qcsrc/server/bot/navigation.qc

   1 #include "navigation.qh"
   2 #include "../_all.qh"
   3
   4 #include "bot.qh"
   5 #include "waypoints.qh"
   6
   7 #include "../t_items.qh"
   8
   9 #include "../../common/constants.qh"
  10 #include "../../common/triggers/trigger/jumppads.qh"
  11
  12 void bot_debug(string input)
  13 {
  14         switch(autocvar_bot_debug)
  15         {
  16                 case 1: LOG_TRACE(input); break;
  17                 case 2: LOG_INFO(input); break;
  18         }
  19 }
  20
  21 // rough simulation of walking from one point to another to test if a path
  22 // can be traveled, used for waypoint linking and havocbot
  23
  24 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
  25 {SELFPARAM();
  26         vector org;
  27         vector move;
  28         vector dir;
  29         float dist;
  30         float totaldist;
  31         float stepdist;
  32         float yaw;
  33         float ignorehazards;
  34         float swimming;
  35
  36         if(autocvar_bot_debug_tracewalk)
  37         {
  38                 debugresetnodes();
  39                 debugnode(start);
  40         }
  41
  42         move = end - start;
  43         move.z = 0;
  44         org = start;
  45         dist = totaldist = vlen(move);
  46         dir = normalize(move);
  47         stepdist = 32;
  48         ignorehazards = false;
  49         swimming = false;
  50
  51         // Analyze starting point
  52         traceline(start, start, MOVE_NORMAL, e);
  53         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  54                 ignorehazards = true;
  55         else
  56         {
  57                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  58                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  59                 {
  60                         ignorehazards = true;
  61                         swimming = true;
  62                 }
  63         }
  64         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  65         if (trace_startsolid)
  66         {
  67                 // Bad start
  68                 if(autocvar_bot_debug_tracewalk)
  69                         debugnodestatus(start, DEBUG_NODE_FAIL);
  70
  71                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  72                 return false;
  73         }
  74
  75         // Movement loop
  76         yaw = vectoyaw(move);
  77         move = end - org;
  78         for (;;)
  79         {
  80                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  81                 {
  82                         // Succeeded
  83                         if(autocvar_bot_debug_tracewalk)
  84                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  85
  86                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  87                         return true;
  88                 }
  89                 if(autocvar_bot_debug_tracewalk)
  90                         debugnode(org);
  91
  92                 if (dist <= 0)
  93                         break;
  94                 if (stepdist > dist)
  95                         stepdist = dist;
  96                 dist = dist - stepdist;
  97                 traceline(org, org, MOVE_NORMAL, e);
  98                 if (!ignorehazards)
  99                 {
 100                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 101                         {
 102                                 // hazards blocking path
 103                                 if(autocvar_bot_debug_tracewalk)
 104                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 105
 106                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 107                                 return false;
 108                         }
 109                 }
 110                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 111                 {
 112                         move = normalize(end - org);
 113                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
 114
 115                         if(autocvar_bot_debug_tracewalk)
 116                                 debugnode(trace_endpos);
 117
 118                         if (trace_fraction < 1)
 119                         {
 120                                 swimming = true;
 121                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
 122                                 for (; org.z < end.z + self.maxs.z; org.z += stepdist)
 123                                 {
 124                                                 if(autocvar_bot_debug_tracewalk)
 125                                                         debugnode(org);
 126
 127                                         if(pointcontents(org) == CONTENT_EMPTY)
 128                                                         break;
 129                                 }
 130
 131                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 132                                 {
 133                                         if(autocvar_bot_debug_tracewalk)
 134                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 135
 136                                         return false;
 137                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 138                                 }
 139                                 continue;
 140
 141                         }
 142                         else
 143                                 org = trace_endpos;
 144                 }
 145                 else
 146                 {
 147                         move = dir * stepdist + org;
 148                         tracebox(org, m1, m2, move, movemode, e);
 149
 150                         if(autocvar_bot_debug_tracewalk)
 151                                 debugnode(trace_endpos);
 152
 153                         // hit something
 154                         if (trace_fraction < 1)
 155                         {
 156                                 // check if we can walk over this obstacle, possibly by jumpstepping
 157                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 158                                 if (trace_fraction < 1 || trace_startsolid)
 159                                 {
 160                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 161                                         if (trace_fraction < 1 || trace_startsolid)
 162                                         {
 163                                                 if(autocvar_bot_debug_tracewalk)
 164                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 165
 166                                                 // check for doors
 167                                                 traceline( org, move, movemode, e);
 168                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 169                                                 {
 170                                                         vector nextmove;
 171                                                         move = trace_endpos;
 172                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 173                                                         {
 174                                                                 nextmove = move + (dir * stepdist);
 175                                                                 traceline( move, nextmove, movemode, e);
 176                                                                 move = nextmove;
 177                                                         }
 178                                                 }
 179                                                 else
 180                                                 {
 181                                                         if(autocvar_bot_debug_tracewalk)
 182                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 183
 184                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 185                                                         //te_explosion(trace_endpos);
 186                                                         //print(ftos(e.dphitcontentsmask), "\n");
 187                                                         return false; // failed
 188                                                 }
 189                                         }
 190                                         else
 191                                                 move = trace_endpos;
 192                                 }
 193                                 else
 194                                         move = trace_endpos;
 195                         }
 196                         else
 197                                 move = trace_endpos;
 198
 199                         // trace down from stepheight as far as possible and move there,
 200                         // if this starts in solid we try again without the stepup, and
 201                         // if that also fails we assume it is a wall
 202                         // (this is the same logic as the Quake walkmove function used)
 203                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 204
 205                         // moved successfully
 206                         if(swimming)
 207                         {
 208                                 float c;
 209                                 c = pointcontents(org + '0 0 1');
 210                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 211                                         swimming = false;
 212                                 else
 213                                         continue;
 214                         }
 215
 216                         org = trace_endpos;
 217                 }
 218         }
 219
 220         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 221
 222         // moved but didn't arrive at the intended destination
 223         if(autocvar_bot_debug_tracewalk)
 224                 debugnodestatus(org, DEBUG_NODE_FAIL);
 225
 226         return false;
 227 }
 228
 229 /////////////////////////////////////////////////////////////////////////////
 230 // goal stack
 231 /////////////////////////////////////////////////////////////////////////////
 232
 233 // completely empty the goal stack, used when deciding where to go
 234 void navigation_clearroute()
 235 {SELFPARAM();
 236         //print("bot ", etos(self), " clear\n");
 237         self.navigation_hasgoals = false;
 238         self.goalcurrent = world;
 239         self.goalstack01 = world;
 240         self.goalstack02 = world;
 241         self.goalstack03 = world;
 242         self.goalstack04 = world;
 243         self.goalstack05 = world;
 244         self.goalstack06 = world;
 245         self.goalstack07 = world;
 246         self.goalstack08 = world;
 247         self.goalstack09 = world;
 248         self.goalstack10 = world;
 249         self.goalstack11 = world;
 250         self.goalstack12 = world;
 251         self.goalstack13 = world;
 252         self.goalstack14 = world;
 253         self.goalstack15 = world;
 254         self.goalstack16 = world;
 255         self.goalstack17 = world;
 256         self.goalstack18 = world;
 257         self.goalstack19 = world;
 258         self.goalstack20 = world;
 259         self.goalstack21 = world;
 260         self.goalstack22 = world;
 261         self.goalstack23 = world;
 262         self.goalstack24 = world;
 263         self.goalstack25 = world;
 264         self.goalstack26 = world;
 265         self.goalstack27 = world;
 266         self.goalstack28 = world;
 267         self.goalstack29 = world;
 268         self.goalstack30 = world;
 269         self.goalstack31 = world;
 270 }
 271
 272 // add a new goal at the beginning of the stack
 273 // (in other words: add a new prerequisite before going to the later goals)
 274 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 275 // next-closest WP on the shortest path to the WP
 276 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 277 // steps to the goal, and then recalculate the path.
 278 void navigation_pushroute(entity e)
 279 {SELFPARAM();
 280         //print("bot ", etos(self), " push ", etos(e), "\n");
 281         self.goalstack31 = self.goalstack30;
 282         self.goalstack30 = self.goalstack29;
 283         self.goalstack29 = self.goalstack28;
 284         self.goalstack28 = self.goalstack27;
 285         self.goalstack27 = self.goalstack26;
 286         self.goalstack26 = self.goalstack25;
 287         self.goalstack25 = self.goalstack24;
 288         self.goalstack24 = self.goalstack23;
 289         self.goalstack23 = self.goalstack22;
 290         self.goalstack22 = self.goalstack21;
 291         self.goalstack21 = self.goalstack20;
 292         self.goalstack20 = self.goalstack19;
 293         self.goalstack19 = self.goalstack18;
 294         self.goalstack18 = self.goalstack17;
 295         self.goalstack17 = self.goalstack16;
 296         self.goalstack16 = self.goalstack15;
 297         self.goalstack15 = self.goalstack14;
 298         self.goalstack14 = self.goalstack13;
 299         self.goalstack13 = self.goalstack12;
 300         self.goalstack12 = self.goalstack11;
 301         self.goalstack11 = self.goalstack10;
 302         self.goalstack10 = self.goalstack09;
 303         self.goalstack09 = self.goalstack08;
 304         self.goalstack08 = self.goalstack07;
 305         self.goalstack07 = self.goalstack06;
 306         self.goalstack06 = self.goalstack05;
 307         self.goalstack05 = self.goalstack04;
 308         self.goalstack04 = self.goalstack03;
 309         self.goalstack03 = self.goalstack02;
 310         self.goalstack02 = self.goalstack01;
 311         self.goalstack01 = self.goalcurrent;
 312         self.goalcurrent = e;
 313 }
 314
 315 // remove first goal from stack
 316 // (in other words: remove a prerequisite for reaching the later goals)
 317 // (used when a spawnfunc_waypoint is reached)
 318 void navigation_poproute()
 319 {SELFPARAM();
 320         //print("bot ", etos(self), " pop\n");
 321         self.goalcurrent = self.goalstack01;
 322         self.goalstack01 = self.goalstack02;
 323         self.goalstack02 = self.goalstack03;
 324         self.goalstack03 = self.goalstack04;
 325         self.goalstack04 = self.goalstack05;
 326         self.goalstack05 = self.goalstack06;
 327         self.goalstack06 = self.goalstack07;
 328         self.goalstack07 = self.goalstack08;
 329         self.goalstack08 = self.goalstack09;
 330         self.goalstack09 = self.goalstack10;
 331         self.goalstack10 = self.goalstack11;
 332         self.goalstack11 = self.goalstack12;
 333         self.goalstack12 = self.goalstack13;
 334         self.goalstack13 = self.goalstack14;
 335         self.goalstack14 = self.goalstack15;
 336         self.goalstack15 = self.goalstack16;
 337         self.goalstack16 = self.goalstack17;
 338         self.goalstack17 = self.goalstack18;
 339         self.goalstack18 = self.goalstack19;
 340         self.goalstack19 = self.goalstack20;
 341         self.goalstack20 = self.goalstack21;
 342         self.goalstack21 = self.goalstack22;
 343         self.goalstack22 = self.goalstack23;
 344         self.goalstack23 = self.goalstack24;
 345         self.goalstack24 = self.goalstack25;
 346         self.goalstack25 = self.goalstack26;
 347         self.goalstack26 = self.goalstack27;
 348         self.goalstack27 = self.goalstack28;
 349         self.goalstack28 = self.goalstack29;
 350         self.goalstack29 = self.goalstack30;
 351         self.goalstack30 = self.goalstack31;
 352         self.goalstack31 = world;
 353 }
 354
 355 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 356 {
 357         float dist;
 358         dist = vlen(v - org);
 359         if (bestdist > dist)
 360         {
 361                 traceline(v, org, true, ent);
 362                 if (trace_fraction == 1)
 363                 {
 364                         if (walkfromwp)
 365                         {
 366                                 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
 367                                         return true;
 368                         }
 369                         else
 370                         {
 371                                 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
 372                                         return true;
 373                         }
 374                 }
 375         }
 376         return false;
 377 }
 378
 379 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 380 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 381 {
 382         entity waylist, w, best;
 383         vector v, org, pm1, pm2;
 384
 385         pm1 = ent.origin + ent.mins;
 386         pm2 = ent.origin + ent.maxs;
 387         waylist = findchain(classname, "waypoint");
 388
 389         // do two scans, because box test is cheaper
 390         w = waylist;
 391         while (w)
 392         {
 393                 // if object is touching spawnfunc_waypoint
 394                 if(w != ent && w != except)
 395                         if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
 396                                 return w;
 397                 w = w.chain;
 398         }
 399
 400         org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 401         org.z = ent.origin.z + ent.mins.z - PL_MIN.z; // player height
 402         // TODO possibly make other code have the same support for bboxes
 403         if(ent.tag_entity)
 404                 org = org + ent.tag_entity.origin;
 405         if (navigation_testtracewalk)
 406                 te_plasmaburn(org);
 407
 408         best = world;
 409
 410         // box check failed, try walk
 411         w = waylist;
 412         while (w)
 413         {
 414                 // if object can walk from spawnfunc_waypoint
 415                 if(w != ent)
 416                 {
 417                         if (w.wpisbox)
 418                         {
 419                                 vector wm1, wm2;
 420                                 wm1 = w.origin + w.mins;
 421                                 wm2 = w.origin + w.maxs;
 422                                 v.x = bound(wm1_x, org.x, wm2_x);
 423                                 v.y = bound(wm1_y, org.y, wm2_y);
 424                                 v.z = bound(wm1_z, org.z, wm2_z);
 425                         }
 426                         else
 427                                 v = w.origin;
 428                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 429                         {
 430                                 bestdist = vlen(v - org);
 431                                 best = w;
 432                         }
 433                 }
 434                 w = w.chain;
 435         }
 436         return best;
 437 }
 438 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 439 {
 440         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, world);
 441         if (autocvar_g_waypointeditor_auto)
 442         {
 443                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 444                 if (wp && !wp2)
 445                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 446         }
 447         return wp;
 448 }
 449
 450 // finds the waypoints near the bot initiating a navigation query
 451 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
 452 {SELFPARAM();
 453         entity head;
 454         vector v, m1, m2, diff;
 455         float c;
 456 //      navigation_testtracewalk = true;
 457         c = 0;
 458         head = waylist;
 459         while (head)
 460         {
 461                 if (!head.wpconsidered)
 462                 {
 463                         if (head.wpisbox)
 464                         {
 465                                 m1 = head.origin + head.mins;
 466                                 m2 = head.origin + head.maxs;
 467                                 v = self.origin;
 468                                 v.x = bound(m1_x, v.x, m2_x);
 469                                 v.y = bound(m1_y, v.y, m2_y);
 470                                 v.z = bound(m1_z, v.z, m2_z);
 471                         }
 472                         else
 473                                 v = head.origin;
 474                         diff = v - self.origin;
 475                         diff.z = max(0, diff.z);
 476                         if (vlen(diff) < maxdist)
 477                         {
 478                                 head.wpconsidered = true;
 479                                 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
 480                                 {
 481                                         head.wpnearestpoint = v;
 482                                         head.wpcost = vlen(v - self.origin) + head.dmg;
 483                                         head.wpfire = 1;
 484                                         head.enemy = world;
 485                                         c = c + 1;
 486                                 }
 487                         }
 488                 }
 489                 head = head.chain;
 490         }
 491         //navigation_testtracewalk = false;
 492         return c;
 493 }
 494
 495 // updates a path link if a spawnfunc_waypoint link is better than the current one
 496 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 497 {
 498         vector m1;
 499         vector m2;
 500         vector v;
 501         if (wp.wpisbox)
 502         {
 503                 m1 = wp.absmin;
 504                 m2 = wp.absmax;
 505                 v.x = bound(m1_x, p.x, m2_x);
 506                 v.y = bound(m1_y, p.y, m2_y);
 507                 v.z = bound(m1_z, p.z, m2_z);
 508         }
 509         else
 510                 v = wp.origin;
 511         cost2 = cost2 + vlen(v - p);
 512         if (wp.wpcost > cost2)
 513         {
 514                 wp.wpcost = cost2;
 515                 wp.enemy = w;
 516                 wp.wpfire = 1;
 517                 wp.wpnearestpoint = v;
 518         }
 519 }
 520
 521 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 522 void navigation_markroutes(entity fixed_source_waypoint)
 523 {SELFPARAM();
 524         entity w, wp, waylist;
 525         float searching, cost, cost2;
 526         vector p;
 527         w = waylist = findchain(classname, "waypoint");
 528         while (w)
 529         {
 530                 w.wpconsidered = false;
 531                 w.wpnearestpoint = '0 0 0';
 532                 w.wpcost = 10000000;
 533                 w.wpfire = 0;
 534                 w.enemy = world;
 535                 w = w.chain;
 536         }
 537
 538         if(fixed_source_waypoint)
 539         {
 540                 fixed_source_waypoint.wpconsidered = true;
 541                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 542                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 543                 fixed_source_waypoint.wpfire = 1;
 544                 fixed_source_waypoint.enemy = world;
 545         }
 546         else
 547         {
 548                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 549                 // as this search is expensive we will use lower values if the bot is on the air
 550                 float i, increment, maxdistance;
 551                 if(self.flags & FL_ONGROUND)
 552                 {
 553                         increment = 750;
 554                         maxdistance = 50000;
 555                 }
 556                 else
 557                 {
 558                         increment = 500;
 559                         maxdistance = 1500;
 560                 }
 561
 562                 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
 563         }
 564
 565         searching = true;
 566         while (searching)
 567         {
 568                 searching = false;
 569                 w = waylist;
 570                 while (w)
 571                 {
 572                         if (w.wpfire)
 573                         {
 574                                 searching = true;
 575                                 w.wpfire = 0;
 576                                 cost = w.wpcost;
 577                                 p = w.wpnearestpoint;
 578                                 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 579                                 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 580                                 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 581                                 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 582                                 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 583                                 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 584                                 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 585                                 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 586                                 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 587                                 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 588                                 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 589                                 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 590                                 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 591                                 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 592                                 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 593                                 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 594                                 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 595                                 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 596                                 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 597                                 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 598                                 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 599                                 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 600                                 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 601                                 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 602                                 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 603                                 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 604                                 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 605                                 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 606                                 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 607                                 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 608                                 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 609                                 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 610                                 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 611                         }
 612                         w = w.chain;
 613                 }
 614         }
 615 }
 616
 617 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 618 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 619 {
 620         entity w, wp, waylist;
 621         float searching, cost, cost2;
 622         vector p;
 623         w = waylist = findchain(classname, "waypoint");
 624         while (w)
 625         {
 626                 w.wpconsidered = false;
 627                 w.wpnearestpoint = '0 0 0';
 628                 w.wpcost = 10000000;
 629                 w.wpfire = 0;
 630                 w.enemy = world;
 631                 w = w.chain;
 632         }
 633
 634         if(fixed_source_waypoint)
 635         {
 636                 fixed_source_waypoint.wpconsidered = true;
 637                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 638                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 639                 fixed_source_waypoint.wpfire = 1;
 640                 fixed_source_waypoint.enemy = world;
 641         }
 642         else
 643         {
 644                 error("need to start with a waypoint\n");
 645         }
 646
 647         searching = true;
 648         while (searching)
 649         {
 650                 searching = false;
 651                 w = waylist;
 652                 while (w)
 653                 {
 654                         if (w.wpfire)
 655                         {
 656                                 searching = true;
 657                                 w.wpfire = 0;
 658                                 cost = w.wpcost; // cost to walk from w to home
 659                                 p = w.wpnearestpoint;
 660                                 for(wp = waylist; wp; wp = wp.chain)
 661                                 {
 662                                         if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
 663                                         if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
 664                                         if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
 665                                         if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
 666                                         if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
 667                                         if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
 668                                         if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
 669                                         if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
 670                                                 continue;
 671                                         cost2 = cost + wp.dmg;
 672                                         navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 673                                 }
 674                         }
 675                         w = w.chain;
 676                 }
 677         }
 678 }
 679
 680 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 681 void navigation_routerating(entity e, float f, float rangebias)
 682 {SELFPARAM();
 683         entity nwp;
 684         vector o;
 685         if (!e)
 686                 return;
 687
 688         if(e.blacklisted)
 689                 return;
 690
 691         o = (e.absmin + e.absmax) * 0.5;
 692
 693         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 694
 695         // Evaluate path using jetpack
 696         if(g_jetpack)
 697         if(self.items & IT_JETPACK)
 698         if(autocvar_bot_ai_navigation_jetpack)
 699         if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
 700         {
 701                 vector pointa, pointb;
 702
 703                 bot_debug(strcat("jetpack ai: evaluating path for ", e.classname, "\n"));
 704
 705                 // Point A
 706                 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
 707                 pointa = trace_endpos - '0 0 1';
 708
 709                 // Point B
 710                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 711                 pointb = trace_endpos - '0 0 1';
 712
 713                 // Can I see these two points from the sky?
 714                 traceline(pointa, pointb, MOVE_NORMAL, self);
 715
 716                 if(trace_fraction==1)
 717                 {
 718                         bot_debug("jetpack ai: can bridge these two points\n");
 719
 720                         // Lower the altitude of these points as much as possible
 721                         float zdistance, xydistance, cost, t, fuel;
 722                         vector down, npa, npb;
 723
 724                         down = '0 0 -1' * (PL_MAX.z - PL_MIN.z) * 10;
 725
 726                         do{
 727                                 npa = pointa + down;
 728                                 npb = pointb + down;
 729
 730                                 if(npa.z<=self.absmax.z)
 731                                         break;
 732
 733                                 if(npb.z<=e.absmax.z)
 734                                         break;
 735
 736                                 traceline(npa, npb, MOVE_NORMAL, self);
 737                                 if(trace_fraction==1)
 738                                 {
 739                                         pointa = npa;
 740                                         pointb = npb;
 741                                 }
 742                         }
 743                         while(trace_fraction == 1);
 744
 745
 746                         // Rough estimation of fuel consumption
 747                         // (ignores acceleration and current xyz velocity)
 748                         xydistance = vlen(pointa - pointb);
 749                         zdistance = fabs(pointa.z - self.origin.z);
 750
 751                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 752                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 753                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 754
 755                         bot_debug(strcat("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel), "\n"));
 756
 757                         // enough fuel ?
 758                         if(self.ammo_fuel>fuel)
 759                         {
 760                                 // Estimate cost
 761                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 762                                 //  - between air and ground speeds)
 763
 764                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 765                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 766                                 cost *= 1.5;
 767
 768                                 // Compare against other goals
 769                                 f = f * rangebias / (rangebias + cost);
 770
 771                                 if (navigation_bestrating < f)
 772                                 {
 773                                         bot_debug(strcat("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 774                                         navigation_bestrating = f;
 775                                         navigation_bestgoal = e;
 776                                         self.navigation_jetpack_goal = e;
 777                                         self.navigation_jetpack_point = pointb;
 778                                 }
 779                                 return;
 780                         }
 781                 }
 782         }
 783
 784         //te_wizspike(e.origin);
 785         //bprint(etos(e));
 786         //bprint("\n");
 787         // update the cached spawnfunc_waypoint link on a dynamic item entity
 788         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 789         {
 790                 nwp = e;
 791         }
 792         else
 793         {
 794                 float search;
 795
 796                 search = true;
 797
 798                 if(e.flags & FL_ITEM)
 799                 {
 800                         if (!(e.flags & FL_WEAPON))
 801                         if(e.nearestwaypoint)
 802                                 search = false;
 803                 }
 804                 else if (e.flags & FL_WEAPON)
 805                 {
 806                         if(e.classname != "droppedweapon")
 807                         if(e.nearestwaypoint)
 808                                 search = false;
 809                 }
 810
 811                 if(search)
 812                 if (time > e.nearestwaypointtimeout)
 813                 {
 814                         nwp = navigation_findnearestwaypoint(e, true);
 815                         if(nwp)
 816                                 e.nearestwaypoint = nwp;
 817                         else
 818                         {
 819                                 bot_debug(strcat("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n"));
 820
 821                                 if(e.flags & FL_ITEM)
 822                                         e.blacklisted = true;
 823                                 else if (e.flags & FL_WEAPON)
 824                                 {
 825                                         if(e.classname != "droppedweapon")
 826                                                 e.blacklisted = true;
 827                                 }
 828
 829                                 if(e.blacklisted)
 830                                 {
 831                                         bot_debug(strcat("The entity '", e.classname, "' is going to be excluded from path finding during this match\n"));
 832                                         return;
 833                                 }
 834                         }
 835
 836                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 837                         if(e.classname=="item_flag_team")
 838                                 e.nearestwaypointtimeout = time + 2;
 839                         else
 840                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 841                 }
 842                 nwp = e.nearestwaypoint;
 843         }
 844
 845         bot_debug(strcat("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n"));
 846         if (nwp)
 847         if (nwp.wpcost < 10000000)
 848         {
 849                 //te_wizspike(nwp.wpnearestpoint);
 850                 bot_debug(strcat(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = "));
 851                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 852                 bot_debug(strcat("considering ", e.classname, " (with rating ", ftos(f), ")\n"));
 853                 if (navigation_bestrating < f)
 854                 {
 855                         bot_debug(strcat("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 856                         navigation_bestrating = f;
 857                         navigation_bestgoal = e;
 858                 }
 859         }
 860 }
 861
 862 // adds an item to the the goal stack with the path to a given item
 863 float navigation_routetogoal(entity e, vector startposition)
 864 {SELFPARAM();
 865         self.goalentity = e;
 866
 867         // if there is no goal, just exit
 868         if (!e)
 869                 return false;
 870
 871         self.navigation_hasgoals = true;
 872
 873         // put the entity on the goal stack
 874         //print("routetogoal ", etos(e), "\n");
 875         navigation_pushroute(e);
 876
 877         if(g_jetpack)
 878         if(e==self.navigation_jetpack_goal)
 879                 return true;
 880
 881         // if it can reach the goal there is nothing more to do
 882         if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 883                 return true;
 884
 885         // see if there are waypoints describing a path to the item
 886         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 887                 e = e.nearestwaypoint;
 888         else
 889                 e = e.enemy; // we already have added it, so...
 890
 891         if(e == world)
 892                 return false;
 893
 894         for (;;)
 895         {
 896                 // add the spawnfunc_waypoint to the path
 897                 navigation_pushroute(e);
 898                 e = e.enemy;
 899
 900                 if(e==world)
 901                         break;
 902         }
 903
 904         return false;
 905 }
 906
 907 // removes any currently touching waypoints from the goal stack
 908 // (this is how bots detect if they reached a goal)
 909 void navigation_poptouchedgoals()
 910 {SELFPARAM();
 911         vector org, m1, m2;
 912         org = self.origin;
 913         m1 = org + self.mins;
 914         m2 = org + self.maxs;
 915
 916         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 917         {
 918                 if(self.lastteleporttime>0)
 919                 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
 920                 {
 921                         if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 922                         if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 923                         {
 924                                 self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 925                                 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 926                         }
 927                         navigation_poproute();
 928                         return;
 929                 }
 930         }
 931
 932         // If for some reason the bot is closer to the next goal, pop the current one
 933         if(self.goalstack01)
 934         if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
 935         if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
 936         if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 937         {
 938                 bot_debug(strcat("path optimized for ", self.netname, ", removed a goal from the queue\n"));
 939                 navigation_poproute();
 940                 // TODO this may also be a nice idea to do "early" (e.g. by
 941                 // manipulating the vlen() comparisons) to shorten paths in
 942                 // general - this would make bots walk more "on rails" than
 943                 // "zigzagging" which they currently do with sufficiently
 944                 // random-like waypoints, and thus can make a nice bot
 945                 // personality property
 946         }
 947
 948         // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
 949         // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
 950         if(IS_PLAYER(self.goalcurrent))
 951                 navigation_poproute();
 952
 953         // aid for detecting jump pads better (distance based check fails sometimes)
 954         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
 955                 navigation_poproute();
 956
 957         // Loose goal touching check when running
 958         if(self.aistatus & AI_STATUS_RUNNING)
 959         if(self.speed >= autocvar_sv_maxspeed) // if -really- running
 960         if(self.goalcurrent.classname=="waypoint")
 961         {
 962                 if(vlen(self.origin - self.goalcurrent.origin)<150)
 963                 {
 964                         traceline(self.origin + self.view_ofs , self.goalcurrent.origin, true, world);
 965                         if(trace_fraction==1)
 966                         {
 967                                 // Detect personal waypoints
 968                                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 969                                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 970                                 {
 971                                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 972                                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 973                                 }
 974
 975                                 navigation_poproute();
 976                         }
 977                 }
 978         }
 979
 980         while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
 981         {
 982                 // Detect personal waypoints
 983                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 984                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 985                 {
 986                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 987                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 988                 }
 989
 990                 navigation_poproute();
 991         }
 992 }
 993
 994 // begin a goal selection session (queries spawnfunc_waypoint network)
 995 void navigation_goalrating_start()
 996 {SELFPARAM();
 997         if(self.aistatus & AI_STATUS_STUCK)
 998                 return;
 999
1000         self.navigation_jetpack_goal = world;
1001         navigation_bestrating = -1;
1002         self.navigation_hasgoals = false;
1003         navigation_clearroute();
1004         navigation_bestgoal = world;
1005         navigation_markroutes(world);
1006 }
1007
1008 // ends a goal selection session (updates goal stack to the best goal)
1009 void navigation_goalrating_end()
1010 {SELFPARAM();
1011         if(self.aistatus & AI_STATUS_STUCK)
1012                 return;
1013
1014         navigation_routetogoal(navigation_bestgoal, self.origin);
1015         bot_debug(strcat("best goal ", self.goalcurrent.classname , "\n"));
1016
1017         // If the bot got stuck then try to reach the farthest waypoint
1018         if (!self.navigation_hasgoals)
1019         if (autocvar_bot_wander_enable)
1020         {
1021                 if (!(self.aistatus & AI_STATUS_STUCK))
1022                 {
1023                         bot_debug(strcat(self.netname, " cannot walk to any goal\n"));
1024                         self.aistatus |= AI_STATUS_STUCK;
1025                 }
1026
1027                 self.navigation_hasgoals = false; // Reset this value
1028         }
1029 }
1030
1031 void botframe_updatedangerousobjects(float maxupdate)
1032 {
1033         entity head, bot_dodgelist;
1034         vector m1, m2, v, o;
1035         float c, d, danger;
1036         c = 0;
1037         bot_dodgelist = findchainfloat(bot_dodge, true);
1038         botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1039         while (botframe_dangerwaypoint != world)
1040         {
1041                 danger = 0;
1042                 m1 = botframe_dangerwaypoint.mins;
1043                 m2 = botframe_dangerwaypoint.maxs;
1044                 head = bot_dodgelist;
1045                 while (head)
1046                 {
1047                         v = head.origin;
1048                         v.x = bound(m1_x, v.x, m2_x);
1049                         v.y = bound(m1_y, v.y, m2_y);
1050                         v.z = bound(m1_z, v.z, m2_z);
1051                         o = (head.absmin + head.absmax) * 0.5;
1052                         d = head.bot_dodgerating - vlen(o - v);
1053                         if (d > 0)
1054                         {
1055                                 traceline(o, v, true, world);
1056                                 if (trace_fraction == 1)
1057                                         danger = danger + d;
1058                         }
1059                         head = head.chain;
1060                 }
1061                 botframe_dangerwaypoint.dmg = danger;
1062                 c = c + 1;
1063                 if (c >= maxupdate)
1064                         break;
1065                 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1066         }
1067 }
1068
1069 void navigation_unstuck()
1070 {SELFPARAM();
1071         float search_radius = 1000;
1072
1073         if (!autocvar_bot_wander_enable)
1074                 return;
1075
1076         if (!bot_waypoint_queue_owner)
1077         {
1078                 bot_debug(strcat(self.netname, " sutck, taking over the waypoints queue\n"));
1079                 bot_waypoint_queue_owner = self;
1080                 bot_waypoint_queue_bestgoal = world;
1081                 bot_waypoint_queue_bestgoalrating = 0;
1082         }
1083
1084         if(bot_waypoint_queue_owner!=self)
1085                 return;
1086
1087         if (bot_waypoint_queue_goal)
1088         {
1089                 // evaluate the next goal on the queue
1090                 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1091                 bot_debug(strcat(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n"));
1092                 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1093                 {
1094                         if( d > bot_waypoint_queue_bestgoalrating)
1095                         {
1096                                 bot_waypoint_queue_bestgoalrating = d;
1097                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1098                         }
1099                 }
1100                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1101
1102                 if (!bot_waypoint_queue_goal)
1103                 {
1104                         if (bot_waypoint_queue_bestgoal)
1105                         {
1106                                 bot_debug(strcat(self.netname, " stuck, reachable waypoint found, heading to it\n"));
1107                                 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1108                                 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1109                                 self.aistatus &= ~AI_STATUS_STUCK;
1110                         }
1111                         else
1112                         {
1113                                 bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1114                         }
1115
1116                         bot_waypoint_queue_owner = world;
1117                 }
1118         }
1119         else
1120         {
1121                 if(bot_strategytoken!=self)
1122                         return;
1123
1124                 // build a new queue
1125                 bot_debug(strcat(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n"));
1126
1127                 entity head, first;
1128
1129                 first = world;
1130                 head = findradius(self.origin, search_radius);
1131
1132                 while(head)
1133                 {
1134                         if(head.classname=="waypoint")
1135                 //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1136                         {
1137                                 if(bot_waypoint_queue_goal)
1138                                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1139                                 else
1140                                         first = head;
1141
1142                                 bot_waypoint_queue_goal = head;
1143                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1144                         }
1145
1146                         head = head.chain;
1147                 }
1148
1149                 if (first)
1150                         bot_waypoint_queue_goal = first;
1151                 else
1152                 {
1153                         bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1154                         bot_waypoint_queue_owner = world;
1155                 }
1156         }
1157 }
1158
1159 // Support for debugging tracewalk visually
1160
1161 void debugresetnodes()
1162 {
1163         debuglastnode = '0 0 0';
1164 }
1165
1166 void debugnode(vector node)
1167 {SELFPARAM();
1168         if (!IS_PLAYER(self))
1169                 return;
1170
1171         if(debuglastnode=='0 0 0')
1172         {
1173                 debuglastnode = node;
1174                 return;
1175         }
1176
1177         te_lightning2(world, node, debuglastnode);
1178         debuglastnode = node;
1179 }
1180
1181 void debugnodestatus(vector position, float status)
1182 {
1183         vector c;
1184
1185         switch (status)
1186         {
1187                 case DEBUG_NODE_SUCCESS:
1188                         c = '0 15 0';
1189                         break;
1190                 case DEBUG_NODE_WARNING:
1191                         c = '15 15 0';
1192                         break;
1193                 case DEBUG_NODE_FAIL:
1194                         c = '15 0 0';
1195                         break;
1196                 default:
1197                         c = '15 15 15';
1198         }
1199
1200         te_customflash(position, 40,  2, c);
1201 }
1202
1203 // Support for debugging the goal stack visually
1204
1205 .float goalcounter;
1206 .vector lastposition;
1207
1208 // Debug the goal stack visually
1209 void debuggoalstack()
1210 {SELFPARAM();
1211         entity goal;
1212         vector org, go;
1213
1214         if(self.goalcounter==0)goal=self.goalcurrent;
1215         else if(self.goalcounter==1)goal=self.goalstack01;
1216         else if(self.goalcounter==2)goal=self.goalstack02;
1217         else if(self.goalcounter==3)goal=self.goalstack03;
1218         else if(self.goalcounter==4)goal=self.goalstack04;
1219         else if(self.goalcounter==5)goal=self.goalstack05;
1220         else if(self.goalcounter==6)goal=self.goalstack06;
1221         else if(self.goalcounter==7)goal=self.goalstack07;
1222         else if(self.goalcounter==8)goal=self.goalstack08;
1223         else if(self.goalcounter==9)goal=self.goalstack09;
1224         else if(self.goalcounter==10)goal=self.goalstack10;
1225         else if(self.goalcounter==11)goal=self.goalstack11;
1226         else if(self.goalcounter==12)goal=self.goalstack12;
1227         else if(self.goalcounter==13)goal=self.goalstack13;
1228         else if(self.goalcounter==14)goal=self.goalstack14;
1229         else if(self.goalcounter==15)goal=self.goalstack15;
1230         else if(self.goalcounter==16)goal=self.goalstack16;
1231         else if(self.goalcounter==17)goal=self.goalstack17;
1232         else if(self.goalcounter==18)goal=self.goalstack18;
1233         else if(self.goalcounter==19)goal=self.goalstack19;
1234         else if(self.goalcounter==20)goal=self.goalstack20;
1235         else if(self.goalcounter==21)goal=self.goalstack21;
1236         else if(self.goalcounter==22)goal=self.goalstack22;
1237         else if(self.goalcounter==23)goal=self.goalstack23;
1238         else if(self.goalcounter==24)goal=self.goalstack24;
1239         else if(self.goalcounter==25)goal=self.goalstack25;
1240         else if(self.goalcounter==26)goal=self.goalstack26;
1241         else if(self.goalcounter==27)goal=self.goalstack27;
1242         else if(self.goalcounter==28)goal=self.goalstack28;
1243         else if(self.goalcounter==29)goal=self.goalstack29;
1244         else if(self.goalcounter==30)goal=self.goalstack30;
1245         else if(self.goalcounter==31)goal=self.goalstack31;
1246         else goal=world;
1247
1248         if(goal==world)
1249         {
1250                 self.goalcounter = 0;
1251                 self.lastposition='0 0 0';
1252                 return;
1253         }
1254
1255         if(self.lastposition=='0 0 0')
1256                 org = self.origin;
1257         else
1258                 org = self.lastposition;
1259
1260
1261         go = ( goal.absmin + goal.absmax ) * 0.5;
1262         te_lightning2(world, org, go);
1263         self.lastposition = go;
1264
1265         self.goalcounter++;
1266 }