Disambiguate and simplify some waypoint code
[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
34 .entity nearestwaypoint;
35 .float nearestwaypointtimeout;
36
37 /*
38 // item it is linked from waypoint it.wpXX (INCOMING link)
39 // links are sorted by their cost (wpXXmincost)
40 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
41 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
42
43 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
44 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
45 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
46 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
47 */
48
49 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
50 #define navigation_item_addlink(from_wp, to_item) \
51         waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
52
53 #define TELEPORT_USED(pl, tele_wp) \
54         (time - pl.lastteleporttime < ((tele_wp.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15) \
55         && boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl)))
56
57 vector tracewalk_dest;
58 float tracewalk_dest_height;
59
60 .entity wp_goal_prev0;
61 .entity wp_goal_prev1;
62
63 .float lastteleporttime;
64 .vector lastteleport_origin;
65
66 .float blacklisted;
67
68 .entity navigation_jetpack_goal;
69 .vector navigation_jetpack_point;
70
71 const float DEBUG_NODE_SUCCESS        = 1;
72 const float DEBUG_NODE_WARNING        = 2;
73 const float DEBUG_NODE_FAIL           = 3;
74 vector debuglastnode;
75
76 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
77 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
78 .entity bot_waypoint_queue_nextgoal;
79 entity bot_waypoint_queue_bestgoal;
80 float bot_waypoint_queue_bestgoalrating;
81
82 .entity bot_basewaypoint;
83 .bool navigation_dynamicgoal;
84 void navigation_dynamicgoal_init(entity this, bool initially_static);
85 void navigation_dynamicgoal_set(entity this);
86 void navigation_dynamicgoal_unset(entity this);
87
88 .int nav_submerged_state;
89 #define SUBMERGED_UNDEFINED 0
90 #define SUBMERGED_NO 1
91 #define SUBMERGED_YES 2
92 bool navigation_check_submerged_state(entity ent, vector pos);
93
94
95 /*
96  * Functions
97  */
98
99 void debugresetnodes();
100 void debugnode(entity this, vector node);
101 void debugnodestatus(vector position, float status);
102
103 void debuggoalstack(entity this);
104
105 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
106
107 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
108 float navigation_routetogoal(entity this, entity e, vector startposition);
109
110 void navigation_clearroute(entity this);
111 void navigation_pushroute(entity this, entity e);
112 void navigation_poproute(entity this);
113 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
114 void navigation_markroutes(entity this, entity fixed_source_waypoint);
115 void navigation_markroutes_inverted(entity fixed_source_waypoint);
116 void navigation_routerating(entity this, entity e, float f, float rangebias);
117 void navigation_shortenpath(entity this);
118 int navigation_poptouchedgoals(entity this);
119 void navigation_goalrating_start(entity this);
120 void navigation_goalrating_end(entity this);
121 void navigation_goalrating_timeout_set(entity this);
122 void navigation_goalrating_timeout_force(entity this);
123 bool navigation_goalrating_timeout(entity this);
124 void navigation_unstuck(entity this);
125
126 void botframe_updatedangerousobjects(float maxupdate);
127
128 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
129 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);