Use the constants for player hitbox size when applicable (should fix observer hitbox)
[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 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
94 void waypoint_addlink(entity from, entity to)
95 {
96         float c;
97
98         if (from == to)
99                 return;
100         if (from.wpflags & WAYPOINTFLAG_NORELINK)
101                 return;
102
103         if (from.wp00 == to) return;if (from.wp01 == to) return;if (from.wp02 == to) return;if (from.wp03 == to) return;
104         if (from.wp04 == to) return;if (from.wp05 == to) return;if (from.wp06 == to) return;if (from.wp07 == to) return;
105         if (from.wp08 == to) return;if (from.wp09 == to) return;if (from.wp10 == to) return;if (from.wp11 == to) return;
106         if (from.wp12 == to) return;if (from.wp13 == to) return;if (from.wp14 == to) return;if (from.wp15 == to) return;
107         if (from.wp16 == to) return;if (from.wp17 == to) return;if (from.wp18 == to) return;if (from.wp19 == to) return;
108         if (from.wp20 == to) return;if (from.wp21 == to) return;if (from.wp22 == to) return;if (from.wp23 == to) return;
109         if (from.wp24 == to) return;if (from.wp25 == to) return;if (from.wp26 == to) return;if (from.wp27 == to) return;
110         if (from.wp28 == to) return;if (from.wp29 == to) return;if (from.wp30 == to) return;if (from.wp31 == to) return;
111
112         if (to.wpisbox || from.wpisbox)
113         {
114                 // if either is a box we have to find the nearest points on them to
115                 // calculate the distance properly
116                 vector v1, v2, m1, m2;
117                 v1 = from.origin;
118                 m1 = to.absmin;
119                 m2 = to.absmax;
120                 v1_x = bound(m1_x, v1_x, m2_x);
121                 v1_y = bound(m1_y, v1_y, m2_y);
122                 v1_z = bound(m1_z, v1_z, m2_z);
123                 v2 = to.origin;
124                 m1 = from.absmin;
125                 m2 = from.absmax;
126                 v2_x = bound(m1_x, v2_x, m2_x);
127                 v2_y = bound(m1_y, v2_y, m2_y);
128                 v2_z = bound(m1_z, v2_z, m2_z);
129                 v2 = to.origin;
130                 c = vlen(v2 - v1);
131         }
132         else
133                 c = vlen(to.origin - from.origin);
134
135         if (from.wp31mincost < c) return;
136         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
137         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
138         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
139         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
140         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
141         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
142         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
143         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
144         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
145         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
146         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
147         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
148         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
149         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
150         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
151         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
152         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
153         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
154         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
155         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
156         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
157         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
158         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
159         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
160         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
161         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
162         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
163         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
164         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
165         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
166         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
167         from.wp00 = to;from.wp00mincost = c;return;
168 }
169
170 // relink this spawnfunc_waypoint
171 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
172 // (SLOW!)
173 void waypoint_think(entity this)
174 {
175         vector sv, sm1, sm2, ev, em1, em2, dv;
176
177         bot_calculate_stepheightvec();
178
179         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
180
181         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
182         sm1 = this.origin + this.mins;
183         sm2 = this.origin + this.maxs;
184         IL_EACH(g_waypoints, true,
185         {
186                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
187                 {
188                         waypoint_addlink(this, it);
189                         waypoint_addlink(it, this);
190                 }
191                 else
192                 {
193                         ++relink_total;
194                         if(!checkpvs(this.origin, it))
195                         {
196                                 ++relink_pvsculled;
197                                 continue;
198                         }
199                         sv = it.origin;
200                         sv.x = bound(sm1_x, sv.x, sm2_x);
201                         sv.y = bound(sm1_y, sv.y, sm2_y);
202                         sv.z = bound(sm1_z, sv.z, sm2_z);
203                         ev = this.origin;
204                         em1 = it.origin + it.mins;
205                         em2 = it.origin + it.maxs;
206                         ev.x = bound(em1_x, ev.x, em2_x);
207                         ev.y = bound(em1_y, ev.y, em2_y);
208                         ev.z = bound(em1_z, ev.z, em2_z);
209                         dv = ev - sv;
210                         dv.z = 0;
211                         if(vdist(dv, >=, 1050)) // max search distance in XY
212                         {
213                                 ++relink_lengthculled;
214                                 continue;
215                         }
216                         navigation_testtracewalk = 0;
217                         if (!this.wpisbox)
218                         {
219                                 tracebox(sv - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, sv, false, this);
220                                 if (!trace_startsolid)
221                                 {
222                                         //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
223                                         sv = trace_endpos + '0 0 1';
224                                 }
225                         }
226                         if (!it.wpisbox)
227                         {
228                                 tracebox(ev - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, ev, false, it);
229                                 if (!trace_startsolid)
230                                 {
231                                         //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
232                                         ev = trace_endpos + '0 0 1';
233                                 }
234                         }
235                         //traceline(this.origin, it.origin, false, NULL);
236                         //if (trace_fraction == 1)
237                         if (!this.wpisbox && tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev, MOVE_NOMONSTERS))
238                                 waypoint_addlink(this, it);
239                         else
240                                 relink_walkculled += 0.5;
241                         if (!it.wpisbox && tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv, MOVE_NOMONSTERS))
242                                 waypoint_addlink(it, this);
243                         else
244                                 relink_walkculled += 0.5;
245                 }
246         });
247         navigation_testtracewalk = 0;
248         this.wplinked = true;
249 }
250
251 void waypoint_clearlinks(entity wp)
252 {
253         // clear links to other waypoints
254         float f;
255         f = 10000000;
256         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
257         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
258         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
259         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
260
261         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
262         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
263         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
264         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
265
266         wp.wplinked = false;
267 }
268
269 // tell a spawnfunc_waypoint to relink
270 void waypoint_schedulerelink(entity wp)
271 {
272         if (wp == NULL)
273                 return;
274
275         waypoint_setupmodel(wp);
276         wp.wpisbox = vdist(wp.size, >, 0);
277         wp.enemy = NULL;
278         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
279                 wp.owner = NULL;
280         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
281                 waypoint_clearlinks(wp);
282         // schedule an actual relink on next frame
283         setthink(wp, waypoint_think);
284         wp.nextthink = time;
285         wp.effects = EF_LOWPRECISION;
286 }
287
288 // spawnfunc_waypoint map entity
289 spawnfunc(waypoint)
290 {
291         IL_PUSH(g_waypoints, this);
292
293         setorigin(this, this.origin);
294         // schedule a relink after other waypoints have had a chance to spawn
295         waypoint_clearlinks(this);
296         //waypoint_schedulerelink(this);
297 }
298
299 // remove a spawnfunc_waypoint, and schedule all neighbors to relink
300 void waypoint_remove(entity e)
301 {
302         // tell all linked waypoints that they need to relink
303         waypoint_schedulerelink(e.wp00);
304         waypoint_schedulerelink(e.wp01);
305         waypoint_schedulerelink(e.wp02);
306         waypoint_schedulerelink(e.wp03);
307         waypoint_schedulerelink(e.wp04);
308         waypoint_schedulerelink(e.wp05);
309         waypoint_schedulerelink(e.wp06);
310         waypoint_schedulerelink(e.wp07);
311         waypoint_schedulerelink(e.wp08);
312         waypoint_schedulerelink(e.wp09);
313         waypoint_schedulerelink(e.wp10);
314         waypoint_schedulerelink(e.wp11);
315         waypoint_schedulerelink(e.wp12);
316         waypoint_schedulerelink(e.wp13);
317         waypoint_schedulerelink(e.wp14);
318         waypoint_schedulerelink(e.wp15);
319         waypoint_schedulerelink(e.wp16);
320         waypoint_schedulerelink(e.wp17);
321         waypoint_schedulerelink(e.wp18);
322         waypoint_schedulerelink(e.wp19);
323         waypoint_schedulerelink(e.wp20);
324         waypoint_schedulerelink(e.wp21);
325         waypoint_schedulerelink(e.wp22);
326         waypoint_schedulerelink(e.wp23);
327         waypoint_schedulerelink(e.wp24);
328         waypoint_schedulerelink(e.wp25);
329         waypoint_schedulerelink(e.wp26);
330         waypoint_schedulerelink(e.wp27);
331         waypoint_schedulerelink(e.wp28);
332         waypoint_schedulerelink(e.wp29);
333         waypoint_schedulerelink(e.wp30);
334         waypoint_schedulerelink(e.wp31);
335         // and now remove the spawnfunc_waypoint
336         delete(e);
337 }
338
339 // empties the map of waypoints
340 void waypoint_removeall()
341 {
342         IL_EACH(g_waypoints, true,
343         {
344                 delete(it);
345         });
346 }
347
348 // tell all waypoints to relink
349 // (is this useful at all?)
350 void waypoint_schedulerelinkall()
351 {
352         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
353         IL_EACH(g_waypoints, true,
354         {
355                 waypoint_schedulerelink(it);
356         });
357 }
358
359 // Load waypoint links from file
360 float waypoint_load_links()
361 {
362         string filename, s;
363         float file, tokens, c = 0, found;
364         entity wp_from = NULL, wp_to;
365         vector wp_to_pos, wp_from_pos;
366         filename = strcat("maps/", mapname);
367         filename = strcat(filename, ".waypoints.cache");
368         file = fopen(filename, FILE_READ);
369
370         if (file < 0)
371         {
372                 LOG_TRACE("waypoint links load from ");
373                 LOG_TRACE(filename);
374                 LOG_TRACE(" failed");
375                 return false;
376         }
377
378         while ((s = fgets(file)))
379         {
380                 tokens = tokenizebyseparator(s, "*");
381
382                 if (tokens!=2)
383                 {
384                         // bad file format
385                         fclose(file);
386                         return false;
387                 }
388
389                 wp_from_pos     = stov(argv(0));
390                 wp_to_pos       = stov(argv(1));
391
392                 // Search "from" waypoint
393                 if(!wp_from || wp_from.origin!=wp_from_pos)
394                 {
395                         wp_from = findradius(wp_from_pos, 1);
396                         found = false;
397                         while(wp_from)
398                         {
399                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
400                                 if(wp_from.classname == "waypoint")
401                                 {
402                                         found = true;
403                                         break;
404                                 }
405                                 wp_from = wp_from.chain;
406                         }
407
408                         if(!found)
409                         {
410                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from.origin));
411                                 continue;
412                         }
413
414                 }
415
416                 // Search "to" waypoint
417                 wp_to = findradius(wp_to_pos, 1);
418                 found = false;
419                 while(wp_to)
420                 {
421                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
422                         if(wp_to.classname == "waypoint")
423                         {
424                                 found = true;
425                                 break;
426                         }
427                         wp_to = wp_to.chain;
428                 }
429
430                 if(!found)
431                 {
432                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to.origin));
433                         continue;
434                 }
435
436                 ++c;
437                 waypoint_addlink(wp_from, wp_to);
438         }
439
440         fclose(file);
441
442         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
443
444         botframe_cachedwaypointlinks = true;
445         return true;
446 }
447
448 void waypoint_load_links_hardwired()
449 {
450         string filename, s;
451         float file, tokens, c = 0, found;
452         entity wp_from = NULL, wp_to;
453         vector wp_to_pos, wp_from_pos;
454         filename = strcat("maps/", mapname);
455         filename = strcat(filename, ".waypoints.hardwired");
456         file = fopen(filename, FILE_READ);
457
458         botframe_loadedforcedlinks = true;
459
460         if (file < 0)
461         {
462                 LOG_TRACE("waypoint links load from ", filename, " failed");
463                 return;
464         }
465
466         while ((s = fgets(file)))
467         {
468                 if(substring(s, 0, 2)=="//")
469                         continue;
470
471                 if(substring(s, 0, 1)=="#")
472                         continue;
473
474                 tokens = tokenizebyseparator(s, "*");
475
476                 if (tokens!=2)
477                         continue;
478
479                 wp_from_pos     = stov(argv(0));
480                 wp_to_pos       = stov(argv(1));
481
482                 // Search "from" waypoint
483                 if(!wp_from || wp_from.origin!=wp_from_pos)
484                 {
485                         wp_from = findradius(wp_from_pos, 5);
486                         found = false;
487                         while(wp_from)
488                         {
489                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
490                                 if(wp_from.classname == "waypoint")
491                                 {
492                                         found = true;
493                                         break;
494                                 }
495                                 wp_from = wp_from.chain;
496                         }
497
498                         if(!found)
499                         {
500                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
501                                 continue;
502                         }
503                 }
504
505                 // Search "to" waypoint
506                 wp_to = findradius(wp_to_pos, 5);
507                 found = false;
508                 while(wp_to)
509                 {
510                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
511                         if(wp_to.classname == "waypoint")
512                         {
513                                 found = true;
514                                 break;
515                         }
516                         wp_to = wp_to.chain;
517                 }
518
519                 if(!found)
520                 {
521                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
522                         continue;
523                 }
524
525                 ++c;
526                 waypoint_addlink(wp_from, wp_to);
527                 wp_from.wphardwired = true;
528                 wp_to.wphardwired = true;
529         }
530
531         fclose(file);
532
533         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
534 }
535
536 entity waypoint_get_link(entity w, float i)
537 {
538         switch(i)
539         {
540                 case  0:return w.wp00;
541                 case  1:return w.wp01;
542                 case  2:return w.wp02;
543                 case  3:return w.wp03;
544                 case  4:return w.wp04;
545                 case  5:return w.wp05;
546                 case  6:return w.wp06;
547                 case  7:return w.wp07;
548                 case  8:return w.wp08;
549                 case  9:return w.wp09;
550                 case 10:return w.wp10;
551                 case 11:return w.wp11;
552                 case 12:return w.wp12;
553                 case 13:return w.wp13;
554                 case 14:return w.wp14;
555                 case 15:return w.wp15;
556                 case 16:return w.wp16;
557                 case 17:return w.wp17;
558                 case 18:return w.wp18;
559                 case 19:return w.wp19;
560                 case 20:return w.wp20;
561                 case 21:return w.wp21;
562                 case 22:return w.wp22;
563                 case 23:return w.wp23;
564                 case 24:return w.wp24;
565                 case 25:return w.wp25;
566                 case 26:return w.wp26;
567                 case 27:return w.wp27;
568                 case 28:return w.wp28;
569                 case 29:return w.wp29;
570                 case 30:return w.wp30;
571                 case 31:return w.wp31;
572                 default:return NULL;
573         }
574 }
575
576 // Save all waypoint links to a file
577 void waypoint_save_links()
578 {
579         string filename = sprintf("maps/%s.waypoints.cache", mapname);
580         int file = fopen(filename, FILE_WRITE);
581         if (file < 0)
582         {
583                 LOG_INFOF("waypoint link save to %s failed\n", filename);
584                 return;
585         }
586
587         int c = 0;
588         IL_EACH(g_waypoints, true,
589         {
590                 for(int j = 0; j < 32; ++j)
591                 {
592                         entity link = waypoint_get_link(it, j);
593                         if(link)
594                         {
595                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
596                                 fputs(file, s);
597                                 ++c;
598                         }
599                 }
600         });
601         fclose(file);
602         botframe_cachedwaypointlinks = true;
603
604         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
605 }
606
607 // save waypoints to gamedir/data/maps/mapname.waypoints
608 void waypoint_saveall()
609 {
610         string filename = sprintf("maps/%s.waypoints", mapname);
611         int file = fopen(filename, FILE_WRITE);
612         if (file < 0)
613         {
614                 waypoint_save_links(); // save anyway?
615                 botframe_loadedforcedlinks = false;
616
617                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
618                 return;
619         }
620
621         int c = 0;
622         IL_EACH(g_waypoints, true,
623         {
624                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
625                         continue;
626
627                 for(int j = 0; j < 32; ++j)
628                 {
629                         string s;
630                         s = strcat(vtos(it.origin + it.mins), "\n");
631                         s = strcat(s, vtos(it.origin + it.maxs));
632                         s = strcat(s, "\n");
633                         s = strcat(s, ftos(it.wpflags));
634                         s = strcat(s, "\n");
635                         fputs(file, s);
636                         ++c;
637                 }
638         });
639         fclose(file);
640         waypoint_save_links();
641         botframe_loadedforcedlinks = false;
642
643         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
644 }
645
646 // load waypoints from file
647 float waypoint_loadall()
648 {
649         string filename, s;
650         float file, cwp, cwb, fl;
651         vector m1, m2;
652         cwp = 0;
653         cwb = 0;
654         filename = strcat("maps/", mapname);
655         filename = strcat(filename, ".waypoints");
656         file = fopen(filename, FILE_READ);
657         if (file >= 0)
658         {
659                 while ((s = fgets(file)))
660                 {
661                         m1 = stov(s);
662                         s = fgets(file);
663                         if (!s)
664                                 break;
665                         m2 = stov(s);
666                         s = fgets(file);
667                         if (!s)
668                                 break;
669                         fl = stof(s);
670                         waypoint_spawn(m1, m2, fl);
671                         if (m1 == m2)
672                                 cwp = cwp + 1;
673                         else
674                                 cwb = cwb + 1;
675                 }
676                 fclose(file);
677                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
678         }
679         else
680         {
681                 LOG_TRACE("waypoint load from ", filename, " failed");
682         }
683         return cwp + cwb;
684 }
685
686 vector waypoint_fixorigin(vector position)
687 {
688         tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
689         if(trace_fraction < 1)
690                 position = trace_endpos;
691         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
692         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
693         return position;
694 }
695
696 void waypoint_spawnforitem_force(entity e, vector org)
697 {
698         // Fix the waypoint altitude if necessary
699         org = waypoint_fixorigin(org);
700
701         // don't spawn an item spawnfunc_waypoint if it already exists
702         IL_EACH(g_waypoints, true,
703         {
704                 if(it.wpisbox)
705                 {
706                         if(boxesoverlap(org, org, it.absmin, it.absmax))
707                         {
708                                 e.nearestwaypoint = it;
709                                 return;
710                         }
711                 }
712                 else
713                 {
714                         if(vdist(it.origin - org, <, 16))
715                         {
716                                 e.nearestwaypoint = it;
717                                 return;
718                         }
719                 }
720         });
721
722         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
723 }
724
725 void waypoint_spawnforitem(entity e)
726 {
727         if(!bot_waypoints_for_items)
728                 return;
729
730         waypoint_spawnforitem_force(e, e.origin);
731 }
732
733 void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
734 {
735         entity w;
736         entity dw;
737         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_NORELINK);
738         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
739         // one way link to the destination
740         w.wp00 = dw;
741         w.wp00mincost = timetaken; // this is just for jump pads
742         // the teleporter's nearest spawnfunc_waypoint is this one
743         // (teleporters are not goals, so this is probably useless)
744         e.nearestwaypoint = w;
745         e.nearestwaypointtimeout = time + 1000000000;
746 }
747
748 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
749 {
750         org = waypoint_fixorigin(org);
751         destination = waypoint_fixorigin(destination);
752         waypoint_spawnforteleporter_boxes(e, org, org, destination, destination, timetaken);
753 }
754
755 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
756 {
757         destination = waypoint_fixorigin(destination);
758         waypoint_spawnforteleporter_boxes(e, e.absmin, e.absmax, destination, destination, timetaken);
759 }
760
761 entity waypoint_spawnpersonal(entity this, vector position)
762 {
763         entity w;
764
765         // drop the waypoint to a proper location:
766         //   first move it up by a player height
767         //   then move it down to hit the floor with player bbox size
768         position = waypoint_fixorigin(position);
769
770         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
771         w.nearestwaypoint = NULL;
772         w.nearestwaypointtimeout = 0;
773         w.owner = this;
774
775         waypoint_schedulerelink(w);
776
777         return w;
778 }
779
780 void botframe_showwaypointlinks()
781 {
782         if (time < botframe_waypointeditorlightningtime)
783                 return;
784         botframe_waypointeditorlightningtime = time + 0.5;
785         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
786         {
787                 if(IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
788                 {
789                         //navigation_testtracewalk = true;
790                         entity head = navigation_findnearestwaypoint(it, false);
791                 //      print("currently selected WP is ", etos(head), "\n");
792                         //navigation_testtracewalk = false;
793                         if (head)
794                         {
795                                 entity w;
796                                 w = head     ;if (w) te_lightning2(NULL, w.origin, it.origin);
797                                 w = head.wp00;if (w) te_lightning2(NULL, w.origin, head.origin);
798                                 w = head.wp01;if (w) te_lightning2(NULL, w.origin, head.origin);
799                                 w = head.wp02;if (w) te_lightning2(NULL, w.origin, head.origin);
800                                 w = head.wp03;if (w) te_lightning2(NULL, w.origin, head.origin);
801                                 w = head.wp04;if (w) te_lightning2(NULL, w.origin, head.origin);
802                                 w = head.wp05;if (w) te_lightning2(NULL, w.origin, head.origin);
803                                 w = head.wp06;if (w) te_lightning2(NULL, w.origin, head.origin);
804                                 w = head.wp07;if (w) te_lightning2(NULL, w.origin, head.origin);
805                                 w = head.wp08;if (w) te_lightning2(NULL, w.origin, head.origin);
806                                 w = head.wp09;if (w) te_lightning2(NULL, w.origin, head.origin);
807                                 w = head.wp10;if (w) te_lightning2(NULL, w.origin, head.origin);
808                                 w = head.wp11;if (w) te_lightning2(NULL, w.origin, head.origin);
809                                 w = head.wp12;if (w) te_lightning2(NULL, w.origin, head.origin);
810                                 w = head.wp13;if (w) te_lightning2(NULL, w.origin, head.origin);
811                                 w = head.wp14;if (w) te_lightning2(NULL, w.origin, head.origin);
812                                 w = head.wp15;if (w) te_lightning2(NULL, w.origin, head.origin);
813                                 w = head.wp16;if (w) te_lightning2(NULL, w.origin, head.origin);
814                                 w = head.wp17;if (w) te_lightning2(NULL, w.origin, head.origin);
815                                 w = head.wp18;if (w) te_lightning2(NULL, w.origin, head.origin);
816                                 w = head.wp19;if (w) te_lightning2(NULL, w.origin, head.origin);
817                                 w = head.wp20;if (w) te_lightning2(NULL, w.origin, head.origin);
818                                 w = head.wp21;if (w) te_lightning2(NULL, w.origin, head.origin);
819                                 w = head.wp22;if (w) te_lightning2(NULL, w.origin, head.origin);
820                                 w = head.wp23;if (w) te_lightning2(NULL, w.origin, head.origin);
821                                 w = head.wp24;if (w) te_lightning2(NULL, w.origin, head.origin);
822                                 w = head.wp25;if (w) te_lightning2(NULL, w.origin, head.origin);
823                                 w = head.wp26;if (w) te_lightning2(NULL, w.origin, head.origin);
824                                 w = head.wp27;if (w) te_lightning2(NULL, w.origin, head.origin);
825                                 w = head.wp28;if (w) te_lightning2(NULL, w.origin, head.origin);
826                                 w = head.wp29;if (w) te_lightning2(NULL, w.origin, head.origin);
827                                 w = head.wp30;if (w) te_lightning2(NULL, w.origin, head.origin);
828                                 w = head.wp31;if (w) te_lightning2(NULL, w.origin, head.origin);
829                         }
830                 }
831         });
832 }
833
834 float botframe_autowaypoints_fixdown(vector v)
835 {
836         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
837         if(trace_fraction >= 1)
838                 return 0;
839         return 1;
840 }
841
842 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
843 {
844         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
845         {
846                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
847                 return 0;
848         });
849
850         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
851         return 1;
852 }
853
854 // return value:
855 //    1 = WP created
856 //    0 = no action needed
857 //   -1 = temp fail, try from world too
858 //   -2 = permanent fail, do not retry
859 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
860 {
861         // make it possible to go from p to wp, if we can
862         // if wp is NULL, nearest is chosen
863
864         entity w;
865         vector porg;
866         float t, tmin, tmax;
867         vector o;
868         vector save;
869
870         if(!botframe_autowaypoints_fixdown(p.origin))
871                 return -2;
872         porg = trace_endpos;
873
874         if(wp)
875         {
876                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
877
878                 // if wp -> porg, then OK
879                 float maxdist;
880                 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
881                 {
882                         // we may find a better one
883                         maxdist = vlen(wp.origin - porg);
884                 }
885                 else
886                 {
887                         // accept any "good"
888                         maxdist = 2100;
889                 }
890
891                 float bestdist = maxdist;
892                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
893                 {
894                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
895                         if(d < bestdist)
896                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
897                         if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
898                         {
899                                 bestdist = d;
900                                 p.(fld) = it;
901                         }
902                 });
903                 if(bestdist < maxdist)
904                 {
905                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
906                         return 0;
907                 }
908
909                 if(bestdist < 2100)
910                 {
911                         // we know maxdist < 2100
912                         // so wp -> porg is still valid
913                         // all is good
914                         p.(fld) = wp;
915                         return 0;
916                 }
917
918                 // otherwise, no existing WP can fix our issues
919         }
920         else
921         {
922                 save = p.origin;
923                 setorigin(p, porg);
924                 w = navigation_findnearestwaypoint(p, walkfromwp);
925                 setorigin(p, save);
926                 if(w)
927                 {
928                         p.(fld) = w;
929                         return 0;
930                 }
931         }
932
933         tmin = 0;
934         tmax = 1;
935         for (;;)
936         {
937                 if(tmax - tmin < 0.001)
938                 {
939                         // did not get a good candidate
940                         return -1;
941                 }
942
943                 t = (tmin + tmax) * 0.5;
944                 o = antilag_takebackorigin(p, CS(p), time - t);
945                 if(!botframe_autowaypoints_fixdown(o))
946                         return -2;
947                 o = trace_endpos;
948
949                 if(wp)
950                 {
951                         if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
952                         {
953                                 // we cannot walk from wp.origin to o
954                                 // get closer to tmax
955                                 tmin = t;
956                                 continue;
957                         }
958                 }
959                 else
960                 {
961                         save = p.origin;
962                         setorigin(p, o);
963                         w = navigation_findnearestwaypoint(p, walkfromwp);
964                         setorigin(p, save);
965                         if(!w)
966                         {
967                                 // we cannot walk from any WP to o
968                                 // get closer to tmax
969                                 tmin = t;
970                                 continue;
971                         }
972                 }
973
974                 // if we get here, o is valid regarding waypoints
975                 // check if o is connected right to the player
976                 // we break if it succeeds, as that means o is a good waypoint location
977                 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
978                         break;
979
980                 // o is no good, we need to get closer to the player
981                 tmax = t;
982         }
983
984         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
985         botframe_autowaypoints_createwp(o, p, fld, 0);
986         return 1;
987 }
988
989 // automatically create missing waypoints
990 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
991 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
992 {
993         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
994         if(r != -1)
995                 return;
996         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
997         if(r != -1)
998                 return;
999
1000         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1001         if(!botframe_autowaypoints_fixdown(p.origin))
1002                 return; // shouldn't happen, caught above
1003         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1004 }
1005
1006 void botframe_deleteuselesswaypoints()
1007 {
1008         IL_EACH(g_items, it.bot_pickup,
1009         {
1010                 // NOTE: this protects waypoints if they're the ONLY nearest
1011                 // waypoint. That's the intention.
1012                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1013                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1014         });
1015         IL_EACH(g_waypoints, true,
1016         {
1017                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1018                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1019                 // WP is useful if:
1020                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1021                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1022                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1023                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1024                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1025                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1026                 // b) WP is closest WP for an item/spawnpoint/other entity
1027                 //    This has been done above by protecting these WPs.
1028         });
1029         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1030         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1031         {
1032                 for (int m = 0; m < 32; ++m)
1033                 {
1034                         entity w = waypoint_get_link(it, m);
1035                         if (!w)
1036                                 break;
1037                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1038                                 continue;
1039                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1040                                 continue;
1041                         for (int j = 0; j < 32; ++j)
1042                         {
1043                                 entity w2 = waypoint_get_link(w, j);
1044                                 if (!w2)
1045                                         break;
1046                                 if (it == w2)
1047                                         continue;
1048                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1049                                         continue;
1050                                 // If we got here, it != w2 exist with it -> w
1051                                 // and w -> w2. That means the waypoint is not
1052                                 // a dead end.
1053                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1054                                 for (int k = 0; k < 32; ++k)
1055                                 {
1056                                         if (waypoint_get_link(it, k) == w2)
1057                                                 continue;
1058                                         // IF WE GET HERE, w is proven useful
1059                                         // to get from it to w2!
1060                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1061                                         goto next;
1062                                 }
1063                         }
1064 LABEL(next)
1065                 }
1066         });
1067         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1068         //     they are needed to complete routes while autowaypointing.
1069
1070         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1071         {
1072                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1073                 te_explosion(it.origin);
1074                 waypoint_remove(it);
1075                 break;
1076         });
1077
1078         IL_EACH(g_waypoints, true,
1079         {
1080                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1081         });
1082 }
1083
1084 void botframe_autowaypoints()
1085 {
1086         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1087                 // going back is broken, so only fix waypoints to walk TO the player
1088                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1089                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1090                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1091         ));
1092
1093         if (autocvar_g_waypointeditor_auto >= 2) {
1094                 botframe_deleteuselesswaypoints();
1095         }
1096 }
1097