1 #include "navigation.qh"
6 #include "waypoints.qh"
8 #include <common/t_items.qh>
10 #include <common/items/_mod.qh>
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/triggers/trigger/jumppads.qh>
18 void navigation_dynamicgoal_init(entity this, bool initially_static)
20 this.navigation_dynamicgoal = true;
21 this.bot_basewaypoint = this.nearestwaypoint;
23 this.nearestwaypointtimeout = -1;
25 this.nearestwaypointtimeout = time;
28 void navigation_dynamicgoal_set(entity this)
30 this.nearestwaypointtimeout = time;
33 void navigation_dynamicgoal_unset(entity this)
35 if(this.bot_basewaypoint)
36 this.nearestwaypoint = this.bot_basewaypoint;
37 this.nearestwaypointtimeout = -1;
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
43 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
54 if(autocvar_bot_debug_tracewalk)
63 dist = totaldist = vlen(move);
64 dir = normalize(move);
66 ignorehazards = false;
69 // Analyze starting point
70 traceline(start, start, MOVE_NORMAL, e);
71 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
75 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
76 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
82 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
86 if(autocvar_bot_debug_tracewalk)
87 debugnodestatus(start, DEBUG_NODE_FAIL);
89 //print("tracewalk: ", vtos(start), " is a bad start\n");
97 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
100 if(autocvar_bot_debug_tracewalk)
101 debugnodestatus(org, DEBUG_NODE_SUCCESS);
103 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
106 if(autocvar_bot_debug_tracewalk)
113 dist = dist - stepdist;
114 traceline(org, org, MOVE_NORMAL, e);
117 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
119 // hazards blocking path
120 if(autocvar_bot_debug_tracewalk)
121 debugnodestatus(org, DEBUG_NODE_FAIL);
123 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
127 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
129 move = normalize(end - org);
130 tracebox(org, m1, m2, org + move * stepdist, movemode, e);
132 if(autocvar_bot_debug_tracewalk)
133 debugnode(e, trace_endpos);
135 if (trace_fraction < 1)
138 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
139 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
141 if(autocvar_bot_debug_tracewalk)
144 if(pointcontents(org) == CONTENT_EMPTY)
148 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
150 if(autocvar_bot_debug_tracewalk)
151 debugnodestatus(org, DEBUG_NODE_FAIL);
154 //print("tracewalk: ", vtos(start), " failed under water\n");
164 move = dir * stepdist + org;
165 tracebox(org, m1, m2, move, movemode, e);
167 if(autocvar_bot_debug_tracewalk)
168 debugnode(e, trace_endpos);
171 if (trace_fraction < 1)
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)
177 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
178 if (trace_fraction < 1 || trace_startsolid)
180 if(autocvar_bot_debug_tracewalk)
181 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
183 FOREACH_ENTITY_CLASS("func_ladder", true,
184 { it.solid = SOLID_BSP; });
186 traceline( org, move, movemode, e);
188 FOREACH_ENTITY_CLASS("func_ladder", true,
189 { it.solid = SOLID_TRIGGER; });
191 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
195 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
197 nextmove = move + (dir * stepdist);
198 traceline( move, nextmove, movemode, e);
202 else if (trace_ent.classname == "func_ladder")
204 vector ladder_bottom = trace_endpos - dir * m2.x;
205 vector ladder_top = ladder_bottom;
206 ladder_top.z = trace_ent.absmax.z + (-m1.z + 1);
207 tracebox(ladder_bottom, m1, m2, ladder_top, movemode, e);
208 if (trace_fraction < 1 || trace_startsolid)
210 if(autocvar_bot_debug_tracewalk)
211 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
213 return false; // failed
215 org = ladder_top + dir * m2.x;
216 move = org + dir * stepdist;
221 if(autocvar_bot_debug_tracewalk)
222 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
224 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
225 //te_explosion(trace_endpos);
226 //print(ftos(e.dphitcontentsmask), "\n");
227 return false; // failed
239 // trace down from stepheight as far as possible and move there,
240 // if this starts in solid we try again without the stepup, and
241 // if that also fails we assume it is a wall
242 // (this is the same logic as the Quake walkmove function used)
243 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
245 // moved successfully
249 c = pointcontents(org + '0 0 1');
250 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
260 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
262 // moved but didn't arrive at the intended destination
263 if(autocvar_bot_debug_tracewalk)
264 debugnodestatus(org, DEBUG_NODE_FAIL);
269 /////////////////////////////////////////////////////////////////////////////
271 /////////////////////////////////////////////////////////////////////////////
273 // completely empty the goal stack, used when deciding where to go
274 void navigation_clearroute(entity this)
276 //print("bot ", etos(this), " clear\n");
277 this.goalentity = NULL;
278 this.goalcurrent = NULL;
279 this.goalstack01 = NULL;
280 this.goalstack02 = NULL;
281 this.goalstack03 = NULL;
282 this.goalstack04 = NULL;
283 this.goalstack05 = NULL;
284 this.goalstack06 = NULL;
285 this.goalstack07 = NULL;
286 this.goalstack08 = NULL;
287 this.goalstack09 = NULL;
288 this.goalstack10 = NULL;
289 this.goalstack11 = NULL;
290 this.goalstack12 = NULL;
291 this.goalstack13 = NULL;
292 this.goalstack14 = NULL;
293 this.goalstack15 = NULL;
294 this.goalstack16 = NULL;
295 this.goalstack17 = NULL;
296 this.goalstack18 = NULL;
297 this.goalstack19 = NULL;
298 this.goalstack20 = NULL;
299 this.goalstack21 = NULL;
300 this.goalstack22 = NULL;
301 this.goalstack23 = NULL;
302 this.goalstack24 = NULL;
303 this.goalstack25 = NULL;
304 this.goalstack26 = NULL;
305 this.goalstack27 = NULL;
306 this.goalstack28 = NULL;
307 this.goalstack29 = NULL;
308 this.goalstack30 = NULL;
309 this.goalstack31 = NULL;
312 // add a new goal at the beginning of the stack
313 // (in other words: add a new prerequisite before going to the later goals)
314 // NOTE: when a waypoint is added, the WP gets pushed first, then the
315 // next-closest WP on the shortest path to the WP
316 // That means, if the stack overflows, the bot will know how to do the FIRST 32
317 // steps to the goal, and then recalculate the path.
318 void navigation_pushroute(entity this, entity e)
320 //print("bot ", etos(this), " push ", etos(e), "\n");
321 if(this.goalstack31 == this.goalentity)
322 this.goalentity = NULL;
323 this.goalstack31 = this.goalstack30;
324 this.goalstack30 = this.goalstack29;
325 this.goalstack29 = this.goalstack28;
326 this.goalstack28 = this.goalstack27;
327 this.goalstack27 = this.goalstack26;
328 this.goalstack26 = this.goalstack25;
329 this.goalstack25 = this.goalstack24;
330 this.goalstack24 = this.goalstack23;
331 this.goalstack23 = this.goalstack22;
332 this.goalstack22 = this.goalstack21;
333 this.goalstack21 = this.goalstack20;
334 this.goalstack20 = this.goalstack19;
335 this.goalstack19 = this.goalstack18;
336 this.goalstack18 = this.goalstack17;
337 this.goalstack17 = this.goalstack16;
338 this.goalstack16 = this.goalstack15;
339 this.goalstack15 = this.goalstack14;
340 this.goalstack14 = this.goalstack13;
341 this.goalstack13 = this.goalstack12;
342 this.goalstack12 = this.goalstack11;
343 this.goalstack11 = this.goalstack10;
344 this.goalstack10 = this.goalstack09;
345 this.goalstack09 = this.goalstack08;
346 this.goalstack08 = this.goalstack07;
347 this.goalstack07 = this.goalstack06;
348 this.goalstack06 = this.goalstack05;
349 this.goalstack05 = this.goalstack04;
350 this.goalstack04 = this.goalstack03;
351 this.goalstack03 = this.goalstack02;
352 this.goalstack02 = this.goalstack01;
353 this.goalstack01 = this.goalcurrent;
354 this.goalcurrent = e;
357 // remove first goal from stack
358 // (in other words: remove a prerequisite for reaching the later goals)
359 // (used when a spawnfunc_waypoint is reached)
360 void navigation_poproute(entity this)
362 //print("bot ", etos(this), " pop\n");
363 if(this.goalcurrent == this.goalentity)
364 this.goalentity = NULL;
365 this.goalcurrent = this.goalstack01;
366 this.goalstack01 = this.goalstack02;
367 this.goalstack02 = this.goalstack03;
368 this.goalstack03 = this.goalstack04;
369 this.goalstack04 = this.goalstack05;
370 this.goalstack05 = this.goalstack06;
371 this.goalstack06 = this.goalstack07;
372 this.goalstack07 = this.goalstack08;
373 this.goalstack08 = this.goalstack09;
374 this.goalstack09 = this.goalstack10;
375 this.goalstack10 = this.goalstack11;
376 this.goalstack11 = this.goalstack12;
377 this.goalstack12 = this.goalstack13;
378 this.goalstack13 = this.goalstack14;
379 this.goalstack14 = this.goalstack15;
380 this.goalstack15 = this.goalstack16;
381 this.goalstack16 = this.goalstack17;
382 this.goalstack17 = this.goalstack18;
383 this.goalstack18 = this.goalstack19;
384 this.goalstack19 = this.goalstack20;
385 this.goalstack20 = this.goalstack21;
386 this.goalstack21 = this.goalstack22;
387 this.goalstack22 = this.goalstack23;
388 this.goalstack23 = this.goalstack24;
389 this.goalstack24 = this.goalstack25;
390 this.goalstack25 = this.goalstack26;
391 this.goalstack26 = this.goalstack27;
392 this.goalstack27 = this.goalstack28;
393 this.goalstack28 = this.goalstack29;
394 this.goalstack29 = this.goalstack30;
395 this.goalstack30 = this.goalstack31;
396 this.goalstack31 = NULL;
399 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
402 dist = vlen(v - org);
405 traceline(v, org, true, ent);
406 if (trace_fraction == 1)
410 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
415 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
423 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
424 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
426 vector pm1 = ent.origin + ent.mins;
427 vector pm2 = ent.origin + ent.maxs;
429 // do two scans, because box test is cheaper
430 IL_EACH(g_waypoints, it != ent && it != except,
432 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
436 vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
437 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
438 // TODO possibly make other code have the same support for bboxes
440 org = org + ent.tag_entity.origin;
441 if (navigation_testtracewalk)
447 // box check failed, try walk
448 IL_EACH(g_waypoints, it != ent,
452 vector wm1 = it.origin + it.mins;
453 vector wm2 = it.origin + it.maxs;
454 v.x = bound(wm1_x, org.x, wm2_x);
455 v.y = bound(wm1_y, org.y, wm2_y);
456 v.z = bound(wm1_z, org.z, wm2_z);
460 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
462 bestdist = vlen(v - org);
468 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
470 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
471 if (autocvar_g_waypointeditor_auto)
473 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
475 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
480 // finds the waypoints near the bot initiating a navigation query
481 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
484 // navigation_testtracewalk = true;
486 IL_EACH(g_waypoints, !it.wpconsidered,
490 m1 = it.origin + it.mins;
491 m2 = it.origin + it.maxs;
493 v.x = bound(m1_x, v.x, m2_x);
494 v.y = bound(m1_y, v.y, m2_y);
495 v.z = bound(m1_z, v.z, m2_z);
499 vector diff = v - this.origin;
500 diff.z = max(0, diff.z);
501 if(vdist(diff, <, maxdist))
503 it.wpconsidered = true;
504 if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
506 it.wpnearestpoint = v;
507 it.wpcost = vlen(v - this.origin) + it.dmg;
514 //navigation_testtracewalk = false;
518 // updates a path link if a spawnfunc_waypoint link is better than the current one
519 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
528 v.x = bound(m1_x, p.x, m2_x);
529 v.y = bound(m1_y, p.y, m2_y);
530 v.z = bound(m1_z, p.z, m2_z);
534 cost2 = cost2 + vlen(v - p);
535 if (wp.wpcost > cost2)
540 wp.wpnearestpoint = v;
544 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
545 void navigation_markroutes(entity this, entity fixed_source_waypoint)
550 IL_EACH(g_waypoints, true,
552 it.wpconsidered = false;
553 it.wpnearestpoint = '0 0 0';
554 it.wpcost = 10000000;
559 if(fixed_source_waypoint)
561 fixed_source_waypoint.wpconsidered = true;
562 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
563 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
564 fixed_source_waypoint.wpfire = 1;
565 fixed_source_waypoint.enemy = NULL;
569 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
570 // as this search is expensive we will use lower values if the bot is on the air
571 float increment, maxdistance;
572 if(IS_ONGROUND(this))
583 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
586 bool searching = true;
590 IL_EACH(g_waypoints, it.wpfire,
595 p = it.wpnearestpoint;
597 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
598 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
599 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
600 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
601 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
602 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
603 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
604 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
605 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
606 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
607 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
608 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
609 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
610 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
611 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
612 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
613 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
614 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
615 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
616 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
617 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
618 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
619 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
620 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
621 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
622 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
623 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
624 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
625 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
626 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
627 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
628 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
629 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
634 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
635 void navigation_markroutes_inverted(entity fixed_source_waypoint)
639 IL_EACH(g_waypoints, true,
641 it.wpconsidered = false;
642 it.wpnearestpoint = '0 0 0';
643 it.wpcost = 10000000;
648 if(fixed_source_waypoint)
650 fixed_source_waypoint.wpconsidered = true;
651 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
652 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
653 fixed_source_waypoint.wpfire = 1;
654 fixed_source_waypoint.enemy = NULL;
658 error("need to start with a waypoint\n");
661 bool searching = true;
665 IL_EACH(g_waypoints, it.wpfire,
669 cost = it.wpcost; // cost to walk from it to home
670 p = it.wpnearestpoint;
672 IL_EACH(g_waypoints, true,
674 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
675 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
676 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
677 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
678 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
679 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
680 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
681 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
683 cost2 = cost + it.dmg;
684 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
690 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
691 void navigation_routerating(entity this, entity e, float f, float rangebias)
701 bool rate_wps = false;
702 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
707 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
708 int t = pointcontents(trace_endpos + '0 0 1');
709 if(t != CONTENT_SOLID )
711 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
713 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
721 entity best_wp = NULL;
722 float best_dist = 10000;
723 IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
724 && vdist(it.origin - this.origin, >, 100)
725 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
727 float dist = vlen(it.origin - theEnemy.origin);
728 if (dist < best_dist)
740 vector o = (e.absmin + e.absmax) * 0.5;
742 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
744 // Evaluate path using jetpack
746 if(this.items & IT_JETPACK)
747 if(autocvar_bot_ai_navigation_jetpack)
748 if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
750 vector pointa, pointb;
752 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
755 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
756 pointa = trace_endpos - '0 0 1';
759 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
760 pointb = trace_endpos - '0 0 1';
762 // Can I see these two points from the sky?
763 traceline(pointa, pointb, MOVE_NORMAL, this);
765 if(trace_fraction==1)
767 LOG_DEBUG("jetpack ai: can bridge these two points");
769 // Lower the altitude of these points as much as possible
770 float zdistance, xydistance, cost, t, fuel;
771 vector down, npa, npb;
773 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
779 if(npa.z<=this.absmax.z)
782 if(npb.z<=e.absmax.z)
785 traceline(npa, npb, MOVE_NORMAL, this);
786 if(trace_fraction==1)
792 while(trace_fraction == 1);
795 // Rough estimation of fuel consumption
796 // (ignores acceleration and current xyz velocity)
797 xydistance = vlen(pointa - pointb);
798 zdistance = fabs(pointa.z - this.origin.z);
800 t = zdistance / autocvar_g_jetpack_maxspeed_up;
801 t += xydistance / autocvar_g_jetpack_maxspeed_side;
802 fuel = t * autocvar_g_jetpack_fuel * 0.8;
804 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
807 if(this.ammo_fuel>fuel)
810 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
811 // - between air and ground speeds)
813 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
814 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
817 // Compare against other goals
818 f = f * rangebias / (rangebias + cost);
820 if (navigation_bestrating < f)
822 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
823 navigation_bestrating = f;
824 navigation_bestgoal = e;
825 this.navigation_jetpack_goal = e;
826 this.navigation_jetpack_point = pointb;
834 //te_wizspike(e.origin);
837 // update the cached spawnfunc_waypoint link on a dynamic item entity
838 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
844 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
845 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
847 nwp = navigation_findnearestwaypoint(e, true);
849 e.nearestwaypoint = nwp;
852 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
854 if(!e.navigation_dynamicgoal)
855 e.blacklisted = true;
859 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
864 if(e.navigation_dynamicgoal)
865 e.nearestwaypointtimeout = time + 2;
867 nwp = e.nearestwaypoint;
870 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
872 if (nwp.wpcost < 10000000)
874 //te_wizspike(nwp.wpnearestpoint);
875 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
876 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
877 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
878 if (navigation_bestrating < f)
880 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
881 navigation_bestrating = f;
882 navigation_bestgoal = e;
887 // adds an item to the the goal stack with the path to a given item
888 bool navigation_routetogoal(entity this, entity e, vector startposition)
890 // if there is no goal, just exit
896 // put the entity on the goal stack
897 //print("routetogoal ", etos(e), "\n");
898 navigation_pushroute(this, e);
900 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
902 this.wp_goal_prev1 = this.wp_goal_prev0;
903 this.wp_goal_prev0 = e;
907 if(e==this.navigation_jetpack_goal)
910 // if it can reach the goal there is nothing more to do
911 if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
914 entity nearest_wp = NULL;
915 // see if there are waypoints describing a path to the item
916 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
918 e = e.nearestwaypoint;
922 e = e.enemy; // we already have added it, so...
927 if(nearest_wp && nearest_wp.enemy)
929 // often path can be optimized by not adding the nearest waypoint
930 if(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))
931 e = nearest_wp.enemy;
936 // add the spawnfunc_waypoint to the path
937 navigation_pushroute(this, e);
947 // removes any currently touching waypoints from the goal stack
948 // (this is how bots detect if they reached a goal)
949 void navigation_poptouchedgoals(entity this)
953 m1 = org + this.mins;
954 m2 = org + this.maxs;
956 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
958 // make sure jumppad is really hit, don't rely on distance based checks
959 // as they may report a touch even if it didn't really happen
960 if(this.lastteleporttime>0)
961 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
963 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
964 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
966 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
967 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
969 navigation_poproute(this);
974 // If for some reason the bot is closer to the next goal, pop the current one
975 if(this.goalstack01 && !wasfreed(this.goalstack01))
976 if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
977 if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
978 if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
980 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
981 navigation_poproute(this);
982 // TODO this may also be a nice idea to do "early" (e.g. by
983 // manipulating the vlen() comparisons) to shorten paths in
984 // general - this would make bots walk more "on rails" than
985 // "zigzagging" which they currently do with sufficiently
986 // random-like waypoints, and thus can make a nice bot
987 // personality property
990 // Loose goal touching check when running
991 if(this.aistatus & AI_STATUS_RUNNING)
992 if(this.goalcurrent.classname=="waypoint")
993 if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
994 if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
996 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
998 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
999 if(trace_fraction==1)
1001 // Detect personal waypoints
1002 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1003 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1005 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1006 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1009 navigation_poproute(this);
1014 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1016 vector gc_min = this.goalcurrent.absmin;
1017 vector gc_max = this.goalcurrent.absmax;
1018 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1020 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1021 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1023 if(!boxesoverlap(m1, m2, gc_min, gc_max))
1026 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
1029 // Detect personal waypoints
1030 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1031 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1033 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1034 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1037 navigation_poproute(this);
1041 // begin a goal selection session (queries spawnfunc_waypoint network)
1042 void navigation_goalrating_start(entity this)
1044 if(this.aistatus & AI_STATUS_STUCK)
1047 this.navigation_jetpack_goal = NULL;
1048 navigation_bestrating = -1;
1049 navigation_clearroute(this);
1050 navigation_bestgoal = NULL;
1051 navigation_markroutes(this, NULL);
1054 // ends a goal selection session (updates goal stack to the best goal)
1055 void navigation_goalrating_end(entity this)
1057 if(this.aistatus & AI_STATUS_STUCK)
1060 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1061 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1063 // If the bot got stuck then try to reach the farthest waypoint
1064 if (!this.goalentity && autocvar_bot_wander_enable)
1066 if (!(this.aistatus & AI_STATUS_STUCK))
1068 LOG_DEBUG(this.netname, " cannot walk to any goal");
1069 this.aistatus |= AI_STATUS_STUCK;
1074 void botframe_updatedangerousobjects(float maxupdate)
1076 vector m1, m2, v, o;
1079 IL_EACH(g_waypoints, true,
1084 IL_EACH(g_bot_dodge, it.bot_dodge,
1087 v.x = bound(m1_x, v.x, m2_x);
1088 v.y = bound(m1_y, v.y, m2_y);
1089 v.z = bound(m1_z, v.z, m2_z);
1090 o = (it.absmin + it.absmax) * 0.5;
1091 d = it.bot_dodgerating - vlen(o - v);
1094 traceline(o, v, true, NULL);
1095 if (trace_fraction == 1)
1096 danger = danger + d;
1106 void navigation_unstuck(entity this)
1108 float search_radius = 1000;
1110 if (!autocvar_bot_wander_enable)
1113 if (!bot_waypoint_queue_owner)
1115 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1116 bot_waypoint_queue_owner = this;
1117 bot_waypoint_queue_bestgoal = NULL;
1118 bot_waypoint_queue_bestgoalrating = 0;
1121 if(bot_waypoint_queue_owner!=this)
1124 if (bot_waypoint_queue_goal)
1126 // evaluate the next goal on the queue
1127 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1128 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1129 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1131 if( d > bot_waypoint_queue_bestgoalrating)
1133 bot_waypoint_queue_bestgoalrating = d;
1134 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1137 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1139 if (!bot_waypoint_queue_goal)
1141 if (bot_waypoint_queue_bestgoal)
1143 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1144 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1145 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1146 this.aistatus &= ~AI_STATUS_STUCK;
1150 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1153 bot_waypoint_queue_owner = NULL;
1158 if(bot_strategytoken!=this)
1161 // build a new queue
1162 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1164 entity first = NULL;
1166 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1168 if(bot_waypoint_queue_goal)
1169 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1173 bot_waypoint_queue_goal = it;
1174 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1178 bot_waypoint_queue_goal = first;
1181 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1182 bot_waypoint_queue_owner = NULL;
1187 // Support for debugging tracewalk visually
1189 void debugresetnodes()
1191 debuglastnode = '0 0 0';
1194 void debugnode(entity this, vector node)
1196 if (!IS_PLAYER(this))
1199 if(debuglastnode=='0 0 0')
1201 debuglastnode = node;
1205 te_lightning2(NULL, node, debuglastnode);
1206 debuglastnode = node;
1209 void debugnodestatus(vector position, float status)
1215 case DEBUG_NODE_SUCCESS:
1218 case DEBUG_NODE_WARNING:
1221 case DEBUG_NODE_FAIL:
1228 te_customflash(position, 40, 2, c);
1231 // Support for debugging the goal stack visually
1234 .vector lastposition;
1236 // Debug the goal stack visually
1237 void debuggoalstack(entity this)
1242 if(this.goalcounter==0)goal=this.goalcurrent;
1243 else if(this.goalcounter==1)goal=this.goalstack01;
1244 else if(this.goalcounter==2)goal=this.goalstack02;
1245 else if(this.goalcounter==3)goal=this.goalstack03;
1246 else if(this.goalcounter==4)goal=this.goalstack04;
1247 else if(this.goalcounter==5)goal=this.goalstack05;
1248 else if(this.goalcounter==6)goal=this.goalstack06;
1249 else if(this.goalcounter==7)goal=this.goalstack07;
1250 else if(this.goalcounter==8)goal=this.goalstack08;
1251 else if(this.goalcounter==9)goal=this.goalstack09;
1252 else if(this.goalcounter==10)goal=this.goalstack10;
1253 else if(this.goalcounter==11)goal=this.goalstack11;
1254 else if(this.goalcounter==12)goal=this.goalstack12;
1255 else if(this.goalcounter==13)goal=this.goalstack13;
1256 else if(this.goalcounter==14)goal=this.goalstack14;
1257 else if(this.goalcounter==15)goal=this.goalstack15;
1258 else if(this.goalcounter==16)goal=this.goalstack16;
1259 else if(this.goalcounter==17)goal=this.goalstack17;
1260 else if(this.goalcounter==18)goal=this.goalstack18;
1261 else if(this.goalcounter==19)goal=this.goalstack19;
1262 else if(this.goalcounter==20)goal=this.goalstack20;
1263 else if(this.goalcounter==21)goal=this.goalstack21;
1264 else if(this.goalcounter==22)goal=this.goalstack22;
1265 else if(this.goalcounter==23)goal=this.goalstack23;
1266 else if(this.goalcounter==24)goal=this.goalstack24;
1267 else if(this.goalcounter==25)goal=this.goalstack25;
1268 else if(this.goalcounter==26)goal=this.goalstack26;
1269 else if(this.goalcounter==27)goal=this.goalstack27;
1270 else if(this.goalcounter==28)goal=this.goalstack28;
1271 else if(this.goalcounter==29)goal=this.goalstack29;
1272 else if(this.goalcounter==30)goal=this.goalstack30;
1273 else if(this.goalcounter==31)goal=this.goalstack31;
1278 this.goalcounter = 0;
1279 this.lastposition='0 0 0';
1283 if(this.lastposition=='0 0 0')
1286 org = this.lastposition;
1289 go = ( goal.absmin + goal.absmax ) * 0.5;
1290 te_lightning2(NULL, org, go);
1291 this.lastposition = go;