Merge branch 'terencehill/bot_waypoints' into terencehill/bot_ai
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / default / waypoints.qc
1 #include "waypoints.qh"
2
3 #include <server/defs.qh>
4 #include <server/miscfunctions.qh>
5 #include "cvars.qh"
6
7 #include "bot.qh"
8 #include "navigation.qh"
9
10 #include <common/state.qh>
11
12 #include "../../antilag.qh"
13
14 #include <common/constants.qh>
15 #include <common/net_linked.qh>
16 #include <common/physics/player.qh>
17
18 #include <lib/warpzone/common.qh>
19 #include <lib/warpzone/util_server.qh>
20
21 .entity spawnpointmodel;
22 void waypoint_unreachable(entity pl)
23 {
24         IL_EACH(g_waypoints, true,
25         {
26                 it.colormod = '0.5 0.5 0.5';
27                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
28         });
29
30         entity e2 = navigation_findnearestwaypoint(pl, false);
31         if(!e2)
32         {
33                 LOG_INFOF("Can't find any waypoint nearby\n");
34                 return;
35         }
36
37         navigation_markroutes(pl, e2);
38
39         int j = 0;
40         int m = 0;
41         IL_EACH(g_waypoints, it.wpcost >= 10000000,
42         {
43                 LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
44                 it.colormod_z = 8;
45                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
46                 j++;
47                 m++;
48         });
49         if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
50         navigation_markroutes_inverted(e2);
51
52         j = 0;
53         IL_EACH(g_waypoints, it.wpcost >= 10000000,
54         {
55                 LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
56                 it.colormod_x = 8;
57                 if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
58                         m++;
59                 it.effects |= EF_NODEPTHTEST | EF_RED;
60                 j++;
61         });
62         if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
63         if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
64
65         j = 0;
66         IL_EACH(g_spawnpoints, true,
67         {
68                 if (navigation_findnearestwaypoint(it, false))
69                 {
70                         if(it.spawnpointmodel)
71                         {
72                                 delete(it.spawnpointmodel);
73                                 it.spawnpointmodel = NULL;
74                         }
75                 }
76                 else
77                 {
78                         if(!it.spawnpointmodel)
79                         {
80                                 tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
81                                 entity e = new(spawnpointmodel);
82                                 vector org = trace_endpos + eZ;
83                                 setorigin(e, org);
84                                 e.solid = SOLID_TRIGGER;
85                                 it.spawnpointmodel = e;
86                         }
87                         LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
88                         it.spawnpointmodel.effects |= EF_NODEPTHTEST;
89                         _setmodel(it.spawnpointmodel, pl.model);
90                         it.spawnpointmodel.frame = pl.frame;
91                         it.spawnpointmodel.skin = pl.skin;
92                         it.spawnpointmodel.colormap = pl.colormap;
93                         it.spawnpointmodel.colormod = pl.colormod;
94                         it.spawnpointmodel.glowmod = pl.glowmod;
95                         setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
96                         j++;
97                 }
98         });
99         if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
100
101         j = 0;
102         IL_EACH(g_items, true,
103         {
104                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
105                 it.colormod = '0.5 0.5 0.5';
106         });
107         IL_EACH(g_items, true,
108         {
109                 if (navigation_findnearestwaypoint(it, false))
110                         continue;
111                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
112                 it.effects |= EF_NODEPTHTEST | EF_RED;
113                 it.colormod_x = 8;
114                 j++;
115         });
116         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
117
118         j = 0;
119         IL_EACH(g_items, true,
120         {
121                 if (navigation_findnearestwaypoint(it, true))
122                         continue;
123                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
124                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
125                 it.colormod_z = 8;
126                 j++;
127         });
128         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
129 }
130
131 vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
132 {
133         vector new_org = org;
134         if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
135         {
136                 vector map_center = havocbot_middlepoint;
137                 if (autocvar_g_waypointeditor_symmetrical == -1)
138                         map_center = autocvar_g_waypointeditor_symmetrical_origin;
139
140                 new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
141         }
142         else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
143         {
144                 float m = havocbot_symmetryaxis_equation.x;
145                 float q = havocbot_symmetryaxis_equation.y;
146                 if (autocvar_g_waypointeditor_symmetrical == -2)
147                 {
148                         m = autocvar_g_waypointeditor_symmetrical_axis.x;
149                         q = autocvar_g_waypointeditor_symmetrical_axis.y;
150                 }
151
152                 new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
153                 new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
154         }
155         new_org.z = org.z;
156         return new_org;
157 }
158
159 void waypoint_setupmodel(entity wp)
160 {
161         if (autocvar_g_waypointeditor)
162         {
163                 // TODO: add some sort of visible box in edit mode for box waypoints
164                 vector m1 = wp.mins;
165                 vector m2 = wp.maxs;
166                 setmodel(wp, MDL_WAYPOINT);
167                 setsize(wp, m1, m2);
168                 wp.effects = EF_LOWPRECISION;
169                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
170                         wp.colormod = '1 0 0';
171                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
172                         wp.colormod = '1 1 0';
173                 else if (wp.wphardwired)
174                         wp.colormod = '0.5 0 1';
175                 else
176                         wp.colormod = '1 1 1';
177         }
178         else
179                 wp.model = "";
180 }
181
182 entity waypoint_spawn(vector m1, vector m2, float f)
183 {
184         if(!(f & (WAYPOINTFLAG_PERSONAL | WAYPOINTFLAG_GENERATED)) && m1 == m2)
185         {
186                 vector em1 = m1 - '8 8 8';
187                 vector em2 = m2 + '8 8 8';
188                 IL_EACH(g_waypoints, boxesoverlap(em1, em2, it.absmin, it.absmax),
189                 {
190                         return it;
191                 });
192         }
193
194         entity w = new(waypoint);
195         IL_PUSH(g_waypoints, w);
196         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
197         w.wpflags = f;
198         w.solid = SOLID_TRIGGER;
199         setorigin(w, (m1 + m2) * 0.5);
200         setsize(w, m1 - w.origin, m2 - w.origin);
201         if (w.size)
202                 w.wpisbox = true;
203
204         if(!w.wpisbox)
205         {
206                 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
207                 if(!move_out_of_solid(w))
208                 {
209                         if(!(f & WAYPOINTFLAG_GENERATED))
210                         {
211                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
212                                 delete(w);
213                                 return NULL;
214                         }
215                         else
216                         {
217                                 if(autocvar_developer)
218                                 {
219                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin));
220                                         backtrace("Waypoint stuck");
221                                 }
222                         }
223                 }
224                 setsize(w, '0 0 0', '0 0 0');
225         }
226
227         waypoint_clearlinks(w);
228         //waypoint_schedulerelink(w);
229
230         waypoint_setupmodel(w);
231
232         return w;
233 }
234
235 void waypoint_spawn_fromeditor(entity pl)
236 {
237         entity e;
238         vector org = pl.origin;
239         int ctf_flags = havocbot_symmetryaxis_equation.z;
240         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
241                    || (autocvar_g_waypointeditor_symmetrical < 0));
242         int order = ctf_flags;
243         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
244         {
245                 order = autocvar_g_waypointeditor_symmetrical_order;
246                 ctf_flags = order;
247         }
248
249         if(!PHYS_INPUT_BUTTON_CROUCH(pl))
250         {
251                 // snap waypoint to item's origin if close enough
252                 IL_EACH(g_items, true,
253                 {
254                         vector item_org = (it.absmin + it.absmax) * 0.5;
255                         item_org.z = it.absmin.z - PL_MIN_CONST.z;
256                         if(vlen(item_org - org) < 30)
257                         {
258                                 org = item_org;
259                                 break;
260                         }
261                 });
262         }
263
264         LABEL(add_wp);
265         e = waypoint_spawn(org, org, 0);
266         if(!e)
267         {
268                 LOG_INFOF("Couldn't spawn waypoint at %v\n", org);
269                 return;
270         }
271         waypoint_schedulerelink(e);
272         bprint(strcat("Waypoint spawned at ", vtos(e.origin), "\n"));
273         if(sym)
274         {
275                 org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
276                 if (vdist(org - pl.origin, >, 32))
277                 {
278                         if(order > 2)
279                                 order--;
280                         else
281                                 sym = false;
282                         goto add_wp;
283                 }
284         }
285 }
286
287 void waypoint_remove(entity wp)
288 {
289         // tell all waypoints linked to wp that they need to relink
290         IL_EACH(g_waypoints, it != wp,
291         {
292                 if (waypoint_islinked(it, wp))
293                         waypoint_removelink(it, wp);
294         });
295         delete(wp);
296 }
297
298 void waypoint_remove_fromeditor(entity pl)
299 {
300         entity e = navigation_findnearestwaypoint(pl, false);
301
302         int ctf_flags = havocbot_symmetryaxis_equation.z;
303         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
304                    || (autocvar_g_waypointeditor_symmetrical < 0));
305         int order = ctf_flags;
306         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
307         {
308                 order = autocvar_g_waypointeditor_symmetrical_order;
309                 ctf_flags = order;
310         }
311
312         LABEL(remove_wp);
313         if (!e) return;
314         if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
315
316         if (e.wphardwired)
317         {
318                 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");
319                 return;
320         }
321
322         entity wp_sym = NULL;
323         if (sym)
324         {
325                 vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
326                 FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
327                         if(vdist(org - it.origin, <, 3))
328                         {
329                                 wp_sym = it;
330                                 break;
331                         }
332                 });
333         }
334
335         bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
336         waypoint_remove(e);
337
338         if (sym && wp_sym)
339         {
340                 e = wp_sym;
341                 if(order > 2)
342                         order--;
343                 else
344                         sym = false;
345                 goto remove_wp;
346         }
347 }
348
349 void waypoint_removelink(entity from, entity to)
350 {
351         if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
352                 return;
353
354         bool found = false;
355         if (!found && from.wp00 == to) found = true; if (found) {from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;}
356         if (!found && from.wp01 == to) found = true; if (found) {from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;}
357         if (!found && from.wp02 == to) found = true; if (found) {from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;}
358         if (!found && from.wp03 == to) found = true; if (found) {from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;}
359         if (!found && from.wp04 == to) found = true; if (found) {from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;}
360         if (!found && from.wp05 == to) found = true; if (found) {from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;}
361         if (!found && from.wp06 == to) found = true; if (found) {from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;}
362         if (!found && from.wp07 == to) found = true; if (found) {from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;}
363         if (!found && from.wp08 == to) found = true; if (found) {from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;}
364         if (!found && from.wp09 == to) found = true; if (found) {from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;}
365         if (!found && from.wp10 == to) found = true; if (found) {from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;}
366         if (!found && from.wp11 == to) found = true; if (found) {from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;}
367         if (!found && from.wp12 == to) found = true; if (found) {from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;}
368         if (!found && from.wp13 == to) found = true; if (found) {from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;}
369         if (!found && from.wp14 == to) found = true; if (found) {from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;}
370         if (!found && from.wp15 == to) found = true; if (found) {from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;}
371         if (!found && from.wp16 == to) found = true; if (found) {from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;}
372         if (!found && from.wp17 == to) found = true; if (found) {from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;}
373         if (!found && from.wp18 == to) found = true; if (found) {from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;}
374         if (!found && from.wp19 == to) found = true; if (found) {from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;}
375         if (!found && from.wp20 == to) found = true; if (found) {from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;}
376         if (!found && from.wp21 == to) found = true; if (found) {from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;}
377         if (!found && from.wp22 == to) found = true; if (found) {from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;}
378         if (!found && from.wp23 == to) found = true; if (found) {from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;}
379         if (!found && from.wp24 == to) found = true; if (found) {from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;}
380         if (!found && from.wp25 == to) found = true; if (found) {from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;}
381         if (!found && from.wp26 == to) found = true; if (found) {from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;}
382         if (!found && from.wp27 == to) found = true; if (found) {from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;}
383         if (!found && from.wp28 == to) found = true; if (found) {from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;}
384         if (!found && from.wp29 == to) found = true; if (found) {from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;}
385         if (!found && from.wp30 == to) found = true; if (found) {from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;}
386         if (found) {from.wp31 = NULL; from.wp31mincost = 10000000;}
387 }
388
389 bool waypoint_islinked(entity from, entity to)
390 {
391         if (from.wp00 == to) return true;if (from.wp01 == to) return true;if (from.wp02 == to) return true;if (from.wp03 == to) return true;
392         if (from.wp04 == to) return true;if (from.wp05 == to) return true;if (from.wp06 == to) return true;if (from.wp07 == to) return true;
393         if (from.wp08 == to) return true;if (from.wp09 == to) return true;if (from.wp10 == to) return true;if (from.wp11 == to) return true;
394         if (from.wp12 == to) return true;if (from.wp13 == to) return true;if (from.wp14 == to) return true;if (from.wp15 == to) return true;
395         if (from.wp16 == to) return true;if (from.wp17 == to) return true;if (from.wp18 == to) return true;if (from.wp19 == to) return true;
396         if (from.wp20 == to) return true;if (from.wp21 == to) return true;if (from.wp22 == to) return true;if (from.wp23 == to) return true;
397         if (from.wp24 == to) return true;if (from.wp25 == to) return true;if (from.wp26 == to) return true;if (from.wp27 == to) return true;
398         if (from.wp28 == to) return true;if (from.wp29 == to) return true;if (from.wp30 == to) return true;if (from.wp31 == to) return true;
399         return false;
400 }
401
402 void waypoint_updatecost_foralllinks()
403 {
404         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
405         {
406                 if(it.wp00) it.wp00mincost = waypoint_getlinkcost(it, it.wp00);
407                 if(it.wp01) it.wp01mincost = waypoint_getlinkcost(it, it.wp01);
408                 if(it.wp02) it.wp02mincost = waypoint_getlinkcost(it, it.wp02);
409                 if(it.wp03) it.wp03mincost = waypoint_getlinkcost(it, it.wp03);
410                 if(it.wp04) it.wp04mincost = waypoint_getlinkcost(it, it.wp04);
411                 if(it.wp05) it.wp05mincost = waypoint_getlinkcost(it, it.wp05);
412                 if(it.wp06) it.wp06mincost = waypoint_getlinkcost(it, it.wp06);
413                 if(it.wp07) it.wp07mincost = waypoint_getlinkcost(it, it.wp07);
414                 if(it.wp08) it.wp08mincost = waypoint_getlinkcost(it, it.wp08);
415                 if(it.wp09) it.wp09mincost = waypoint_getlinkcost(it, it.wp09);
416                 if(it.wp10) it.wp10mincost = waypoint_getlinkcost(it, it.wp10);
417                 if(it.wp11) it.wp11mincost = waypoint_getlinkcost(it, it.wp11);
418                 if(it.wp12) it.wp12mincost = waypoint_getlinkcost(it, it.wp12);
419                 if(it.wp13) it.wp13mincost = waypoint_getlinkcost(it, it.wp13);
420                 if(it.wp14) it.wp14mincost = waypoint_getlinkcost(it, it.wp14);
421                 if(it.wp15) it.wp15mincost = waypoint_getlinkcost(it, it.wp15);
422                 if(it.wp16) it.wp16mincost = waypoint_getlinkcost(it, it.wp16);
423                 if(it.wp17) it.wp17mincost = waypoint_getlinkcost(it, it.wp17);
424                 if(it.wp18) it.wp18mincost = waypoint_getlinkcost(it, it.wp18);
425                 if(it.wp19) it.wp19mincost = waypoint_getlinkcost(it, it.wp19);
426                 if(it.wp20) it.wp20mincost = waypoint_getlinkcost(it, it.wp20);
427                 if(it.wp21) it.wp21mincost = waypoint_getlinkcost(it, it.wp21);
428                 if(it.wp22) it.wp22mincost = waypoint_getlinkcost(it, it.wp22);
429                 if(it.wp23) it.wp23mincost = waypoint_getlinkcost(it, it.wp23);
430                 if(it.wp24) it.wp24mincost = waypoint_getlinkcost(it, it.wp24);
431                 if(it.wp25) it.wp25mincost = waypoint_getlinkcost(it, it.wp25);
432                 if(it.wp26) it.wp26mincost = waypoint_getlinkcost(it, it.wp26);
433                 if(it.wp27) it.wp27mincost = waypoint_getlinkcost(it, it.wp27);
434                 if(it.wp28) it.wp28mincost = waypoint_getlinkcost(it, it.wp28);
435                 if(it.wp29) it.wp29mincost = waypoint_getlinkcost(it, it.wp29);
436                 if(it.wp30) it.wp30mincost = waypoint_getlinkcost(it, it.wp30);
437                 if(it.wp31) it.wp31mincost = waypoint_getlinkcost(it, it.wp31);
438         });
439 }
440
441 float waypoint_getlinearcost(float dist)
442 {
443         if(skill >= autocvar_bot_ai_bunnyhop_skilloffset)
444                 return dist / (autocvar_sv_maxspeed * 1.25);
445         return dist / autocvar_sv_maxspeed;
446 }
447 float waypoint_getlinearcost_underwater(float dist)
448 {
449         // NOTE: this value is hardcoded on the engine too, see SV_WaterMove
450         return dist / (autocvar_sv_maxspeed * 0.7);
451 }
452
453 float waypoint_gettravelcost(vector from, vector to, entity from_ent, entity to_ent)
454 {
455         bool submerged_from = navigation_check_submerged_state(from_ent, from);
456         bool submerged_to = navigation_check_submerged_state(to_ent, to);
457
458         if (submerged_from && submerged_to)
459                 return waypoint_getlinearcost_underwater(vlen(to - from));
460
461         float c = waypoint_getlinearcost(vlen(to - from));
462
463         float height = from.z - to.z;
464         if(height > jumpheight_vec.z && autocvar_sv_gravity > 0)
465         {
466                 float height_cost = sqrt(height / (autocvar_sv_gravity / 2));
467                 c = waypoint_getlinearcost(vlen(vec2(to - from))); // xy distance cost
468                 if(height_cost > c)
469                         c = height_cost;
470         }
471
472         if (submerged_from || submerged_to)
473                 return (c + waypoint_getlinearcost_underwater(vlen(to - from))) / 2;
474         return c;
475 }
476
477 float waypoint_getlinkcost(entity from, entity to)
478 {
479         vector v1 = from.origin;
480         vector v2 = to.origin;
481         if (from.wpisbox)
482         {
483                 vector m1 = from.absmin, m2 = from.absmax;
484                 v1.x = bound(m1.x, v2.x, m2.x);
485                 v1.y = bound(m1.y, v2.y, m2.y);
486                 v1.z = bound(m1.z, v2.z, m2.z);
487         }
488         if (to.wpisbox)
489         {
490                 vector m1 = to.absmin, m2 = to.absmax;
491                 v2.x = bound(m1.x, v1.x, m2.x);
492                 v2.y = bound(m1.y, v1.y, m2.y);
493                 v2.z = bound(m1.z, v1.z, m2.z);
494         }
495         return waypoint_gettravelcost(v1, v2, from, to);
496 }
497
498 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
499 // if c == -1 automatically determine cost of the link
500 void waypoint_addlink_customcost(entity from, entity to, float c)
501 {
502         if (from == to || waypoint_islinked(from, to))
503                 return;
504         if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
505                 return;
506
507         if(c == -1)
508                 c = waypoint_getlinkcost(from, to);
509
510         if (from.wp31mincost < c) return;
511         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
512         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
513         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
514         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
515         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
516         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
517         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
518         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
519         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
520         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
521         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
522         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
523         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
524         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
525         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
526         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
527         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
528         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
529         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
530         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
531         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
532         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
533         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
534         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
535         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
536         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
537         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
538         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
539         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
540         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
541         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
542         from.wp00 = to;from.wp00mincost = c;return;
543 }
544
545 void waypoint_addlink(entity from, entity to)
546 {
547         waypoint_addlink_customcost(from, to, -1);
548 }
549
550 // relink this spawnfunc_waypoint
551 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
552 // (SLOW!)
553 void waypoint_think(entity this)
554 {
555         vector sv = '0 0 0', sv2 = '0 0 0', ev = '0 0 0', ev2 = '0 0 0', dv;
556         float sv2_height = 0, ev2_height = 0;
557
558         bot_calculate_stepheightvec();
559
560         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
561
562         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
563         IL_EACH(g_waypoints, this != it,
564         {
565                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
566                 {
567                         waypoint_addlink(this, it);
568                         waypoint_addlink(it, this);
569                 }
570                 else
571                 {
572                         ++relink_total;
573                         if(!checkpvs(this.origin, it))
574                         {
575                                 ++relink_pvsculled;
576                                 continue;
577                         }
578
579                         sv = set_tracewalk_dest_2(this, it.origin);
580                         sv2 = tracewalk_dest;
581                         sv2_height = tracewalk_dest_height;
582                         ev = set_tracewalk_dest_2(it, this.origin);
583                         ev2 = tracewalk_dest;
584                         ev2_height = tracewalk_dest_height;
585
586                         dv = ev - sv;
587                         dv.z = 0;
588                         if(vdist(dv, >=, 1050)) // max search distance in XY
589                         {
590                                 ++relink_lengthculled;
591                                 continue;
592                         }
593
594                         navigation_testtracewalk = 0;
595
596                         //traceline(this.origin, it.origin, false, NULL);
597                         //if (trace_fraction == 1)
598                         if (this.wpisbox)
599                                 relink_walkculled += 0.5;
600                         else
601                         {
602                                 if (tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev2, ev2_height, MOVE_NOMONSTERS))
603                                         waypoint_addlink(this, it);
604                                 else
605                                         relink_walkculled += 0.5;
606                         }
607
608                         if (it.wpisbox)
609                                 relink_walkculled += 0.5;
610                         else
611                         {
612                                 if (tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv2, sv2_height, MOVE_NOMONSTERS))
613                                         waypoint_addlink(it, this);
614                                 else
615                                         relink_walkculled += 0.5;
616                         }
617                 }
618         });
619         navigation_testtracewalk = 0;
620         this.wplinked = true;
621 }
622
623 void waypoint_clearlinks(entity wp)
624 {
625         // clear links to other waypoints
626         float f = 10000000;
627         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
628         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
629         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
630         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
631
632         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
633         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
634         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
635         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
636
637         wp.wplinked = false;
638 }
639
640 // tell a spawnfunc_waypoint to relink
641 void waypoint_schedulerelink(entity wp)
642 {
643         if (wp == NULL)
644                 return;
645
646         waypoint_setupmodel(wp);
647         wp.wpisbox = vdist(wp.size, >, 0);
648         wp.enemy = NULL;
649         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
650                 wp.owner = NULL;
651         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
652                 waypoint_clearlinks(wp);
653         // schedule an actual relink on next frame
654         setthink(wp, waypoint_think);
655         wp.nextthink = time;
656         wp.effects = EF_LOWPRECISION;
657 }
658
659 // spawnfunc_waypoint map entity
660 spawnfunc(waypoint)
661 {
662         IL_PUSH(g_waypoints, this);
663
664         setorigin(this, this.origin);
665         // schedule a relink after other waypoints have had a chance to spawn
666         waypoint_clearlinks(this);
667         //waypoint_schedulerelink(this);
668 }
669
670 // tell all waypoints to relink
671 // actually this is useful only to update relink_* stats
672 void waypoint_schedulerelinkall()
673 {
674         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
675         IL_EACH(g_waypoints, true,
676         {
677                 waypoint_schedulerelink(it);
678         });
679         waypoint_load_links_hardwired();
680 }
681
682 #define GET_GAMETYPE_EXTENSION() ((g_race) ? ".race" : "")
683
684 // Load waypoint links from file
685 bool waypoint_load_links()
686 {
687         string s;
688         float file, tokens, c = 0, found;
689         entity wp_from = NULL, wp_to;
690         vector wp_to_pos, wp_from_pos;
691
692         string gt_ext = GET_GAMETYPE_EXTENSION();
693
694         string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
695         file = fopen(filename, FILE_READ);
696
697         if (gt_ext != "" && file < 0)
698         {
699                 // if race waypoint file doesn't exist load the default one
700                 filename = sprintf("maps/%s.waypoints.cache", mapname);
701                 file = fopen(filename, FILE_READ);
702         }
703
704         if (file < 0)
705         {
706                 LOG_TRACE("waypoint links load from ", filename, " failed");
707                 waypoint_schedulerelinkall();
708                 return false;
709         }
710
711         bool parse_comments = true;
712         float ver = 0;
713
714         while ((s = fgets(file)))
715         {
716                 if(parse_comments)
717                 {
718                         if(substring(s, 0, 2) == "//")
719                         {
720                                 if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
721                                         ver = stof(substring(s, 19, -1));
722                                 continue;
723                         }
724                         else
725                         {
726                                 if(ver < WAYPOINT_VERSION)
727                                 {
728                                         LOG_TRACE("waypoint links for this map are outdated.");
729                                         if (g_assault)
730                                         {
731                                                 LOG_TRACE("Assault waypoint links need to be manually updated in the editor");
732                                         }
733                                         else
734                                         {
735                                                 LOG_TRACE("automatically updating...");
736                                                 waypoint_schedulerelinkall();
737                                                 fclose(file);
738                                                 return false;
739                                         }
740                                 }
741                                 parse_comments = false;
742                         }
743                 }
744
745                 tokens = tokenizebyseparator(s, "*");
746
747                 if (tokens!=2)
748                 {
749                         // bad file format
750                         fclose(file);
751                         waypoint_schedulerelinkall(); // link all the autogenerated waypoints (teleporters)
752                         return false;
753                 }
754
755                 wp_from_pos     = stov(argv(0));
756                 wp_to_pos       = stov(argv(1));
757
758                 // Search "from" waypoint
759                 if(!wp_from || wp_from.origin!=wp_from_pos)
760                 {
761                         wp_from = findradius(wp_from_pos, 1);
762                         found = false;
763                         while(wp_from)
764                         {
765                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
766                                 if(wp_from.classname == "waypoint")
767                                 {
768                                         found = true;
769                                         break;
770                                 }
771                                 wp_from = wp_from.chain;
772                         }
773
774                         if(!found)
775                         {
776                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
777                                 continue;
778                         }
779                 }
780
781                 // Search "to" waypoint
782                 wp_to = findradius(wp_to_pos, 1);
783                 found = false;
784                 while(wp_to)
785                 {
786                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
787                         if(wp_to.classname == "waypoint")
788                         {
789                                 found = true;
790                                 break;
791                         }
792                         wp_to = wp_to.chain;
793                 }
794
795                 if(!found)
796                 {
797                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
798                         continue;
799                 }
800
801                 ++c;
802                 waypoint_addlink(wp_from, wp_to);
803         }
804
805         fclose(file);
806
807         LOG_TRACE("loaded ", ftos(c), " waypoint links from ", filename);
808
809         bool scheduled = false;
810         IL_EACH(g_waypoints, it.wpflags & WAYPOINTFLAG_ITEM,
811         {
812                 if (!it.wp00)
813                 {
814                         waypoint_schedulerelink(it);
815                         scheduled = true;
816                 }
817         });
818         if (scheduled)
819                 return false;
820
821         botframe_cachedwaypointlinks = true;
822         return true;
823 }
824
825 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
826 {
827         string s;
828         float file, tokens, c = 0, found;
829         entity wp_from = NULL, wp_to;
830         vector wp_to_pos, wp_from_pos;
831
832         string gt_ext = GET_GAMETYPE_EXTENSION();
833
834         string filename = sprintf("maps/%s.waypoints.hardwired", strcat(mapname, gt_ext));
835         file = fopen(filename, FILE_READ);
836
837         if (gt_ext != "" && file < 0)
838         {
839                 // if race waypoint file doesn't exist load the default one
840                 filename = sprintf("maps/%s.waypoints.hardwired", mapname);
841                 file = fopen(filename, FILE_READ);
842         }
843
844         botframe_loadedforcedlinks = true;
845
846         if (file < 0)
847         {
848                 if(!removal_mode)
849                         LOG_TRACE("waypoint links load from ", filename, " failed");
850                 return;
851         }
852
853         while ((s = fgets(file)))
854         {
855                 if(substring(s, 0, 2)=="//")
856                         continue;
857
858                 if(substring(s, 0, 1)=="#")
859                         continue;
860
861                 tokens = tokenizebyseparator(s, "*");
862
863                 if (tokens!=2)
864                         continue;
865
866                 wp_from_pos     = stov(argv(0));
867                 wp_to_pos       = stov(argv(1));
868
869                 // Search "from" waypoint
870                 if(!wp_from || wp_from.origin!=wp_from_pos)
871                 {
872                         wp_from = findradius(wp_from_pos, 5);
873                         found = false;
874                         while(wp_from)
875                         {
876                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
877                                 if(wp_from.classname == "waypoint")
878                                 {
879                                         found = true;
880                                         break;
881                                 }
882                                 wp_from = wp_from.chain;
883                         }
884
885                         if(!found)
886                         {
887                                 if(!removal_mode)
888                                         LOG_INFO("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped");
889                                 continue;
890                         }
891                 }
892
893                 // Search "to" waypoint
894                 wp_to = findradius(wp_to_pos, 5);
895                 found = false;
896                 while(wp_to)
897                 {
898                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
899                         if(wp_to.classname == "waypoint")
900                         {
901                                 found = true;
902                                 break;
903                         }
904                         wp_to = wp_to.chain;
905                 }
906
907                 if(!found)
908                 {
909                         if(!removal_mode)
910                                 LOG_INFO("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped");
911                         continue;
912                 }
913
914                 ++c;
915                 if(removal_mode)
916                 {
917                         waypoint_removelink(wp_from, wp_to);
918                         continue;
919                 }
920
921                 waypoint_addlink(wp_from, wp_to);
922                 wp_from.wphardwired = true;
923                 wp_to.wphardwired = true;
924                 waypoint_setupmodel(wp_from);
925                 waypoint_setupmodel(wp_to);
926         }
927
928         fclose(file);
929
930         LOG_TRACE(((removal_mode) ? "unloaded " : "loaded "),
931                 ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
932 }
933
934 entity waypoint_get_link(entity w, float i)
935 {
936         switch(i)
937         {
938                 case  0:return w.wp00;
939                 case  1:return w.wp01;
940                 case  2:return w.wp02;
941                 case  3:return w.wp03;
942                 case  4:return w.wp04;
943                 case  5:return w.wp05;
944                 case  6:return w.wp06;
945                 case  7:return w.wp07;
946                 case  8:return w.wp08;
947                 case  9:return w.wp09;
948                 case 10:return w.wp10;
949                 case 11:return w.wp11;
950                 case 12:return w.wp12;
951                 case 13:return w.wp13;
952                 case 14:return w.wp14;
953                 case 15:return w.wp15;
954                 case 16:return w.wp16;
955                 case 17:return w.wp17;
956                 case 18:return w.wp18;
957                 case 19:return w.wp19;
958                 case 20:return w.wp20;
959                 case 21:return w.wp21;
960                 case 22:return w.wp22;
961                 case 23:return w.wp23;
962                 case 24:return w.wp24;
963                 case 25:return w.wp25;
964                 case 26:return w.wp26;
965                 case 27:return w.wp27;
966                 case 28:return w.wp28;
967                 case 29:return w.wp29;
968                 case 30:return w.wp30;
969                 case 31:return w.wp31;
970                 default:return NULL;
971         }
972 }
973
974 // Save all waypoint links to a file
975 void waypoint_save_links()
976 {
977         // temporarily remove hardwired links so they don't get saved among normal links
978         waypoint_remove_links_hardwired();
979
980         string gt_ext = GET_GAMETYPE_EXTENSION();
981
982         string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
983         int file = fopen(filename, FILE_WRITE);
984         if (file < 0)
985         {
986                 LOG_INFOF("waypoint link save to %s failed", filename);
987                 return;
988         }
989
990         fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
991
992         int c = 0;
993         IL_EACH(g_waypoints, true,
994         {
995                 for(int j = 0; j < 32; ++j)
996                 {
997                         entity link = waypoint_get_link(it, j);
998                         if(link)
999                         {
1000                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
1001                                 fputs(file, s);
1002                                 ++c;
1003                         }
1004                 }
1005         });
1006         fclose(file);
1007
1008         botframe_cachedwaypointlinks = true;
1009
1010         LOG_INFOF("saved %d waypoint links to %s", c, filename);
1011
1012         waypoint_load_links_hardwired();
1013 }
1014
1015 // save waypoints to gamedir/data/maps/mapname.waypoints
1016 void waypoint_saveall()
1017 {
1018         string gt_ext = GET_GAMETYPE_EXTENSION();
1019
1020         string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
1021         int file = fopen(filename, FILE_WRITE);
1022         if (file < 0)
1023         {
1024                 waypoint_save_links(); // save anyway?
1025                 botframe_loadedforcedlinks = false;
1026
1027                 LOG_INFOF("waypoint links: save to %s failed", filename);
1028                 return;
1029         }
1030
1031         // add 3 comments to not break compatibility with older Xonotic versions
1032         // (they are read as a waypoint with origin '0 0 0' and flag 0 though)
1033         fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
1034         fputs(file, strcat("//", "\n"));
1035         fputs(file, strcat("//", "\n"));
1036
1037         int c = 0;
1038         IL_EACH(g_waypoints, true,
1039         {
1040                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
1041                         continue;
1042
1043                 string s;
1044                 s = strcat(vtos(it.origin + it.mins), "\n");
1045                 s = strcat(s, vtos(it.origin + it.maxs));
1046                 s = strcat(s, "\n");
1047                 s = strcat(s, ftos(it.wpflags));
1048                 s = strcat(s, "\n");
1049                 fputs(file, s);
1050                 c++;
1051         });
1052         fclose(file);
1053         waypoint_save_links();
1054         botframe_loadedforcedlinks = false;
1055
1056         LOG_INFOF("saved %d waypoints to %s", c, filename);
1057 }
1058
1059 // load waypoints from file
1060 float waypoint_loadall()
1061 {
1062         string s;
1063         float file, cwp, cwb, fl;
1064         vector m1, m2;
1065         cwp = 0;
1066         cwb = 0;
1067
1068         string gt_ext = GET_GAMETYPE_EXTENSION();
1069
1070         string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
1071         file = fopen(filename, FILE_READ);
1072
1073         if (gt_ext != "" && file < 0)
1074         {
1075                 // if race waypoint file doesn't exist load the default one
1076                 filename = sprintf("maps/%s.waypoints", mapname);
1077                 file = fopen(filename, FILE_READ);
1078         }
1079
1080         if (file < 0)
1081         {
1082                 LOG_TRACE("waypoint load from ", filename, " failed");
1083                 return 0;
1084         }
1085
1086         bool parse_comments = true;
1087         float ver = 0;
1088
1089         while ((s = fgets(file)))
1090         {
1091                 if(parse_comments)
1092                 {
1093                         if(substring(s, 0, 2) == "//")
1094                         {
1095                                 if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
1096                                         ver = stof(substring(s, 19, -1));
1097                                 continue;
1098                         }
1099                         else
1100                         {
1101                                 if(floor(ver) < floor(WAYPOINT_VERSION))
1102                                 {
1103                                         LOG_TRACE("waypoints for this map are outdated");
1104                                         LOG_TRACE("please update them in the editor");
1105                                 }
1106                                 parse_comments = false;
1107                         }
1108                 }
1109                 m1 = stov(s);
1110                 s = fgets(file);
1111                 if (!s)
1112                         break;
1113                 m2 = stov(s);
1114                 s = fgets(file);
1115                 if (!s)
1116                         break;
1117                 fl = stof(s);
1118                 waypoint_spawn(m1, m2, fl);
1119                 if (m1 == m2)
1120                         cwp = cwp + 1;
1121                 else
1122                         cwb = cwb + 1;
1123         }
1124         fclose(file);
1125         LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
1126
1127         return cwp + cwb;
1128 }
1129
1130 #define waypoint_fixorigin(position, tracetest_ent) \
1131         waypoint_fixorigin_down_dir(position, tracetest_ent, '0 0 -1')
1132
1133 vector waypoint_fixorigin_down_dir(vector position, entity tracetest_ent, vector down_dir)
1134 {
1135         tracebox(position + '0 0 1', PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
1136         if(trace_startsolid)
1137                 tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z / 2), PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
1138         if(trace_startsolid)
1139                 tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
1140         if(trace_fraction < 1)
1141                 position = trace_endpos;
1142         return position;
1143 }
1144
1145 void waypoint_spawnforitem_force(entity e, vector org)
1146 {
1147         // Fix the waypoint altitude if necessary
1148         org = waypoint_fixorigin(org, NULL);
1149
1150         // don't spawn an item spawnfunc_waypoint if it already exists
1151         IL_EACH(g_waypoints, true,
1152         {
1153                 if(it.wpisbox)
1154                 {
1155                         if(boxesoverlap(org, org, it.absmin, it.absmax))
1156                         {
1157                                 e.nearestwaypoint = it;
1158                                 return;
1159                         }
1160                 }
1161                 else
1162                 {
1163                         if(vdist(it.origin - org, <, 16))
1164                         {
1165                                 e.nearestwaypoint = it;
1166                                 return;
1167                         }
1168                 }
1169         });
1170
1171         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
1172 }
1173
1174 void waypoint_spawnforitem(entity e)
1175 {
1176         if(!bot_waypoints_for_items)
1177                 return;
1178
1179         waypoint_spawnforitem_force(e, e.origin);
1180 }
1181
1182 void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
1183 {
1184         entity w;
1185         entity dw;
1186         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
1187         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
1188         // one way link to the destination
1189         w.wp00 = dw;
1190         w.wp00mincost = timetaken; // this is just for jump pads
1191         // the teleporter's nearest spawnfunc_waypoint is this one
1192         // (teleporters are not goals, so this is probably useless)
1193         e.nearestwaypoint = w;
1194         e.nearestwaypointtimeout = -1;
1195 }
1196
1197 void waypoint_spawnforteleporter_wz(entity e, vector org, vector destination, float timetaken, vector down_dir, entity tracetest_ent)
1198 {
1199         // warpzones with oblique warp plane rely on down_dir to snap waypoints
1200         // to the ground without leaving the warp plane
1201         // warpzones with horizontal warp plane (down_dir.x == -1) generate
1202         // destination waypoint snapped to the ground (leaving warpzone), source
1203         // waypoint in the center of the warp plane
1204         if(down_dir.x != -1)
1205                 org = waypoint_fixorigin_down_dir(org, tracetest_ent, down_dir);
1206         if(down_dir.x == -1)
1207                 down_dir = '0 0 -1';
1208         destination = waypoint_fixorigin_down_dir(destination, tracetest_ent, down_dir);
1209         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
1210 }
1211
1212 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent)
1213 {
1214         destination = waypoint_fixorigin(destination, tracetest_ent);
1215         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin - PL_MAX_CONST + '1 1 1', e.absmax - PL_MIN_CONST + '-1 -1 -1', destination, destination, timetaken);
1216 }
1217
1218 entity waypoint_spawnpersonal(entity this, vector position)
1219 {
1220         entity w;
1221
1222         // drop the waypoint to a proper location:
1223         //   first move it up by a player height
1224         //   then move it down to hit the floor with player bbox size
1225         position = waypoint_fixorigin(position, this);
1226
1227         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
1228         w.nearestwaypoint = NULL;
1229         w.nearestwaypointtimeout = 0;
1230         w.owner = this;
1231
1232         waypoint_schedulerelink(w);
1233
1234         return w;
1235 }
1236
1237 void waypoint_showlink(entity wp1, entity wp2, int display_type)
1238 {
1239         if (!(wp1 && wp2))
1240                 return;
1241
1242         if (wp1.wphardwired && wp2.wphardwired)
1243                 te_beam(NULL, wp1.origin, wp2.origin);
1244         else if (display_type == 1)
1245                 te_lightning2(NULL, wp1.origin, wp2.origin);
1246 }
1247
1248 void waypoint_showlinks_to(entity wp, int display_type)
1249 {
1250         IL_EACH(g_waypoints, it != wp,
1251         {
1252                 if (waypoint_islinked(it, wp))
1253                         waypoint_showlink(it, wp, display_type);
1254         });
1255 }
1256
1257 void waypoint_showlinks_from(entity wp, int display_type)
1258 {
1259         waypoint_showlink(wp.wp00, wp, display_type); waypoint_showlink(wp.wp16, wp, display_type);
1260         waypoint_showlink(wp.wp01, wp, display_type); waypoint_showlink(wp.wp17, wp, display_type);
1261         waypoint_showlink(wp.wp02, wp, display_type); waypoint_showlink(wp.wp18, wp, display_type);
1262         waypoint_showlink(wp.wp03, wp, display_type); waypoint_showlink(wp.wp19, wp, display_type);
1263         waypoint_showlink(wp.wp04, wp, display_type); waypoint_showlink(wp.wp20, wp, display_type);
1264         waypoint_showlink(wp.wp05, wp, display_type); waypoint_showlink(wp.wp21, wp, display_type);
1265         waypoint_showlink(wp.wp06, wp, display_type); waypoint_showlink(wp.wp22, wp, display_type);
1266         waypoint_showlink(wp.wp07, wp, display_type); waypoint_showlink(wp.wp23, wp, display_type);
1267         waypoint_showlink(wp.wp08, wp, display_type); waypoint_showlink(wp.wp24, wp, display_type);
1268         waypoint_showlink(wp.wp09, wp, display_type); waypoint_showlink(wp.wp25, wp, display_type);
1269         waypoint_showlink(wp.wp10, wp, display_type); waypoint_showlink(wp.wp26, wp, display_type);
1270         waypoint_showlink(wp.wp11, wp, display_type); waypoint_showlink(wp.wp27, wp, display_type);
1271         waypoint_showlink(wp.wp12, wp, display_type); waypoint_showlink(wp.wp28, wp, display_type);
1272         waypoint_showlink(wp.wp13, wp, display_type); waypoint_showlink(wp.wp29, wp, display_type);
1273         waypoint_showlink(wp.wp14, wp, display_type); waypoint_showlink(wp.wp30, wp, display_type);
1274         waypoint_showlink(wp.wp15, wp, display_type); waypoint_showlink(wp.wp31, wp, display_type);
1275 }
1276
1277 void botframe_showwaypointlinks()
1278 {
1279         if (time < botframe_waypointeditorlightningtime)
1280                 return;
1281         botframe_waypointeditorlightningtime = time + 0.5;
1282         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
1283         {
1284                 int display_type = 0;
1285                 entity head = navigation_findnearestwaypoint(it, false);
1286                 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
1287                         display_type = 1; // default
1288                 else if(head && (head.wphardwired))
1289                         display_type = 2; // only hardwired
1290
1291                 if (display_type)
1292                 {
1293                         //navigation_testtracewalk = true;
1294                         //print("currently selected WP is ", etos(head), "\n");
1295                         //navigation_testtracewalk = false;
1296                         if (head)
1297                         {
1298                                 te_lightning2(NULL, head.origin, it.origin);
1299                                 if(PHYS_INPUT_BUTTON_CROUCH(it))
1300                                         waypoint_showlinks_to(head, display_type);
1301                                 else
1302                                         waypoint_showlinks_from(head, display_type);
1303                         }
1304                 }
1305         });
1306 }
1307
1308 float botframe_autowaypoints_fixdown(vector v)
1309 {
1310         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
1311         if(trace_fraction >= 1)
1312                 return 0;
1313         return 1;
1314 }
1315
1316 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
1317 {
1318         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
1319         {
1320                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
1321                 return 0;
1322         });
1323
1324         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
1325         return 1;
1326 }
1327
1328 // return value:
1329 //    1 = WP created
1330 //    0 = no action needed
1331 //   -1 = temp fail, try from world too
1332 //   -2 = permanent fail, do not retry
1333 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
1334 {
1335         // make it possible to go from p to wp, if we can
1336         // if wp is NULL, nearest is chosen
1337
1338         entity w;
1339         vector porg;
1340         float t, tmin, tmax;
1341         vector o;
1342         vector save;
1343
1344         if(!botframe_autowaypoints_fixdown(p.origin))
1345                 return -2;
1346         porg = trace_endpos;
1347
1348         if(wp)
1349         {
1350                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
1351
1352                 // if wp -> porg, then OK
1353                 float maxdist;
1354                 if(navigation_waypoint_will_link(wp.origin, porg, p, porg, 0, wp.origin, 0, walkfromwp, 1050))
1355                 {
1356                         // we may find a better one
1357                         maxdist = vlen(wp.origin - porg);
1358                 }
1359                 else
1360                 {
1361                         // accept any "good"
1362                         maxdist = 2100;
1363                 }
1364
1365                 float bestdist = maxdist;
1366                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
1367                 {
1368                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
1369                         if(d < bestdist)
1370                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, it.origin, 0, wp.origin, 0, walkfromwp, 1050))
1371                         if(navigation_waypoint_will_link(it.origin, porg, p, porg, 0, it.origin, 0, walkfromwp, 1050))
1372                         {
1373                                 bestdist = d;
1374                                 p.(fld) = it;
1375                         }
1376                 });
1377                 if(bestdist < maxdist)
1378                 {
1379                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)));
1380                         return 0;
1381                 }
1382
1383                 if(bestdist < 2100)
1384                 {
1385                         // we know maxdist < 2100
1386                         // so wp -> porg is still valid
1387                         // all is good
1388                         p.(fld) = wp;
1389                         return 0;
1390                 }
1391
1392                 // otherwise, no existing WP can fix our issues
1393         }
1394         else
1395         {
1396                 save = p.origin;
1397                 setorigin(p, porg);
1398                 w = navigation_findnearestwaypoint(p, walkfromwp);
1399                 setorigin(p, save);
1400                 if(w)
1401                 {
1402                         p.(fld) = w;
1403                         return 0;
1404                 }
1405         }
1406
1407         tmin = 0;
1408         tmax = 1;
1409         for (;;)
1410         {
1411                 if(tmax - tmin < 0.001)
1412                 {
1413                         // did not get a good candidate
1414                         return -1;
1415                 }
1416
1417                 t = (tmin + tmax) * 0.5;
1418                 o = antilag_takebackorigin(p, CS(p), time - t);
1419                 if(!botframe_autowaypoints_fixdown(o))
1420                         return -2;
1421                 o = trace_endpos;
1422
1423                 if(wp)
1424                 {
1425                         if(!navigation_waypoint_will_link(wp.origin, o, p, o, 0, wp.origin, 0, walkfromwp, 1050))
1426                         {
1427                                 // we cannot walk from wp.origin to o
1428                                 // get closer to tmax
1429                                 tmin = t;
1430                                 continue;
1431                         }
1432                 }
1433                 else
1434                 {
1435                         save = p.origin;
1436                         setorigin(p, o);
1437                         w = navigation_findnearestwaypoint(p, walkfromwp);
1438                         setorigin(p, save);
1439                         if(!w)
1440                         {
1441                                 // we cannot walk from any WP to o
1442                                 // get closer to tmax
1443                                 tmin = t;
1444                                 continue;
1445                         }
1446                 }
1447
1448                 // if we get here, o is valid regarding waypoints
1449                 // check if o is connected right to the player
1450                 // we break if it succeeds, as that means o is a good waypoint location
1451                 if(navigation_waypoint_will_link(o, porg, p, porg, 0, o, 0, walkfromwp, 1050))
1452                         break;
1453
1454                 // o is no good, we need to get closer to the player
1455                 tmax = t;
1456         }
1457
1458         LOG_INFO("spawning a waypoint for connecting to ", etos(wp));
1459         botframe_autowaypoints_createwp(o, p, fld, 0);
1460         return 1;
1461 }
1462
1463 // automatically create missing waypoints
1464 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1465 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1466 {
1467         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1468         if(r != -1)
1469                 return;
1470         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1471         if(r != -1)
1472                 return;
1473
1474         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain");
1475         if(!botframe_autowaypoints_fixdown(p.origin))
1476                 return; // shouldn't happen, caught above
1477         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1478 }
1479
1480 void botframe_deleteuselesswaypoints()
1481 {
1482         IL_EACH(g_items, it.bot_pickup,
1483         {
1484                 // NOTE: this protects waypoints if they're the ONLY nearest
1485                 // waypoint. That's the intention.
1486                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1487                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1488         });
1489         IL_EACH(g_waypoints, true,
1490         {
1491                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1492                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1493                 // WP is useful if:
1494                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1495                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1496                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1497                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1498                 if (it.wpflags & WAYPOINTFLAG_LADDER)
1499                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1500                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1501                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1502                 // b) WP is closest WP for an item/spawnpoint/other entity
1503                 //    This has been done above by protecting these WPs.
1504         });
1505         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1506         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1507         {
1508                 for (int m = 0; m < 32; ++m)
1509                 {
1510                         entity w = waypoint_get_link(it, m);
1511                         if (!w)
1512                                 break;
1513                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1514                                 continue;
1515                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1516                                 continue;
1517                         for (int j = 0; j < 32; ++j)
1518                         {
1519                                 entity w2 = waypoint_get_link(w, j);
1520                                 if (!w2)
1521                                         break;
1522                                 if (it == w2)
1523                                         continue;
1524                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1525                                         continue;
1526                                 // If we got here, it != w2 exist with it -> w
1527                                 // and w -> w2. That means the waypoint is not
1528                                 // a dead end.
1529                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1530                                 for (int k = 0; k < 32; ++k)
1531                                 {
1532                                         if (waypoint_get_link(it, k) == w2)
1533                                                 continue;
1534                                         // IF WE GET HERE, w is proven useful
1535                                         // to get from it to w2!
1536                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1537                                         goto next;
1538                                 }
1539                         }
1540 LABEL(next)
1541                 }
1542         });
1543         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1544         //     they are needed to complete routes while autowaypointing.
1545
1546         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1547         {
1548                 LOG_INFOF("Removed a waypoint at %v. Try again for more!", it.origin);
1549                 te_explosion(it.origin);
1550                 waypoint_remove(it);
1551                 break;
1552         });
1553
1554         IL_EACH(g_waypoints, true,
1555         {
1556                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1557         });
1558 }
1559
1560 void botframe_autowaypoints()
1561 {
1562         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), {
1563                 // going back is broken, so only fix waypoints to walk TO the player
1564                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1565                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1566                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1567         });
1568
1569         if (autocvar_g_waypointeditor_auto >= 2) {
1570                 botframe_deleteuselesswaypoints();
1571         }
1572 }
1573