qcsrc/server/bot/default/navigation.qc

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