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