qcsrc/server/bot/navigation.qc

   1 void bot_debug(string input)
   2 {
   3         switch(autocvar_bot_debug)
   4         {
   5                 case 1: dprint(input); break;
   6                 case 2: print(input); break;
   7         }
   8 }
   9
  10 // rough simulation of walking from one point to another to test if a path
  11 // can be traveled, used for waypoint linking and havocbot
  12
  13 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
  14 {
  15         vector org;
  16         vector move;
  17         vector dir;
  18         float dist;
  19         float totaldist;
  20         float stepdist;
  21         float yaw;
  22         float ignorehazards;
  23         float swimming;
  24
  25         if(autocvar_bot_debug_tracewalk)
  26         {
  27                 debugresetnodes();
  28                 debugnode(start);
  29         }
  30
  31         move = end - start;
  32         move_z = 0;
  33         org = start;
  34         dist = totaldist = vlen(move);
  35         dir = normalize(move);
  36         stepdist = 32;
  37         ignorehazards = FALSE;
  38         swimming = FALSE;
  39
  40         // Analyze starting point
  41         traceline(start, start, MOVE_NORMAL, e);
  42         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  43                 ignorehazards = TRUE;
  44         else
  45         {
  46                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  47                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  48                 {
  49                         ignorehazards = TRUE;
  50                         swimming = TRUE;
  51                 }
  52         }
  53         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  54         if (trace_startsolid)
  55         {
  56                 // Bad start
  57                 if(autocvar_bot_debug_tracewalk)
  58                         debugnodestatus(start, DEBUG_NODE_FAIL);
  59
  60                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  61                 return FALSE;
  62         }
  63
  64         // Movement loop
  65         yaw = vectoyaw(move);
  66         move = end - org;
  67         for (;;)
  68         {
  69                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  70                 {
  71                         // Succeeded
  72                         if(autocvar_bot_debug_tracewalk)
  73                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  74
  75                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  76                         return TRUE;
  77                 }
  78                 if(autocvar_bot_debug_tracewalk)
  79                         debugnode(org);
  80
  81                 if (dist <= 0)
  82                         break;
  83                 if (stepdist > dist)
  84                         stepdist = dist;
  85                 dist = dist - stepdist;
  86                 traceline(org, org, MOVE_NORMAL, e);
  87                 if (!ignorehazards)
  88                 {
  89                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  90                         {
  91                                 // hazards blocking path
  92                                 if(autocvar_bot_debug_tracewalk)
  93                                         debugnodestatus(org, DEBUG_NODE_FAIL);
  94
  95                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
  96                                 return FALSE;
  97                         }
  98                 }
  99                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 100                 {
 101                         move = normalize(end - org);
 102                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
 103
 104                         if(autocvar_bot_debug_tracewalk)
 105                                 debugnode(trace_endpos);
 106
 107                         if (trace_fraction < 1)
 108                         {
 109                                 swimming = TRUE;
 110                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
 111                                 for(; org_z < end_z + self.maxs_z; org_z += stepdist)
 112                                 {
 113                                                 if(autocvar_bot_debug_tracewalk)
 114                                                         debugnode(org);
 115
 116                                         if(pointcontents(org) == CONTENT_EMPTY)
 117                                                         break;
 118                                 }
 119
 120                                 if not (pointcontents(org + '0 0 1') == CONTENT_EMPTY)
 121                                 {
 122                                         if(autocvar_bot_debug_tracewalk)
 123                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 124
 125                                         return FALSE;
 126                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 127                                 }
 128                                 continue;
 129
 130                         }
 131                         else
 132                                 org = trace_endpos;
 133                 }
 134                 else
 135                 {
 136                         move = dir * stepdist + org;
 137                         tracebox(org, m1, m2, move, movemode, e);
 138
 139                         if(autocvar_bot_debug_tracewalk)
 140                                 debugnode(trace_endpos);
 141
 142                         // hit something
 143                         if (trace_fraction < 1)
 144                         {
 145                                 // check if we can walk over this obstacle, possibly by jumpstepping
 146                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 147                                 if (trace_fraction < 1 || trace_startsolid)
 148                                 {
 149                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 150                                         if (trace_fraction < 1 || trace_startsolid)
 151                                         {
 152                                                 if(autocvar_bot_debug_tracewalk)
 153                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 154
 155                                                 // check for doors
 156                                                 traceline( org, move, movemode, e);
 157                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 158                                                 {
 159                                                         vector nextmove;
 160                                                         move = trace_endpos;
 161                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 162                                                         {
 163                                                                 nextmove = move + (dir * stepdist);
 164                                                                 traceline( move, nextmove, movemode, e);
 165                                                                 move = nextmove;
 166                                                         }
 167                                                 }
 168                                                 else
 169                                                 {
 170                                                         if(autocvar_bot_debug_tracewalk)
 171                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 172
 173                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 174                                                         //te_explosion(trace_endpos);
 175                                                         //print(ftos(e.dphitcontentsmask), "\n");
 176                                                         return FALSE; // failed
 177                                                 }
 178                                         }
 179                                         else
 180                                                 move = trace_endpos;
 181                                 }
 182                                 else
 183                                         move = trace_endpos;
 184                         }
 185                         else
 186                                 move = trace_endpos;
 187
 188                         // trace down from stepheight as far as possible and move there,
 189                         // if this starts in solid we try again without the stepup, and
 190                         // if that also fails we assume it is a wall
 191                         // (this is the same logic as the Quake walkmove function used)
 192                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 193
 194                         // moved successfully
 195                         if(swimming)
 196                         {
 197                                 float c;
 198                                 c = pointcontents(org + '0 0 1');
 199                                 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
 200                                         swimming = FALSE;
 201                                 else
 202                                         continue;
 203                         }
 204
 205                         org = trace_endpos;
 206                 }
 207         }
 208
 209         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 210
 211         // moved but didn't arrive at the intended destination
 212         if(autocvar_bot_debug_tracewalk)
 213                 debugnodestatus(org, DEBUG_NODE_FAIL);
 214
 215         return FALSE;
 216 }
 217
 218 /////////////////////////////////////////////////////////////////////////////
 219 // goal stack
 220 /////////////////////////////////////////////////////////////////////////////
 221
 222 // completely empty the goal stack, used when deciding where to go
 223 void navigation_clearroute()
 224 {
 225         //print("bot ", etos(self), " clear\n");
 226         self.navigation_hasgoals = FALSE;
 227         self.goalcurrent = world;
 228         self.goalstack01 = world;
 229         self.goalstack02 = world;
 230         self.goalstack03 = world;
 231         self.goalstack04 = world;
 232         self.goalstack05 = world;
 233         self.goalstack06 = world;
 234         self.goalstack07 = world;
 235         self.goalstack08 = world;
 236         self.goalstack09 = world;
 237         self.goalstack10 = world;
 238         self.goalstack11 = world;
 239         self.goalstack12 = world;
 240         self.goalstack13 = world;
 241         self.goalstack14 = world;
 242         self.goalstack15 = world;
 243         self.goalstack16 = world;
 244         self.goalstack17 = world;
 245         self.goalstack18 = world;
 246         self.goalstack19 = world;
 247         self.goalstack20 = world;
 248         self.goalstack21 = world;
 249         self.goalstack22 = world;
 250         self.goalstack23 = world;
 251         self.goalstack24 = world;
 252         self.goalstack25 = world;
 253         self.goalstack26 = world;
 254         self.goalstack27 = world;
 255         self.goalstack28 = world;
 256         self.goalstack29 = world;
 257         self.goalstack30 = world;
 258         self.goalstack31 = world;
 259 }
 260
 261 // add a new goal at the beginning of the stack
 262 // (in other words: add a new prerequisite before going to the later goals)
 263 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 264 // next-closest WP on the shortest path to the WP
 265 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 266 // steps to the goal, and then recalculate the path.
 267 void navigation_pushroute(entity e)
 268 {
 269         //print("bot ", etos(self), " push ", etos(e), "\n");
 270         self.goalstack31 = self.goalstack30;
 271         self.goalstack30 = self.goalstack29;
 272         self.goalstack29 = self.goalstack28;
 273         self.goalstack28 = self.goalstack27;
 274         self.goalstack27 = self.goalstack26;
 275         self.goalstack26 = self.goalstack25;
 276         self.goalstack25 = self.goalstack24;
 277         self.goalstack24 = self.goalstack23;
 278         self.goalstack23 = self.goalstack22;
 279         self.goalstack22 = self.goalstack21;
 280         self.goalstack21 = self.goalstack20;
 281         self.goalstack20 = self.goalstack19;
 282         self.goalstack19 = self.goalstack18;
 283         self.goalstack18 = self.goalstack17;
 284         self.goalstack17 = self.goalstack16;
 285         self.goalstack16 = self.goalstack15;
 286         self.goalstack15 = self.goalstack14;
 287         self.goalstack14 = self.goalstack13;
 288         self.goalstack13 = self.goalstack12;
 289         self.goalstack12 = self.goalstack11;
 290         self.goalstack11 = self.goalstack10;
 291         self.goalstack10 = self.goalstack09;
 292         self.goalstack09 = self.goalstack08;
 293         self.goalstack08 = self.goalstack07;
 294         self.goalstack07 = self.goalstack06;
 295         self.goalstack06 = self.goalstack05;
 296         self.goalstack05 = self.goalstack04;
 297         self.goalstack04 = self.goalstack03;
 298         self.goalstack03 = self.goalstack02;
 299         self.goalstack02 = self.goalstack01;
 300         self.goalstack01 = self.goalcurrent;
 301         self.goalcurrent = e;
 302 }
 303
 304 // remove first goal from stack
 305 // (in other words: remove a prerequisite for reaching the later goals)
 306 // (used when a spawnfunc_waypoint is reached)
 307 void navigation_poproute()
 308 {
 309         //print("bot ", etos(self), " pop\n");
 310         self.goalcurrent = self.goalstack01;
 311         self.goalstack01 = self.goalstack02;
 312         self.goalstack02 = self.goalstack03;
 313         self.goalstack03 = self.goalstack04;
 314         self.goalstack04 = self.goalstack05;
 315         self.goalstack05 = self.goalstack06;
 316         self.goalstack06 = self.goalstack07;
 317         self.goalstack07 = self.goalstack08;
 318         self.goalstack08 = self.goalstack09;
 319         self.goalstack09 = self.goalstack10;
 320         self.goalstack10 = self.goalstack11;
 321         self.goalstack11 = self.goalstack12;
 322         self.goalstack12 = self.goalstack13;
 323         self.goalstack13 = self.goalstack14;
 324         self.goalstack14 = self.goalstack15;
 325         self.goalstack15 = self.goalstack16;
 326         self.goalstack16 = self.goalstack17;
 327         self.goalstack17 = self.goalstack18;
 328         self.goalstack18 = self.goalstack19;
 329         self.goalstack19 = self.goalstack20;
 330         self.goalstack20 = self.goalstack21;
 331         self.goalstack21 = self.goalstack22;
 332         self.goalstack22 = self.goalstack23;
 333         self.goalstack23 = self.goalstack24;
 334         self.goalstack24 = self.goalstack25;
 335         self.goalstack25 = self.goalstack26;
 336         self.goalstack26 = self.goalstack27;
 337         self.goalstack27 = self.goalstack28;
 338         self.goalstack28 = self.goalstack29;
 339         self.goalstack29 = self.goalstack30;
 340         self.goalstack30 = self.goalstack31;
 341         self.goalstack31 = world;
 342 }
 343
 344 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 345 {
 346         float dist;
 347         dist = vlen(v - org);
 348         if (bestdist > dist)
 349         {
 350                 traceline(v, org, TRUE, ent);
 351                 if (trace_fraction == 1)
 352                 {
 353                         if (walkfromwp)
 354                         {
 355                                 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
 356                                         return TRUE;
 357                         }
 358                         else
 359                         {
 360                                 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
 361                                         return TRUE;
 362                         }
 363                 }
 364         }
 365         return FALSE;
 366 }
 367
 368 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 369 entity navigation_findnearestwaypoint_withdist(entity ent, float walkfromwp, float bestdist)
 370 {
 371         entity waylist, w, best;
 372         vector v, org, pm1, pm2;
 373
 374         pm1 = ent.origin + ent.mins;
 375         pm2 = ent.origin + ent.maxs;
 376         waylist = findchain(classname, "waypoint");
 377
 378         // do two scans, because box test is cheaper
 379         w = waylist;
 380         while (w)
 381         {
 382                 // if object is touching spawnfunc_waypoint
 383                 if(w != ent)
 384                         if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
 385                                 return w;
 386                 w = w.chain;
 387         }
 388
 389         org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 390         org_z = ent.origin_z + ent.mins_z - PL_MIN_z; // player height
 391         // TODO possibly make other code have the same support for bboxes
 392         if(ent.tag_entity)
 393                 org = org + ent.tag_entity.origin;
 394         if (navigation_testtracewalk)
 395                 te_plasmaburn(org);
 396
 397         best = world;
 398
 399         // box check failed, try walk
 400         w = waylist;
 401         while (w)
 402         {
 403                 // if object can walk from spawnfunc_waypoint
 404                 if(w != ent)
 405                 {
 406                         if (w.wpisbox)
 407                         {
 408                                 vector wm1, wm2;
 409                                 wm1 = w.origin + w.mins;
 410                                 wm2 = w.origin + w.maxs;
 411                                 v_x = bound(wm1_x, org_x, wm2_x);
 412                                 v_y = bound(wm1_y, org_y, wm2_y);
 413                                 v_z = bound(wm1_z, org_z, wm2_z);
 414                         }
 415                         else
 416                                 v = w.origin;
 417                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 418                         {
 419                                 bestdist = vlen(v - org);
 420                                 best = w;
 421                         }
 422                 }
 423                 w = w.chain;
 424         }
 425         return best;
 426 }
 427 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 428 {
 429         return navigation_findnearestwaypoint_withdist(ent, walkfromwp, 1050);
 430 }
 431
 432 // finds the waypoints near the bot initiating a navigation query
 433 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
 434 {
 435         entity head;
 436         vector v, m1, m2, diff;
 437         float c;
 438 //      navigation_testtracewalk = TRUE;
 439         c = 0;
 440         head = waylist;
 441         while (head)
 442         {
 443                 if (!head.wpconsidered)
 444                 {
 445                         if (head.wpisbox)
 446                         {
 447                                 m1 = head.origin + head.mins;
 448                                 m2 = head.origin + head.maxs;
 449                                 v = self.origin;
 450                                 v_x = bound(m1_x, v_x, m2_x);
 451                                 v_y = bound(m1_y, v_y, m2_y);
 452                                 v_z = bound(m1_z, v_z, m2_z);
 453                         }
 454                         else
 455                                 v = head.origin;
 456                         diff = v - self.origin;
 457                         diff_z = max(0, diff_z);
 458                         if (vlen(diff) < maxdist)
 459                         {
 460                                 head.wpconsidered = TRUE;
 461                                 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
 462                                 {
 463                                         head.wpnearestpoint = v;
 464                                         head.wpcost = vlen(v - self.origin) + head.dmg;
 465                                         head.wpfire = 1;
 466                                         head.enemy = world;
 467                                         c = c + 1;
 468                                 }
 469                         }
 470                 }
 471                 head = head.chain;
 472         }
 473         //navigation_testtracewalk = FALSE;
 474         return c;
 475 }
 476
 477 // updates a path link if a spawnfunc_waypoint link is better than the current one
 478 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 479 {
 480         vector m1;
 481         vector m2;
 482         vector v;
 483         if (wp.wpisbox)
 484         {
 485                 m1 = wp.absmin;
 486                 m2 = wp.absmax;
 487                 v_x = bound(m1_x, p_x, m2_x);
 488                 v_y = bound(m1_y, p_y, m2_y);
 489                 v_z = bound(m1_z, p_z, m2_z);
 490         }
 491         else
 492                 v = wp.origin;
 493         cost2 = cost2 + vlen(v - p);
 494         if (wp.wpcost > cost2)
 495         {
 496                 wp.wpcost = cost2;
 497                 wp.enemy = w;
 498                 wp.wpfire = 1;
 499                 wp.wpnearestpoint = v;
 500         }
 501 }
 502
 503 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 504 void navigation_markroutes(entity fixed_source_waypoint)
 505 {
 506         entity w, wp, waylist;
 507         float searching, cost, cost2;
 508         vector p;
 509         w = waylist = findchain(classname, "waypoint");
 510         while (w)
 511         {
 512                 w.wpconsidered = FALSE;
 513                 w.wpnearestpoint = '0 0 0';
 514                 w.wpcost = 10000000;
 515                 w.wpfire = 0;
 516                 w.enemy = world;
 517                 w = w.chain;
 518         }
 519
 520         if(fixed_source_waypoint)
 521         {
 522                 fixed_source_waypoint.wpconsidered = TRUE;
 523                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 524                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 525                 fixed_source_waypoint.wpfire = 1;
 526                 fixed_source_waypoint.enemy = world;
 527         }
 528         else
 529         {
 530                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 531                 // as this search is expensive we will use lower values if the bot is on the air
 532                 float i, increment, maxdistance;
 533                 if(self.flags & FL_ONGROUND)
 534                 {
 535                         increment = 750;
 536                         maxdistance = 50000;
 537                 }
 538                 else
 539                 {
 540                         increment = 500;
 541                         maxdistance = 1500;
 542                 }
 543
 544                 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
 545         }
 546
 547         searching = TRUE;
 548         while (searching)
 549         {
 550                 searching = FALSE;
 551                 w = waylist;
 552                 while (w)
 553                 {
 554                         if (w.wpfire)
 555                         {
 556                                 searching = TRUE;
 557                                 w.wpfire = 0;
 558                                 cost = w.wpcost;
 559                                 p = w.wpnearestpoint;
 560                                 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 561                                 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 562                                 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 563                                 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 564                                 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 565                                 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 566                                 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 567                                 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 568                                 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 569                                 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 570                                 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 571                                 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 572                                 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 573                                 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 574                                 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 575                                 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 576                                 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 577                                 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 578                                 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 579                                 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 580                                 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 581                                 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 582                                 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 583                                 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 584                                 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 585                                 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 586                                 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 587                                 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 588                                 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 589                                 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 590                                 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 591                                 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 592                                 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 593                         }
 594                         w = w.chain;
 595                 }
 596         }
 597 }
 598
 599 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 600 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 601 {
 602         entity w, wp, waylist;
 603         float searching, cost, cost2;
 604         vector p;
 605         w = waylist = findchain(classname, "waypoint");
 606         while (w)
 607         {
 608                 w.wpconsidered = FALSE;
 609                 w.wpnearestpoint = '0 0 0';
 610                 w.wpcost = 10000000;
 611                 w.wpfire = 0;
 612                 w.enemy = world;
 613                 w = w.chain;
 614         }
 615
 616         if(fixed_source_waypoint)
 617         {
 618                 fixed_source_waypoint.wpconsidered = TRUE;
 619                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 620                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 621                 fixed_source_waypoint.wpfire = 1;
 622                 fixed_source_waypoint.enemy = world;
 623         }
 624         else
 625         {
 626                 error("need to start with a waypoint\n");
 627         }
 628
 629         searching = TRUE;
 630         while (searching)
 631         {
 632                 searching = FALSE;
 633                 w = waylist;
 634                 while (w)
 635                 {
 636                         if (w.wpfire)
 637                         {
 638                                 searching = TRUE;
 639                                 w.wpfire = 0;
 640                                 cost = w.wpcost; // cost to walk from w to home
 641                                 p = w.wpnearestpoint;
 642                                 for(wp = waylist; wp; wp = wp.chain)
 643                                 {
 644                                         if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
 645                                         if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
 646                                         if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
 647                                         if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
 648                                         if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
 649                                         if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
 650                                         if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
 651                                         if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
 652                                                 continue;
 653                                         cost2 = cost + wp.dmg;
 654                                         navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 655                                 }
 656                         }
 657                         w = w.chain;
 658                 }
 659         }
 660 }
 661
 662 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 663 void navigation_routerating(entity e, float f, float rangebias)
 664 {
 665         entity nwp;
 666         vector o;
 667         if (!e)
 668                 return;
 669
 670         if(e.blacklisted)
 671                 return;
 672
 673         o = (e.absmin + e.absmax) * 0.5;
 674
 675         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 676
 677         // Evaluate path using jetpack
 678         if(g_jetpack)
 679         if(self.items & IT_JETPACK)
 680         if(autocvar_bot_ai_navigation_jetpack)
 681         if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
 682         {
 683                 vector pointa, pointb;
 684
 685                 bot_debug(strcat("jetpack ai: evaluating path for ", e.classname, "\n"));
 686
 687                 // Point A
 688                 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
 689                 pointa = trace_endpos - '0 0 1';
 690
 691                 // Point B
 692                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 693                 pointb = trace_endpos - '0 0 1';
 694
 695                 // Can I see these two points from the sky?
 696                 traceline(pointa, pointb, MOVE_NORMAL, self);
 697
 698                 if(trace_fraction==1)
 699                 {
 700                         bot_debug("jetpack ai: can bridge these two points\n");
 701
 702                         // Lower the altitude of these points as much as possible
 703                         float zdistance, xydistance, cost, t, fuel;
 704                         vector down, npa, npb;
 705
 706                         down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
 707
 708                         do{
 709                                 npa = pointa + down;
 710                                 npb = pointb + down;
 711
 712                                 if(npa_z<=self.absmax_z)
 713                                         break;
 714
 715                                 if(npb_z<=e.absmax_z)
 716                                         break;
 717
 718                                 traceline(npa, npb, MOVE_NORMAL, self);
 719                                 if(trace_fraction==1)
 720                                 {
 721                                         pointa = npa;
 722                                         pointb = npb;
 723                                 }
 724                         }
 725                         while(trace_fraction == 1);
 726
 727
 728                         // Rough estimation of fuel consumption
 729                         // (ignores acceleration and current xyz velocity)
 730                         xydistance = vlen(pointa - pointb);
 731                         zdistance = fabs(pointa_z - self.origin_z);
 732
 733                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 734                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 735                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 736
 737                         bot_debug(strcat("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel), "\n"));
 738
 739                         // enough fuel ?
 740                         if(self.ammo_fuel>fuel)
 741                         {
 742                                 // Estimate cost
 743                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 744                                 //  - between air and ground speeds)
 745
 746                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 747                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 748                                 cost *= 1.5;
 749
 750                                 // Compare against other goals
 751                                 f = f * rangebias / (rangebias + cost);
 752
 753                                 if (navigation_bestrating < f)
 754                                 {
 755                                         bot_debug(strcat("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 756                                         navigation_bestrating = f;
 757                                         navigation_bestgoal = e;
 758                                         self.navigation_jetpack_goal = e;
 759                                         self.navigation_jetpack_point = pointb;
 760                                 }
 761                                 return;
 762                         }
 763                 }
 764         }
 765
 766         //te_wizspike(e.origin);
 767         //bprint(etos(e));
 768         //bprint("\n");
 769         // update the cached spawnfunc_waypoint link on a dynamic item entity
 770         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 771         {
 772                 nwp = e;
 773         }
 774         else
 775         {
 776                 float search;
 777
 778                 search = TRUE;
 779
 780                 if(e.flags & FL_ITEM)
 781                 {
 782                         if not(e.flags & FL_WEAPON)
 783                         if(e.nearestwaypoint)
 784                                 search = FALSE;
 785                 }
 786                 else if (e.flags & FL_WEAPON)
 787                 {
 788                         if(e.classname != "droppedweapon")
 789                         if(e.nearestwaypoint)
 790                                 search = FALSE;
 791                 }
 792
 793                 if(search)
 794                 if (time > e.nearestwaypointtimeout)
 795                 {
 796                         nwp = navigation_findnearestwaypoint(e, TRUE);
 797                         if(nwp)
 798                                 e.nearestwaypoint = nwp;
 799                         else
 800                         {
 801                                 bot_debug(strcat("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n"));
 802
 803                                 if(e.flags & FL_ITEM)
 804                                         e.blacklisted = TRUE;
 805                                 else if (e.flags & FL_WEAPON)
 806                                 {
 807                                         if(e.classname != "droppedweapon")
 808                                                 e.blacklisted = TRUE;
 809                                 }
 810
 811                                 if(e.blacklisted)
 812                                 {
 813                                         bot_debug(strcat("The entity '", e.classname, "' is going to be excluded from path finding during this match\n"));
 814                                         return;
 815                                 }
 816                         }
 817
 818                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 819                         if(e.classname=="item_flag_team")
 820                                 e.nearestwaypointtimeout = time + 2;
 821                         else
 822                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 823                 }
 824                 nwp = e.nearestwaypoint;
 825         }
 826
 827         bot_debug(strcat("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n"));
 828         if (nwp)
 829         if (nwp.wpcost < 10000000)
 830         {
 831                 //te_wizspike(nwp.wpnearestpoint);
 832                 bot_debug(strcat(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = "));
 833                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 834                 bot_debug(strcat("considering ", e.classname, " (with rating ", ftos(f), ")\n"));
 835                 if (navigation_bestrating < f)
 836                 {
 837                         bot_debug(strcat("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 838                         navigation_bestrating = f;
 839                         navigation_bestgoal = e;
 840                 }
 841         }
 842 }
 843
 844 // adds an item to the the goal stack with the path to a given item
 845 float navigation_routetogoal(entity e, vector startposition)
 846 {
 847         self.goalentity = e;
 848
 849         // if there is no goal, just exit
 850         if (!e)
 851                 return FALSE;
 852
 853         self.navigation_hasgoals = TRUE;
 854
 855         // put the entity on the goal stack
 856         //print("routetogoal ", etos(e), "\n");
 857         navigation_pushroute(e);
 858
 859         if(g_jetpack)
 860         if(e==self.navigation_jetpack_goal)
 861                 return TRUE;
 862
 863         // if it can reach the goal there is nothing more to do
 864         if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 865                 return TRUE;
 866
 867         // see if there are waypoints describing a path to the item
 868         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 869                 e = e.nearestwaypoint;
 870         else
 871                 e = e.enemy; // we already have added it, so...
 872
 873         if(e == world)
 874                 return FALSE;
 875
 876         for (;;)
 877         {
 878                 // add the spawnfunc_waypoint to the path
 879                 navigation_pushroute(e);
 880                 e = e.enemy;
 881
 882                 if(e==world)
 883                         break;
 884         }
 885
 886         return FALSE;
 887 }
 888
 889 // removes any currently touching waypoints from the goal stack
 890 // (this is how bots detect if they reached a goal)
 891 void navigation_poptouchedgoals()
 892 {
 893         vector org, m1, m2;
 894         org = self.origin;
 895         m1 = org + self.mins;
 896         m2 = org + self.maxs;
 897
 898         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 899         {
 900                 if(self.lastteleporttime>0)
 901                 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
 902                 {
 903                         if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 904                         if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 905                         {
 906                                 self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 907                                 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 908                         }
 909                         navigation_poproute();
 910                         return;
 911                 }
 912         }
 913
 914         // If for some reason the bot is closer to the next goal, pop the current one
 915         if(self.goalstack01)
 916         if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
 917         if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
 918         if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 919         {
 920                 bot_debug(strcat("path optimized for ", self.netname, ", removed a goal from the queue\n"));
 921                 navigation_poproute();
 922                 // TODO this may also be a nice idea to do "early" (e.g. by
 923                 // manipulating the vlen() comparisons) to shorten paths in
 924                 // general - this would make bots walk more "on rails" than
 925                 // "zigzagging" which they currently do with sufficiently
 926                 // random-like waypoints, and thus can make a nice bot
 927                 // personality property
 928         }
 929
 930         // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
 931         // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
 932         if(IS_PLAYER(self.goalcurrent))
 933                 navigation_poproute();
 934
 935         // aid for detecting jump pads better (distance based check fails sometimes)
 936         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
 937                 navigation_poproute();
 938
 939         // Loose goal touching check when running
 940         if(self.aistatus & AI_STATUS_RUNNING)
 941         if(self.speed >= autocvar_sv_maxspeed) // if -really- running
 942         if(self.goalcurrent.classname=="waypoint")
 943         {
 944                 if(vlen(self.origin - self.goalcurrent.origin)<150)
 945                 {
 946                         traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
 947                         if(trace_fraction==1)
 948                         {
 949                                 // Detect personal waypoints
 950                                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 951                                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 952                                 {
 953                                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 954                                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 955                                 }
 956
 957                                 navigation_poproute();
 958                         }
 959                 }
 960         }
 961
 962         while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
 963         {
 964                 // Detect personal waypoints
 965                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 966                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 967                 {
 968                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 969                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 970                 }
 971
 972                 navigation_poproute();
 973         }
 974 }
 975
 976 // begin a goal selection session (queries spawnfunc_waypoint network)
 977 void navigation_goalrating_start()
 978 {
 979         if(self.aistatus & AI_STATUS_STUCK)
 980                 return;
 981
 982         self.navigation_jetpack_goal = world;
 983         navigation_bestrating = -1;
 984         self.navigation_hasgoals = FALSE;
 985         navigation_clearroute();
 986         navigation_bestgoal = world;
 987         navigation_markroutes(world);
 988 }
 989
 990 // ends a goal selection session (updates goal stack to the best goal)
 991 void navigation_goalrating_end()
 992 {
 993         if(self.aistatus & AI_STATUS_STUCK)
 994                 return;
 995
 996         navigation_routetogoal(navigation_bestgoal, self.origin);
 997         bot_debug(strcat("best goal ", self.goalcurrent.classname , "\n"));
 998
 999         // If the bot got stuck then try to reach the farthest waypoint
1000         if not (self.navigation_hasgoals)
1001         if (autocvar_bot_wander_enable)
1002         {
1003                 if not(self.aistatus & AI_STATUS_STUCK)
1004                 {
1005                         bot_debug(strcat(self.netname, " cannot walk to any goal\n"));
1006                         self.aistatus |= AI_STATUS_STUCK;
1007                 }
1008
1009                 self.navigation_hasgoals = FALSE; // Reset this value
1010         }
1011 }
1012
1013 void botframe_updatedangerousobjects(float maxupdate)
1014 {
1015         entity head, bot_dodgelist;
1016         vector m1, m2, v, o;
1017         float c, d, danger;
1018         c = 0;
1019         bot_dodgelist = findchainfloat(bot_dodge, TRUE);
1020         botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1021         while (botframe_dangerwaypoint != world)
1022         {
1023                 danger = 0;
1024                 m1 = botframe_dangerwaypoint.mins;
1025                 m2 = botframe_dangerwaypoint.maxs;
1026                 head = bot_dodgelist;
1027                 while (head)
1028                 {
1029                         v = head.origin;
1030                         v_x = bound(m1_x, v_x, m2_x);
1031                         v_y = bound(m1_y, v_y, m2_y);
1032                         v_z = bound(m1_z, v_z, m2_z);
1033                         o = (head.absmin + head.absmax) * 0.5;
1034                         d = head.bot_dodgerating - vlen(o - v);
1035                         if (d > 0)
1036                         {
1037                                 traceline(o, v, TRUE, world);
1038                                 if (trace_fraction == 1)
1039                                         danger = danger + d;
1040                         }
1041                         head = head.chain;
1042                 }
1043                 botframe_dangerwaypoint.dmg = danger;
1044                 c = c + 1;
1045                 if (c >= maxupdate)
1046                         break;
1047                 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1048         }
1049 }
1050
1051 void navigation_unstuck()
1052 {
1053         float search_radius = 1000;
1054
1055         if not(autocvar_bot_wander_enable)
1056                 return;
1057
1058         if not(bot_waypoint_queue_owner)
1059         {
1060                 bot_debug(strcat(self.netname, " sutck, taking over the waypoints queue\n"));
1061                 bot_waypoint_queue_owner = self;
1062                 bot_waypoint_queue_bestgoal = world;
1063                 bot_waypoint_queue_bestgoalrating = 0;
1064         }
1065
1066         if(bot_waypoint_queue_owner!=self)
1067                 return;
1068
1069         if (bot_waypoint_queue_goal)
1070         {
1071                 // evaluate the next goal on the queue
1072                 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1073                 bot_debug(strcat(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n"));
1074                 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1075                 {
1076                         if( d > bot_waypoint_queue_bestgoalrating)
1077                         {
1078                                 bot_waypoint_queue_bestgoalrating = d;
1079                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1080                         }
1081                 }
1082                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1083
1084                 if not(bot_waypoint_queue_goal)
1085                 {
1086                         if (bot_waypoint_queue_bestgoal)
1087                         {
1088                                 bot_debug(strcat(self.netname, " stuck, reachable waypoint found, heading to it\n"));
1089                                 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1090                                 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1091                                 self.aistatus &= ~AI_STATUS_STUCK;
1092                         }
1093                         else
1094                         {
1095                                 bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1096                         }
1097
1098                         bot_waypoint_queue_owner = world;
1099                 }
1100         }
1101         else
1102         {
1103                 if(bot_strategytoken!=self)
1104                         return;
1105
1106                 // build a new queue
1107                 bot_debug(strcat(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n"));
1108
1109                 entity head, first;
1110
1111                 first = world;
1112                 head = findradius(self.origin, search_radius);
1113
1114                 while(head)
1115                 {
1116                         if(head.classname=="waypoint")
1117                 //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1118                         {
1119                                 if(bot_waypoint_queue_goal)
1120                                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1121                                 else
1122                                         first = head;
1123
1124                                 bot_waypoint_queue_goal = head;
1125                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1126                         }
1127
1128                         head = head.chain;
1129                 }
1130
1131                 if (first)
1132                         bot_waypoint_queue_goal = first;
1133                 else
1134                 {
1135                         bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1136                         bot_waypoint_queue_owner = world;
1137                 }
1138         }
1139 }
1140
1141 // Support for debugging tracewalk visually
1142
1143 void debugresetnodes()
1144 {
1145         debuglastnode = '0 0 0';
1146 }
1147
1148 void debugnode(vector node)
1149 {
1150         if not(IS_PLAYER(self))
1151                 return;
1152
1153         if(debuglastnode=='0 0 0')
1154         {
1155                 debuglastnode = node;
1156                 return;
1157         }
1158
1159         te_lightning2(world, node, debuglastnode);
1160         debuglastnode = node;
1161 }
1162
1163 void debugnodestatus(vector position, float status)
1164 {
1165         vector c;
1166
1167         switch (status)
1168         {
1169                 case DEBUG_NODE_SUCCESS:
1170                         c = '0 15 0';
1171                         break;
1172                 case DEBUG_NODE_WARNING:
1173                         c = '15 15 0';
1174                         break;
1175                 case DEBUG_NODE_FAIL:
1176                         c = '15 0 0';
1177                         break;
1178                 default:
1179                         c = '15 15 15';
1180         }
1181
1182         te_customflash(position, 40,  2, c);
1183 }
1184
1185 // Support for debugging the goal stack visually
1186
1187 .float goalcounter;
1188 .vector lastposition;
1189
1190 // Debug the goal stack visually
1191 void debuggoalstack()
1192 {
1193         entity goal;
1194         vector org, go;
1195
1196         if(self.goalcounter==0)goal=self.goalcurrent;
1197         else if(self.goalcounter==1)goal=self.goalstack01;
1198         else if(self.goalcounter==2)goal=self.goalstack02;
1199         else if(self.goalcounter==3)goal=self.goalstack03;
1200         else if(self.goalcounter==4)goal=self.goalstack04;
1201         else if(self.goalcounter==5)goal=self.goalstack05;
1202         else if(self.goalcounter==6)goal=self.goalstack06;
1203         else if(self.goalcounter==7)goal=self.goalstack07;
1204         else if(self.goalcounter==8)goal=self.goalstack08;
1205         else if(self.goalcounter==9)goal=self.goalstack09;
1206         else if(self.goalcounter==10)goal=self.goalstack10;
1207         else if(self.goalcounter==11)goal=self.goalstack11;
1208         else if(self.goalcounter==12)goal=self.goalstack12;
1209         else if(self.goalcounter==13)goal=self.goalstack13;
1210         else if(self.goalcounter==14)goal=self.goalstack14;
1211         else if(self.goalcounter==15)goal=self.goalstack15;
1212         else if(self.goalcounter==16)goal=self.goalstack16;
1213         else if(self.goalcounter==17)goal=self.goalstack17;
1214         else if(self.goalcounter==18)goal=self.goalstack18;
1215         else if(self.goalcounter==19)goal=self.goalstack19;
1216         else if(self.goalcounter==20)goal=self.goalstack20;
1217         else if(self.goalcounter==21)goal=self.goalstack21;
1218         else if(self.goalcounter==22)goal=self.goalstack22;
1219         else if(self.goalcounter==23)goal=self.goalstack23;
1220         else if(self.goalcounter==24)goal=self.goalstack24;
1221         else if(self.goalcounter==25)goal=self.goalstack25;
1222         else if(self.goalcounter==26)goal=self.goalstack26;
1223         else if(self.goalcounter==27)goal=self.goalstack27;
1224         else if(self.goalcounter==28)goal=self.goalstack28;
1225         else if(self.goalcounter==29)goal=self.goalstack29;
1226         else if(self.goalcounter==30)goal=self.goalstack30;
1227         else if(self.goalcounter==31)goal=self.goalstack31;
1228         else goal=world;
1229
1230         if(goal==world)
1231         {
1232                 self.goalcounter = 0;
1233                 self.lastposition='0 0 0';
1234                 return;
1235         }
1236
1237         if(self.lastposition=='0 0 0')
1238                 org = self.origin;
1239         else
1240                 org = self.lastposition;
1241
1242
1243         go = ( goal.absmin + goal.absmax ) * 0.5;
1244         te_lightning2(world, org, go);
1245         self.lastposition = go;
1246
1247         self.goalcounter++;
1248 }