qcsrc/server/bot/default/waypoints.qc

   1 #include "waypoints.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "navigation.qh"
   7
   8 #include <common/state.qh>
   9
  10 #include "../../antilag.qh"
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/physics/player.qh>
  15
  16 #include <lib/warpzone/common.qh>
  17 #include <lib/warpzone/util_server.qh>
  18
  19 .entity spawnpointmodel;
  20 void waypoint_unreachable(entity pl)
  21 {
  22         IL_EACH(g_waypoints, true,
  23         {
  24                 it.colormod = '0.5 0.5 0.5';
  25                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
  26         });
  27
  28         entity e2 = navigation_findnearestwaypoint(pl, false);
  29         if(!e2)
  30         {
  31                 LOG_INFOF("Can't find any waypoint nearby\n");
  32                 return;
  33         }
  34
  35         navigation_markroutes(pl, e2);
  36
  37         int j = 0;
  38         int m = 0;
  39         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  40         {
  41                 LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
  42                 it.colormod_z = 8;
  43                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
  44                 j++;
  45                 m++;
  46         });
  47         if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
  48         navigation_markroutes_inverted(e2);
  49
  50         j = 0;
  51         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  52         {
  53                 LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
  54                 it.colormod_x = 8;
  55                 if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
  56                         m++;
  57                 it.effects |= EF_NODEPTHTEST | EF_RED;
  58                 j++;
  59         });
  60         if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
  61         if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
  62
  63         j = 0;
  64         IL_EACH(g_spawnpoints, true,
  65         {
  66                 if (navigation_findnearestwaypoint(it, false))
  67                 {
  68                         if(it.spawnpointmodel)
  69                         {
  70                                 delete(it.spawnpointmodel);
  71                                 it.spawnpointmodel = NULL;
  72                         }
  73                 }
  74                 else
  75                 {
  76                         if(!it.spawnpointmodel)
  77                         {
  78                                 tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
  79                                 entity e = new(spawnpointmodel);
  80                                 vector org = trace_endpos + eZ;
  81                                 setorigin(e, org);
  82                                 e.solid = SOLID_TRIGGER;
  83                                 it.spawnpointmodel = e;
  84                         }
  85                         LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
  86                         it.spawnpointmodel.effects |= EF_NODEPTHTEST;
  87                         _setmodel(it.spawnpointmodel, pl.model);
  88                         it.spawnpointmodel.frame = pl.frame;
  89                         it.spawnpointmodel.skin = pl.skin;
  90                         it.spawnpointmodel.colormap = pl.colormap;
  91                         it.spawnpointmodel.colormod = pl.colormod;
  92                         it.spawnpointmodel.glowmod = pl.glowmod;
  93                         setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
  94                         j++;
  95                 }
  96         });
  97         if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
  98
  99         j = 0;
 100         IL_EACH(g_items, true,
 101         {
 102                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
 103                 it.colormod = '0.5 0.5 0.5';
 104         });
 105         IL_EACH(g_items, true,
 106         {
 107                 if (navigation_findnearestwaypoint(it, false))
 108                         continue;
 109                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 110                 it.effects |= EF_NODEPTHTEST | EF_RED;
 111                 it.colormod_x = 8;
 112                 j++;
 113         });
 114         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
 115
 116         j = 0;
 117         IL_EACH(g_items, true,
 118         {
 119                 if (navigation_findnearestwaypoint(it, true))
 120                         continue;
 121                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 122                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
 123                 it.colormod_z = 8;
 124                 j++;
 125         });
 126         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
 127 }
 128
 129 vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
 130 {
 131         vector new_org = org;
 132         if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
 133         {
 134                 vector map_center = havocbot_middlepoint;
 135                 if (autocvar_g_waypointeditor_symmetrical == -1)
 136                         map_center = autocvar_g_waypointeditor_symmetrical_origin;
 137
 138                 new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
 139         }
 140         else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
 141         {
 142                 float m = havocbot_symmetryaxis_equation.x;
 143                 float q = havocbot_symmetryaxis_equation.y;
 144                 if (autocvar_g_waypointeditor_symmetrical == -2)
 145                 {
 146                         m = autocvar_g_waypointeditor_symmetrical_axis.x;
 147                         q = autocvar_g_waypointeditor_symmetrical_axis.y;
 148                 }
 149
 150                 new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
 151                 new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
 152         }
 153         new_org.z = org.z;
 154         return new_org;
 155 }
 156
 157 void waypoint_setupmodel(entity wp)
 158 {
 159         if (autocvar_g_waypointeditor)
 160         {
 161                 // TODO: add some sort of visible box in edit mode for box waypoints
 162                 vector m1 = wp.mins;
 163                 vector m2 = wp.maxs;
 164                 setmodel(wp, MDL_WAYPOINT);
 165                 setsize(wp, m1, m2);
 166                 wp.effects = EF_LOWPRECISION;
 167                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
 168                         wp.colormod = '1 0 0';
 169                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
 170                         wp.colormod = '1 1 0';
 171                 else if (wp.wphardwired)
 172                         wp.colormod = '0.5 0 1';
 173                 else
 174                         wp.colormod = '1 1 1';
 175         }
 176         else
 177                 wp.model = "";
 178 }
 179
 180 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
 181 // them back to it as well
 182 // (suitable for spawnfunc_waypoint editor)
 183 entity waypoint_spawn(vector m1, vector m2, float f)
 184 {
 185         if(!(f & WAYPOINTFLAG_PERSONAL))
 186         {
 187                 vector em1 = m1, em2 = m2;
 188                 if (!(f & WAYPOINTFLAG_GENERATED) && m1 == m2)
 189                 {
 190                         em1 = m1 - '8 8 8';
 191                         em2 = m2 + '8 8 8';
 192                 }
 193                 IL_EACH(g_waypoints, boxesoverlap(em1, em2, it.absmin, it.absmax),
 194                 {
 195                         return it;
 196                 });
 197         }
 198
 199         entity w = new(waypoint);
 200         IL_PUSH(g_waypoints, w);
 201         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
 202         w.wpflags = f;
 203         w.solid = SOLID_TRIGGER;
 204         setorigin(w, (m1 + m2) * 0.5);
 205         setsize(w, m1 - w.origin, m2 - w.origin);
 206         if (w.size)
 207                 w.wpisbox = true;
 208
 209         if(!w.wpisbox)
 210         {
 211                 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
 212                 if(!move_out_of_solid(w))
 213                 {
 214                         if(!(f & WAYPOINTFLAG_GENERATED))
 215                         {
 216                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
 217                                 delete(w);
 218                                 return NULL;
 219                         }
 220                         else
 221                         {
 222                                 if(autocvar_developer)
 223                                 {
 224                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
 225                                         backtrace("Waypoint stuck");
 226                                 }
 227                         }
 228                 }
 229                 setsize(w, '0 0 0', '0 0 0');
 230         }
 231
 232         waypoint_clearlinks(w);
 233         //waypoint_schedulerelink(w);
 234
 235         waypoint_setupmodel(w);
 236
 237         return w;
 238 }
 239
 240 void waypoint_spawn_fromeditor(entity pl)
 241 {
 242         entity e;
 243         vector org = pl.origin;
 244         int ctf_flags = havocbot_symmetryaxis_equation.z;
 245         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
 246                    || (autocvar_g_waypointeditor_symmetrical < 0));
 247         int order = ctf_flags;
 248         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
 249         {
 250                 order = autocvar_g_waypointeditor_symmetrical_order;
 251                 ctf_flags = order;
 252         }
 253
 254         if(!PHYS_INPUT_BUTTON_CROUCH(pl))
 255         {
 256                 // snap waypoint to item's origin if close enough
 257                 IL_EACH(g_items, true,
 258                 {
 259                         vector item_org = (it.absmin + it.absmax) * 0.5;
 260                         item_org.z = it.absmin.z - PL_MIN_CONST.z;
 261                         if(vlen(item_org - org) < 30)
 262                         {
 263                                 org = item_org;
 264                                 break;
 265                         }
 266                 });
 267         }
 268
 269         LABEL(add_wp);
 270         e = waypoint_spawn(org, org, 0);
 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, bool submerged_from, bool submerged_to)
 454 {
 455         if (submerged_from && submerged_to)
 456                 return waypoint_getlinearcost_underwater(vlen(to - from));
 457
 458         float c = waypoint_getlinearcost(vlen(to - from));
 459
 460         float height = from.z - to.z;
 461         if(height > jumpheight_vec.z && autocvar_sv_gravity > 0)
 462         {
 463                 float height_cost = sqrt(height / (autocvar_sv_gravity / 2));
 464                 c = waypoint_getlinearcost(vlen(vec2(to - from))); // xy distance cost
 465                 if(height_cost > c)
 466                         c = height_cost;
 467         }
 468
 469         if (submerged_from || submerged_to)
 470                 return (c + waypoint_getlinearcost_underwater(vlen(to - from))) / 2;
 471         return c;
 472 }
 473
 474 float waypoint_getlinkcost(entity from, entity to)
 475 {
 476         vector v1 = from.origin;
 477         vector v2 = to.origin;
 478         if (from.wpisbox)
 479         {
 480                 vector m1 = to.absmin, m2 = to.absmax;
 481                 v1_x = bound(m1_x, v1_x, m2_x);
 482                 v1_y = bound(m1_y, v1_y, m2_y);
 483                 v1_z = bound(m1_z, v1_z, m2_z);
 484         }
 485         if (to.wpisbox)
 486         {
 487                 vector m1 = from.absmin, m2 = from.absmax;
 488                 v2_x = bound(m1_x, v2_x, m2_x);
 489                 v2_y = bound(m1_y, v2_y, m2_y);
 490                 v2_z = bound(m1_z, v2_z, m2_z);
 491         }
 492         return waypoint_gettravelcost(v1, v2, SUBMERGED(v1), SUBMERGED(v2));
 493 }
 494
 495 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
 496 // if c == -1 automatically determine cost of the link
 497 void waypoint_addlink_customcost(entity from, entity to, float c)
 498 {
 499         if (from == to || waypoint_islinked(from, to))
 500                 return;
 501         if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
 502                 return;
 503
 504         if(c == -1)
 505                 c = waypoint_getlinkcost(from, to);
 506
 507         if (from.wp31mincost < c) return;
 508         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
 509         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
 510         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
 511         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
 512         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
 513         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
 514         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
 515         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
 516         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
 517         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
 518         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
 519         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
 520         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
 521         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
 522         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
 523         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
 524         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
 525         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
 526         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
 527         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
 528         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
 529         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
 530         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
 531         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
 532         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
 533         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
 534         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
 535         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
 536         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
 537         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
 538         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
 539         from.wp00 = to;from.wp00mincost = c;return;
 540 }
 541
 542 void waypoint_addlink(entity from, entity to)
 543 {
 544         waypoint_addlink_customcost(from, to, -1);
 545 }
 546
 547 // relink this spawnfunc_waypoint
 548 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
 549 // (SLOW!)
 550 void waypoint_think(entity this)
 551 {
 552         vector sv, sv2, ev, ev2, dv;
 553         float sv2_height, ev2_height;
 554
 555         bot_calculate_stepheightvec();
 556
 557         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
 558
 559         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
 560         IL_EACH(g_waypoints, this != it,
 561         {
 562                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
 563                 {
 564                         waypoint_addlink(this, it);
 565                         waypoint_addlink(it, this);
 566                 }
 567                 else
 568                 {
 569                         ++relink_total;
 570                         if(!checkpvs(this.origin, it))
 571                         {
 572                                 ++relink_pvsculled;
 573                                 continue;
 574                         }
 575
 576                         SET_TRACEWALK_DESTCOORDS_2(this, it.origin, sv, sv2, sv2_height);
 577                         SET_TRACEWALK_DESTCOORDS_2(it, this.origin, ev, ev2, ev2_height);
 578
 579                         dv = ev - sv;
 580                         dv.z = 0;
 581                         if(vdist(dv, >=, 1050)) // max search distance in XY
 582                         {
 583                                 ++relink_lengthculled;
 584                                 continue;
 585                         }
 586
 587                         navigation_testtracewalk = 0;
 588
 589                         //traceline(this.origin, it.origin, false, NULL);
 590                         //if (trace_fraction == 1)
 591                         if (this.wpisbox)
 592                                 relink_walkculled += 0.5;
 593                         else
 594                         {
 595                                 if (tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev2, ev2_height, MOVE_NOMONSTERS))
 596                                         waypoint_addlink(this, it);
 597                                 else
 598                                         relink_walkculled += 0.5;
 599                         }
 600
 601                         if (it.wpisbox)
 602                                 relink_walkculled += 0.5;
 603                         else
 604                         {
 605                                 if (tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv2, sv2_height, MOVE_NOMONSTERS))
 606                                         waypoint_addlink(it, this);
 607                                 else
 608                                         relink_walkculled += 0.5;
 609                         }
 610                 }
 611         });
 612         navigation_testtracewalk = 0;
 613         this.wplinked = true;
 614 }
 615
 616 void waypoint_clearlinks(entity wp)
 617 {
 618         // clear links to other waypoints
 619         float f = 10000000;
 620         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
 621         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
 622         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
 623         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
 624
 625         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
 626         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
 627         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
 628         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
 629
 630         wp.wplinked = false;
 631 }
 632
 633 // tell a spawnfunc_waypoint to relink
 634 void waypoint_schedulerelink(entity wp)
 635 {
 636         if (wp == NULL)
 637                 return;
 638
 639         waypoint_setupmodel(wp);
 640         wp.wpisbox = vdist(wp.size, >, 0);
 641         wp.enemy = NULL;
 642         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
 643                 wp.owner = NULL;
 644         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
 645                 waypoint_clearlinks(wp);
 646         // schedule an actual relink on next frame
 647         setthink(wp, waypoint_think);
 648         wp.nextthink = time;
 649         wp.effects = EF_LOWPRECISION;
 650 }
 651
 652 // spawnfunc_waypoint map entity
 653 spawnfunc(waypoint)
 654 {
 655         IL_PUSH(g_waypoints, this);
 656
 657         setorigin(this, this.origin);
 658         // schedule a relink after other waypoints have had a chance to spawn
 659         waypoint_clearlinks(this);
 660         //waypoint_schedulerelink(this);
 661 }
 662
 663 // tell all waypoints to relink
 664 // actually this is useful only to update relink_* stats
 665 void waypoint_schedulerelinkall()
 666 {
 667         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
 668         IL_EACH(g_waypoints, true,
 669         {
 670                 waypoint_schedulerelink(it);
 671         });
 672         waypoint_load_links_hardwired();
 673 }
 674
 675 // Load waypoint links from file
 676 bool waypoint_load_links()
 677 {
 678         string filename, s;
 679         float file, tokens, c = 0, found;
 680         entity wp_from = NULL, wp_to;
 681         vector wp_to_pos, wp_from_pos;
 682         filename = strcat("maps/", mapname);
 683         filename = strcat(filename, ".waypoints.cache");
 684         file = fopen(filename, FILE_READ);
 685
 686         if (file < 0)
 687         {
 688                 LOG_TRACE("waypoint links load from ");
 689                 LOG_TRACE(filename);
 690                 LOG_TRACE(" failed");
 691                 return false;
 692         }
 693
 694         while ((s = fgets(file)))
 695         {
 696                 tokens = tokenizebyseparator(s, "*");
 697
 698                 if (tokens!=2)
 699                 {
 700                         // bad file format
 701                         fclose(file);
 702                         return false;
 703                 }
 704
 705                 wp_from_pos     = stov(argv(0));
 706                 wp_to_pos       = stov(argv(1));
 707
 708                 // Search "from" waypoint
 709                 if(!wp_from || wp_from.origin!=wp_from_pos)
 710                 {
 711                         wp_from = findradius(wp_from_pos, 1);
 712                         found = false;
 713                         while(wp_from)
 714                         {
 715                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
 716                                 if(wp_from.classname == "waypoint")
 717                                 {
 718                                         found = true;
 719                                         break;
 720                                 }
 721                                 wp_from = wp_from.chain;
 722                         }
 723
 724                         if(!found)
 725                         {
 726                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
 727                                 continue;
 728                         }
 729
 730                 }
 731
 732                 // Search "to" waypoint
 733                 wp_to = findradius(wp_to_pos, 1);
 734                 found = false;
 735                 while(wp_to)
 736                 {
 737                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
 738                         if(wp_to.classname == "waypoint")
 739                         {
 740                                 found = true;
 741                                 break;
 742                         }
 743                         wp_to = wp_to.chain;
 744                 }
 745
 746                 if(!found)
 747                 {
 748                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
 749                         continue;
 750                 }
 751
 752                 ++c;
 753                 waypoint_addlink(wp_from, wp_to);
 754         }
 755
 756         fclose(file);
 757
 758         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
 759
 760         botframe_cachedwaypointlinks = true;
 761         return true;
 762 }
 763
 764 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
 765 {
 766         string filename, s;
 767         float file, tokens, c = 0, found;
 768         entity wp_from = NULL, wp_to;
 769         vector wp_to_pos, wp_from_pos;
 770         filename = strcat("maps/", mapname);
 771         filename = strcat(filename, ".waypoints.hardwired");
 772         file = fopen(filename, FILE_READ);
 773
 774         botframe_loadedforcedlinks = true;
 775
 776         if (file < 0)
 777         {
 778                 if(!removal_mode)
 779                         LOG_TRACE("waypoint links load from ", filename, " failed");
 780                 return;
 781         }
 782
 783         while ((s = fgets(file)))
 784         {
 785                 if(substring(s, 0, 2)=="//")
 786                         continue;
 787
 788                 if(substring(s, 0, 1)=="#")
 789                         continue;
 790
 791                 tokens = tokenizebyseparator(s, "*");
 792
 793                 if (tokens!=2)
 794                         continue;
 795
 796                 wp_from_pos     = stov(argv(0));
 797                 wp_to_pos       = stov(argv(1));
 798
 799                 // Search "from" waypoint
 800                 if(!wp_from || wp_from.origin!=wp_from_pos)
 801                 {
 802                         wp_from = findradius(wp_from_pos, 5);
 803                         found = false;
 804                         while(wp_from)
 805                         {
 806                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
 807                                 if(wp_from.classname == "waypoint")
 808                                 {
 809                                         found = true;
 810                                         break;
 811                                 }
 812                                 wp_from = wp_from.chain;
 813                         }
 814
 815                         if(!found)
 816                         {
 817                                 if(!removal_mode)
 818                                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
 819                                 continue;
 820                         }
 821                 }
 822
 823                 // Search "to" waypoint
 824                 wp_to = findradius(wp_to_pos, 5);
 825                 found = false;
 826                 while(wp_to)
 827                 {
 828                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
 829                         if(wp_to.classname == "waypoint")
 830                         {
 831                                 found = true;
 832                                 break;
 833                         }
 834                         wp_to = wp_to.chain;
 835                 }
 836
 837                 if(!found)
 838                 {
 839                         if(!removal_mode)
 840                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
 841                         continue;
 842                 }
 843
 844                 ++c;
 845                 if(removal_mode)
 846                 {
 847                         waypoint_removelink(wp_from, wp_to);
 848                         continue;
 849                 }
 850
 851                 waypoint_addlink(wp_from, wp_to);
 852                 wp_from.wphardwired = true;
 853                 wp_to.wphardwired = true;
 854         }
 855
 856         fclose(file);
 857
 858         if(!removal_mode)
 859                 LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
 860 }
 861
 862 void waypoint_load_links_hardwired() { waypoint_load_or_remove_links_hardwired(false); }
 863 void waypoint_remove_links_hardwired() { waypoint_load_or_remove_links_hardwired(true); }
 864
 865 entity waypoint_get_link(entity w, float i)
 866 {
 867         switch(i)
 868         {
 869                 case  0:return w.wp00;
 870                 case  1:return w.wp01;
 871                 case  2:return w.wp02;
 872                 case  3:return w.wp03;
 873                 case  4:return w.wp04;
 874                 case  5:return w.wp05;
 875                 case  6:return w.wp06;
 876                 case  7:return w.wp07;
 877                 case  8:return w.wp08;
 878                 case  9:return w.wp09;
 879                 case 10:return w.wp10;
 880                 case 11:return w.wp11;
 881                 case 12:return w.wp12;
 882                 case 13:return w.wp13;
 883                 case 14:return w.wp14;
 884                 case 15:return w.wp15;
 885                 case 16:return w.wp16;
 886                 case 17:return w.wp17;
 887                 case 18:return w.wp18;
 888                 case 19:return w.wp19;
 889                 case 20:return w.wp20;
 890                 case 21:return w.wp21;
 891                 case 22:return w.wp22;
 892                 case 23:return w.wp23;
 893                 case 24:return w.wp24;
 894                 case 25:return w.wp25;
 895                 case 26:return w.wp26;
 896                 case 27:return w.wp27;
 897                 case 28:return w.wp28;
 898                 case 29:return w.wp29;
 899                 case 30:return w.wp30;
 900                 case 31:return w.wp31;
 901                 default:return NULL;
 902         }
 903 }
 904
 905 // Save all waypoint links to a file
 906 void waypoint_save_links()
 907 {
 908         // temporarily remove hardwired links so they don't get saved among normal links
 909         waypoint_remove_links_hardwired();
 910
 911         string filename = sprintf("maps/%s.waypoints.cache", mapname);
 912         int file = fopen(filename, FILE_WRITE);
 913         if (file < 0)
 914         {
 915                 LOG_INFOF("waypoint link save to %s failed\n", filename);
 916                 return;
 917         }
 918
 919         int c = 0;
 920         IL_EACH(g_waypoints, true,
 921         {
 922                 for(int j = 0; j < 32; ++j)
 923                 {
 924                         entity link = waypoint_get_link(it, j);
 925                         if(link)
 926                         {
 927                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
 928                                 fputs(file, s);
 929                                 ++c;
 930                         }
 931                 }
 932         });
 933         fclose(file);
 934         botframe_cachedwaypointlinks = true;
 935
 936         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
 937
 938         waypoint_load_links_hardwired();
 939 }
 940
 941 // save waypoints to gamedir/data/maps/mapname.waypoints
 942 void waypoint_saveall()
 943 {
 944         string filename = sprintf("maps/%s.waypoints", mapname);
 945         int file = fopen(filename, FILE_WRITE);
 946         if (file < 0)
 947         {
 948                 waypoint_save_links(); // save anyway?
 949                 botframe_loadedforcedlinks = false;
 950
 951                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
 952                 return;
 953         }
 954
 955         int c = 0;
 956         IL_EACH(g_waypoints, true,
 957         {
 958                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
 959                         continue;
 960
 961                 string s;
 962                 s = strcat(vtos(it.origin + it.mins), "\n");
 963                 s = strcat(s, vtos(it.origin + it.maxs));
 964                 s = strcat(s, "\n");
 965                 s = strcat(s, ftos(it.wpflags));
 966                 s = strcat(s, "\n");
 967                 fputs(file, s);
 968                 c++;
 969         });
 970         fclose(file);
 971         waypoint_save_links();
 972         botframe_loadedforcedlinks = false;
 973
 974         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
 975 }
 976
 977 // load waypoints from file
 978 float waypoint_loadall()
 979 {
 980         string filename, s;
 981         float file, cwp, cwb, fl;
 982         vector m1, m2;
 983         cwp = 0;
 984         cwb = 0;
 985         filename = strcat("maps/", mapname);
 986         filename = strcat(filename, ".waypoints");
 987         file = fopen(filename, FILE_READ);
 988         if (file >= 0)
 989         {
 990                 while ((s = fgets(file)))
 991                 {
 992                         m1 = stov(s);
 993                         s = fgets(file);
 994                         if (!s)
 995                                 break;
 996                         m2 = stov(s);
 997                         s = fgets(file);
 998                         if (!s)
 999                                 break;
1000                         fl = stof(s);
1001                         waypoint_spawn(m1, m2, fl);
1002                         if (m1 == m2)
1003                                 cwp = cwp + 1;
1004                         else
1005                                 cwb = cwb + 1;
1006                 }
1007                 fclose(file);
1008                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
1009         }
1010         else
1011         {
1012                 LOG_TRACE("waypoint load from ", filename, " failed");
1013         }
1014         return cwp + cwb;
1015 }
1016
1017 vector waypoint_fixorigin(vector position)
1018 {
1019         tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
1020         if(trace_fraction < 1)
1021                 position = trace_endpos;
1022         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
1023         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
1024         return position;
1025 }
1026
1027 void waypoint_spawnforitem_force(entity e, vector org)
1028 {
1029         // Fix the waypoint altitude if necessary
1030         org = waypoint_fixorigin(org);
1031
1032         // don't spawn an item spawnfunc_waypoint if it already exists
1033         IL_EACH(g_waypoints, true,
1034         {
1035                 if(it.wpisbox)
1036                 {
1037                         if(boxesoverlap(org, org, it.absmin, it.absmax))
1038                         {
1039                                 e.nearestwaypoint = it;
1040                                 return;
1041                         }
1042                 }
1043                 else
1044                 {
1045                         if(vdist(it.origin - org, <, 16))
1046                         {
1047                                 e.nearestwaypoint = it;
1048                                 return;
1049                         }
1050                 }
1051         });
1052
1053         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
1054 }
1055
1056 void waypoint_spawnforitem(entity e)
1057 {
1058         if(!bot_waypoints_for_items)
1059                 return;
1060
1061         waypoint_spawnforitem_force(e, e.origin);
1062 }
1063
1064 void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
1065 {
1066         entity w;
1067         entity dw;
1068         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
1069         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
1070         // one way link to the destination
1071         w.wp00 = dw;
1072         w.wp00mincost = timetaken; // this is just for jump pads
1073         // the teleporter's nearest spawnfunc_waypoint is this one
1074         // (teleporters are not goals, so this is probably useless)
1075         e.nearestwaypoint = w;
1076         e.nearestwaypointtimeout = -1;
1077 }
1078
1079 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
1080 {
1081         org = waypoint_fixorigin(org);
1082         destination = waypoint_fixorigin(destination);
1083         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
1084 }
1085
1086 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
1087 {
1088         destination = waypoint_fixorigin(destination);
1089         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);
1090 }
1091
1092 entity waypoint_spawnpersonal(entity this, vector position)
1093 {
1094         entity w;
1095
1096         // drop the waypoint to a proper location:
1097         //   first move it up by a player height
1098         //   then move it down to hit the floor with player bbox size
1099         position = waypoint_fixorigin(position);
1100
1101         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
1102         w.nearestwaypoint = NULL;
1103         w.nearestwaypointtimeout = 0;
1104         w.owner = this;
1105
1106         waypoint_schedulerelink(w);
1107
1108         return w;
1109 }
1110
1111 void waypoint_showlink(entity wp1, entity wp2, int display_type)
1112 {
1113         if (!(wp1 && wp2))
1114                 return;
1115
1116         if (wp1.wphardwired && wp2.wphardwired)
1117                 te_beam(NULL, wp1.origin, wp2.origin);
1118         else if (display_type == 1)
1119                 te_lightning2(NULL, wp1.origin, wp2.origin);
1120 }
1121
1122 void waypoint_showlinks_to(entity wp, int display_type)
1123 {
1124         IL_EACH(g_waypoints, it != wp,
1125         {
1126                 if (waypoint_islinked(it, wp))
1127                         waypoint_showlink(it, wp, display_type);
1128         });
1129 }
1130
1131 void waypoint_showlinks_from(entity wp, int display_type)
1132 {
1133         waypoint_showlink(wp.wp00, wp, display_type); waypoint_showlink(wp.wp16, wp, display_type);
1134         waypoint_showlink(wp.wp01, wp, display_type); waypoint_showlink(wp.wp17, wp, display_type);
1135         waypoint_showlink(wp.wp02, wp, display_type); waypoint_showlink(wp.wp18, wp, display_type);
1136         waypoint_showlink(wp.wp03, wp, display_type); waypoint_showlink(wp.wp19, wp, display_type);
1137         waypoint_showlink(wp.wp04, wp, display_type); waypoint_showlink(wp.wp20, wp, display_type);
1138         waypoint_showlink(wp.wp05, wp, display_type); waypoint_showlink(wp.wp21, wp, display_type);
1139         waypoint_showlink(wp.wp06, wp, display_type); waypoint_showlink(wp.wp22, wp, display_type);
1140         waypoint_showlink(wp.wp07, wp, display_type); waypoint_showlink(wp.wp23, wp, display_type);
1141         waypoint_showlink(wp.wp08, wp, display_type); waypoint_showlink(wp.wp24, wp, display_type);
1142         waypoint_showlink(wp.wp09, wp, display_type); waypoint_showlink(wp.wp25, wp, display_type);
1143         waypoint_showlink(wp.wp10, wp, display_type); waypoint_showlink(wp.wp26, wp, display_type);
1144         waypoint_showlink(wp.wp11, wp, display_type); waypoint_showlink(wp.wp27, wp, display_type);
1145         waypoint_showlink(wp.wp12, wp, display_type); waypoint_showlink(wp.wp28, wp, display_type);
1146         waypoint_showlink(wp.wp13, wp, display_type); waypoint_showlink(wp.wp29, wp, display_type);
1147         waypoint_showlink(wp.wp14, wp, display_type); waypoint_showlink(wp.wp30, wp, display_type);
1148         waypoint_showlink(wp.wp15, wp, display_type); waypoint_showlink(wp.wp31, wp, display_type);
1149 }
1150
1151 void botframe_showwaypointlinks()
1152 {
1153         if (time < botframe_waypointeditorlightningtime)
1154                 return;
1155         botframe_waypointeditorlightningtime = time + 0.5;
1156         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
1157         {
1158                 int display_type = 0;
1159                 entity head = navigation_findnearestwaypoint(it, false);
1160                 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
1161                         display_type = 1; // default
1162                 else if(head && (head.wphardwired))
1163                         display_type = 2; // only hardwired
1164
1165                 if (display_type)
1166                 {
1167                         //navigation_testtracewalk = true;
1168                         //print("currently selected WP is ", etos(head), "\n");
1169                         //navigation_testtracewalk = false;
1170                         if (head)
1171                         {
1172                                 te_lightning2(NULL, head.origin, it.origin);
1173                                 if(PHYS_INPUT_BUTTON_CROUCH(it))
1174                                         waypoint_showlinks_to(head, display_type);
1175                                 else
1176                                         waypoint_showlinks_from(head, display_type);
1177                         }
1178                 }
1179         });
1180 }
1181
1182 float botframe_autowaypoints_fixdown(vector v)
1183 {
1184         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
1185         if(trace_fraction >= 1)
1186                 return 0;
1187         return 1;
1188 }
1189
1190 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
1191 {
1192         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
1193         {
1194                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
1195                 return 0;
1196         });
1197
1198         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
1199         return 1;
1200 }
1201
1202 // return value:
1203 //    1 = WP created
1204 //    0 = no action needed
1205 //   -1 = temp fail, try from world too
1206 //   -2 = permanent fail, do not retry
1207 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
1208 {
1209         // make it possible to go from p to wp, if we can
1210         // if wp is NULL, nearest is chosen
1211
1212         entity w;
1213         vector porg;
1214         float t, tmin, tmax;
1215         vector o;
1216         vector save;
1217
1218         if(!botframe_autowaypoints_fixdown(p.origin))
1219                 return -2;
1220         porg = trace_endpos;
1221
1222         if(wp)
1223         {
1224                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
1225
1226                 // if wp -> porg, then OK
1227                 float maxdist;
1228                 if(navigation_waypoint_will_link(wp.origin, porg, p, wp.origin, 0, walkfromwp, 1050))
1229                 {
1230                         // we may find a better one
1231                         maxdist = vlen(wp.origin - porg);
1232                 }
1233                 else
1234                 {
1235                         // accept any "good"
1236                         maxdist = 2100;
1237                 }
1238
1239                 float bestdist = maxdist;
1240                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
1241                 {
1242                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
1243                         if(d < bestdist)
1244                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, wp.origin, 0, walkfromwp, 1050))
1245                         if(navigation_waypoint_will_link(it.origin, porg, p, it.origin, 0, walkfromwp, 1050))
1246                         {
1247                                 bestdist = d;
1248                                 p.(fld) = it;
1249                         }
1250                 });
1251                 if(bestdist < maxdist)
1252                 {
1253                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
1254                         return 0;
1255                 }
1256
1257                 if(bestdist < 2100)
1258                 {
1259                         // we know maxdist < 2100
1260                         // so wp -> porg is still valid
1261                         // all is good
1262                         p.(fld) = wp;
1263                         return 0;
1264                 }
1265
1266                 // otherwise, no existing WP can fix our issues
1267         }
1268         else
1269         {
1270                 save = p.origin;
1271                 setorigin(p, porg);
1272                 w = navigation_findnearestwaypoint(p, walkfromwp);
1273                 setorigin(p, save);
1274                 if(w)
1275                 {
1276                         p.(fld) = w;
1277                         return 0;
1278                 }
1279         }
1280
1281         tmin = 0;
1282         tmax = 1;
1283         for (;;)
1284         {
1285                 if(tmax - tmin < 0.001)
1286                 {
1287                         // did not get a good candidate
1288                         return -1;
1289                 }
1290
1291                 t = (tmin + tmax) * 0.5;
1292                 o = antilag_takebackorigin(p, CS(p), time - t);
1293                 if(!botframe_autowaypoints_fixdown(o))
1294                         return -2;
1295                 o = trace_endpos;
1296
1297                 if(wp)
1298                 {
1299                         if(!navigation_waypoint_will_link(wp.origin, o, p, wp.origin, 0, walkfromwp, 1050))
1300                         {
1301                                 // we cannot walk from wp.origin to o
1302                                 // get closer to tmax
1303                                 tmin = t;
1304                                 continue;
1305                         }
1306                 }
1307                 else
1308                 {
1309                         save = p.origin;
1310                         setorigin(p, o);
1311                         w = navigation_findnearestwaypoint(p, walkfromwp);
1312                         setorigin(p, save);
1313                         if(!w)
1314                         {
1315                                 // we cannot walk from any WP to o
1316                                 // get closer to tmax
1317                                 tmin = t;
1318                                 continue;
1319                         }
1320                 }
1321
1322                 // if we get here, o is valid regarding waypoints
1323                 // check if o is connected right to the player
1324                 // we break if it succeeds, as that means o is a good waypoint location
1325                 if(navigation_waypoint_will_link(o, porg, p, o, 0, walkfromwp, 1050))
1326                         break;
1327
1328                 // o is no good, we need to get closer to the player
1329                 tmax = t;
1330         }
1331
1332         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1333         botframe_autowaypoints_createwp(o, p, fld, 0);
1334         return 1;
1335 }
1336
1337 // automatically create missing waypoints
1338 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1339 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1340 {
1341         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1342         if(r != -1)
1343                 return;
1344         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1345         if(r != -1)
1346                 return;
1347
1348         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1349         if(!botframe_autowaypoints_fixdown(p.origin))
1350                 return; // shouldn't happen, caught above
1351         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1352 }
1353
1354 void botframe_deleteuselesswaypoints()
1355 {
1356         IL_EACH(g_items, it.bot_pickup,
1357         {
1358                 // NOTE: this protects waypoints if they're the ONLY nearest
1359                 // waypoint. That's the intention.
1360                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1361                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1362         });
1363         IL_EACH(g_waypoints, true,
1364         {
1365                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1366                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1367                 // WP is useful if:
1368                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1369                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1370                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1371                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1372                 if (it.wpflags & WAYPOINTFLAG_LADDER)
1373                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1374                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1375                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1376                 // b) WP is closest WP for an item/spawnpoint/other entity
1377                 //    This has been done above by protecting these WPs.
1378         });
1379         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1380         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1381         {
1382                 for (int m = 0; m < 32; ++m)
1383                 {
1384                         entity w = waypoint_get_link(it, m);
1385                         if (!w)
1386                                 break;
1387                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1388                                 continue;
1389                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1390                                 continue;
1391                         for (int j = 0; j < 32; ++j)
1392                         {
1393                                 entity w2 = waypoint_get_link(w, j);
1394                                 if (!w2)
1395                                         break;
1396                                 if (it == w2)
1397                                         continue;
1398                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1399                                         continue;
1400                                 // If we got here, it != w2 exist with it -> w
1401                                 // and w -> w2. That means the waypoint is not
1402                                 // a dead end.
1403                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1404                                 for (int k = 0; k < 32; ++k)
1405                                 {
1406                                         if (waypoint_get_link(it, k) == w2)
1407                                                 continue;
1408                                         // IF WE GET HERE, w is proven useful
1409                                         // to get from it to w2!
1410                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1411                                         goto next;
1412                                 }
1413                         }
1414 LABEL(next)
1415                 }
1416         });
1417         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1418         //     they are needed to complete routes while autowaypointing.
1419
1420         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1421         {
1422                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1423                 te_explosion(it.origin);
1424                 waypoint_remove(it);
1425                 break;
1426         });
1427
1428         IL_EACH(g_waypoints, true,
1429         {
1430                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1431         });
1432 }
1433
1434 void botframe_autowaypoints()
1435 {
1436         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1437                 // going back is broken, so only fix waypoints to walk TO the player
1438                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1439                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1440                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1441         ));
1442
1443         if (autocvar_g_waypointeditor_auto >= 2) {
1444                 botframe_deleteuselesswaypoints();
1445         }
1446 }
1447