(org, DEBUG_NODE_FAIL);
 275
 276         return false;
 277 }
 278
 279 /////////////////////////////////////////////////////////////////////////////
 280 // goal stack
 281 /////////////////////////////////////////////////////////////////////////////
 282
 283 // completely empty the goal stack, used when deciding where to go
 284 void navigation_clearroute(entity this)
 285 {
 286         this.goalcurrent_prev = this.goalcurrent;
 287         this.goalcurrent_distance = 10000000;
 288         this.goalcurrent_distance_time = 0;
 289         //print("bot ", etos(this), " clear\n");
 290         this.goalentity = NULL;
 291         this.goalcurrent = NULL;
 292         this.goalstack01 = NULL;
 293         this.goalstack02 = NULL;
 294         this.goalstack03 = NULL;
 295         this.goalstack04 = NULL;
 296         this.goalstack05 = NULL;
 297         this.goalstack06 = NULL;
 298         this.goalstack07 = NULL;
 299         this.goalstack08 = NULL;
 300         this.goalstack09 = NULL;
 301         this.goalstack10 = NULL;
 302         this.goalstack11 = NULL;
 303         this.goalstack12 = NULL;
 304         this.goalstack13 = NULL;
 305         this.goalstack14 = NULL;
 306         this.goalstack15 = NULL;
 307         this.goalstack16 = NULL;
 308         this.goalstack17 = NULL;
 309         this.goalstack18 = NULL;
 310         this.goalstack19 = NULL;
 311         this.goalstack20 = NULL;
 312         this.goalstack21 = NULL;
 313         this.goalstack22 = NULL;
 314         this.goalstack23 = NULL;
 315         this.goalstack24 = NULL;
 316         this.goalstack25 = NULL;
 317         this.goalstack26 = NULL;
 318         this.goalstack27 = NULL;
 319         this.goalstack28 = NULL;
 320         this.goalstack29 = NULL;
 321         this.goalstack30 = NULL;
 322         this.goalstack31 = NULL;
 323 }
 324
 325 // add a new goal at the beginning of the stack
 326 // (in other words: add a new prerequisite before going to the later goals)
 327 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 328 // next-closest WP on the shortest path to the WP
 329 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 330 // steps to the goal, and then recalculate the path.
 331 void navigation_pushroute(entity this, entity e)
 332 {
 333         this.goalcurrent_prev = this.goalcurrent;
 334         this.goalcurrent_distance = 10000000;
 335         this.goalcurrent_distance_time = 0;
 336         //print("bot ", etos(this), " push ", etos(e), "\n");
 337         if(this.goalstack31 == this.goalentity)
 338                 this.goalentity = NULL;
 339         this.goalstack31 = this.goalstack30;
 340         this.goalstack30 = this.goalstack29;
 341         this.goalstack29 = this.goalstack28;
 342         this.goalstack28 = this.goalstack27;
 343         this.goalstack27 = this.goalstack26;
 344         this.goalstack26 = this.goalstack25;
 345         this.goalstack25 = this.goalstack24;
 346         this.goalstack24 = this.goalstack23;
 347         this.goalstack23 = this.goalstack22;
 348         this.goalstack22 = this.goalstack21;
 349         this.goalstack21 = this.goalstack20;
 350         this.goalstack20 = this.goalstack19;
 351         this.goalstack19 = this.goalstack18;
 352         this.goalstack18 = this.goalstack17;
 353         this.goalstack17 = this.goalstack16;
 354         this.goalstack16 = this.goalstack15;
 355         this.goalstack15 = this.goalstack14;
 356         this.goalstack14 = this.goalstack13;
 357         this.goalstack13 = this.goalstack12;
 358         this.goalstack12 = this.goalstack11;
 359         this.goalstack11 = this.goalstack10;
 360         this.goalstack10 = this.goalstack09;
 361         this.goalstack09 = this.goalstack08;
 362         this.goalstack08 = this.goalstack07;
 363         this.goalstack07 = this.goalstack06;
 364         this.goalstack06 = this.goalstack05;
 365         this.goalstack05 = this.goalstack04;
 366         this.goalstack04 = this.goalstack03;
 367         this.goalstack03 = this.goalstack02;
 368         this.goalstack02 = this.goalstack01;
 369         this.goalstack01 = this.goalcurrent;
 370         this.goalcurrent = e;
 371 }
 372
 373 // remove first goal from stack
 374 // (in other words: remove a prerequisite for reaching the later goals)
 375 // (used when a spawnfunc_waypoint is reached)
 376 void navigation_poproute(entity this)
 377 {
 378         this.goalcurrent_prev = this.goalcurrent;
 379         this.goalcurrent_distance = 10000000;
 380         this.goalcurrent_distance_time = 0;
 381         //print("bot ", etos(this), " pop\n");
 382         if(this.goalcurrent == this.goalentity)
 383                 this.goalentity = NULL;
 384         this.goalcurrent = this.goalstack01;
 385         this.goalstack01 = this.goalstack02;
 386         this.goalstack02 = this.goalstack03;
 387         this.goalstack03 = this.goalstack04;
 388         this.goalstack04 = this.goalstack05;
 389         this.goalstack05 = this.goalstack06;
 390         this.goalstack06 = this.goalstack07;
 391         this.goalstack07 = this.goalstack08;
 392         this.goalstack08 = this.goalstack09;
 393         this.goalstack09 = this.goalstack10;
 394         this.goalstack10 = this.goalstack11;
 395         this.goalstack11 = this.goalstack12;
 396         this.goalstack12 = this.goalstack13;
 397         this.goalstack13 = this.goalstack14;
 398         this.goalstack14 = this.goalstack15;
 399         this.goalstack15 = this.goalstack16;
 400         this.goalstack16 = this.goalstack17;
 401         this.goalstack17 = this.goalstack18;
 402         this.goalstack18 = this.goalstack19;
 403         this.goalstack19 = this.goalstack20;
 404         this.goalstack20 = this.goalstack21;
 405         this.goalstack21 = this.goalstack22;
 406         this.goalstack22 = this.goalstack23;
 407         this.goalstack23 = this.goalstack24;
 408         this.goalstack24 = this.goalstack25;
 409         this.goalstack25 = this.goalstack26;
 410         this.goalstack26 = this.goalstack27;
 411         this.goalstack27 = this.goalstack28;
 412         this.goalstack28 = this.goalstack29;
 413         this.goalstack29 = this.goalstack30;
 414         this.goalstack30 = this.goalstack31;
 415         this.goalstack31 = NULL;
 416 }
 417
 418 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 419 {
 420         float dist;
 421         dist = vlen(v - org);
 422         if (bestdist > dist)
 423         {
 424                 traceline(v, org, true, ent);
 425                 if (trace_fraction == 1)
 426                 {
 427                         if (walkfromwp)
 428                         {
 429                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
 430                                         return true;
 431                         }
 432                         else
 433                         {
 434                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, 0, bot_navigation_movemode))
 435                                         return true;
 436                         }
 437                 }
 438         }
 439         return false;
 440 }
 441
 442 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 443 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 444 {
 445         vector pm1 = ent.origin + ent.mins;
 446         vector pm2 = ent.origin + ent.maxs;
 447
 448         // do two scans, because box test is cheaper
 449         IL_EACH(g_waypoints, it != ent && it != except,
 450         {
 451                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 452                         return it;
 453         });
 454
 455         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 456         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 457         // TODO possibly make other code have the same support for bboxes
 458         if(ent.tag_entity)
 459                 org = org + ent.tag_entity.origin;
 460         if (navigation_testtracewalk)
 461                 te_plasmaburn(org);
 462
 463         entity best = NULL;
 464         vector v;
 465
 466         if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
 467         {
 468                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 469                 IL_EACH(g_waypoints, it != ent,
 470                 {
 471                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 472                                 continue;
 473
 474                         if(it.wpisbox)
 475                         {
 476                                 vector wm1 = it.absmin;
 477                                 vector wm2 = it.absmax;
 478                                 v.x = bound(wm1_x, org.x, wm2_x);
 479                                 v.y = bound(wm1_y, org.y, wm2_y);
 480                                 v.z = bound(wm1_z, org.z, wm2_z);
 481                         }
 482                         else
 483                                 v = it.origin;
 484                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, 1050))
 485                                 navigation_item_addlink(it, ent);
 486                 });
 487         }
 488
 489         // box check failed, try walk
 490         IL_EACH(g_waypoints, it != ent,
 491         {
 492                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 493                         continue;
 494
 495                 if(it.wpisbox)
 496                 {
 497                         vector wm1 = it.origin + it.mins;
 498                         vector wm2 = it.origin + it.maxs;
 499                         v.x = bound(wm1_x, org.x, wm2_x);
 500                         v.y = bound(wm1_y, org.y, wm2_y);
 501                         v.z = bound(wm1_z, org.z, wm2_z);
 502                 }
 503                 else
 504                         v = it.origin;
 505                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 506                 {
 507                         bestdist = vlen(v - org);
 508                         best = it;
 509                 }
 510         });
 511         return best;
 512 }
 513 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 514 {
 515         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 516         if (autocvar_g_waypointeditor_auto)
 517         {
 518                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 519                 if (wp && !wp2)
 520                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 521         }
 522         return wp;
 523 }
 524
 525 // finds the waypoints near the bot initiating a navigation query
 526 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 527 {
 528         vector v, m1, m2;
 529         //navigation_testtracewalk = true;
 530         int c = 0;
 531         float v_height;
 532         IL_EACH(g_waypoints, !it.wpconsidered,
 533         {
 534                 if (it.wpisbox)
 535                 {
 536                         m1 = it.origin + it.mins;
 537                         m2 = it.origin + it.maxs;
 538                         v = this.origin;
 539                         v.x = bound(m1_x, v.x, m2_x);
 540                         v.y = bound(m1_y, v.y, m2_y);
 541                         v.z = m1.z;
 542                         v_height = m2.z - m1.z;
 543                 }
 544                 else
 545                 {
 546                         v = it.origin;
 547                         v_height = 0;
 548                 }
 549                 vector diff = v - this.origin;
 550                 diff.z = max(0, diff.z);
 551                 if(vdist(diff, <, maxdist))
 552                 {
 553                         it.wpconsidered = true;
 554                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 555                         {
 556                                 it.wpnearestpoint = v;
 557                                 it.wpcost = waypoint_gettravelcost(this.origin, v) + it.dmg;
 558                                 it.wpfire = 1;
 559                                 it.enemy = NULL;
 560                                 c = c + 1;
 561                         }
 562                 }
 563         });
 564         //navigation_testtracewalk = false;
 565         return c;
 566 }
 567
 568 // updates a path link if a spawnfunc_waypoint link is better than the current one
 569 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 570 {
 571         vector m1;
 572         vector m2;
 573         vector v;
 574         if (wp.wpisbox)
 575         {
 576                 m1 = wp.absmin;
 577                 m2 = wp.absmax;
 578                 v.x = bound(m1_x, p.x, m2_x);
 579                 v.y = bound(m1_y, p.y, m2_y);
 580                 v.z = bound(m1_z, p.z, m2_z);
 581         }
 582         else
 583                 v = wp.origin;
 584         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 585                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 586         else
 587                 cost += waypoint_gettravelcost(p, v);
 588         if (wp.wpcost > cost)
 589         {
 590                 wp.wpcost = cost;
 591                 wp.enemy = w;
 592                 wp.wpfire = 1;
 593                 wp.wpnearestpoint = v;
 594         }
 595 }
 596
 597 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 598 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 599 {
 600         float cost, cost2;
 601         vector p;
 602
 603         IL_EACH(g_waypoints, true,
 604         {
 605                 it.wpconsidered = false;
 606                 it.wpnearestpoint = '0 0 0';
 607                 it.wpcost = 10000000;
 608                 it.wpfire = 0;
 609                 it.enemy = NULL;
 610         });
 611
 612         if(fixed_source_waypoint)
 613         {
 614                 fixed_source_waypoint.wpconsidered = true;
 615                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 616                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 617                 fixed_source_waypoint.wpfire = 1;
 618                 fixed_source_waypoint.enemy = NULL;
 619         }
 620         else
 621         {
 622                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 623                 // as this search is expensive we will use lower values if the bot is on the air
 624                 float increment, maxdistance;
 625                 if(IS_ONGROUND(this))
 626                 {
 627                         increment = 750;
 628                         maxdistance = 50000;
 629                 }
 630                 else
 631                 {
 632                         increment = 500;
 633                         maxdistance = 1500;
 634                 }
 635
 636                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 637         }
 638
 639         bool searching = true;
 640         while (searching)
 641         {
 642                 searching = false;
 643                 IL_EACH(g_waypoints, it.wpfire,
 644                 {
 645                         searching = true;
 646                         it.wpfire = 0;
 647                         cost = it.wpcost;
 648                         p = it.wpnearestpoint;
 649                         entity wp;
 650                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 651                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 652                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 653                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 654                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 655                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 656                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 657                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 658                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 659                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 660                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 661                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 662                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 663                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 664                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 665                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 666                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 667                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 668                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 669                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 670                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 671                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 672                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 673                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 674                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 675                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 676                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 677                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 678                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 679                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 680                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 681                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 682                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 683                 });
 684         }
 685 }
 686
 687 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 688 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 689 {
 690         float cost, cost2;
 691         vector p;
 692         IL_EACH(g_waypoints, true,
 693         {
 694                 it.wpconsidered = false;
 695                 it.wpnearestpoint = '0 0 0';
 696                 it.wpcost = 10000000;
 697                 it.wpfire = 0;
 698                 it.enemy = NULL;
 699         });
 700
 701         if(fixed_source_waypoint)
 702         {
 703                 fixed_source_waypoint.wpconsidered = true;
 704                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 705                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 706                 fixed_source_waypoint.wpfire = 1;
 707                 fixed_source_waypoint.enemy = NULL;
 708         }
 709         else
 710         {
 711                 error("need to start with a waypoint\n");
 712         }
 713
 714         bool searching = true;
 715         while (searching)
 716         {
 717                 searching = false;
 718                 IL_EACH(g_waypoints, it.wpfire,
 719                 {
 720                         searching = true;
 721                         it.wpfire = 0;
 722                         cost = it.wpcost; // cost to walk from it to home
 723                         p = it.wpnearestpoint;
 724                         entity wp = it;
 725                         IL_EACH(g_waypoints, it != wp,
 726                         {
 727                                 if(!waypoint_islinked(it, wp))
 728                                         continue;
 729                                 cost2 = cost + it.dmg;
 730                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 731                         });
 732                 });
 733         }
 734 }
 735
 736 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 737 void navigation_routerating(entity this, entity e, float f, float rangebias)
 738 {
 739         if (!e)
 740                 return;
 741
 742         if(e.blacklisted)
 743                 return;
 744
 745         rangebias = waypoint_getlinearcost(rangebias);
 746         f = waypoint_getlinearcost(f);
 747
 748         if (IS_PLAYER(e))
 749         {
 750                 bool rate_wps = false;
 751                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 752                         rate_wps = true;
 753
 754                 if(!IS_ONGROUND(e))
 755                 {
 756                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 757                         int t = pointcontents(trace_endpos + '0 0 1');
 758                         if(t != CONTENT_SOLID )
 759                         {
 760                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 761                                         rate_wps = true;
 762                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 763                                         return;
 764                         }
 765                 }
 766
 767                 if(rate_wps)
 768                 {
 769                         entity theEnemy = e;
 770                         entity best_wp = NULL;
 771                         float best_dist = 10000;
 772                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 773                                 && vdist(it.origin - this.origin, >, 100)
 774                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 775                         {
 776                                 float dist = vlen(it.origin - theEnemy.origin);
 777                                 if (dist < best_dist)
 778                                 {
 779                                         best_wp = it;
 780                                         best_dist = dist;
 781                                 }
 782                         });
 783                         if (!best_wp)
 784                                 return;
 785                         e = best_wp;
 786                 }
 787         }
 788
 789         vector goal_org = (e.absmin + e.absmax) * 0.5;
 790
 791         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 792
 793         // Evaluate path using jetpack
 794         if(g_jetpack)
 795         if(this.items & IT_JETPACK)
 796         if(autocvar_bot_ai_navigation_jetpack)
 797         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 798         {
 799                 vector pointa, pointb;
 800
 801                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 802
 803                 // Point A
 804                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 805                 pointa = trace_endpos - '0 0 1';
 806
 807                 // Point B
 808                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
 809                 pointb = trace_endpos - '0 0 1';
 810
 811                 // Can I see these two points from the sky?
 812                 traceline(pointa, pointb, MOVE_NORMAL, this);
 813
 814                 if(trace_fraction==1)
 815                 {
 816                         LOG_DEBUG("jetpack ai: can bridge these two points");
 817
 818                         // Lower the altitude of these points as much as possible
 819                         float zdistance, xydistance, cost, t, fuel;
 820                         vector down, npa, npb;
 821
 822                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 823
 824                         do{
 825                                 npa = pointa + down;
 826                                 npb = pointb + down;
 827
 828                                 if(npa.z<=this.absmax.z)
 829                                         break;
 830
 831                                 if(npb.z<=e.absmax.z)
 832                                         break;
 833
 834                                 traceline(npa, npb, MOVE_NORMAL, this);
 835                                 if(trace_fraction==1)
 836                                 {
 837                                         pointa = npa;
 838                                         pointb = npb;
 839                                 }
 840                         }
 841                         while(trace_fraction == 1);
 842
 843
 844                         // Rough estimation of fuel consumption
 845                         // (ignores acceleration and current xyz velocity)
 846                         xydistance = vlen(pointa - pointb);
 847                         zdistance = fabs(pointa.z - this.origin.z);
 848
 849                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 850                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 851                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 852
 853                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 854
 855                         // enough fuel ?
 856                         if(this.ammo_fuel>fuel)
 857                         {
 858                                 // Estimate cost
 859                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 860                                 //  - between air and ground speeds)
 861
 862                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 863                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 864                                 cost *= 1.5;
 865
 866                                 // Compare against other goals
 867                                 f = f * rangebias / (rangebias + cost);
 868
 869                                 if (navigation_bestrating < f)
 870                                 {
 871                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 872                                         navigation_bestrating = f;
 873                                         navigation_bestgoal = e;
 874                                         this.navigation_jetpack_goal = e;
 875                                         this.navigation_jetpack_point = pointb;
 876                                 }
 877                                 return;
 878                         }
 879                 }
 880         }
 881
 882         entity nwp;
 883         //te_wizspike(e.origin);
 884         //bprint(etos(e));
 885         //bprint("\n");
 886         // update the cached spawnfunc_waypoint link on a dynamic item entity
 887         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 888         {
 889                 nwp = e;
 890         }
 891         else
 892         {
 893                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 894                         e.nearestwaypoint = NULL;
 895
 896                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
 897                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
 898                 {
 899                         nwp = navigation_findnearestwaypoint(e, true);
 900                         if(nwp)
 901                         {
 902                                 e.nearestwaypoint = nwp;
 903
 904                                 vector m1 = nwp.absmin, m2 = nwp.absmax;
 905                                 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
 906                                 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
 907                                 vector ve = (e.absmin - e.absmax) * 0.5;
 908                                 ve.x = bound(m1.x, ve.x, m2.x);
 909                                 ve.y = bound(m1.y, ve.y, m2.y);
 910                                 ve.z = bound(m1.z, ve.z, m2.z);
 911
 912                                 m1 = e.absmin; m2 = e.absmax;
 913                                 m1.x = e.origin.x; m1.y = e.origin.y;
 914                                 m2.x = e.origin.x; m2.y = e.origin.y;
 915                                 vector vnwp = nwp.origin;
 916                                 vnwp.x = bound(m1.x, vnwp.x, m2.x);
 917                                 vnwp.y = bound(m1.y, vnwp.y, m2.y);
 918                                 vnwp.z = bound(m1.z, vnwp.z, m2.z);
 919                                 e.nearestwaypoint_dist = vlen(ve - vnwp);
 920                         }
 921                         else
 922                         {
 923                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
 924
 925                                 if(!e.navigation_dynamicgoal)
 926                                         e.blacklisted = true;
 927
 928                                 if(e.blacklisted)
 929                                 {
 930                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
 931                                         return;
 932                                 }
 933                         }
 934
 935                         if(e.navigation_dynamicgoal)
 936                                 e.nearestwaypointtimeout = time + 2;
 937                         else if(autocvar_g_waypointeditor)
 938                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
 939                 }
 940                 nwp = e.nearestwaypoint;
 941         }
 942
 943         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
 944         if (nwp)
 945         if (nwp.wpcost < 10000000)
 946         {
 947                 //te_wizspike(nwp.wpnearestpoint);
 948                 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org);
 949                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
 950                 f = f * rangebias / (rangebias + cost);
 951                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
 952                 if (navigation_bestrating < f)
 953                 {
 954                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 955                         navigation_bestrating = f;
 956                         navigation_bestgoal = e;
 957                 }
 958         }
 959 }
 960
 961 // adds an item to the the goal stack with the path to a given item
 962 bool navigation_routetogoal(entity this, entity e, vector startposition)
 963 {
 964         // if there is no goal, just exit
 965         if (!e)
 966                 return false;
 967
 968         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
 969         {
 970                 // force teleport destination as route destination
 971                 e.wp00.enemy = e;
 972                 e = e.wp00;
 973         }
 974
 975         this.goalentity = e;
 976
 977         // put the entity on the goal stack
 978         //print("routetogoal ", etos(e), "\n");
 979         navigation_pushroute(this, e);
 980
 981         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 982         {
 983                 this.wp_goal_prev1 = this.wp_goal_prev0;
 984                 this.wp_goal_prev0 = e;
 985         }
 986
 987         if(g_jetpack)
 988         if(e==this.navigation_jetpack_goal)
 989                 return true;
 990
 991         // if it can reach the goal there is nothing more to do
 992         vector dest = (e.absmin + e.absmax) * 0.5;
 993         dest.z = e.absmin.z;
 994         float dest_height = e.absmax.z - e.absmin.z;
 995         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
 996                 return true;
 997
 998         entity nearest_wp = NULL;
 999         // see if there are waypoints describing a path to the item
1000         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1001         {
1002                 e = e.nearestwaypoint;
1003                 nearest_wp = e;
1004         }
1005         else
1006                 e = e.enemy; // we already have added it, so...
1007
1008         if(e == NULL)
1009                 return false;
1010
1011         if(nearest_wp && nearest_wp.enemy)
1012         {
1013                 // often path can be optimized by not adding the nearest waypoint
1014                 if (this.goalentity.nearestwaypoint_dist < 8)
1015                         e = nearest_wp.enemy;
1016                 else
1017                 {
1018                         if (this.goalentity.navigation_dynamicgoal)
1019                         {
1020                                 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
1021                                 dest.z = this.goalentity.absmin.z;
1022                                 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1023                                 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1024                                         e = nearest_wp.enemy;
1025                         }
1026                         else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1027                                 e = nearest_wp.enemy;
1028                 }
1029         }
1030
1031         for (;;)
1032         {
1033                 // add the spawnfunc_waypoint to the path
1034                 navigation_pushroute(this, e);
1035                 e = e.enemy;
1036
1037                 if(e==NULL)
1038                         break;
1039         }
1040
1041         return false;
1042 }
1043
1044 // removes any currently touching waypoints from the goal stack
1045 // (this is how bots detect if they reached a goal)
1046 void navigation_poptouchedgoals(entity this)
1047 {
1048         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1049         {
1050                 // make sure jumppad is really hit, don't rely on distance based checks
1051                 // as they may report a touch even if it didn't really happen
1052                 if(this.lastteleporttime > 0
1053                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1054                 {
1055                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1056                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1057                         {
1058                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1059                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1060                         }
1061                         navigation_poproute(this);
1062                 }
1063                 else
1064                         return;
1065         }
1066
1067         // If for some reason the bot is closer to the next goal, pop the current one
1068         if(this.goalstack01 && !wasfreed(this.goalstack01))
1069         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1070         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1071         {
1072                 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1073                 dest.z = this.goalstack01.absmin.z;
1074                 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1075                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1076                 {
1077                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1078                         navigation_poproute(this);
1079                         // TODO this may also be a nice idea to do "early" (e.g. by
1080                         // manipulating the vlen() comparisons) to shorten paths in
1081                         // general - this would make bots walk more "on rails" than
1082                         // "zigzagging" which they currently do with sufficiently
1083                         // random-like waypoints, and thus can make a nice bot
1084                         // personality property
1085                 }
1086         }
1087
1088         // Loose goal touching check when running
1089         if(this.aistatus & AI_STATUS_RUNNING)
1090         if(this.goalcurrent.classname=="waypoint")
1091         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1092         {
1093                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1094                 {
1095                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1096                         if(trace_fraction==1)
1097                         {
1098                                 // Detect personal waypoints
1099                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1100                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1101                                 {
1102                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1103                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1104                                 }
1105
1106                                 navigation_poproute(this);
1107                         }
1108                 }
1109         }
1110
1111         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1112         {
1113                 vector gc_min = this.goalcurrent.absmin;
1114                 vector gc_max = this.goalcurrent.absmax;
1115                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1116                 {
1117                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1118                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1119                 }
1120                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1121                         break;
1122
1123                 // Detect personal waypoints
1124                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1125                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1126                 {
1127                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1128                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1129                 }
1130
1131                 navigation_poproute(this);
1132         }
1133 }
1134
1135 // begin a goal selection session (queries spawnfunc_waypoint network)
1136 void navigation_goalrating_start(entity this)
1137 {
1138         if(this.aistatus & AI_STATUS_STUCK)
1139                 return;
1140
1141         this.navigation_jetpack_goal = NULL;
1142         navigation_bestrating = -1;
1143         navigation_clearroute(this);
1144         navigation_bestgoal = NULL;
1145         navigation_markroutes(this, NULL);
1146 }
1147
1148 // ends a goal selection session (updates goal stack to the best goal)
1149 void navigation_goalrating_end(entity this)
1150 {
1151         if(this.aistatus & AI_STATUS_STUCK)
1152                 return;
1153
1154         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1155         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1156
1157         // If the bot got stuck then try to reach the farthest waypoint
1158         if (!this.goalentity && autocvar_bot_wander_enable)
1159         {
1160                 if (!(this.aistatus & AI_STATUS_STUCK))
1161                 {
1162                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1163                         this.aistatus |= AI_STATUS_STUCK;
1164                 }
1165         }
1166 }
1167
1168 void botframe_updatedangerousobjects(float maxupdate)
1169 {
1170         vector m1, m2, v, o;
1171         float c, d, danger;
1172         c = 0;
1173         IL_EACH(g_waypoints, true,
1174         {
1175                 danger = 0;
1176                 m1 = it.absmin;
1177                 m2 = it.absmax;
1178                 IL_EACH(g_bot_dodge, it.bot_dodge,
1179                 {
1180                         v = it.origin;
1181                         v.x = bound(m1_x, v.x, m2_x);
1182                         v.y = bound(m1_y, v.y, m2_y);
1183                         v.z = bound(m1_z, v.z, m2_z);
1184                         o = (it.absmin + it.absmax) * 0.5;
1185                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v);
1186                         if (d > 0)
1187                         {
1188                                 traceline(o, v, true, NULL);
1189                                 if (trace_fraction == 1)
1190                                         danger = danger + d;
1191                         }
1192                 });
1193                 it.dmg = danger;
1194                 c = c + 1;
1195                 if (c >= maxupdate)
1196                         break;
1197         });
1198 }
1199
1200 void navigation_unstuck(entity this)
1201 {
1202         float search_radius = 1000;
1203
1204         if (!autocvar_bot_wander_enable)
1205                 return;
1206
1207         if (!bot_waypoint_queue_owner)
1208         {
1209                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1210                 bot_waypoint_queue_owner = this;
1211                 bot_waypoint_queue_bestgoal = NULL;
1212                 bot_waypoint_queue_bestgoalrating = 0;
1213         }
1214
1215         if(bot_waypoint_queue_owner!=this)
1216                 return;
1217
1218         if (bot_waypoint_queue_goal)
1219         {
1220                 // evaluate the next goal on the queue
1221                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1222                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1223                 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1224                 dest.z = bot_waypoint_queue_goal.absmin.z;
1225                 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1226                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1227                 {
1228                         if( d > bot_waypoint_queue_bestgoalrating)
1229                         {
1230                                 bot_waypoint_queue_bestgoalrating = d;
1231                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1232                         }
1233                 }
1234                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1235
1236                 if (!bot_waypoint_queue_goal)
1237                 {
1238                         if (bot_waypoint_queue_bestgoal)
1239                         {
1240                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1241                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1242                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1243                                 this.aistatus &= ~AI_STATUS_STUCK;
1244                         }
1245                         else
1246                         {
1247                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1248                         }
1249
1250                         bot_waypoint_queue_owner = NULL;
1251                 }
1252         }
1253         else
1254         {
1255                 if(bot_strategytoken!=this)
1256                         return;
1257
1258                 // build a new queue
1259                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1260
1261                 entity first = NULL;
1262
1263                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1264                 {
1265                         if(bot_waypoint_queue_goal)
1266                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1267                         else
1268                                 first = it;
1269
1270                         bot_waypoint_queue_goal = it;
1271                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1272                 });
1273
1274                 if (first)
1275                         bot_waypoint_queue_goal = first;
1276                 else
1277                 {
1278                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1279                         bot_waypoint_queue_owner = NULL;
1280                 }
1281         }
1282 }
1283
1284 // Support for debugging tracewalk visually
1285
1286 void debugresetnodes()
1287 {
1288         debuglastnode = '0 0 0';
1289 }
1290
1291 void debugnode(entity this, vector node)
1292 {
1293         if (!IS_PLAYER(this))
1294                 return;
1295
1296         if(debuglastnode=='0 0 0')
1297         {
1298                 debuglastnode = node;
1299                 return;
1300         }
1301
1302         te_lightning2(NULL, node, debuglastnode);
1303         debuglastnode = node;
1304 }
1305
1306 void debugnodestatus(vector position, float status)
1307 {
1308         vector c;
1309
1310         switch (status)
1311         {
1312                 case DEBUG_NODE_SUCCESS:
1313                         c = '0 15 0';
1314                         break;
1315                 case DEBUG_NODE_WARNING:
1316                         c = '15 15 0';
1317                         break;
1318                 case DEBUG_NODE_FAIL:
1319                         c = '15 0 0';
1320                         break;
1321                 default:
1322                         c = '15 15 15';
1323         }
1324
1325         te_customflash(position, 40,  2, c);
1326 }
1327
1328 // Support for debugging the goal stack visually
1329
1330 .float goalcounter;
1331 .vector lastposition;
1332
1333 // Debug the goal stack visually
1334 void debuggoalstack(entity this)
1335 {
1336         entity goal;
1337         vector org, go;
1338
1339         if(this.goalcounter==0)goal=this.goalcurrent;
1340         else if(this.goalcounter==1)goal=this.goalstack01;
1341         else if(this.goalcounter==2)goal=this.goalstack02;
1342         else if(this.goalcounter==3)goal=this.goalstack03;
1343         else if(this.goalcounter==4)goal=this.goalstack04;
1344         else if(this.goalcounter==5)goal=this.goalstack05;
1345         else if(this.goalcounter==6)goal=this.goalstack06;
1346         else if(this.goalcounter==7)goal=this.goalstack07;
1347         else if(this.goalcounter==8)goal=this.goalstack08;
1348         else if(this.goalcounter==9)goal=this.goalstack09;
1349         else if(this.goalcounter==10)goal=this.goalstack10;
1350         else if(this.goalcounter==11)goal=this.goalstack11;
1351         else if(this.goalcounter==12)goal=this.goalstack12;
1352         else if(this.goalcounter==13)goal=this.goalstack13;
1353         else if(this.goalcounter==14)goal=this.goalstack14;
1354         else if(this.goalcounter==15)goal=this.goalstack15;
1355         else if(this.goalcounter==16)goal=this.goalstack16;
1356         else if(this.goalcounter==17)goal=this.goalstack17;
1357         else if(this.goalcounter==18)goal=this.goalstack18;
1358         else if(this.goalcounter==19)goal=this.goalstack19;
1359         else if(this.goalcounter==20)goal=this.goalstack20;
1360         else if(this.goalcounter==21)goal=this.goalstack21;
1361         else if(this.goalcounter==22)goal=this.goalstack22;
1362         else if(this.goalcounter==23)goal=this.goalstack23;
1363         else if(this.goalcounter==24)goal=this.goalstack24;
1364         else if(this.goalcounter==25)goal=this.goalstack25;
1365         else if(this.goalcounter==26)goal=this.goalstack26;
1366         else if(this.goalcounter==27)goal=this.goalstack27;
1367         else if(this.goalcounter==28)goal=this.goalstack28;
1368         else if(this.goalcounter==29)goal=this.goalstack29;
1369         else if(this.goalcounter==30)goal=this.goalstack30;
1370         else if(this.goalcounter==31)goal=this.goalstack31;
1371         else goal=NULL;
1372
1373         if(goal==NULL)
1374         {
1375                 this.goalcounter = 0;
1376                 this.lastposition='0 0 0';
1377                 return;
1378         }
1379
1380         if(this.lastposition=='0 0 0')
1381                 org = this.origin;
1382         else
1383                 org = this.lastposition;
1384
1385
1386         go = ( goal.absmin + goal.absmax ) * 0.5;
1387         te_lightning2(NULL, org, go);
1388         this.lastposition = go;
1389
1390         this.goalcounter++;
1391 }