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 .entity spawnpointmodel;
  19 void waypoint_unreachable(entity pl)
  20 {
  21         IL_EACH(g_waypoints, true,
  22         {
  23                 it.colormod = '0.5 0.5 0.5';
  24                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
  25         });
  26         entity e2 = navigation_findnearestwaypoint(pl, false);
  27         navigation_markroutes(pl, e2);
  28
  29         int j = 0;
  30         int m = 0;
  31         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  32         {
  33                 LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
  34                 it.colormod_z = 8;
  35                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
  36                 j++;
  37                 m++;
  38         });
  39         if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
  40         navigation_markroutes_inverted(e2);
  41
  42         j = 0;
  43         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  44         {
  45                 LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
  46                 it.colormod_x = 8;
  47                 if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
  48                         m++;
  49                 it.effects |= EF_NODEPTHTEST | EF_RED;
  50                 j++;
  51         });
  52         if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
  53         if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
  54
  55         j = 0;
  56         IL_EACH(g_spawnpoints, true,
  57         {
  58                 if (navigation_findnearestwaypoint(it, false))
  59                 {
  60                         if(it.spawnpointmodel)
  61                         {
  62                                 delete(it.spawnpointmodel);
  63                                 it.spawnpointmodel = NULL;
  64                         }
  65                 }
  66                 else
  67                 {
  68                         if(!it.spawnpointmodel)
  69                         {
  70                                 tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
  71                                 entity e = new(spawnpointmodel);
  72                                 vector org = trace_endpos + eZ;
  73                                 setorigin(e, org);
  74                                 e.solid = SOLID_TRIGGER;
  75                                 it.spawnpointmodel = e;
  76                         }
  77                         LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
  78                         it.spawnpointmodel.effects |= EF_NODEPTHTEST;
  79                         _setmodel(it.spawnpointmodel, pl.model);
  80                         it.spawnpointmodel.frame = pl.frame;
  81                         it.spawnpointmodel.skin = pl.skin;
  82                         it.spawnpointmodel.colormap = pl.colormap;
  83                         it.spawnpointmodel.colormod = pl.colormod;
  84                         it.spawnpointmodel.glowmod = pl.glowmod;
  85                         setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
  86                         j++;
  87                 }
  88         });
  89         if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
  90
  91         j = 0;
  92         IL_EACH(g_items, true,
  93         {
  94                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
  95                 it.colormod = '0.5 0.5 0.5';
  96         });
  97         IL_EACH(g_items, true,
  98         {
  99                 if (navigation_findnearestwaypoint(it, false))
 100                         continue;
 101                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 102                 it.effects |= EF_NODEPTHTEST | EF_RED;
 103                 it.colormod_x = 8;
 104                 j++;
 105         });
 106         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
 107
 108         j = 0;
 109         IL_EACH(g_items, true,
 110         {
 111                 if (navigation_findnearestwaypoint(it, true))
 112                         continue;
 113                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 114                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
 115                 it.colormod_z = 8;
 116                 j++;
 117         });
 118         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
 119 }
 120
 121 vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
 122 {
 123         vector new_org = org;
 124         if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
 125         {
 126                 vector map_center = havocbot_middlepoint;
 127                 if (autocvar_g_waypointeditor_symmetrical == -1)
 128                         map_center = autocvar_g_waypointeditor_symmetrical_origin;
 129
 130                 new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
 131         }
 132         else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
 133         {
 134                 float m = havocbot_symmetryaxis_equation.x;
 135                 float q = havocbot_symmetryaxis_equation.y;
 136                 if (autocvar_g_waypointeditor_symmetrical == -2)
 137                 {
 138                         m = autocvar_g_waypointeditor_symmetrical_axis.x;
 139                         q = autocvar_g_waypointeditor_symmetrical_axis.y;
 140                 }
 141
 142                 new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
 143                 new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
 144         }
 145         new_org.z = org.z;
 146         return new_org;
 147 }
 148
 149 void waypoint_setupmodel(entity wp)
 150 {
 151         if (autocvar_g_waypointeditor)
 152         {
 153                 // TODO: add some sort of visible box in edit mode for box waypoints
 154                 vector m1 = wp.mins;
 155                 vector m2 = wp.maxs;
 156                 setmodel(wp, MDL_WAYPOINT);
 157                 setsize(wp, m1, m2);
 158                 wp.effects = EF_LOWPRECISION;
 159                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
 160                         wp.colormod = '1 0 0';
 161                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
 162                         wp.colormod = '1 1 0';
 163                 else
 164                         wp.colormod = '1 1 1';
 165         }
 166         else
 167                 wp.model = "";
 168 }
 169
 170 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
 171 // them back to it as well
 172 // (suitable for spawnfunc_waypoint editor)
 173 entity waypoint_spawn(vector m1, vector m2, float f)
 174 {
 175         if(!(f & WAYPOINTFLAG_PERSONAL))
 176         {
 177                 IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax),
 178                 {
 179                         return it;
 180                 });
 181         }
 182
 183         entity w = new(waypoint);
 184         IL_PUSH(g_waypoints, w);
 185         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
 186         w.wpflags = f;
 187         w.solid = SOLID_TRIGGER;
 188         setorigin(w, (m1 + m2) * 0.5);
 189         setsize(w, m1 - w.origin, m2 - w.origin);
 190         if (w.size)
 191                 w.wpisbox = true;
 192
 193         if(!w.wpisbox)
 194         {
 195                 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
 196                 if(!move_out_of_solid(w))
 197                 {
 198                         if(!(f & WAYPOINTFLAG_GENERATED))
 199                         {
 200                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
 201                                 delete(w);
 202                                 return NULL;
 203                         }
 204                         else
 205                         {
 206                                 if(autocvar_developer)
 207                                 {
 208                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
 209                                         backtrace("Waypoint stuck");
 210                                 }
 211                         }
 212                 }
 213                 setsize(w, '0 0 0', '0 0 0');
 214         }
 215
 216         waypoint_clearlinks(w);
 217         //waypoint_schedulerelink(w);
 218
 219         waypoint_setupmodel(w);
 220
 221         return w;
 222 }
 223
 224 void waypoint_spawn_fromeditor(entity pl)
 225 {
 226         entity e;
 227         vector org = pl.origin;
 228         int ctf_flags = havocbot_symmetryaxis_equation.z;
 229         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
 230                    || (autocvar_g_waypointeditor_symmetrical < 0));
 231         int order = ctf_flags;
 232         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
 233         {
 234                 order = autocvar_g_waypointeditor_symmetrical_order;
 235                 ctf_flags = order;
 236         }
 237
 238         LABEL(add_wp);
 239         e = waypoint_spawn(org, org, 0);
 240         waypoint_schedulerelink(e);
 241         bprint(strcat("Waypoint spawned at ", vtos(org), "\n"));
 242         if(sym)
 243         {
 244                 org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
 245                 if (vdist(org - pl.origin, >, 32))
 246                 {
 247                         if(order > 2)
 248                                 order--;
 249                         else
 250                                 sym = false;
 251                         goto add_wp;
 252                 }
 253         }
 254 }
 255
 256 void waypoint_remove(entity wp)
 257 {
 258         // tell all waypoints linked to wp that they need to relink
 259         IL_EACH(g_waypoints, it != wp,
 260         {
 261                 if (waypoint_islinked(it, wp))
 262                         waypoint_removelink(it, wp);
 263         });
 264         delete(wp);
 265 }
 266
 267 void waypoint_remove_fromeditor(entity pl)
 268 {
 269         entity e = navigation_findnearestwaypoint(pl, false);
 270
 271         int ctf_flags = havocbot_symmetryaxis_equation.z;
 272         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
 273                    || (autocvar_g_waypointeditor_symmetrical < 0));
 274         int order = ctf_flags;
 275         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
 276         {
 277                 order = autocvar_g_waypointeditor_symmetrical_order;
 278                 ctf_flags = order;
 279         }
 280
 281         LABEL(remove_wp);
 282         if (!e) return;
 283         if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
 284
 285         if (e.wphardwired)
 286         {
 287                 LOG_INFO("^1Warning: ^7Removal of hardwired waypoints is not allowed in the editor. Please remove links from/to this waypoint (", vtos(e.origin), ") by hand from maps/", mapname, ".waypoints.hardwired\n");
 288                 return;
 289         }
 290
 291         entity wp_sym = NULL;
 292         if (sym)
 293         {
 294                 vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
 295                 FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
 296                         if(vdist(org - it.origin, <, 3))
 297                         {
 298                                 wp_sym = it;
 299                                 break;
 300                         }
 301                 });
 302         }
 303
 304         bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
 305         waypoint_remove(e);
 306
 307         if (sym && wp_sym)
 308         {
 309                 e = wp_sym;
 310                 if(order > 2)
 311                         order--;
 312                 else
 313                         sym = false;
 314                 goto remove_wp;
 315         }
 316 }
 317
 318 void waypoint_removelink(entity from, entity to)
 319 {
 320         if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
 321                 return;
 322
 323         bool found = false;
 324         if (!found && from.wp00 == to) found = true; if (found) {from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;}
 325         if (!found && from.wp01 == to) found = true; if (found) {from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;}
 326         if (!found && from.wp02 == to) found = true; if (found) {from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;}
 327         if (!found && from.wp03 == to) found = true; if (found) {from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;}
 328         if (!found && from.wp04 == to) found = true; if (found) {from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;}
 329         if (!found && from.wp05 == to) found = true; if (found) {from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;}
 330         if (!found && from.wp06 == to) found = true; if (found) {from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;}
 331         if (!found && from.wp07 == to) found = true; if (found) {from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;}
 332         if (!found && from.wp08 == to) found = true; if (found) {from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;}
 333         if (!found && from.wp09 == to) found = true; if (found) {from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;}
 334         if (!found && from.wp10 == to) found = true; if (found) {from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;}
 335         if (!found && from.wp11 == to) found = true; if (found) {from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;}
 336         if (!found && from.wp12 == to) found = true; if (found) {from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;}
 337         if (!found && from.wp13 == to) found = true; if (found) {from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;}
 338         if (!found && from.wp14 == to) found = true; if (found) {from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;}
 339         if (!found && from.wp15 == to) found = true; if (found) {from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;}
 340         if (!found && from.wp16 == to) found = true; if (found) {from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;}
 341         if (!found && from.wp17 == to) found = true; if (found) {from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;}
 342         if (!found && from.wp18 == to) found = true; if (found) {from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;}
 343         if (!found && from.wp19 == to) found = true; if (found) {from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;}
 344         if (!found && from.wp20 == to) found = true; if (found) {from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;}
 345         if (!found && from.wp21 == to) found = true; if (found) {from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;}
 346         if (!found && from.wp22 == to) found = true; if (found) {from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;}
 347         if (!found && from.wp23 == to) found = true; if (found) {from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;}
 348         if (!found && from.wp24 == to) found = true; if (found) {from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;}
 349         if (!found && from.wp25 == to) found = true; if (found) {from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;}
 350         if (!found && from.wp26 == to) found = true; if (found) {from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;}
 351         if (!found && from.wp27 == to) found = true; if (found) {from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;}
 352         if (!found && from.wp28 == to) found = true; if (found) {from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;}
 353         if (!found && from.wp29 == to) found = true; if (found) {from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;}
 354         if (!found && from.wp30 == to) found = true; if (found) {from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;}
 355         if (found) {from.wp31 = NULL; from.wp31mincost = 10000000;}
 356 }
 357
 358 bool waypoint_islinked(entity from, entity to)
 359 {
 360         if (from.wp00 == to) return true;if (from.wp01 == to) return true;if (from.wp02 == to) return true;if (from.wp03 == to) return true;
 361         if (from.wp04 == to) return true;if (from.wp05 == to) return true;if (from.wp06 == to) return true;if (from.wp07 == to) return true;
 362         if (from.wp08 == to) return true;if (from.wp09 == to) return true;if (from.wp10 == to) return true;if (from.wp11 == to) return true;
 363         if (from.wp12 == to) return true;if (from.wp13 == to) return true;if (from.wp14 == to) return true;if (from.wp15 == to) return true;
 364         if (from.wp16 == to) return true;if (from.wp17 == to) return true;if (from.wp18 == to) return true;if (from.wp19 == to) return true;
 365         if (from.wp20 == to) return true;if (from.wp21 == to) return true;if (from.wp22 == to) return true;if (from.wp23 == to) return true;
 366         if (from.wp24 == to) return true;if (from.wp25 == to) return true;if (from.wp26 == to) return true;if (from.wp27 == to) return true;
 367         if (from.wp28 == to) return true;if (from.wp29 == to) return true;if (from.wp30 == to) return true;if (from.wp31 == to) return true;
 368         return false;
 369 }
 370
 371 float waypoint_getdistancecost_simple(float dist)
 372 {
 373         return dist / autocvar_sv_maxspeed;
 374 }
 375
 376 float waypoint_getdistancecost(vector from, vector to)
 377 {
 378         float c = waypoint_getdistancecost_simple(vlen(to - from));
 379
 380         float height = from.z - to.z;
 381         if(height > 0 && autocvar_sv_gravity > 0)
 382         {
 383                 float height_cost = sqrt(height / autocvar_sv_gravity);
 384                 float xydist = vlen(vec2(to - from));
 385                 float xydist_cost = xydist / autocvar_sv_maxspeed;
 386                 if(max(height_cost, xydist_cost) < c)
 387                         c = max(height_cost, xydist_cost);
 388         }
 389         return c;
 390 }
 391
 392 float waypoint_getlinkcost(entity from, entity to)
 393 {
 394         vector v1 = from.origin;
 395         vector v2 = to.origin;
 396         if (to.wpisbox || from.wpisbox)
 397         {
 398                 // if either is a box we have to find the nearest points on them to
 399                 // calculate the distance properly
 400                 vector m1, m2;
 401                 m1 = to.absmin;
 402                 m2 = to.absmax;
 403                 v1_x = bound(m1_x, v1_x, m2_x);
 404                 v1_y = bound(m1_y, v1_y, m2_y);
 405                 v1_z = bound(m1_z, v1_z, m2_z);
 406                 m1 = from.absmin;
 407                 m2 = from.absmax;
 408                 v2_x = bound(m1_x, v2_x, m2_x);
 409                 v2_y = bound(m1_y, v2_y, m2_y);
 410                 v2_z = bound(m1_z, v2_z, m2_z);
 411         }
 412         return waypoint_getdistancecost(v1, v2);
 413 }
 414
 415 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
 416 // if c == -1 automatically determine cost of the link
 417 void waypoint_addlink_customcost(entity from, entity to, float c)
 418 {
 419         if (from == to || waypoint_islinked(from, to))
 420                 return;
 421         if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
 422                 return;
 423
 424         if(c == -1)
 425                 c = waypoint_getlinkcost(from, to);
 426
 427         if (from.wp31mincost < c) return;
 428         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
 429         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
 430         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
 431         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
 432         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
 433         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
 434         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
 435         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
 436         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
 437         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
 438         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
 439         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
 440         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
 441         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
 442         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
 443         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
 444         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
 445         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
 446         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
 447         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
 448         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
 449         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
 450         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
 451         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
 452         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
 453         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
 454         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
 455         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
 456         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
 457         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
 458         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
 459         from.wp00 = to;from.wp00mincost = c;return;
 460 }
 461
 462 void waypoint_addlink(entity from, entity to)
 463 {
 464         waypoint_addlink_customcost(from, to, -1);
 465 }
 466
 467 // relink this spawnfunc_waypoint
 468 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
 469 // (SLOW!)
 470 void waypoint_think(entity this)
 471 {
 472         vector sv, sm1, sm2, ev, em1, em2, dv;
 473
 474         bot_calculate_stepheightvec();
 475
 476         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
 477
 478         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
 479         sm1 = this.origin + this.mins;
 480         sm2 = this.origin + this.maxs;
 481         IL_EACH(g_waypoints, this != it,
 482         {
 483                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
 484                 {
 485                         waypoint_addlink(this, it);
 486                         waypoint_addlink(it, this);
 487                 }
 488                 else
 489                 {
 490                         ++relink_total;
 491                         if(!checkpvs(this.origin, it))
 492                         {
 493                                 ++relink_pvsculled;
 494                                 continue;
 495                         }
 496                         sv = it.origin;
 497                         sv.x = bound(sm1_x, sv.x, sm2_x);
 498                         sv.y = bound(sm1_y, sv.y, sm2_y);
 499                         sv.z = bound(sm1_z, sv.z, sm2_z);
 500                         ev = this.origin;
 501                         em1 = it.origin + it.mins;
 502                         em2 = it.origin + it.maxs;
 503                         ev.x = bound(em1_x, ev.x, em2_x);
 504                         ev.y = bound(em1_y, ev.y, em2_y);
 505                         ev.z = bound(em1_z, ev.z, em2_z);
 506                         dv = ev - sv;
 507                         dv.z = 0;
 508                         if(vdist(dv, >=, 1050)) // max search distance in XY
 509                         {
 510                                 ++relink_lengthculled;
 511                                 continue;
 512                         }
 513                         navigation_testtracewalk = 0;
 514                         if (!this.wpisbox)
 515                         {
 516                                 tracebox(sv - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, sv, false, this);
 517                                 if (!trace_startsolid)
 518                                 {
 519                                         //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
 520                                         sv = trace_endpos + '0 0 1';
 521                                 }
 522                         }
 523                         if (!it.wpisbox)
 524                         {
 525                                 tracebox(ev - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, ev, false, it);
 526                                 if (!trace_startsolid)
 527                                 {
 528                                         //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
 529                                         ev = trace_endpos + '0 0 1';
 530                                 }
 531                         }
 532                         //traceline(this.origin, it.origin, false, NULL);
 533                         //if (trace_fraction == 1)
 534                         if (!this.wpisbox && tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev, MOVE_NOMONSTERS))
 535                                 waypoint_addlink(this, it);
 536                         else
 537                                 relink_walkculled += 0.5;
 538                         if (!it.wpisbox && tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv, MOVE_NOMONSTERS))
 539                                 waypoint_addlink(it, this);
 540                         else
 541                                 relink_walkculled += 0.5;
 542                 }
 543         });
 544         navigation_testtracewalk = 0;
 545         this.wplinked = true;
 546 }
 547
 548 void waypoint_clearlinks(entity wp)
 549 {
 550         // clear links to other waypoints
 551         float f = 10000000;
 552         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
 553         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
 554         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
 555         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
 556
 557         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
 558         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
 559         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
 560         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
 561
 562         wp.wplinked = false;
 563 }
 564
 565 // tell a spawnfunc_waypoint to relink
 566 void waypoint_schedulerelink(entity wp)
 567 {
 568         if (wp == NULL)
 569                 return;
 570
 571         waypoint_setupmodel(wp);
 572         wp.wpisbox = vdist(wp.size, >, 0);
 573         wp.enemy = NULL;
 574         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
 575                 wp.owner = NULL;
 576         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
 577                 waypoint_clearlinks(wp);
 578         // schedule an actual relink on next frame
 579         setthink(wp, waypoint_think);
 580         wp.nextthink = time;
 581         wp.effects = EF_LOWPRECISION;
 582 }
 583
 584 // spawnfunc_waypoint map entity
 585 spawnfunc(waypoint)
 586 {
 587         IL_PUSH(g_waypoints, this);
 588
 589         setorigin(this, this.origin);
 590         // schedule a relink after other waypoints have had a chance to spawn
 591         waypoint_clearlinks(this);
 592         //waypoint_schedulerelink(this);
 593 }
 594
 595 // tell all waypoints to relink
 596 // actually this is useful only to update relink_* stats
 597 void waypoint_schedulerelinkall()
 598 {
 599         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
 600         IL_EACH(g_waypoints, true,
 601         {
 602                 waypoint_schedulerelink(it);
 603         });
 604         waypoint_load_links_hardwired();
 605 }
 606
 607 // Load waypoint links from file
 608 bool waypoint_load_links()
 609 {
 610         string filename, s;
 611         float file, tokens, c = 0, found;
 612         entity wp_from = NULL, wp_to;
 613         vector wp_to_pos, wp_from_pos;
 614         filename = strcat("maps/", mapname);
 615         filename = strcat(filename, ".waypoints.cache");
 616         file = fopen(filename, FILE_READ);
 617
 618         if (file < 0)
 619         {
 620                 LOG_TRACE("waypoint links load from ");
 621                 LOG_TRACE(filename);
 622                 LOG_TRACE(" failed");
 623                 return false;
 624         }
 625
 626         while ((s = fgets(file)))
 627         {
 628                 tokens = tokenizebyseparator(s, "*");
 629
 630                 if (tokens!=2)
 631                 {
 632                         // bad file format
 633                         fclose(file);
 634                         return false;
 635                 }
 636
 637                 wp_from_pos     = stov(argv(0));
 638                 wp_to_pos       = stov(argv(1));
 639
 640                 // Search "from" waypoint
 641                 if(!wp_from || wp_from.origin!=wp_from_pos)
 642                 {
 643                         wp_from = findradius(wp_from_pos, 1);
 644                         found = false;
 645                         while(wp_from)
 646                         {
 647                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
 648                                 if(wp_from.classname == "waypoint")
 649                                 {
 650                                         found = true;
 651                                         break;
 652                                 }
 653                                 wp_from = wp_from.chain;
 654                         }
 655
 656                         if(!found)
 657                         {
 658                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
 659                                 continue;
 660                         }
 661
 662                 }
 663
 664                 // Search "to" waypoint
 665                 wp_to = findradius(wp_to_pos, 1);
 666                 found = false;
 667                 while(wp_to)
 668                 {
 669                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
 670                         if(wp_to.classname == "waypoint")
 671                         {
 672                                 found = true;
 673                                 break;
 674                         }
 675                         wp_to = wp_to.chain;
 676                 }
 677
 678                 if(!found)
 679                 {
 680                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
 681                         continue;
 682                 }
 683
 684                 ++c;
 685                 waypoint_addlink(wp_from, wp_to);
 686         }
 687
 688         fclose(file);
 689
 690         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
 691
 692         botframe_cachedwaypointlinks = true;
 693         return true;
 694 }
 695
 696 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
 697 {
 698         string filename, s;
 699         float file, tokens, c = 0, found;
 700         entity wp_from = NULL, wp_to;
 701         vector wp_to_pos, wp_from_pos;
 702         filename = strcat("maps/", mapname);
 703         filename = strcat(filename, ".waypoints.hardwired");
 704         file = fopen(filename, FILE_READ);
 705
 706         botframe_loadedforcedlinks = true;
 707
 708         if (file < 0)
 709         {
 710                 if(!removal_mode)
 711                         LOG_TRACE("waypoint links load from ", filename, " failed");
 712                 return;
 713         }
 714
 715         while ((s = fgets(file)))
 716         {
 717                 if(substring(s, 0, 2)=="//")
 718                         continue;
 719
 720                 if(substring(s, 0, 1)=="#")
 721                         continue;
 722
 723                 tokens = tokenizebyseparator(s, "*");
 724
 725                 if (tokens!=2)
 726                         continue;
 727
 728                 wp_from_pos     = stov(argv(0));
 729                 wp_to_pos       = stov(argv(1));
 730
 731                 // Search "from" waypoint
 732                 if(!wp_from || wp_from.origin!=wp_from_pos)
 733                 {
 734                         wp_from = findradius(wp_from_pos, 5);
 735                         found = false;
 736                         while(wp_from)
 737                         {
 738                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
 739                                 if(wp_from.classname == "waypoint")
 740                                 {
 741                                         found = true;
 742                                         break;
 743                                 }
 744                                 wp_from = wp_from.chain;
 745                         }
 746
 747                         if(!found)
 748                         {
 749                                 if(!removal_mode)
 750                                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
 751                                 continue;
 752                         }
 753                 }
 754
 755                 // Search "to" waypoint
 756                 wp_to = findradius(wp_to_pos, 5);
 757                 found = false;
 758                 while(wp_to)
 759                 {
 760                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
 761                         if(wp_to.classname == "waypoint")
 762                         {
 763                                 found = true;
 764                                 break;
 765                         }
 766                         wp_to = wp_to.chain;
 767                 }
 768
 769                 if(!found)
 770                 {
 771                         if(!removal_mode)
 772                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
 773                         continue;
 774                 }
 775
 776                 ++c;
 777                 if(removal_mode)
 778                 {
 779                         waypoint_removelink(wp_from, wp_to);
 780                         continue;
 781                 }
 782
 783                 waypoint_addlink(wp_from, wp_to);
 784                 wp_from.wphardwired = true;
 785                 wp_to.wphardwired = true;
 786         }
 787
 788         fclose(file);
 789
 790         if(!removal_mode)
 791                 LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
 792 }
 793
 794 void waypoint_load_links_hardwired() { waypoint_load_or_remove_links_hardwired(false); }
 795 void waypoint_remove_links_hardwired() { waypoint_load_or_remove_links_hardwired(true); }
 796
 797 entity waypoint_get_link(entity w, float i)
 798 {
 799         switch(i)
 800         {
 801                 case  0:return w.wp00;
 802                 case  1:return w.wp01;
 803                 case  2:return w.wp02;
 804                 case  3:return w.wp03;
 805                 case  4:return w.wp04;
 806                 case  5:return w.wp05;
 807                 case  6:return w.wp06;
 808                 case  7:return w.wp07;
 809                 case  8:return w.wp08;
 810                 case  9:return w.wp09;
 811                 case 10:return w.wp10;
 812                 case 11:return w.wp11;
 813                 case 12:return w.wp12;
 814                 case 13:return w.wp13;
 815                 case 14:return w.wp14;
 816                 case 15:return w.wp15;
 817                 case 16:return w.wp16;
 818                 case 17:return w.wp17;
 819                 case 18:return w.wp18;
 820                 case 19:return w.wp19;
 821                 case 20:return w.wp20;
 822                 case 21:return w.wp21;
 823                 case 22:return w.wp22;
 824                 case 23:return w.wp23;
 825                 case 24:return w.wp24;
 826                 case 25:return w.wp25;
 827                 case 26:return w.wp26;
 828                 case 27:return w.wp27;
 829                 case 28:return w.wp28;
 830                 case 29:return w.wp29;
 831                 case 30:return w.wp30;
 832                 case 31:return w.wp31;
 833                 default:return NULL;
 834         }
 835 }
 836
 837 // Save all waypoint links to a file
 838 void waypoint_save_links()
 839 {
 840         // temporarily remove hardwired links so they don't get saved among normal links
 841         waypoint_remove_links_hardwired();
 842
 843         string filename = sprintf("maps/%s.waypoints.cache", mapname);
 844         int file = fopen(filename, FILE_WRITE);
 845         if (file < 0)
 846         {
 847                 LOG_INFOF("waypoint link save to %s failed\n", filename);
 848                 return;
 849         }
 850
 851         int c = 0;
 852         IL_EACH(g_waypoints, true,
 853         {
 854                 for(int j = 0; j < 32; ++j)
 855                 {
 856                         entity link = waypoint_get_link(it, j);
 857                         if(link)
 858                         {
 859                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
 860                                 fputs(file, s);
 861                                 ++c;
 862                         }
 863                 }
 864         });
 865         fclose(file);
 866         botframe_cachedwaypointlinks = true;
 867
 868         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
 869
 870         waypoint_load_links_hardwired();
 871 }
 872
 873 // save waypoints to gamedir/data/maps/mapname.waypoints
 874 void waypoint_saveall()
 875 {
 876         string filename = sprintf("maps/%s.waypoints", mapname);
 877         int file = fopen(filename, FILE_WRITE);
 878         if (file < 0)
 879         {
 880                 waypoint_save_links(); // save anyway?
 881                 botframe_loadedforcedlinks = false;
 882
 883                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
 884                 return;
 885         }
 886
 887         int c = 0;
 888         IL_EACH(g_waypoints, true,
 889         {
 890                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
 891                         continue;
 892
 893                 string s;
 894                 s = strcat(vtos(it.origin + it.mins), "\n");
 895                 s = strcat(s, vtos(it.origin + it.maxs));
 896                 s = strcat(s, "\n");
 897                 s = strcat(s, ftos(it.wpflags));
 898                 s = strcat(s, "\n");
 899                 fputs(file, s);
 900                 c++;
 901         });
 902         fclose(file);
 903         waypoint_save_links();
 904         botframe_loadedforcedlinks = false;
 905
 906         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
 907 }
 908
 909 // load waypoints from file
 910 float waypoint_loadall()
 911 {
 912         string filename, s;
 913         float file, cwp, cwb, fl;
 914         vector m1, m2;
 915         cwp = 0;
 916         cwb = 0;
 917         filename = strcat("maps/", mapname);
 918         filename = strcat(filename, ".waypoints");
 919         file = fopen(filename, FILE_READ);
 920         if (file >= 0)
 921         {
 922                 while ((s = fgets(file)))
 923                 {
 924                         m1 = stov(s);
 925                         s = fgets(file);
 926                         if (!s)
 927                                 break;
 928                         m2 = stov(s);
 929                         s = fgets(file);
 930                         if (!s)
 931                                 break;
 932                         fl = stof(s);
 933                         waypoint_spawn(m1, m2, fl);
 934                         if (m1 == m2)
 935                                 cwp = cwp + 1;
 936                         else
 937                                 cwb = cwb + 1;
 938                 }
 939                 fclose(file);
 940                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
 941         }
 942         else
 943         {
 944                 LOG_TRACE("waypoint load from ", filename, " failed");
 945         }
 946         return cwp + cwb;
 947 }
 948
 949 vector waypoint_fixorigin(vector position)
 950 {
 951         tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
 952         if(trace_fraction < 1)
 953                 position = trace_endpos;
 954         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
 955         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
 956         return position;
 957 }
 958
 959 void waypoint_spawnforitem_force(entity e, vector org)
 960 {
 961         // Fix the waypoint altitude if necessary
 962         org = waypoint_fixorigin(org);
 963
 964         // don't spawn an item spawnfunc_waypoint if it already exists
 965         IL_EACH(g_waypoints, true,
 966         {
 967                 if(it.wpisbox)
 968                 {
 969                         if(boxesoverlap(org, org, it.absmin, it.absmax))
 970                         {
 971                                 e.nearestwaypoint = it;
 972                                 return;
 973                         }
 974                 }
 975                 else
 976                 {
 977                         if(vdist(it.origin - org, <, 16))
 978                         {
 979                                 e.nearestwaypoint = it;
 980                                 return;
 981                         }
 982                 }
 983         });
 984
 985         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
 986 }
 987
 988 void waypoint_spawnforitem(entity e)
 989 {
 990         if(!bot_waypoints_for_items)
 991                 return;
 992
 993         waypoint_spawnforitem_force(e, e.origin);
 994 }
 995
 996 void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
 997 {
 998         entity w;
 999         entity dw;
1000         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
1001         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
1002         // one way link to the destination
1003         w.wp00 = dw;
1004         w.wp00mincost = timetaken; // this is just for jump pads
1005         // the teleporter's nearest spawnfunc_waypoint is this one
1006         // (teleporters are not goals, so this is probably useless)
1007         e.nearestwaypoint = w;
1008         e.nearestwaypointtimeout = -1;
1009 }
1010
1011 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
1012 {
1013         org = waypoint_fixorigin(org);
1014         destination = waypoint_fixorigin(destination);
1015         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
1016 }
1017
1018 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
1019 {
1020         destination = waypoint_fixorigin(destination);
1021         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin, e.absmax, destination, destination, timetaken);
1022 }
1023
1024 entity waypoint_spawnpersonal(entity this, vector position)
1025 {
1026         entity w;
1027
1028         // drop the waypoint to a proper location:
1029         //   first move it up by a player height
1030         //   then move it down to hit the floor with player bbox size
1031         position = waypoint_fixorigin(position);
1032
1033         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
1034         w.nearestwaypoint = NULL;
1035         w.nearestwaypointtimeout = 0;
1036         w.owner = this;
1037
1038         waypoint_schedulerelink(w);
1039
1040         return w;
1041 }
1042
1043 void waypoint_showlink(entity wp1, entity wp2, int display_type)
1044 {
1045         if (!(wp1 && wp2))
1046                 return;
1047
1048         if (wp1.wphardwired && wp2.wphardwired)
1049                 te_beam(NULL, wp1.origin, wp2.origin);
1050         else if (display_type == 1)
1051                 te_lightning2(NULL, wp1.origin, wp2.origin);
1052 }
1053
1054 void botframe_showwaypointlinks()
1055 {
1056         if (time < botframe_waypointeditorlightningtime)
1057                 return;
1058         botframe_waypointeditorlightningtime = time + 0.5;
1059         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
1060         {
1061                 int display_type = 0;
1062                 entity head = navigation_findnearestwaypoint(it, false);
1063                 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
1064                         display_type = 1; // default
1065                 else if(head && (head.wphardwired))
1066                         display_type = 2; // only hardwired
1067
1068                 if (display_type)
1069                 {
1070                         //navigation_testtracewalk = true;
1071                         //print("currently selected WP is ", etos(head), "\n");
1072                         //navigation_testtracewalk = false;
1073                         if (head)
1074                         {
1075                                 te_lightning2(NULL, head.origin, it.origin);
1076                                 waypoint_showlink(head.wp00, head, display_type);
1077                                 waypoint_showlink(head.wp01, head, display_type);
1078                                 waypoint_showlink(head.wp02, head, display_type);
1079                                 waypoint_showlink(head.wp03, head, display_type);
1080                                 waypoint_showlink(head.wp04, head, display_type);
1081                                 waypoint_showlink(head.wp05, head, display_type);
1082                                 waypoint_showlink(head.wp06, head, display_type);
1083                                 waypoint_showlink(head.wp07, head, display_type);
1084                                 waypoint_showlink(head.wp08, head, display_type);
1085                                 waypoint_showlink(head.wp09, head, display_type);
1086                                 waypoint_showlink(head.wp10, head, display_type);
1087                                 waypoint_showlink(head.wp11, head, display_type);
1088                                 waypoint_showlink(head.wp12, head, display_type);
1089                                 waypoint_showlink(head.wp13, head, display_type);
1090                                 waypoint_showlink(head.wp14, head, display_type);
1091                                 waypoint_showlink(head.wp15, head, display_type);
1092                                 waypoint_showlink(head.wp16, head, display_type);
1093                                 waypoint_showlink(head.wp17, head, display_type);
1094                                 waypoint_showlink(head.wp18, head, display_type);
1095                                 waypoint_showlink(head.wp19, head, display_type);
1096                                 waypoint_showlink(head.wp20, head, display_type);
1097                                 waypoint_showlink(head.wp21, head, display_type);
1098                                 waypoint_showlink(head.wp22, head, display_type);
1099                                 waypoint_showlink(head.wp23, head, display_type);
1100                                 waypoint_showlink(head.wp24, head, display_type);
1101                                 waypoint_showlink(head.wp25, head, display_type);
1102                                 waypoint_showlink(head.wp26, head, display_type);
1103                                 waypoint_showlink(head.wp27, head, display_type);
1104                                 waypoint_showlink(head.wp28, head, display_type);
1105                                 waypoint_showlink(head.wp29, head, display_type);
1106                                 waypoint_showlink(head.wp30, head, display_type);
1107                                 waypoint_showlink(head.wp31, head, display_type);
1108                         }
1109                 }
1110         });
1111 }
1112
1113 float botframe_autowaypoints_fixdown(vector v)
1114 {
1115         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
1116         if(trace_fraction >= 1)
1117                 return 0;
1118         return 1;
1119 }
1120
1121 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
1122 {
1123         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
1124         {
1125                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
1126                 return 0;
1127         });
1128
1129         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
1130         return 1;
1131 }
1132
1133 // return value:
1134 //    1 = WP created
1135 //    0 = no action needed
1136 //   -1 = temp fail, try from world too
1137 //   -2 = permanent fail, do not retry
1138 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
1139 {
1140         // make it possible to go from p to wp, if we can
1141         // if wp is NULL, nearest is chosen
1142
1143         entity w;
1144         vector porg;
1145         float t, tmin, tmax;
1146         vector o;
1147         vector save;
1148
1149         if(!botframe_autowaypoints_fixdown(p.origin))
1150                 return -2;
1151         porg = trace_endpos;
1152
1153         if(wp)
1154         {
1155                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
1156
1157                 // if wp -> porg, then OK
1158                 float maxdist;
1159                 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
1160                 {
1161                         // we may find a better one
1162                         maxdist = vlen(wp.origin - porg);
1163                 }
1164                 else
1165                 {
1166                         // accept any "good"
1167                         maxdist = 2100;
1168                 }
1169
1170                 float bestdist = maxdist;
1171                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
1172                 {
1173                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
1174                         if(d < bestdist)
1175                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
1176                         if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
1177                         {
1178                                 bestdist = d;
1179                                 p.(fld) = it;
1180                         }
1181                 });
1182                 if(bestdist < maxdist)
1183                 {
1184                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
1185                         return 0;
1186                 }
1187
1188                 if(bestdist < 2100)
1189                 {
1190                         // we know maxdist < 2100
1191                         // so wp -> porg is still valid
1192                         // all is good
1193                         p.(fld) = wp;
1194                         return 0;
1195                 }
1196
1197                 // otherwise, no existing WP can fix our issues
1198         }
1199         else
1200         {
1201                 save = p.origin;
1202                 setorigin(p, porg);
1203                 w = navigation_findnearestwaypoint(p, walkfromwp);
1204                 setorigin(p, save);
1205                 if(w)
1206                 {
1207                         p.(fld) = w;
1208                         return 0;
1209                 }
1210         }
1211
1212         tmin = 0;
1213         tmax = 1;
1214         for (;;)
1215         {
1216                 if(tmax - tmin < 0.001)
1217                 {
1218                         // did not get a good candidate
1219                         return -1;
1220                 }
1221
1222                 t = (tmin + tmax) * 0.5;
1223                 o = antilag_takebackorigin(p, CS(p), time - t);
1224                 if(!botframe_autowaypoints_fixdown(o))
1225                         return -2;
1226                 o = trace_endpos;
1227
1228                 if(wp)
1229                 {
1230                         if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
1231                         {
1232                                 // we cannot walk from wp.origin to o
1233                                 // get closer to tmax
1234                                 tmin = t;
1235                                 continue;
1236                         }
1237                 }
1238                 else
1239                 {
1240                         save = p.origin;
1241                         setorigin(p, o);
1242                         w = navigation_findnearestwaypoint(p, walkfromwp);
1243                         setorigin(p, save);
1244                         if(!w)
1245                         {
1246                                 // we cannot walk from any WP to o
1247                                 // get closer to tmax
1248                                 tmin = t;
1249                                 continue;
1250                         }
1251                 }
1252
1253                 // if we get here, o is valid regarding waypoints
1254                 // check if o is connected right to the player
1255                 // we break if it succeeds, as that means o is a good waypoint location
1256                 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
1257                         break;
1258
1259                 // o is no good, we need to get closer to the player
1260                 tmax = t;
1261         }
1262
1263         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1264         botframe_autowaypoints_createwp(o, p, fld, 0);
1265         return 1;
1266 }
1267
1268 // automatically create missing waypoints
1269 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1270 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1271 {
1272         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1273         if(r != -1)
1274                 return;
1275         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1276         if(r != -1)
1277                 return;
1278
1279         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1280         if(!botframe_autowaypoints_fixdown(p.origin))
1281                 return; // shouldn't happen, caught above
1282         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1283 }
1284
1285 void botframe_deleteuselesswaypoints()
1286 {
1287         IL_EACH(g_items, it.bot_pickup,
1288         {
1289                 // NOTE: this protects waypoints if they're the ONLY nearest
1290                 // waypoint. That's the intention.
1291                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1292                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1293         });
1294         IL_EACH(g_waypoints, true,
1295         {
1296                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1297                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1298                 // WP is useful if:
1299                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1300                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1301                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1302                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1303                 if (it.wpflags & WAYPOINTFLAG_LADDER)
1304                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1305                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1306                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1307                 // b) WP is closest WP for an item/spawnpoint/other entity
1308                 //    This has been done above by protecting these WPs.
1309         });
1310         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1311         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1312         {
1313                 for (int m = 0; m < 32; ++m)
1314                 {
1315                         entity w = waypoint_get_link(it, m);
1316                         if (!w)
1317                                 break;
1318                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1319                                 continue;
1320                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1321                                 continue;
1322                         for (int j = 0; j < 32; ++j)
1323                         {
1324                                 entity w2 = waypoint_get_link(w, j);
1325                                 if (!w2)
1326                                         break;
1327                                 if (it == w2)
1328                                         continue;
1329                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1330                                         continue;
1331                                 // If we got here, it != w2 exist with it -> w
1332                                 // and w -> w2. That means the waypoint is not
1333                                 // a dead end.
1334                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1335                                 for (int k = 0; k < 32; ++k)
1336                                 {
1337                                         if (waypoint_get_link(it, k) == w2)
1338                                                 continue;
1339                                         // IF WE GET HERE, w is proven useful
1340                                         // to get from it to w2!
1341                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1342                                         goto next;
1343                                 }
1344                         }
1345 LABEL(next)
1346                 }
1347         });
1348         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1349         //     they are needed to complete routes while autowaypointing.
1350
1351         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1352         {
1353                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1354                 te_explosion(it.origin);
1355                 waypoint_remove(it);
1356                 break;
1357         });
1358
1359         IL_EACH(g_waypoints, true,
1360         {
1361                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1362         });
1363 }
1364
1365 void botframe_autowaypoints()
1366 {
1367         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1368                 // going back is broken, so only fix waypoints to walk TO the player
1369                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1370                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1371                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1372         ));
1373
1374         if (autocvar_g_waypointeditor_auto >= 2) {
1375                 botframe_deleteuselesswaypoints();
1376         }
1377 }
1378