c83d0f63c58dc2c4e3ebae76e9c50593ce85bd8c
[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 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
19 // them back to it as well
20 // (suitable for spawnfunc_waypoint editor)
21 entity waypoint_spawn(vector m1, vector m2, float f)
22 {
23         if(!(f & WAYPOINTFLAG_PERSONAL))
24         {
25                 IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax),
26                 {
27                         return it;
28                 });
29         }
30
31         entity w = new(waypoint);
32         IL_PUSH(g_waypoints, w);
33         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
34         w.wpflags = f;
35         w.solid = SOLID_TRIGGER;
36         setorigin(w, (m1 + m2) * 0.5);
37         setsize(w, m1 - w.origin, m2 - w.origin);
38         if (w.size)
39                 w.wpisbox = true;
40
41         if(!w.wpisbox)
42         {
43                 setsize(w, STAT(PL_MIN, NULL) - '1 1 0', STAT(PL_MAX, NULL) + '1 1 0');
44                 if(!move_out_of_solid(w))
45                 {
46                         if(!(f & WAYPOINTFLAG_GENERATED))
47                         {
48                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
49                                 delete(w);
50                                 return NULL;
51                         }
52                         else
53                         {
54                                 if(autocvar_developer)
55                                 {
56                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
57                                         backtrace("Waypoint stuck");
58                                 }
59                         }
60                 }
61                 setsize(w, '0 0 0', '0 0 0');
62         }
63
64         waypoint_clearlinks(w);
65         //waypoint_schedulerelink(w);
66
67         if (autocvar_g_waypointeditor)
68         {
69                 m1 = w.mins;
70                 m2 = w.maxs;
71                 setmodel(w, MDL_WAYPOINT); w.effects = EF_LOWPRECISION;
72                 setsize(w, m1, m2);
73                 if (w.wpflags & WAYPOINTFLAG_ITEM)
74                         w.colormod = '1 0 0';
75                 else if (w.wpflags & WAYPOINTFLAG_GENERATED)
76                         w.colormod = '1 1 0';
77                 else
78                         w.colormod = '1 1 1';
79         }
80         else
81                 w.model = "";
82
83         return w;
84 }
85
86 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
87 void waypoint_addlink(entity from, entity to)
88 {
89         float c;
90
91         if (from == to)
92                 return;
93         if (from.wpflags & WAYPOINTFLAG_NORELINK)
94                 return;
95
96         if (from.wp00 == to) return;if (from.wp01 == to) return;if (from.wp02 == to) return;if (from.wp03 == to) return;
97         if (from.wp04 == to) return;if (from.wp05 == to) return;if (from.wp06 == to) return;if (from.wp07 == to) return;
98         if (from.wp08 == to) return;if (from.wp09 == to) return;if (from.wp10 == to) return;if (from.wp11 == to) return;
99         if (from.wp12 == to) return;if (from.wp13 == to) return;if (from.wp14 == to) return;if (from.wp15 == to) return;
100         if (from.wp16 == to) return;if (from.wp17 == to) return;if (from.wp18 == to) return;if (from.wp19 == to) return;
101         if (from.wp20 == to) return;if (from.wp21 == to) return;if (from.wp22 == to) return;if (from.wp23 == to) return;
102         if (from.wp24 == to) return;if (from.wp25 == to) return;if (from.wp26 == to) return;if (from.wp27 == to) return;
103         if (from.wp28 == to) return;if (from.wp29 == to) return;if (from.wp30 == to) return;if (from.wp31 == to) return;
104
105         if (to.wpisbox || from.wpisbox)
106         {
107                 // if either is a box we have to find the nearest points on them to
108                 // calculate the distance properly
109                 vector v1, v2, m1, m2;
110                 v1 = from.origin;
111                 m1 = to.absmin;
112                 m2 = to.absmax;
113                 v1_x = bound(m1_x, v1_x, m2_x);
114                 v1_y = bound(m1_y, v1_y, m2_y);
115                 v1_z = bound(m1_z, v1_z, m2_z);
116                 v2 = to.origin;
117                 m1 = from.absmin;
118                 m2 = from.absmax;
119                 v2_x = bound(m1_x, v2_x, m2_x);
120                 v2_y = bound(m1_y, v2_y, m2_y);
121                 v2_z = bound(m1_z, v2_z, m2_z);
122                 v2 = to.origin;
123                 c = vlen(v2 - v1);
124         }
125         else
126                 c = vlen(to.origin - from.origin);
127
128         if (from.wp31mincost < c) return;
129         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
130         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
131         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
132         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
133         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
134         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
135         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
136         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
137         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
138         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
139         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
140         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
141         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
142         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
143         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
144         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
145         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
146         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
147         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
148         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
149         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
150         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
151         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
152         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
153         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
154         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
155         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
156         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
157         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
158         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
159         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
160         from.wp00 = to;from.wp00mincost = c;return;
161 }
162
163 // relink this spawnfunc_waypoint
164 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
165 // (SLOW!)
166 void waypoint_think(entity this)
167 {
168         vector sv, sm1, sm2, ev, em1, em2, dv;
169
170         bot_calculate_stepheightvec();
171
172         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
173
174         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
175         sm1 = this.origin + this.mins;
176         sm2 = this.origin + this.maxs;
177         IL_EACH(g_waypoints, true,
178         {
179                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
180                 {
181                         waypoint_addlink(this, it);
182                         waypoint_addlink(it, this);
183                 }
184                 else
185                 {
186                         ++relink_total;
187                         if(!checkpvs(this.origin, it))
188                         {
189                                 ++relink_pvsculled;
190                                 continue;
191                         }
192                         sv = it.origin;
193                         sv.x = bound(sm1_x, sv.x, sm2_x);
194                         sv.y = bound(sm1_y, sv.y, sm2_y);
195                         sv.z = bound(sm1_z, sv.z, sm2_z);
196                         ev = this.origin;
197                         em1 = it.origin + it.mins;
198                         em2 = it.origin + it.maxs;
199                         ev.x = bound(em1_x, ev.x, em2_x);
200                         ev.y = bound(em1_y, ev.y, em2_y);
201                         ev.z = bound(em1_z, ev.z, em2_z);
202                         dv = ev - sv;
203                         dv.z = 0;
204                         if(vdist(dv, >=, 1050)) // max search distance in XY
205                         {
206                                 ++relink_lengthculled;
207                                 continue;
208                         }
209                         navigation_testtracewalk = 0;
210                         if (!this.wpisbox)
211                         {
212                                 tracebox(sv - STAT(PL_MIN, NULL).z * '0 0 1', STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), sv, false, this);
213                                 if (!trace_startsolid)
214                                 {
215                                         //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
216                                         sv = trace_endpos + '0 0 1';
217                                 }
218                         }
219                         if (!it.wpisbox)
220                         {
221                                 tracebox(ev - STAT(PL_MIN, NULL).z * '0 0 1', STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), ev, false, it);
222                                 if (!trace_startsolid)
223                                 {
224                                         //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
225                                         ev = trace_endpos + '0 0 1';
226                                 }
227                         }
228                         //traceline(this.origin, it.origin, false, NULL);
229                         //if (trace_fraction == 1)
230                         if (!this.wpisbox && tracewalk(this, sv, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), ev, MOVE_NOMONSTERS))
231                                 waypoint_addlink(this, it);
232                         else
233                                 relink_walkculled += 0.5;
234                         if (!it.wpisbox && tracewalk(it, ev, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), sv, MOVE_NOMONSTERS))
235                                 waypoint_addlink(it, this);
236                         else
237                                 relink_walkculled += 0.5;
238                 }
239         });
240         navigation_testtracewalk = 0;
241         this.wplinked = true;
242 }
243
244 void waypoint_clearlinks(entity wp)
245 {
246         // clear links to other waypoints
247         float f;
248         f = 10000000;
249         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
250         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
251         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
252         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
253
254         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
255         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
256         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
257         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
258
259         wp.wplinked = false;
260 }
261
262 // tell a spawnfunc_waypoint to relink
263 void waypoint_schedulerelink(entity wp)
264 {
265         if (wp == NULL)
266                 return;
267         // TODO: add some sort of visible box in edit mode for box waypoints
268         if (autocvar_g_waypointeditor)
269         {
270                 vector m1, m2;
271                 m1 = wp.mins;
272                 m2 = wp.maxs;
273                 setmodel(wp, MDL_WAYPOINT); wp.effects = EF_LOWPRECISION;
274                 setsize(wp, m1, m2);
275                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
276                         wp.colormod = '1 0 0';
277                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
278                         wp.colormod = '1 1 0';
279                 else
280                         wp.colormod = '1 1 1';
281         }
282         else
283                 wp.model = "";
284         wp.wpisbox = vdist(wp.size, >, 0);
285         wp.enemy = NULL;
286         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
287                 wp.owner = NULL;
288         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
289                 waypoint_clearlinks(wp);
290         // schedule an actual relink on next frame
291         setthink(wp, waypoint_think);
292         wp.nextthink = time;
293         wp.effects = EF_LOWPRECISION;
294 }
295
296 // spawnfunc_waypoint map entity
297 spawnfunc(waypoint)
298 {
299         IL_PUSH(g_waypoints, this);
300
301         setorigin(this, this.origin);
302         // schedule a relink after other waypoints have had a chance to spawn
303         waypoint_clearlinks(this);
304         //waypoint_schedulerelink(this);
305 }
306
307 // remove a spawnfunc_waypoint, and schedule all neighbors to relink
308 void waypoint_remove(entity e)
309 {
310         // tell all linked waypoints that they need to relink
311         waypoint_schedulerelink(e.wp00);
312         waypoint_schedulerelink(e.wp01);
313         waypoint_schedulerelink(e.wp02);
314         waypoint_schedulerelink(e.wp03);
315         waypoint_schedulerelink(e.wp04);
316         waypoint_schedulerelink(e.wp05);
317         waypoint_schedulerelink(e.wp06);
318         waypoint_schedulerelink(e.wp07);
319         waypoint_schedulerelink(e.wp08);
320         waypoint_schedulerelink(e.wp09);
321         waypoint_schedulerelink(e.wp10);
322         waypoint_schedulerelink(e.wp11);
323         waypoint_schedulerelink(e.wp12);
324         waypoint_schedulerelink(e.wp13);
325         waypoint_schedulerelink(e.wp14);
326         waypoint_schedulerelink(e.wp15);
327         waypoint_schedulerelink(e.wp16);
328         waypoint_schedulerelink(e.wp17);
329         waypoint_schedulerelink(e.wp18);
330         waypoint_schedulerelink(e.wp19);
331         waypoint_schedulerelink(e.wp20);
332         waypoint_schedulerelink(e.wp21);
333         waypoint_schedulerelink(e.wp22);
334         waypoint_schedulerelink(e.wp23);
335         waypoint_schedulerelink(e.wp24);
336         waypoint_schedulerelink(e.wp25);
337         waypoint_schedulerelink(e.wp26);
338         waypoint_schedulerelink(e.wp27);
339         waypoint_schedulerelink(e.wp28);
340         waypoint_schedulerelink(e.wp29);
341         waypoint_schedulerelink(e.wp30);
342         waypoint_schedulerelink(e.wp31);
343         // and now remove the spawnfunc_waypoint
344         delete(e);
345 }
346
347 // empties the map of waypoints
348 void waypoint_removeall()
349 {
350         IL_EACH(g_waypoints, true,
351         {
352                 delete(it);
353         });
354 }
355
356 // tell all waypoints to relink
357 // (is this useful at all?)
358 void waypoint_schedulerelinkall()
359 {
360         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
361         IL_EACH(g_waypoints, true,
362         {
363                 waypoint_schedulerelink(it);
364         });
365 }
366
367 // Load waypoint links from file
368 float waypoint_load_links()
369 {
370         string filename, s;
371         float file, tokens, c = 0, found;
372         entity wp_from = NULL, wp_to;
373         vector wp_to_pos, wp_from_pos;
374         filename = strcat("maps/", mapname);
375         filename = strcat(filename, ".waypoints.cache");
376         file = fopen(filename, FILE_READ);
377
378         if (file < 0)
379         {
380                 LOG_TRACE("waypoint links load from ");
381                 LOG_TRACE(filename);
382                 LOG_TRACE(" failed");
383                 return false;
384         }
385
386         while ((s = fgets(file)))
387         {
388                 tokens = tokenizebyseparator(s, "*");
389
390                 if (tokens!=2)
391                 {
392                         // bad file format
393                         fclose(file);
394                         return false;
395                 }
396
397                 wp_from_pos     = stov(argv(0));
398                 wp_to_pos       = stov(argv(1));
399
400                 // Search "from" waypoint
401                 if(!wp_from || wp_from.origin!=wp_from_pos)
402                 {
403                         wp_from = findradius(wp_from_pos, 1);
404                         found = false;
405                         while(wp_from)
406                         {
407                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
408                                 if(wp_from.classname == "waypoint")
409                                 {
410                                         found = true;
411                                         break;
412                                 }
413                                 wp_from = wp_from.chain;
414                         }
415
416                         if(!found)
417                         {
418                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from.origin));
419                                 continue;
420                         }
421
422                 }
423
424                 // Search "to" waypoint
425                 wp_to = findradius(wp_to_pos, 1);
426                 found = false;
427                 while(wp_to)
428                 {
429                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
430                         if(wp_to.classname == "waypoint")
431                         {
432                                 found = true;
433                                 break;
434                         }
435                         wp_to = wp_to.chain;
436                 }
437
438                 if(!found)
439                 {
440                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to.origin));
441                         continue;
442                 }
443
444                 ++c;
445                 waypoint_addlink(wp_from, wp_to);
446         }
447
448         fclose(file);
449
450         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
451
452         botframe_cachedwaypointlinks = true;
453         return true;
454 }
455
456 void waypoint_load_links_hardwired()
457 {
458         string filename, s;
459         float file, tokens, c = 0, found;
460         entity wp_from = NULL, wp_to;
461         vector wp_to_pos, wp_from_pos;
462         filename = strcat("maps/", mapname);
463         filename = strcat(filename, ".waypoints.hardwired");
464         file = fopen(filename, FILE_READ);
465
466         botframe_loadedforcedlinks = true;
467
468         if (file < 0)
469         {
470                 LOG_TRACE("waypoint links load from ", filename, " failed");
471                 return;
472         }
473
474         while ((s = fgets(file)))
475         {
476                 if(substring(s, 0, 2)=="//")
477                         continue;
478
479                 if(substring(s, 0, 1)=="#")
480                         continue;
481
482                 tokens = tokenizebyseparator(s, "*");
483
484                 if (tokens!=2)
485                         continue;
486
487                 wp_from_pos     = stov(argv(0));
488                 wp_to_pos       = stov(argv(1));
489
490                 // Search "from" waypoint
491                 if(!wp_from || wp_from.origin!=wp_from_pos)
492                 {
493                         wp_from = findradius(wp_from_pos, 5);
494                         found = false;
495                         while(wp_from)
496                         {
497                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
498                                 if(wp_from.classname == "waypoint")
499                                 {
500                                         found = true;
501                                         break;
502                                 }
503                                 wp_from = wp_from.chain;
504                         }
505
506                         if(!found)
507                         {
508                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
509                                 continue;
510                         }
511                 }
512
513                 // Search "to" waypoint
514                 wp_to = findradius(wp_to_pos, 5);
515                 found = false;
516                 while(wp_to)
517                 {
518                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
519                         if(wp_to.classname == "waypoint")
520                         {
521                                 found = true;
522                                 break;
523                         }
524                         wp_to = wp_to.chain;
525                 }
526
527                 if(!found)
528                 {
529                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
530                         continue;
531                 }
532
533                 ++c;
534                 waypoint_addlink(wp_from, wp_to);
535                 wp_from.wphardwired = true;
536                 wp_to.wphardwired = true;
537         }
538
539         fclose(file);
540
541         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
542 }
543
544 entity waypoint_get_link(entity w, float i)
545 {
546         switch(i)
547         {
548                 case  0:return w.wp00;
549                 case  1:return w.wp01;
550                 case  2:return w.wp02;
551                 case  3:return w.wp03;
552                 case  4:return w.wp04;
553                 case  5:return w.wp05;
554                 case  6:return w.wp06;
555                 case  7:return w.wp07;
556                 case  8:return w.wp08;
557                 case  9:return w.wp09;
558                 case 10:return w.wp10;
559                 case 11:return w.wp11;
560                 case 12:return w.wp12;
561                 case 13:return w.wp13;
562                 case 14:return w.wp14;
563                 case 15:return w.wp15;
564                 case 16:return w.wp16;
565                 case 17:return w.wp17;
566                 case 18:return w.wp18;
567                 case 19:return w.wp19;
568                 case 20:return w.wp20;
569                 case 21:return w.wp21;
570                 case 22:return w.wp22;
571                 case 23:return w.wp23;
572                 case 24:return w.wp24;
573                 case 25:return w.wp25;
574                 case 26:return w.wp26;
575                 case 27:return w.wp27;
576                 case 28:return w.wp28;
577                 case 29:return w.wp29;
578                 case 30:return w.wp30;
579                 case 31:return w.wp31;
580                 default:return NULL;
581         }
582 }
583
584 // Save all waypoint links to a file
585 void waypoint_save_links()
586 {
587         string filename = sprintf("maps/%s.waypoints.cache", mapname);
588         int file = fopen(filename, FILE_WRITE);
589         if (file < 0)
590         {
591                 LOG_INFOF("waypoint link save to %s failed\n", filename);
592                 return;
593         }
594
595         int c = 0;
596         IL_EACH(g_waypoints, true,
597         {
598                 for(int j = 0; j < 32; ++j)
599                 {
600                         entity link = waypoint_get_link(it, j);
601                         if(link)
602                         {
603                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
604                                 fputs(file, s);
605                                 ++c;
606                         }
607                 }
608         });
609         fclose(file);
610         botframe_cachedwaypointlinks = true;
611
612         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
613 }
614
615 // save waypoints to gamedir/data/maps/mapname.waypoints
616 void waypoint_saveall()
617 {
618         string filename = sprintf("maps/%s.waypoints", mapname);
619         int file = fopen(filename, FILE_WRITE);
620         if (file < 0)
621         {
622                 waypoint_save_links(); // save anyway?
623                 botframe_loadedforcedlinks = false;
624
625                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
626                 return;
627         }
628
629         int c = 0;
630         IL_EACH(g_waypoints, true,
631         {
632                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
633                         continue;
634
635                 for(int j = 0; j < 32; ++j)
636                 {
637                         string s;
638                         s = strcat(vtos(it.origin + it.mins), "\n");
639                         s = strcat(s, vtos(it.origin + it.maxs));
640                         s = strcat(s, "\n");
641                         s = strcat(s, ftos(it.wpflags));
642                         s = strcat(s, "\n");
643                         fputs(file, s);
644                         ++c;
645                 }
646         });
647         fclose(file);
648         waypoint_save_links();
649         botframe_loadedforcedlinks = false;
650
651         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
652 }
653
654 // load waypoints from file
655 float waypoint_loadall()
656 {
657         string filename, s;
658         float file, cwp, cwb, fl;
659         vector m1, m2;
660         cwp = 0;
661         cwb = 0;
662         filename = strcat("maps/", mapname);
663         filename = strcat(filename, ".waypoints");
664         file = fopen(filename, FILE_READ);
665         if (file >= 0)
666         {
667                 while ((s = fgets(file)))
668                 {
669                         m1 = stov(s);
670                         s = fgets(file);
671                         if (!s)
672                                 break;
673                         m2 = stov(s);
674                         s = fgets(file);
675                         if (!s)
676                                 break;
677                         fl = stof(s);
678                         waypoint_spawn(m1, m2, fl);
679                         if (m1 == m2)
680                                 cwp = cwp + 1;
681                         else
682                                 cwb = cwb + 1;
683                 }
684                 fclose(file);
685                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
686         }
687         else
688         {
689                 LOG_TRACE("waypoint load from ", filename, " failed");
690         }
691         return cwp + cwb;
692 }
693
694 vector waypoint_fixorigin(vector position)
695 {
696         tracebox(position + '0 0 1' * (1 - STAT(PL_MIN, NULL).z), STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), position + '0 0 -512', MOVE_NOMONSTERS, NULL);
697         if(trace_fraction < 1)
698                 position = trace_endpos;
699         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
700         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
701         return position;
702 }
703
704 void waypoint_spawnforitem_force(entity e, vector org)
705 {
706         // Fix the waypoint altitude if necessary
707         org = waypoint_fixorigin(org);
708
709         // don't spawn an item spawnfunc_waypoint if it already exists
710         IL_EACH(g_waypoints, true,
711         {
712                 if(it.wpisbox)
713                 {
714                         if(boxesoverlap(org, org, it.absmin, it.absmax))
715                         {
716                                 e.nearestwaypoint = it;
717                                 return;
718                         }
719                 }
720                 else
721                 {
722                         if(vdist(it.origin - org, <, 16))
723                         {
724                                 e.nearestwaypoint = it;
725                                 return;
726                         }
727                 }
728         });
729
730         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
731 }
732
733 void waypoint_spawnforitem(entity e)
734 {
735         if(!bot_waypoints_for_items)
736                 return;
737
738         waypoint_spawnforitem_force(e, e.origin);
739 }
740
741 void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
742 {
743         entity w;
744         entity dw;
745         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_NORELINK);
746         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
747         // one way link to the destination
748         w.wp00 = dw;
749         w.wp00mincost = timetaken; // this is just for jump pads
750         // the teleporter's nearest spawnfunc_waypoint is this one
751         // (teleporters are not goals, so this is probably useless)
752         e.nearestwaypoint = w;
753         e.nearestwaypointtimeout = time + 1000000000;
754 }
755
756 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
757 {
758         org = waypoint_fixorigin(org);
759         destination = waypoint_fixorigin(destination);
760         waypoint_spawnforteleporter_boxes(e, org, org, destination, destination, timetaken);
761 }
762
763 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
764 {
765         destination = waypoint_fixorigin(destination);
766         waypoint_spawnforteleporter_boxes(e, e.absmin, e.absmax, destination, destination, timetaken);
767 }
768
769 entity waypoint_spawnpersonal(entity this, vector position)
770 {
771         entity w;
772
773         // drop the waypoint to a proper location:
774         //   first move it up by a player height
775         //   then move it down to hit the floor with player bbox size
776         position = waypoint_fixorigin(position);
777
778         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
779         w.nearestwaypoint = NULL;
780         w.nearestwaypointtimeout = 0;
781         w.owner = this;
782
783         waypoint_schedulerelink(w);
784
785         return w;
786 }
787
788 void botframe_showwaypointlinks()
789 {
790         if (time < botframe_waypointeditorlightningtime)
791                 return;
792         botframe_waypointeditorlightningtime = time + 0.5;
793         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
794         {
795                 if(IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
796                 {
797                         //navigation_testtracewalk = true;
798                         entity head = navigation_findnearestwaypoint(it, false);
799                 //      print("currently selected WP is ", etos(head), "\n");
800                         //navigation_testtracewalk = false;
801                         if (head)
802                         {
803                                 entity w;
804                                 w = head     ;if (w) te_lightning2(NULL, w.origin, it.origin);
805                                 w = head.wp00;if (w) te_lightning2(NULL, w.origin, head.origin);
806                                 w = head.wp01;if (w) te_lightning2(NULL, w.origin, head.origin);
807                                 w = head.wp02;if (w) te_lightning2(NULL, w.origin, head.origin);
808                                 w = head.wp03;if (w) te_lightning2(NULL, w.origin, head.origin);
809                                 w = head.wp04;if (w) te_lightning2(NULL, w.origin, head.origin);
810                                 w = head.wp05;if (w) te_lightning2(NULL, w.origin, head.origin);
811                                 w = head.wp06;if (w) te_lightning2(NULL, w.origin, head.origin);
812                                 w = head.wp07;if (w) te_lightning2(NULL, w.origin, head.origin);
813                                 w = head.wp08;if (w) te_lightning2(NULL, w.origin, head.origin);
814                                 w = head.wp09;if (w) te_lightning2(NULL, w.origin, head.origin);
815                                 w = head.wp10;if (w) te_lightning2(NULL, w.origin, head.origin);
816                                 w = head.wp11;if (w) te_lightning2(NULL, w.origin, head.origin);
817                                 w = head.wp12;if (w) te_lightning2(NULL, w.origin, head.origin);
818                                 w = head.wp13;if (w) te_lightning2(NULL, w.origin, head.origin);
819                                 w = head.wp14;if (w) te_lightning2(NULL, w.origin, head.origin);
820                                 w = head.wp15;if (w) te_lightning2(NULL, w.origin, head.origin);
821                                 w = head.wp16;if (w) te_lightning2(NULL, w.origin, head.origin);
822                                 w = head.wp17;if (w) te_lightning2(NULL, w.origin, head.origin);
823                                 w = head.wp18;if (w) te_lightning2(NULL, w.origin, head.origin);
824                                 w = head.wp19;if (w) te_lightning2(NULL, w.origin, head.origin);
825                                 w = head.wp20;if (w) te_lightning2(NULL, w.origin, head.origin);
826                                 w = head.wp21;if (w) te_lightning2(NULL, w.origin, head.origin);
827                                 w = head.wp22;if (w) te_lightning2(NULL, w.origin, head.origin);
828                                 w = head.wp23;if (w) te_lightning2(NULL, w.origin, head.origin);
829                                 w = head.wp24;if (w) te_lightning2(NULL, w.origin, head.origin);
830                                 w = head.wp25;if (w) te_lightning2(NULL, w.origin, head.origin);
831                                 w = head.wp26;if (w) te_lightning2(NULL, w.origin, head.origin);
832                                 w = head.wp27;if (w) te_lightning2(NULL, w.origin, head.origin);
833                                 w = head.wp28;if (w) te_lightning2(NULL, w.origin, head.origin);
834                                 w = head.wp29;if (w) te_lightning2(NULL, w.origin, head.origin);
835                                 w = head.wp30;if (w) te_lightning2(NULL, w.origin, head.origin);
836                                 w = head.wp31;if (w) te_lightning2(NULL, w.origin, head.origin);
837                         }
838                 }
839         });
840 }
841
842 float botframe_autowaypoints_fixdown(vector v)
843 {
844         tracebox(v, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), v + '0 0 -64', MOVE_NOMONSTERS, NULL);
845         if(trace_fraction >= 1)
846                 return 0;
847         return 1;
848 }
849
850 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
851 {
852         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
853         {
854                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
855                 return 0;
856         });
857
858         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
859         return 1;
860 }
861
862 // return value:
863 //    1 = WP created
864 //    0 = no action needed
865 //   -1 = temp fail, try from world too
866 //   -2 = permanent fail, do not retry
867 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
868 {
869         // make it possible to go from p to wp, if we can
870         // if wp is NULL, nearest is chosen
871
872         entity w;
873         vector porg;
874         float t, tmin, tmax;
875         vector o;
876         vector save;
877
878         if(!botframe_autowaypoints_fixdown(p.origin))
879                 return -2;
880         porg = trace_endpos;
881
882         if(wp)
883         {
884                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
885
886                 // if wp -> porg, then OK
887                 float maxdist;
888                 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
889                 {
890                         // we may find a better one
891                         maxdist = vlen(wp.origin - porg);
892                 }
893                 else
894                 {
895                         // accept any "good"
896                         maxdist = 2100;
897                 }
898
899                 float bestdist = maxdist;
900                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
901                 {
902                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
903                         if(d < bestdist)
904                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
905                         if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
906                         {
907                                 bestdist = d;
908                                 p.(fld) = it;
909                         }
910                 });
911                 if(bestdist < maxdist)
912                 {
913                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
914                         return 0;
915                 }
916
917                 if(bestdist < 2100)
918                 {
919                         // we know maxdist < 2100
920                         // so wp -> porg is still valid
921                         // all is good
922                         p.(fld) = wp;
923                         return 0;
924                 }
925
926                 // otherwise, no existing WP can fix our issues
927         }
928         else
929         {
930                 save = p.origin;
931                 setorigin(p, porg);
932                 w = navigation_findnearestwaypoint(p, walkfromwp);
933                 setorigin(p, save);
934                 if(w)
935                 {
936                         p.(fld) = w;
937                         return 0;
938                 }
939         }
940
941         tmin = 0;
942         tmax = 1;
943         for (;;)
944         {
945                 if(tmax - tmin < 0.001)
946                 {
947                         // did not get a good candidate
948                         return -1;
949                 }
950
951                 t = (tmin + tmax) * 0.5;
952                 o = antilag_takebackorigin(p, CS(p), time - t);
953                 if(!botframe_autowaypoints_fixdown(o))
954                         return -2;
955                 o = trace_endpos;
956
957                 if(wp)
958                 {
959                         if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
960                         {
961                                 // we cannot walk from wp.origin to o
962                                 // get closer to tmax
963                                 tmin = t;
964                                 continue;
965                         }
966                 }
967                 else
968                 {
969                         save = p.origin;
970                         setorigin(p, o);
971                         w = navigation_findnearestwaypoint(p, walkfromwp);
972                         setorigin(p, save);
973                         if(!w)
974                         {
975                                 // we cannot walk from any WP to o
976                                 // get closer to tmax
977                                 tmin = t;
978                                 continue;
979                         }
980                 }
981
982                 // if we get here, o is valid regarding waypoints
983                 // check if o is connected right to the player
984                 // we break if it succeeds, as that means o is a good waypoint location
985                 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
986                         break;
987
988                 // o is no good, we need to get closer to the player
989                 tmax = t;
990         }
991
992         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
993         botframe_autowaypoints_createwp(o, p, fld, 0);
994         return 1;
995 }
996
997 // automatically create missing waypoints
998 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
999 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1000 {
1001         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1002         if(r != -1)
1003                 return;
1004         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1005         if(r != -1)
1006                 return;
1007
1008         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1009         if(!botframe_autowaypoints_fixdown(p.origin))
1010                 return; // shouldn't happen, caught above
1011         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1012 }
1013
1014 void botframe_deleteuselesswaypoints()
1015 {
1016         IL_EACH(g_items, it.bot_pickup,
1017         {
1018                 // NOTE: this protects waypoints if they're the ONLY nearest
1019                 // waypoint. That's the intention.
1020                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1021                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1022         });
1023         IL_EACH(g_waypoints, true,
1024         {
1025                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1026                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1027                 // WP is useful if:
1028                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1029                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1030                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1031                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1032                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1033                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1034                 // b) WP is closest WP for an item/spawnpoint/other entity
1035                 //    This has been done above by protecting these WPs.
1036         });
1037         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1038         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1039         {
1040                 for (int m = 0; m < 32; ++m)
1041                 {
1042                         entity w = waypoint_get_link(it, m);
1043                         if (!w)
1044                                 break;
1045                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1046                                 continue;
1047                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1048                                 continue;
1049                         for (int j = 0; j < 32; ++j)
1050                         {
1051                                 entity w2 = waypoint_get_link(w, j);
1052                                 if (!w2)
1053                                         break;
1054                                 if (it == w2)
1055                                         continue;
1056                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1057                                         continue;
1058                                 // If we got here, it != w2 exist with it -> w
1059                                 // and w -> w2. That means the waypoint is not
1060                                 // a dead end.
1061                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1062                                 for (int k = 0; k < 32; ++k)
1063                                 {
1064                                         if (waypoint_get_link(it, k) == w2)
1065                                                 continue;
1066                                         // IF WE GET HERE, w is proven useful
1067                                         // to get from it to w2!
1068                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1069                                         goto next;
1070                                 }
1071                         }
1072 LABEL(next)
1073                 }
1074         });
1075         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1076         //     they are needed to complete routes while autowaypointing.
1077
1078         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1079         {
1080                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1081                 te_explosion(it.origin);
1082                 waypoint_remove(it);
1083                 break;
1084         });
1085
1086         IL_EACH(g_waypoints, true,
1087         {
1088                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1089         });
1090 }
1091
1092 void botframe_autowaypoints()
1093 {
1094         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1095                 // going back is broken, so only fix waypoints to walk TO the player
1096                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1097                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1098                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1099         ));
1100
1101         if (autocvar_g_waypointeditor_auto >= 2) {
1102                 botframe_deleteuselesswaypoints();
1103         }
1104 }
1105