On waypoint removal, directly remove all links to it instead of relinking all linked...
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / default / waypoints.qc
1 #include "waypoints.qh"
2
3 #include "cvars.qh"
4
5 #include "bot.qh"
6 #include "navigation.qh"
7
8 #include <common/state.qh>
9
10 #include "../../antilag.qh"
11
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14
15 #include <lib/warpzone/common.qh>
16 #include <lib/warpzone/util_server.qh>
17
18 void waypoint_setupmodel(entity wp)
19 {
20         if (autocvar_g_waypointeditor)
21         {
22                 // TODO: add some sort of visible box in edit mode for box waypoints
23                 vector m1 = wp.mins;
24                 vector m2 = wp.maxs;
25                 setmodel(wp, MDL_WAYPOINT);
26                 setsize(wp, m1, m2);
27                 wp.effects = EF_LOWPRECISION;
28                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
29                         wp.colormod = '1 0 0';
30                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
31                         wp.colormod = '1 1 0';
32                 else
33                         wp.colormod = '1 1 1';
34         }
35         else
36                 wp.model = "";
37 }
38
39 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
40 // them back to it as well
41 // (suitable for spawnfunc_waypoint editor)
42 entity waypoint_spawn(vector m1, vector m2, float f)
43 {
44         if(!(f & WAYPOINTFLAG_PERSONAL))
45         {
46                 IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax),
47                 {
48                         return it;
49                 });
50         }
51
52         entity w = new(waypoint);
53         IL_PUSH(g_waypoints, w);
54         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
55         w.wpflags = f;
56         w.solid = SOLID_TRIGGER;
57         setorigin(w, (m1 + m2) * 0.5);
58         setsize(w, m1 - w.origin, m2 - w.origin);
59         if (w.size)
60                 w.wpisbox = true;
61
62         if(!w.wpisbox)
63         {
64                 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
65                 if(!move_out_of_solid(w))
66                 {
67                         if(!(f & WAYPOINTFLAG_GENERATED))
68                         {
69                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
70                                 delete(w);
71                                 return NULL;
72                         }
73                         else
74                         {
75                                 if(autocvar_developer)
76                                 {
77                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
78                                         backtrace("Waypoint stuck");
79                                 }
80                         }
81                 }
82                 setsize(w, '0 0 0', '0 0 0');
83         }
84
85         waypoint_clearlinks(w);
86         //waypoint_schedulerelink(w);
87
88         waypoint_setupmodel(w);
89
90         return w;
91 }
92
93 void waypoint_removelink(entity from, entity to)
94 {
95         if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
96                 return;
97
98         bool found = false;
99         if (!found && from.wp00 == to) found = true; if (found) {from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;}
100         if (!found && from.wp01 == to) found = true; if (found) {from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;}
101         if (!found && from.wp02 == to) found = true; if (found) {from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;}
102         if (!found && from.wp03 == to) found = true; if (found) {from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;}
103         if (!found && from.wp04 == to) found = true; if (found) {from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;}
104         if (!found && from.wp05 == to) found = true; if (found) {from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;}
105         if (!found && from.wp06 == to) found = true; if (found) {from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;}
106         if (!found && from.wp07 == to) found = true; if (found) {from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;}
107         if (!found && from.wp08 == to) found = true; if (found) {from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;}
108         if (!found && from.wp09 == to) found = true; if (found) {from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;}
109         if (!found && from.wp10 == to) found = true; if (found) {from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;}
110         if (!found && from.wp11 == to) found = true; if (found) {from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;}
111         if (!found && from.wp12 == to) found = true; if (found) {from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;}
112         if (!found && from.wp13 == to) found = true; if (found) {from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;}
113         if (!found && from.wp14 == to) found = true; if (found) {from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;}
114         if (!found && from.wp15 == to) found = true; if (found) {from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;}
115         if (!found && from.wp16 == to) found = true; if (found) {from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;}
116         if (!found && from.wp17 == to) found = true; if (found) {from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;}
117         if (!found && from.wp18 == to) found = true; if (found) {from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;}
118         if (!found && from.wp19 == to) found = true; if (found) {from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;}
119         if (!found && from.wp20 == to) found = true; if (found) {from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;}
120         if (!found && from.wp21 == to) found = true; if (found) {from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;}
121         if (!found && from.wp22 == to) found = true; if (found) {from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;}
122         if (!found && from.wp23 == to) found = true; if (found) {from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;}
123         if (!found && from.wp24 == to) found = true; if (found) {from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;}
124         if (!found && from.wp25 == to) found = true; if (found) {from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;}
125         if (!found && from.wp26 == to) found = true; if (found) {from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;}
126         if (!found && from.wp27 == to) found = true; if (found) {from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;}
127         if (!found && from.wp28 == to) found = true; if (found) {from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;}
128         if (!found && from.wp29 == to) found = true; if (found) {from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;}
129         if (!found && from.wp30 == to) found = true; if (found) {from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;}
130         if (found) {from.wp31 = NULL; from.wp31mincost = 10000000;}
131 }
132
133 bool waypoint_islinked(entity from, entity to)
134 {
135         if (from.wp00 == to) return true;if (from.wp01 == to) return true;if (from.wp02 == to) return true;if (from.wp03 == to) return true;
136         if (from.wp04 == to) return true;if (from.wp05 == to) return true;if (from.wp06 == to) return true;if (from.wp07 == to) return true;
137         if (from.wp08 == to) return true;if (from.wp09 == to) return true;if (from.wp10 == to) return true;if (from.wp11 == to) return true;
138         if (from.wp12 == to) return true;if (from.wp13 == to) return true;if (from.wp14 == to) return true;if (from.wp15 == to) return true;
139         if (from.wp16 == to) return true;if (from.wp17 == to) return true;if (from.wp18 == to) return true;if (from.wp19 == to) return true;
140         if (from.wp20 == to) return true;if (from.wp21 == to) return true;if (from.wp22 == to) return true;if (from.wp23 == to) return true;
141         if (from.wp24 == to) return true;if (from.wp25 == to) return true;if (from.wp26 == to) return true;if (from.wp27 == to) return true;
142         if (from.wp28 == to) return true;if (from.wp29 == to) return true;if (from.wp30 == to) return true;if (from.wp31 == to) return true;
143         return false;
144 }
145
146 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
147 void waypoint_addlink(entity from, entity to)
148 {
149         float c;
150
151         if (from == to)
152                 return;
153         if (from.wpflags & WAYPOINTFLAG_NORELINK)
154                 return;
155
156         if (waypoint_islinked(from, to))
157                 return;
158
159         if (to.wpisbox || from.wpisbox)
160         {
161                 // if either is a box we have to find the nearest points on them to
162                 // calculate the distance properly
163                 vector v1, v2, m1, m2;
164                 v1 = from.origin;
165                 m1 = to.absmin;
166                 m2 = to.absmax;
167                 v1_x = bound(m1_x, v1_x, m2_x);
168                 v1_y = bound(m1_y, v1_y, m2_y);
169                 v1_z = bound(m1_z, v1_z, m2_z);
170                 v2 = to.origin;
171                 m1 = from.absmin;
172                 m2 = from.absmax;
173                 v2_x = bound(m1_x, v2_x, m2_x);
174                 v2_y = bound(m1_y, v2_y, m2_y);
175                 v2_z = bound(m1_z, v2_z, m2_z);
176                 v2 = to.origin;
177                 c = vlen(v2 - v1);
178         }
179         else
180                 c = vlen(to.origin - from.origin);
181
182         if (from.wp31mincost < c) return;
183         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
184         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
185         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
186         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
187         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
188         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
189         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
190         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
191         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
192         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
193         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
194         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
195         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
196         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
197         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
198         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
199         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
200         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
201         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
202         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
203         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
204         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
205         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
206         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
207         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
208         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
209         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
210         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
211         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
212         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
213         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
214         from.wp00 = to;from.wp00mincost = c;return;
215 }
216
217 // relink this spawnfunc_waypoint
218 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
219 // (SLOW!)
220 void waypoint_think(entity this)
221 {
222         vector sv, sm1, sm2, ev, em1, em2, dv;
223
224         bot_calculate_stepheightvec();
225
226         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
227
228         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
229         sm1 = this.origin + this.mins;
230         sm2 = this.origin + this.maxs;
231         IL_EACH(g_waypoints, this != it,
232         {
233                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
234                 {
235                         waypoint_addlink(this, it);
236                         waypoint_addlink(it, this);
237                 }
238                 else
239                 {
240                         ++relink_total;
241                         if(!checkpvs(this.origin, it))
242                         {
243                                 ++relink_pvsculled;
244                                 continue;
245                         }
246                         sv = it.origin;
247                         sv.x = bound(sm1_x, sv.x, sm2_x);
248                         sv.y = bound(sm1_y, sv.y, sm2_y);
249                         sv.z = bound(sm1_z, sv.z, sm2_z);
250                         ev = this.origin;
251                         em1 = it.origin + it.mins;
252                         em2 = it.origin + it.maxs;
253                         ev.x = bound(em1_x, ev.x, em2_x);
254                         ev.y = bound(em1_y, ev.y, em2_y);
255                         ev.z = bound(em1_z, ev.z, em2_z);
256                         dv = ev - sv;
257                         dv.z = 0;
258                         if(vdist(dv, >=, 1050)) // max search distance in XY
259                         {
260                                 ++relink_lengthculled;
261                                 continue;
262                         }
263                         navigation_testtracewalk = 0;
264                         if (!this.wpisbox)
265                         {
266                                 tracebox(sv - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, sv, false, this);
267                                 if (!trace_startsolid)
268                                 {
269                                         //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
270                                         sv = trace_endpos + '0 0 1';
271                                 }
272                         }
273                         if (!it.wpisbox)
274                         {
275                                 tracebox(ev - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, ev, false, it);
276                                 if (!trace_startsolid)
277                                 {
278                                         //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
279                                         ev = trace_endpos + '0 0 1';
280                                 }
281                         }
282                         //traceline(this.origin, it.origin, false, NULL);
283                         //if (trace_fraction == 1)
284                         if (!this.wpisbox && tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev, MOVE_NOMONSTERS))
285                                 waypoint_addlink(this, it);
286                         else
287                                 relink_walkculled += 0.5;
288                         if (!it.wpisbox && tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv, MOVE_NOMONSTERS))
289                                 waypoint_addlink(it, this);
290                         else
291                                 relink_walkculled += 0.5;
292                 }
293         });
294         navigation_testtracewalk = 0;
295         this.wplinked = true;
296 }
297
298 void waypoint_clearlinks(entity wp)
299 {
300         // clear links to other waypoints
301         float f = 10000000;
302         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
303         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
304         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
305         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
306
307         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
308         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
309         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
310         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
311
312         wp.wplinked = false;
313 }
314
315 // tell a spawnfunc_waypoint to relink
316 void waypoint_schedulerelink(entity wp)
317 {
318         if (wp == NULL)
319                 return;
320
321         waypoint_setupmodel(wp);
322         wp.wpisbox = vdist(wp.size, >, 0);
323         wp.enemy = NULL;
324         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
325                 wp.owner = NULL;
326         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
327                 waypoint_clearlinks(wp);
328         // schedule an actual relink on next frame
329         setthink(wp, waypoint_think);
330         wp.nextthink = time;
331         wp.effects = EF_LOWPRECISION;
332 }
333
334 // spawnfunc_waypoint map entity
335 spawnfunc(waypoint)
336 {
337         IL_PUSH(g_waypoints, this);
338
339         setorigin(this, this.origin);
340         // schedule a relink after other waypoints have had a chance to spawn
341         waypoint_clearlinks(this);
342         //waypoint_schedulerelink(this);
343 }
344
345 void waypoint_remove(entity wp)
346 {
347         // tell all waypoints linked to wp that they need to relink
348         IL_EACH(g_waypoints, it != wp,
349         {
350                 if (waypoint_islinked(it, wp))
351                         waypoint_removelink(it, wp);
352         });
353         delete(wp);
354 }
355
356 void waypoint_removeall()
357 {
358         IL_EACH(g_waypoints, true,
359         {
360                 delete(it);
361         });
362 }
363
364 // tell all waypoints to relink
365 // actually this is useful only to update relink_* stats
366 void waypoint_schedulerelinkall()
367 {
368         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
369         IL_EACH(g_waypoints, true,
370         {
371                 waypoint_schedulerelink(it);
372         });
373         waypoint_load_links_hardwired();
374 }
375
376 // Load waypoint links from file
377 float waypoint_load_links()
378 {
379         string filename, s;
380         float file, tokens, c = 0, found;
381         entity wp_from = NULL, wp_to;
382         vector wp_to_pos, wp_from_pos;
383         filename = strcat("maps/", mapname);
384         filename = strcat(filename, ".waypoints.cache");
385         file = fopen(filename, FILE_READ);
386
387         if (file < 0)
388         {
389                 LOG_TRACE("waypoint links load from ");
390                 LOG_TRACE(filename);
391                 LOG_TRACE(" failed");
392                 return false;
393         }
394
395         while ((s = fgets(file)))
396         {
397                 tokens = tokenizebyseparator(s, "*");
398
399                 if (tokens!=2)
400                 {
401                         // bad file format
402                         fclose(file);
403                         return false;
404                 }
405
406                 wp_from_pos     = stov(argv(0));
407                 wp_to_pos       = stov(argv(1));
408
409                 // Search "from" waypoint
410                 if(!wp_from || wp_from.origin!=wp_from_pos)
411                 {
412                         wp_from = findradius(wp_from_pos, 1);
413                         found = false;
414                         while(wp_from)
415                         {
416                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
417                                 if(wp_from.classname == "waypoint")
418                                 {
419                                         found = true;
420                                         break;
421                                 }
422                                 wp_from = wp_from.chain;
423                         }
424
425                         if(!found)
426                         {
427                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
428                                 continue;
429                         }
430
431                 }
432
433                 // Search "to" waypoint
434                 wp_to = findradius(wp_to_pos, 1);
435                 found = false;
436                 while(wp_to)
437                 {
438                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
439                         if(wp_to.classname == "waypoint")
440                         {
441                                 found = true;
442                                 break;
443                         }
444                         wp_to = wp_to.chain;
445                 }
446
447                 if(!found)
448                 {
449                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
450                         continue;
451                 }
452
453                 ++c;
454                 waypoint_addlink(wp_from, wp_to);
455         }
456
457         fclose(file);
458
459         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
460
461         botframe_cachedwaypointlinks = true;
462         return true;
463 }
464
465 void waypoint_load_links_hardwired()
466 {
467         string filename, s;
468         float file, tokens, c = 0, found;
469         entity wp_from = NULL, wp_to;
470         vector wp_to_pos, wp_from_pos;
471         filename = strcat("maps/", mapname);
472         filename = strcat(filename, ".waypoints.hardwired");
473         file = fopen(filename, FILE_READ);
474
475         botframe_loadedforcedlinks = true;
476
477         if (file < 0)
478         {
479                 LOG_TRACE("waypoint links load from ", filename, " failed");
480                 return;
481         }
482
483         while ((s = fgets(file)))
484         {
485                 if(substring(s, 0, 2)=="//")
486                         continue;
487
488                 if(substring(s, 0, 1)=="#")
489                         continue;
490
491                 tokens = tokenizebyseparator(s, "*");
492
493                 if (tokens!=2)
494                         continue;
495
496                 wp_from_pos     = stov(argv(0));
497                 wp_to_pos       = stov(argv(1));
498
499                 // Search "from" waypoint
500                 if(!wp_from || wp_from.origin!=wp_from_pos)
501                 {
502                         wp_from = findradius(wp_from_pos, 5);
503                         found = false;
504                         while(wp_from)
505                         {
506                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
507                                 if(wp_from.classname == "waypoint")
508                                 {
509                                         found = true;
510                                         break;
511                                 }
512                                 wp_from = wp_from.chain;
513                         }
514
515                         if(!found)
516                         {
517                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
518                                 continue;
519                         }
520                 }
521
522                 // Search "to" waypoint
523                 wp_to = findradius(wp_to_pos, 5);
524                 found = false;
525                 while(wp_to)
526                 {
527                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
528                         if(wp_to.classname == "waypoint")
529                         {
530                                 found = true;
531                                 break;
532                         }
533                         wp_to = wp_to.chain;
534                 }
535
536                 if(!found)
537                 {
538                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
539                         continue;
540                 }
541
542                 ++c;
543                 waypoint_addlink(wp_from, wp_to);
544                 wp_from.wphardwired = true;
545                 wp_to.wphardwired = true;
546         }
547
548         fclose(file);
549
550         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
551 }
552
553 entity waypoint_get_link(entity w, float i)
554 {
555         switch(i)
556         {
557                 case  0:return w.wp00;
558                 case  1:return w.wp01;
559                 case  2:return w.wp02;
560                 case  3:return w.wp03;
561                 case  4:return w.wp04;
562                 case  5:return w.wp05;
563                 case  6:return w.wp06;
564                 case  7:return w.wp07;
565                 case  8:return w.wp08;
566                 case  9:return w.wp09;
567                 case 10:return w.wp10;
568                 case 11:return w.wp11;
569                 case 12:return w.wp12;
570                 case 13:return w.wp13;
571                 case 14:return w.wp14;
572                 case 15:return w.wp15;
573                 case 16:return w.wp16;
574                 case 17:return w.wp17;
575                 case 18:return w.wp18;
576                 case 19:return w.wp19;
577                 case 20:return w.wp20;
578                 case 21:return w.wp21;
579                 case 22:return w.wp22;
580                 case 23:return w.wp23;
581                 case 24:return w.wp24;
582                 case 25:return w.wp25;
583                 case 26:return w.wp26;
584                 case 27:return w.wp27;
585                 case 28:return w.wp28;
586                 case 29:return w.wp29;
587                 case 30:return w.wp30;
588                 case 31:return w.wp31;
589                 default:return NULL;
590         }
591 }
592
593 // Save all waypoint links to a file
594 void waypoint_save_links()
595 {
596         string filename = sprintf("maps/%s.waypoints.cache", mapname);
597         int file = fopen(filename, FILE_WRITE);
598         if (file < 0)
599         {
600                 LOG_INFOF("waypoint link save to %s failed\n", filename);
601                 return;
602         }
603
604         int c = 0;
605         IL_EACH(g_waypoints, true,
606         {
607                 for(int j = 0; j < 32; ++j)
608                 {
609                         entity link = waypoint_get_link(it, j);
610                         if(link)
611                         {
612                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
613                                 fputs(file, s);
614                                 ++c;
615                         }
616                 }
617         });
618         fclose(file);
619         botframe_cachedwaypointlinks = true;
620
621         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
622 }
623
624 // save waypoints to gamedir/data/maps/mapname.waypoints
625 void waypoint_saveall()
626 {
627         string filename = sprintf("maps/%s.waypoints", mapname);
628         int file = fopen(filename, FILE_WRITE);
629         if (file < 0)
630         {
631                 waypoint_save_links(); // save anyway?
632                 botframe_loadedforcedlinks = false;
633
634                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
635                 return;
636         }
637
638         int c = 0;
639         IL_EACH(g_waypoints, true,
640         {
641                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
642                         continue;
643
644                 string s;
645                 s = strcat(vtos(it.origin + it.mins), "\n");
646                 s = strcat(s, vtos(it.origin + it.maxs));
647                 s = strcat(s, "\n");
648                 s = strcat(s, ftos(it.wpflags));
649                 s = strcat(s, "\n");
650                 fputs(file, s);
651                 c++;
652         });
653         fclose(file);
654         waypoint_save_links();
655         botframe_loadedforcedlinks = false;
656
657         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
658 }
659
660 // load waypoints from file
661 float waypoint_loadall()
662 {
663         string filename, s;
664         float file, cwp, cwb, fl;
665         vector m1, m2;
666         cwp = 0;
667         cwb = 0;
668         filename = strcat("maps/", mapname);
669         filename = strcat(filename, ".waypoints");
670         file = fopen(filename, FILE_READ);
671         if (file >= 0)
672         {
673                 while ((s = fgets(file)))
674                 {
675                         m1 = stov(s);
676                         s = fgets(file);
677                         if (!s)
678                                 break;
679                         m2 = stov(s);
680                         s = fgets(file);
681                         if (!s)
682                                 break;
683                         fl = stof(s);
684                         waypoint_spawn(m1, m2, fl);
685                         if (m1 == m2)
686                                 cwp = cwp + 1;
687                         else
688                                 cwb = cwb + 1;
689                 }
690                 fclose(file);
691                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
692         }
693         else
694         {
695                 LOG_TRACE("waypoint load from ", filename, " failed");
696         }
697         return cwp + cwb;
698 }
699
700 vector waypoint_fixorigin(vector position)
701 {
702         tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
703         if(trace_fraction < 1)
704                 position = trace_endpos;
705         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
706         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
707         return position;
708 }
709
710 void waypoint_spawnforitem_force(entity e, vector org)
711 {
712         // Fix the waypoint altitude if necessary
713         org = waypoint_fixorigin(org);
714
715         // don't spawn an item spawnfunc_waypoint if it already exists
716         IL_EACH(g_waypoints, true,
717         {
718                 if(it.wpisbox)
719                 {
720                         if(boxesoverlap(org, org, it.absmin, it.absmax))
721                         {
722                                 e.nearestwaypoint = it;
723                                 return;
724                         }
725                 }
726                 else
727                 {
728                         if(vdist(it.origin - org, <, 16))
729                         {
730                                 e.nearestwaypoint = it;
731                                 return;
732                         }
733                 }
734         });
735
736         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
737 }
738
739 void waypoint_spawnforitem(entity e)
740 {
741         if(!bot_waypoints_for_items)
742                 return;
743
744         waypoint_spawnforitem_force(e, e.origin);
745 }
746
747 void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
748 {
749         entity w;
750         entity dw;
751         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_NORELINK);
752         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
753         // one way link to the destination
754         w.wp00 = dw;
755         w.wp00mincost = timetaken; // this is just for jump pads
756         // the teleporter's nearest spawnfunc_waypoint is this one
757         // (teleporters are not goals, so this is probably useless)
758         e.nearestwaypoint = w;
759         e.nearestwaypointtimeout = -1;
760 }
761
762 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
763 {
764         org = waypoint_fixorigin(org);
765         destination = waypoint_fixorigin(destination);
766         waypoint_spawnforteleporter_boxes(e, org, org, destination, destination, timetaken);
767 }
768
769 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
770 {
771         destination = waypoint_fixorigin(destination);
772         waypoint_spawnforteleporter_boxes(e, e.absmin, e.absmax, destination, destination, timetaken);
773 }
774
775 entity waypoint_spawnpersonal(entity this, vector position)
776 {
777         entity w;
778
779         // drop the waypoint to a proper location:
780         //   first move it up by a player height
781         //   then move it down to hit the floor with player bbox size
782         position = waypoint_fixorigin(position);
783
784         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
785         w.nearestwaypoint = NULL;
786         w.nearestwaypointtimeout = 0;
787         w.owner = this;
788
789         waypoint_schedulerelink(w);
790
791         return w;
792 }
793
794 void waypoint_showlink(entity wp1, entity wp2, int display_type)
795 {
796         if (!(wp1 && wp2))
797                 return;
798
799         if (wp1.wphardwired && wp2.wphardwired)
800                 te_beam(NULL, wp1.origin, wp2.origin);
801         else if (display_type == 1)
802                 te_lightning2(NULL, wp1.origin, wp2.origin);
803 }
804
805 void botframe_showwaypointlinks()
806 {
807         if (time < botframe_waypointeditorlightningtime)
808                 return;
809         botframe_waypointeditorlightningtime = time + 0.5;
810         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
811         {
812                 int display_type = 0;
813                 entity head = navigation_findnearestwaypoint(it, false);
814                 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
815                         display_type = 1; // default
816                 else if(head && (head.wphardwired))
817                         display_type = 2; // only hardwired
818
819                 if (display_type)
820                 {
821                         //navigation_testtracewalk = true;
822                         //print("currently selected WP is ", etos(head), "\n");
823                         //navigation_testtracewalk = false;
824                         if (head)
825                         {
826                                 te_lightning2(NULL, head.origin, it.origin);
827                                 waypoint_showlink(head.wp00, head, display_type);
828                                 waypoint_showlink(head.wp01, head, display_type);
829                                 waypoint_showlink(head.wp02, head, display_type);
830                                 waypoint_showlink(head.wp03, head, display_type);
831                                 waypoint_showlink(head.wp04, head, display_type);
832                                 waypoint_showlink(head.wp05, head, display_type);
833                                 waypoint_showlink(head.wp06, head, display_type);
834                                 waypoint_showlink(head.wp07, head, display_type);
835                                 waypoint_showlink(head.wp08, head, display_type);
836                                 waypoint_showlink(head.wp09, head, display_type);
837                                 waypoint_showlink(head.wp10, head, display_type);
838                                 waypoint_showlink(head.wp11, head, display_type);
839                                 waypoint_showlink(head.wp12, head, display_type);
840                                 waypoint_showlink(head.wp13, head, display_type);
841                                 waypoint_showlink(head.wp14, head, display_type);
842                                 waypoint_showlink(head.wp15, head, display_type);
843                                 waypoint_showlink(head.wp16, head, display_type);
844                                 waypoint_showlink(head.wp17, head, display_type);
845                                 waypoint_showlink(head.wp18, head, display_type);
846                                 waypoint_showlink(head.wp19, head, display_type);
847                                 waypoint_showlink(head.wp20, head, display_type);
848                                 waypoint_showlink(head.wp21, head, display_type);
849                                 waypoint_showlink(head.wp22, head, display_type);
850                                 waypoint_showlink(head.wp23, head, display_type);
851                                 waypoint_showlink(head.wp24, head, display_type);
852                                 waypoint_showlink(head.wp25, head, display_type);
853                                 waypoint_showlink(head.wp26, head, display_type);
854                                 waypoint_showlink(head.wp27, head, display_type);
855                                 waypoint_showlink(head.wp28, head, display_type);
856                                 waypoint_showlink(head.wp29, head, display_type);
857                                 waypoint_showlink(head.wp30, head, display_type);
858                                 waypoint_showlink(head.wp31, head, display_type);
859                         }
860                 }
861         });
862 }
863
864 float botframe_autowaypoints_fixdown(vector v)
865 {
866         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
867         if(trace_fraction >= 1)
868                 return 0;
869         return 1;
870 }
871
872 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
873 {
874         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
875         {
876                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
877                 return 0;
878         });
879
880         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
881         return 1;
882 }
883
884 // return value:
885 //    1 = WP created
886 //    0 = no action needed
887 //   -1 = temp fail, try from world too
888 //   -2 = permanent fail, do not retry
889 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
890 {
891         // make it possible to go from p to wp, if we can
892         // if wp is NULL, nearest is chosen
893
894         entity w;
895         vector porg;
896         float t, tmin, tmax;
897         vector o;
898         vector save;
899
900         if(!botframe_autowaypoints_fixdown(p.origin))
901                 return -2;
902         porg = trace_endpos;
903
904         if(wp)
905         {
906                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
907
908                 // if wp -> porg, then OK
909                 float maxdist;
910                 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
911                 {
912                         // we may find a better one
913                         maxdist = vlen(wp.origin - porg);
914                 }
915                 else
916                 {
917                         // accept any "good"
918                         maxdist = 2100;
919                 }
920
921                 float bestdist = maxdist;
922                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
923                 {
924                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
925                         if(d < bestdist)
926                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
927                         if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
928                         {
929                                 bestdist = d;
930                                 p.(fld) = it;
931                         }
932                 });
933                 if(bestdist < maxdist)
934                 {
935                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
936                         return 0;
937                 }
938
939                 if(bestdist < 2100)
940                 {
941                         // we know maxdist < 2100
942                         // so wp -> porg is still valid
943                         // all is good
944                         p.(fld) = wp;
945                         return 0;
946                 }
947
948                 // otherwise, no existing WP can fix our issues
949         }
950         else
951         {
952                 save = p.origin;
953                 setorigin(p, porg);
954                 w = navigation_findnearestwaypoint(p, walkfromwp);
955                 setorigin(p, save);
956                 if(w)
957                 {
958                         p.(fld) = w;
959                         return 0;
960                 }
961         }
962
963         tmin = 0;
964         tmax = 1;
965         for (;;)
966         {
967                 if(tmax - tmin < 0.001)
968                 {
969                         // did not get a good candidate
970                         return -1;
971                 }
972
973                 t = (tmin + tmax) * 0.5;
974                 o = antilag_takebackorigin(p, CS(p), time - t);
975                 if(!botframe_autowaypoints_fixdown(o))
976                         return -2;
977                 o = trace_endpos;
978
979                 if(wp)
980                 {
981                         if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
982                         {
983                                 // we cannot walk from wp.origin to o
984                                 // get closer to tmax
985                                 tmin = t;
986                                 continue;
987                         }
988                 }
989                 else
990                 {
991                         save = p.origin;
992                         setorigin(p, o);
993                         w = navigation_findnearestwaypoint(p, walkfromwp);
994                         setorigin(p, save);
995                         if(!w)
996                         {
997                                 // we cannot walk from any WP to o
998                                 // get closer to tmax
999                                 tmin = t;
1000                                 continue;
1001                         }
1002                 }
1003
1004                 // if we get here, o is valid regarding waypoints
1005                 // check if o is connected right to the player
1006                 // we break if it succeeds, as that means o is a good waypoint location
1007                 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
1008                         break;
1009
1010                 // o is no good, we need to get closer to the player
1011                 tmax = t;
1012         }
1013
1014         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1015         botframe_autowaypoints_createwp(o, p, fld, 0);
1016         return 1;
1017 }
1018
1019 // automatically create missing waypoints
1020 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1021 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1022 {
1023         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1024         if(r != -1)
1025                 return;
1026         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1027         if(r != -1)
1028                 return;
1029
1030         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1031         if(!botframe_autowaypoints_fixdown(p.origin))
1032                 return; // shouldn't happen, caught above
1033         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1034 }
1035
1036 void botframe_deleteuselesswaypoints()
1037 {
1038         IL_EACH(g_items, it.bot_pickup,
1039         {
1040                 // NOTE: this protects waypoints if they're the ONLY nearest
1041                 // waypoint. That's the intention.
1042                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1043                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1044         });
1045         IL_EACH(g_waypoints, true,
1046         {
1047                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1048                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1049                 // WP is useful if:
1050                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1051                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1052                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1053                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1054                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1055                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1056                 // b) WP is closest WP for an item/spawnpoint/other entity
1057                 //    This has been done above by protecting these WPs.
1058         });
1059         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1060         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1061         {
1062                 for (int m = 0; m < 32; ++m)
1063                 {
1064                         entity w = waypoint_get_link(it, m);
1065                         if (!w)
1066                                 break;
1067                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1068                                 continue;
1069                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1070                                 continue;
1071                         for (int j = 0; j < 32; ++j)
1072                         {
1073                                 entity w2 = waypoint_get_link(w, j);
1074                                 if (!w2)
1075                                         break;
1076                                 if (it == w2)
1077                                         continue;
1078                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1079                                         continue;
1080                                 // If we got here, it != w2 exist with it -> w
1081                                 // and w -> w2. That means the waypoint is not
1082                                 // a dead end.
1083                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1084                                 for (int k = 0; k < 32; ++k)
1085                                 {
1086                                         if (waypoint_get_link(it, k) == w2)
1087                                                 continue;
1088                                         // IF WE GET HERE, w is proven useful
1089                                         // to get from it to w2!
1090                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1091                                         goto next;
1092                                 }
1093                         }
1094 LABEL(next)
1095                 }
1096         });
1097         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1098         //     they are needed to complete routes while autowaypointing.
1099
1100         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1101         {
1102                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1103                 te_explosion(it.origin);
1104                 waypoint_remove(it);
1105                 break;
1106         });
1107
1108         IL_EACH(g_waypoints, true,
1109         {
1110                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1111         });
1112 }
1113
1114 void botframe_autowaypoints()
1115 {
1116         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1117                 // going back is broken, so only fix waypoints to walk TO the player
1118                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1119                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1120                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1121         ));
1122
1123         if (autocvar_g_waypointeditor_auto >= 2) {
1124                 botframe_deleteuselesswaypoints();
1125         }
1126 }
1127