Merge branch 'master' into terencehill/bot_waypoints
[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;
29 .float goalcurrent_distance_time;
30
31 .entity nearestwaypoint;
32 .float nearestwaypoint_dist;
33 .float nearestwaypointtimeout;
34
35 /*
36 // item it is linked from waypoint it.wpXX (INCOMING link)
37 // links are sorted by their cost (wpXXmincost)
38 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
39 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
40
41 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
42 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
43 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
44 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
45 */
46
47 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
48 #define navigation_item_addlink(from_wp, to_item) \
49         waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
50
51 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
52 #define SET_DESTCOORDS(ent, org, v) MACRO_BEGIN { \
53         if ((ent.classname != "waypoint") || ent.wpisbox) { \
54                 vector wm1 = ent.origin + ent.mins; \
55                 vector wm2 = ent.origin + ent.maxs; \
56                 v.x = bound(wm1.x, org.x, wm2.x); \
57                 v.y = bound(wm1.y, org.y, wm2.y); \
58                 v.z = bound(wm1.z, org.z, wm2.z); \
59         } else { \
60                 v = ent.origin; \
61         } \
62 } MACRO_END
63
64 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
65 // (but v.z is set to the lowest coord of ent), v_height is set to ent's height
66 #define SET_TRACEWALK_DESTCOORDS(ent, org, v, v_height) MACRO_BEGIN { \
67         if ((ent.classname != "waypoint") || ent.wpisbox) { \
68                 vector wm1 = ent.origin + ent.mins; \
69                 vector wm2 = ent.origin + ent.maxs; \
70                 v.x = bound(wm1.x, org.x, wm2.x); \
71                 v.y = bound(wm1.y, org.y, wm2.y); \
72                 v.z = wm1.z; \
73                 v_height = wm2.z - wm1.z; \
74         } else { \
75                 v = ent.origin; \
76                 v_height = 0; \
77         } \
78 } MACRO_END
79
80 // if ent is a box waypoint or an item v and v2 are set to coords of ent that are closer to org
81 // (but v2.z is set to the lowest coord of ent), v2_height is set to ent's height
82 #define SET_TRACEWALK_DESTCOORDS_2(ent, org, v, v2, v2_height) MACRO_BEGIN { \
83         if ((ent.classname != "waypoint") || ent.wpisbox) { \
84                 vector wm1 = ent.origin + ent.mins; \
85                 vector wm2 = ent.origin + ent.maxs; \
86                 v.x = bound(wm1.x, org.x, wm2.x); \
87                 v.y = bound(wm1.y, org.y, wm2.y); \
88                 v.z = bound(wm1.z, org.z, wm2.z); \
89                 v2.x = v.x; \
90                 v2.y = v.y; \
91                 v2.z = wm1.z; \
92                 v2_height = wm2.z - wm1.z; \
93         } else { \
94                 v = ent.origin; \
95                 v2 = v; \
96                 v2_height = 0; \
97         } \
98 } MACRO_END
99
100 .entity wp_goal_prev0;
101 .entity wp_goal_prev1;
102
103 .float lastteleporttime;
104
105 .float blacklisted;
106
107 .entity navigation_jetpack_goal;
108 .vector navigation_jetpack_point;
109
110 const float DEBUG_NODE_SUCCESS        = 1;
111 const float DEBUG_NODE_WARNING        = 2;
112 const float DEBUG_NODE_FAIL           = 3;
113 vector debuglastnode;
114
115 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
116 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
117 .entity bot_waypoint_queue_nextgoal;
118 entity bot_waypoint_queue_bestgoal;
119 float bot_waypoint_queue_bestgoalrating;
120
121 .entity bot_basewaypoint;
122 .bool navigation_dynamicgoal;
123 void navigation_dynamicgoal_init(entity this, bool initially_static);
124 void navigation_dynamicgoal_set(entity this);
125 void navigation_dynamicgoal_unset(entity this);
126
127 .int nav_submerged_state;
128 #define SUBMERGED_UNDEFINED 0
129 #define SUBMERGED_NO 1
130 #define SUBMERGED_YES 2
131 bool navigation_check_submerged_state(entity ent, vector pos);
132
133
134 /*
135  * Functions
136  */
137
138 void debugresetnodes();
139 void debugnode(entity this, vector node);
140 void debugnodestatus(vector position, float status);
141
142 void debuggoalstack(entity this);
143
144 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
145
146 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
147 float navigation_routetogoal(entity this, entity e, vector startposition);
148
149 void navigation_clearroute(entity this);
150 void navigation_pushroute(entity this, entity e);
151 void navigation_poproute(entity this);
152 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
153 void navigation_markroutes(entity this, entity fixed_source_waypoint);
154 void navigation_markroutes_inverted(entity fixed_source_waypoint);
155 void navigation_routerating(entity this, entity e, float f, float rangebias);
156 void navigation_poptouchedgoals(entity this);
157 void navigation_goalrating_start(entity this);
158 void navigation_goalrating_end(entity this);
159 void navigation_unstuck(entity this);
160
161 void botframe_updatedangerousobjects(float maxupdate);
162
163 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
164 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);