Merge branch 'master' into terencehill/bot_ai
[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
14 entity navigation_bestgoal;
15
16 // stack of current goals (the last one of which may be an item or other
17 // desirable object, the rest are typically waypoints to reach it)
18 .entity goalcurrent, goalstack01, goalstack02, goalstack03;
19 .entity goalstack04, goalstack05, goalstack06, goalstack07;
20 .entity goalstack08, goalstack09, goalstack10, goalstack11;
21 .entity goalstack12, goalstack13, goalstack14, goalstack15;
22 .entity goalstack16, goalstack17, goalstack18, goalstack19;
23 .entity goalstack20, goalstack21, goalstack22, goalstack23;
24 .entity goalstack24, goalstack25, goalstack26, goalstack27;
25 .entity goalstack28, goalstack29, goalstack30, goalstack31;
26
27 .entity goalcurrent_prev;
28 .float goalcurrent_distance_z;
29 .float goalcurrent_distance_2d;
30 .float goalcurrent_distance_time;
31
32 .float goalentity_lock_timeout;
33 .bool goalentity_shouldbefrozen;
34
35 .entity nearestwaypoint;
36 .float nearestwaypointtimeout;
37
38 /*
39 // item it is linked from waypoint it.wpXX (INCOMING link)
40 // links are sorted by their cost (wpXXmincost)
41 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
42 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
43
44 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
45 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
46 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
47 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
48 */
49
50 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
51 #define navigation_item_addlink(from_wp, to_item) \
52         waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
53
54 #define TELEPORT_USED(pl, tele_wp) \
55         (time - pl.lastteleporttime < ((tele_wp.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15) \
56         && boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl)))
57
58 vector tracewalk_dest;
59 float tracewalk_dest_height;
60
61 .entity wp_goal_prev0;
62 .entity wp_goal_prev1;
63
64 .float lastteleporttime;
65 .vector lastteleport_origin;
66
67 .float blacklisted;
68
69 .entity navigation_jetpack_goal;
70 .vector navigation_jetpack_point;
71
72 const float DEBUG_NODE_SUCCESS        = 1;
73 const float DEBUG_NODE_WARNING        = 2;
74 const float DEBUG_NODE_FAIL           = 3;
75 vector debuglastnode;
76
77 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
78 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
79 .entity bot_waypoint_queue_nextgoal;
80 entity bot_waypoint_queue_bestgoal;
81 float bot_waypoint_queue_bestgoalrating;
82
83 .entity bot_basewaypoint;
84 .bool navigation_dynamicgoal;
85 void navigation_dynamicgoal_init(entity this, bool initially_static);
86 void navigation_dynamicgoal_set(entity this);
87 void navigation_dynamicgoal_unset(entity this);
88
89 .int nav_submerged_state;
90 #define SUBMERGED_UNDEFINED 0
91 #define SUBMERGED_NO 1
92 #define SUBMERGED_YES 2
93 bool navigation_check_submerged_state(entity ent, vector pos);
94
95
96 /*
97  * Functions
98  */
99
100 void debugresetnodes();
101 void debugnode(entity this, vector node);
102 void debugnodestatus(vector position, float status);
103
104 void debuggoalstack(entity this);
105
106 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
107
108 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
109 float navigation_routetogoal(entity this, entity e, vector startposition);
110
111 void navigation_clearroute(entity this);
112 void navigation_pushroute(entity this, entity e);
113 void navigation_poproute(entity this);
114 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
115 void navigation_markroutes(entity this, entity fixed_source_waypoint);
116 void navigation_markroutes_inverted(entity fixed_source_waypoint);
117 void navigation_routerating(entity this, entity e, float f, float rangebias);
118 bool navigation_shortenpath(entity this);
119 int navigation_poptouchedgoals(entity this);
120 void navigation_goalrating_start(entity this);
121 void navigation_goalrating_end(entity this);
122 void navigation_goalrating_timeout_set(entity this);
123 void navigation_goalrating_timeout_force(entity this);
124 bool navigation_goalrating_timeout(entity this);
125 void navigation_unstuck(entity this);
126
127 void botframe_updatedangerousobjects(float maxupdate);
128
129 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
130 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);