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 - eZ * (PL_MAX_CONST.z - 1); \
  55                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
  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 - eZ * (PL_MAX_CONST.z - 1); \
  69                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
  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 - eZ * (PL_MAX_CONST.z - 1); \
  85                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
  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);