Bot AI: while bunnyhopping detect waypoints way under bots (up to 250 qu) for smoothe...
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / default / navigation.qh
1 #pragma once
2 /*
3  * Globals and Fields
4  */
5
6 float navigation_bestrating;
7 float bot_navigation_movemode;
8 float navigation_testtracewalk;
9
10 vector jumpstepheightvec;
11 vector stepheightvec;
12 vector jumpheight_vec;
13 float jumpheight_time;
14
15 entity navigation_bestgoal;
16
17 // stack of current goals (the last one of which may be an item or other
18 // desirable object, the rest are typically waypoints to reach it)
19 .entity goalcurrent, goalstack01, goalstack02, goalstack03;
20 .entity goalstack04, goalstack05, goalstack06, goalstack07;
21 .entity goalstack08, goalstack09, goalstack10, goalstack11;
22 .entity goalstack12, goalstack13, goalstack14, goalstack15;
23 .entity goalstack16, goalstack17, goalstack18, goalstack19;
24 .entity goalstack20, goalstack21, goalstack22, goalstack23;
25 .entity goalstack24, goalstack25, goalstack26, goalstack27;
26 .entity goalstack28, goalstack29, goalstack30, goalstack31;
27
28 .entity goalcurrent_prev;
29 .float goalcurrent_distance_z;
30 .float goalcurrent_distance_2d;
31 .float goalcurrent_distance_time;
32
33 // final goal (item, object or player) is also saved in this field
34 .entity goalentity;
35 .float goalentity_lock_timeout;
36 .bool goalentity_shouldbefrozen;
37
38 .entity nearestwaypoint;
39 .float nearestwaypointtimeout;
40
41 /*
42 // item it is linked from waypoint it.wpXX (INCOMING link)
43 // links are sorted by their cost (wpXXmincost)
44 // one of these links is added in game every time a bot heads to an item
45 // even links that are not walkable are added (marked with a high cost)
46 // so that bots next time know if they can walk it or not saving a tracewalk call
47 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
48 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
49
50 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
51 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
52 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
53 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
54 */
55
56 #define navigation_item_initlinks_ifneeded(e) MACRO_BEGIN if (!e.wp00) waypoint_clearlinks(e); MACRO_END // initialize wpXXmincost fields
57 #define navigation_item_getlinknum(to_item, from_wp) waypoint_getlinknum(to_item, from_wp)
58 #define navigation_item_iswalkablelink(to_item, from_wp) (waypoint_get_assigned_link_cost(to_item, from_wp) < 999)
59
60 #define navigation_item_add_link(from_wp, to_item, walkable) \
61         waypoint_addlink_customcost(to_item, from_wp, (walkable ? waypoint_getlinkcost(from_wp, to_item) : 999))
62
63 #define TELEPORT_USED(pl, tele_wp) \
64         boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl))
65
66 vector tracewalk_dest;
67 float tracewalk_dest_height;
68
69 .entity wp_goal_prev0;
70 .entity wp_goal_prev1;
71
72 .float lastteleporttime;
73 .vector lastteleport_origin;
74
75 .float blacklisted;
76
77 .entity navigation_jetpack_goal;
78 .vector navigation_jetpack_point;
79
80 const float DEBUG_NODE_SUCCESS        = 1;
81 const float DEBUG_NODE_WARNING        = 2;
82 const float DEBUG_NODE_FAIL           = 3;
83 vector debuglastnode;
84
85 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
86 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
87 .entity bot_waypoint_queue_nextgoal;
88 entity bot_waypoint_queue_bestgoal;
89 float bot_waypoint_queue_bestgoalrating;
90
91 const float BOT_BUNNYHOP_WP_DETECTION_RANGE = 100;
92
93 .entity bot_basewaypoint;
94 .bool navigation_dynamicgoal;
95 void navigation_dynamicgoal_init(entity this, bool initially_static);
96 void navigation_dynamicgoal_set(entity this, entity dropper);
97 void navigation_dynamicgoal_unset(entity this);
98
99 .int nav_submerged_state;
100 #define SUBMERGED_UNDEFINED 0
101 #define SUBMERGED_NO 1
102 #define SUBMERGED_YES 2
103 bool navigation_check_submerged_state(entity ent, vector pos);
104
105
106 /*
107  * Functions
108  */
109
110 void debugresetnodes();
111 void debugnode(entity this, vector node);
112 void debugnodestatus(vector position, float status);
113
114 void debuggoalstack(entity this);
115
116 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
117
118 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
119 float navigation_routetogoal(entity this, entity e, vector startposition);
120
121 void navigation_clearroute(entity this);
122 void navigation_pushroute(entity this, entity e);
123 void navigation_poproute(entity this);
124 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
125 void navigation_markroutes(entity this, entity fixed_source_waypoint);
126 void navigation_markroutes_inverted(entity fixed_source_waypoint);
127 void navigation_routerating(entity this, entity e, float f, float rangebias);
128 bool navigation_shortenpath(entity this);
129 int navigation_poptouchedgoals(entity this);
130 void navigation_goalrating_start(entity this);
131 void navigation_goalrating_end(entity this);
132 void navigation_goalrating_timeout_set(entity this);
133 void navigation_goalrating_timeout_force(entity this);
134 bool navigation_goalrating_timeout(entity this);
135 void navigation_unstuck(entity this);
136
137 void botframe_updatedangerousobjects(float maxupdate);
138
139 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
140 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist);