Fix extra life powerup giving infinite lives in lms & minstagib
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / navigation.qc
1
2 // rough simulation of walking from one point to another to test if a path
3 // can be traveled, used for waypoint linking and havocbot
4
5 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
6 {
7         vector org;
8         vector move;
9         vector dir;
10         float dist;
11         float totaldist;
12         float stepdist;
13         float yaw;
14         float ignorehazards;
15         float swimming;
16
17         if(autocvar_bot_debug_tracewalk)
18         {
19                 debugresetnodes();
20                 debugnode(start);
21         }
22
23         move = end - start;
24         move_z = 0;
25         org = start;
26         dist = totaldist = vlen(move);
27         dir = normalize(move);
28         stepdist = 32;
29         ignorehazards = FALSE;
30         swimming = FALSE;
31
32         // Analyze starting point
33         traceline(start, start, MOVE_NORMAL, e);
34         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
35                 ignorehazards = TRUE;
36         else
37         {
38                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
39                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
40                 {
41                         ignorehazards = TRUE;
42                         swimming = TRUE;
43                 }
44         }
45         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
46         if (trace_startsolid)
47         {
48                 // Bad start
49                 if(autocvar_bot_debug_tracewalk)
50                         debugnodestatus(start, DEBUG_NODE_FAIL);
51
52                 //print("tracewalk: ", vtos(start), " is a bad start\n");
53                 return FALSE;
54         }
55
56         // Movement loop
57         yaw = vectoyaw(move);
58         move = end - org;
59         for (;;)
60         {
61                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
62                 {
63                         // Succeeded
64                         if(autocvar_bot_debug_tracewalk)
65                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
66
67                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
68                         return TRUE;
69                 }
70                 if(autocvar_bot_debug_tracewalk)
71                         debugnode(org);
72
73                 if (dist <= 0)
74                         break;
75                 if (stepdist > dist)
76                         stepdist = dist;
77                 dist = dist - stepdist;
78                 traceline(org, org, MOVE_NORMAL, e);
79                 if (!ignorehazards)
80                 {
81                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
82                         {
83                                 // hazards blocking path
84                                 if(autocvar_bot_debug_tracewalk)
85                                         debugnodestatus(org, DEBUG_NODE_FAIL);
86
87                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
88                                 return FALSE;
89                         }
90                 }
91                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
92                 {
93                         move = normalize(end - org);
94                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
95
96                         if(autocvar_bot_debug_tracewalk)
97                                 debugnode(trace_endpos);
98
99                         if (trace_fraction < 1)
100                         {
101                                 swimming = TRUE;
102                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
103                                 for(; org_z < end_z + self.maxs_z; org_z += stepdist)
104                                 {
105                                                 if(autocvar_bot_debug_tracewalk)
106                                                         debugnode(org);
107
108                                         if(pointcontents(org) == CONTENT_EMPTY)
109                                                         break;
110                                 }
111
112                                 if not (pointcontents(org + '0 0 1') == CONTENT_EMPTY)
113                                 {
114                                         if(autocvar_bot_debug_tracewalk)
115                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
116
117                                         return FALSE;
118                                         //print("tracewalk: ", vtos(start), " failed under water\n");
119                                 }
120                                 continue;
121
122                         }
123                         else
124                                 org = trace_endpos;
125                 }
126                 else
127                 {
128                         move = dir * stepdist + org;
129                         tracebox(org, m1, m2, move, movemode, e);
130
131                         if(autocvar_bot_debug_tracewalk)
132                                 debugnode(trace_endpos);
133
134                         // hit something
135                         if (trace_fraction < 1)
136                         {
137                                 // check if we can walk over this obstacle, possibly by jumpstepping
138                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
139                                 if (trace_fraction < 1 || trace_startsolid)
140                                 {
141                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
142                                         if (trace_fraction < 1 || trace_startsolid)
143                                         {
144                                                 if(autocvar_bot_debug_tracewalk)
145                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
146
147                                                 // check for doors
148                                                 traceline( org, move, movemode, e);
149                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
150                                                 {
151                                                         vector nextmove;
152                                                         move = trace_endpos;
153                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
154                                                         {
155                                                                 nextmove = move + (dir * stepdist);
156                                                                 traceline( move, nextmove, movemode, e);
157                                                                 move = nextmove;
158                                                         }
159                                                 }
160                                                 else
161                                                 {
162                                                         if(autocvar_bot_debug_tracewalk)
163                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
164
165                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
166                                                         //te_explosion(trace_endpos);
167                                                         //print(ftos(e.dphitcontentsmask), "\n");
168                                                         return FALSE; // failed
169                                                 }
170                                         }
171                                         else
172                                                 move = trace_endpos;
173                                 }
174                                 else
175                                         move = trace_endpos;
176                         }
177                         else
178                                 move = trace_endpos;
179
180                         // trace down from stepheight as far as possible and move there,
181                         // if this starts in solid we try again without the stepup, and
182                         // if that also fails we assume it is a wall
183                         // (this is the same logic as the Quake walkmove function used)
184                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
185
186                         // moved successfully
187                         if(swimming)
188                         {
189                                 float c;
190                                 c = pointcontents(org + '0 0 1');
191                                 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
192                                         swimming = FALSE;
193                                 else
194                                         continue;
195                         }
196
197                         org = trace_endpos;
198                 }
199         }
200
201         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
202
203         // moved but didn't arrive at the intended destination
204         if(autocvar_bot_debug_tracewalk)
205                 debugnodestatus(org, DEBUG_NODE_FAIL);
206
207         return FALSE;
208 }
209
210 /////////////////////////////////////////////////////////////////////////////
211 // goal stack
212 /////////////////////////////////////////////////////////////////////////////
213
214 // completely empty the goal stack, used when deciding where to go
215 void navigation_clearroute()
216 {
217         //print("bot ", etos(self), " clear\n");
218         self.navigation_hasgoals = FALSE;
219         self.goalcurrent = world;
220         self.goalstack01 = world;
221         self.goalstack02 = world;
222         self.goalstack03 = world;
223         self.goalstack04 = world;
224         self.goalstack05 = world;
225         self.goalstack06 = world;
226         self.goalstack07 = world;
227         self.goalstack08 = world;
228         self.goalstack09 = world;
229         self.goalstack10 = world;
230         self.goalstack11 = world;
231         self.goalstack12 = world;
232         self.goalstack13 = world;
233         self.goalstack14 = world;
234         self.goalstack15 = world;
235         self.goalstack16 = world;
236         self.goalstack17 = world;
237         self.goalstack18 = world;
238         self.goalstack19 = world;
239         self.goalstack20 = world;
240         self.goalstack21 = world;
241         self.goalstack22 = world;
242         self.goalstack23 = world;
243         self.goalstack24 = world;
244         self.goalstack25 = world;
245         self.goalstack26 = world;
246         self.goalstack27 = world;
247         self.goalstack28 = world;
248         self.goalstack29 = world;
249         self.goalstack30 = world;
250         self.goalstack31 = world;
251 }
252
253 // add a new goal at the beginning of the stack
254 // (in other words: add a new prerequisite before going to the later goals)
255 // NOTE: when a waypoint is added, the WP gets pushed first, then the
256 // next-closest WP on the shortest path to the WP
257 // That means, if the stack overflows, the bot will know how to do the FIRST 32
258 // steps to the goal, and then recalculate the path.
259 void navigation_pushroute(entity e)
260 {
261         //print("bot ", etos(self), " push ", etos(e), "\n");
262         self.goalstack31 = self.goalstack30;
263         self.goalstack30 = self.goalstack29;
264         self.goalstack29 = self.goalstack28;
265         self.goalstack28 = self.goalstack27;
266         self.goalstack27 = self.goalstack26;
267         self.goalstack26 = self.goalstack25;
268         self.goalstack25 = self.goalstack24;
269         self.goalstack24 = self.goalstack23;
270         self.goalstack23 = self.goalstack22;
271         self.goalstack22 = self.goalstack21;
272         self.goalstack21 = self.goalstack20;
273         self.goalstack20 = self.goalstack19;
274         self.goalstack19 = self.goalstack18;
275         self.goalstack18 = self.goalstack17;
276         self.goalstack17 = self.goalstack16;
277         self.goalstack16 = self.goalstack15;
278         self.goalstack15 = self.goalstack14;
279         self.goalstack14 = self.goalstack13;
280         self.goalstack13 = self.goalstack12;
281         self.goalstack12 = self.goalstack11;
282         self.goalstack11 = self.goalstack10;
283         self.goalstack10 = self.goalstack09;
284         self.goalstack09 = self.goalstack08;
285         self.goalstack08 = self.goalstack07;
286         self.goalstack07 = self.goalstack06;
287         self.goalstack06 = self.goalstack05;
288         self.goalstack05 = self.goalstack04;
289         self.goalstack04 = self.goalstack03;
290         self.goalstack03 = self.goalstack02;
291         self.goalstack02 = self.goalstack01;
292         self.goalstack01 = self.goalcurrent;
293         self.goalcurrent = e;
294 }
295
296 // remove first goal from stack
297 // (in other words: remove a prerequisite for reaching the later goals)
298 // (used when a spawnfunc_waypoint is reached)
299 void navigation_poproute()
300 {
301         //print("bot ", etos(self), " pop\n");
302         self.goalcurrent = self.goalstack01;
303         self.goalstack01 = self.goalstack02;
304         self.goalstack02 = self.goalstack03;
305         self.goalstack03 = self.goalstack04;
306         self.goalstack04 = self.goalstack05;
307         self.goalstack05 = self.goalstack06;
308         self.goalstack06 = self.goalstack07;
309         self.goalstack07 = self.goalstack08;
310         self.goalstack08 = self.goalstack09;
311         self.goalstack09 = self.goalstack10;
312         self.goalstack10 = self.goalstack11;
313         self.goalstack11 = self.goalstack12;
314         self.goalstack12 = self.goalstack13;
315         self.goalstack13 = self.goalstack14;
316         self.goalstack14 = self.goalstack15;
317         self.goalstack15 = self.goalstack16;
318         self.goalstack16 = self.goalstack17;
319         self.goalstack17 = self.goalstack18;
320         self.goalstack18 = self.goalstack19;
321         self.goalstack19 = self.goalstack20;
322         self.goalstack20 = self.goalstack21;
323         self.goalstack21 = self.goalstack22;
324         self.goalstack22 = self.goalstack23;
325         self.goalstack23 = self.goalstack24;
326         self.goalstack24 = self.goalstack25;
327         self.goalstack25 = self.goalstack26;
328         self.goalstack26 = self.goalstack27;
329         self.goalstack27 = self.goalstack28;
330         self.goalstack28 = self.goalstack29;
331         self.goalstack29 = self.goalstack30;
332         self.goalstack30 = self.goalstack31;
333         self.goalstack31 = world;
334 }
335
336 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
337 {
338         float dist;
339         dist = vlen(v - org);
340         if (bestdist > dist)
341         {
342                 traceline(v, org, TRUE, ent);
343                 if (trace_fraction == 1)
344                 {
345                         if (walkfromwp)
346                         {
347                                 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
348                                         return TRUE;
349                         }
350                         else
351                         {
352                                 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
353                                         return TRUE;
354                         }
355                 }
356         }
357         return FALSE;
358 }
359
360 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
361 entity navigation_findnearestwaypoint_withdist(entity ent, float walkfromwp, float bestdist)
362 {
363         entity waylist, w, best;
364         vector v, org, pm1, pm2;
365
366         pm1 = ent.origin + ent.mins;
367         pm2 = ent.origin + ent.maxs;
368         waylist = findchain(classname, "waypoint");
369
370         // do two scans, because box test is cheaper
371         w = waylist;
372         while (w)
373         {
374                 // if object is touching spawnfunc_waypoint
375                 if(w != ent)
376                         if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
377                                 return w;
378                 w = w.chain;
379         }
380
381         org = ent.origin + 0.5 * (ent.mins + ent.maxs);
382         org_z = ent.origin_z + ent.mins_z - PL_MIN_z; // player height
383         // TODO possibly make other code have the same support for bboxes
384         if(ent.tag_entity)
385                 org = org + ent.tag_entity.origin;
386         if (navigation_testtracewalk)
387                 te_plasmaburn(org);
388
389         best = world;
390
391         // box check failed, try walk
392         w = waylist;
393         while (w)
394         {
395                 // if object can walk from spawnfunc_waypoint
396                 if(w != ent)
397                 {
398                         if (w.wpisbox)
399                         {
400                                 vector wm1, wm2;
401                                 wm1 = w.origin + w.mins;
402                                 wm2 = w.origin + w.maxs;
403                                 v_x = bound(wm1_x, org_x, wm2_x);
404                                 v_y = bound(wm1_y, org_y, wm2_y);
405                                 v_z = bound(wm1_z, org_z, wm2_z);
406                         }
407                         else
408                                 v = w.origin;
409                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
410                         {
411                                 bestdist = vlen(v - org);
412                                 best = w;
413                         }
414                 }
415                 w = w.chain;
416         }
417         return best;
418 }
419 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
420 {
421         return navigation_findnearestwaypoint_withdist(ent, walkfromwp, 1050);
422 }
423
424 // finds the waypoints near the bot initiating a navigation query
425 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
426 {
427         entity head;
428         vector v, m1, m2, diff;
429         float c;
430 //      navigation_testtracewalk = TRUE;
431         c = 0;
432         head = waylist;
433         while (head)
434         {
435                 if (!head.wpconsidered)
436                 {
437                         if (head.wpisbox)
438                         {
439                                 m1 = head.origin + head.mins;
440                                 m2 = head.origin + head.maxs;
441                                 v = self.origin;
442                                 v_x = bound(m1_x, v_x, m2_x);
443                                 v_y = bound(m1_y, v_y, m2_y);
444                                 v_z = bound(m1_z, v_z, m2_z);
445                         }
446                         else
447                                 v = head.origin;
448                         diff = v - self.origin;
449                         diff_z = max(0, diff_z);
450                         if (vlen(diff) < maxdist)
451                         {
452                                 head.wpconsidered = TRUE;
453                                 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
454                                 {
455                                         head.wpnearestpoint = v;
456                                         head.wpcost = vlen(v - self.origin) + head.dmg;
457                                         head.wpfire = 1;
458                                         head.enemy = world;
459                                         c = c + 1;
460                                 }
461                         }
462                 }
463                 head = head.chain;
464         }
465         //navigation_testtracewalk = FALSE;
466         return c;
467 }
468
469 // updates a path link if a spawnfunc_waypoint link is better than the current one
470 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
471 {
472         vector m1;
473         vector m2;
474         vector v;
475         if (wp.wpisbox)
476         {
477                 m1 = wp.absmin;
478                 m2 = wp.absmax;
479                 v_x = bound(m1_x, p_x, m2_x);
480                 v_y = bound(m1_y, p_y, m2_y);
481                 v_z = bound(m1_z, p_z, m2_z);
482         }
483         else
484                 v = wp.origin;
485         cost2 = cost2 + vlen(v - p);
486         if (wp.wpcost > cost2)
487         {
488                 wp.wpcost = cost2;
489                 wp.enemy = w;
490                 wp.wpfire = 1;
491                 wp.wpnearestpoint = v;
492         }
493 }
494
495 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
496 void navigation_markroutes(entity fixed_source_waypoint)
497 {
498         entity w, wp, waylist;
499         float searching, cost, cost2;
500         vector p;
501         w = waylist = findchain(classname, "waypoint");
502         while (w)
503         {
504                 w.wpconsidered = FALSE;
505                 w.wpnearestpoint = '0 0 0';
506                 w.wpcost = 10000000;
507                 w.wpfire = 0;
508                 w.enemy = world;
509                 w = w.chain;
510         }
511
512         if(fixed_source_waypoint)
513         {
514                 fixed_source_waypoint.wpconsidered = TRUE;
515                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
516                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
517                 fixed_source_waypoint.wpfire = 1;
518                 fixed_source_waypoint.enemy = world;
519         }
520         else
521         {
522                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
523                 // as this search is expensive we will use lower values if the bot is on the air
524                 float i, increment, maxdistance;
525                 if(self.flags & FL_ONGROUND)
526                 {
527                         increment = 750;
528                         maxdistance = 50000;
529                 }
530                 else
531                 {
532                         increment = 500;
533                         maxdistance = 1500;
534                 }
535
536                 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
537         }
538
539         searching = TRUE;
540         while (searching)
541         {
542                 searching = FALSE;
543                 w = waylist;
544                 while (w)
545                 {
546                         if (w.wpfire)
547                         {
548                                 searching = TRUE;
549                                 w.wpfire = 0;
550                                 cost = w.wpcost;
551                                 p = w.wpnearestpoint;
552                                 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
553                                 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
554                                 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
555                                 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
556                                 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
557                                 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
558                                 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
559                                 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
560                                 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
561                                 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
562                                 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
563                                 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
564                                 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
565                                 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
566                                 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
567                                 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
568                                 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
569                                 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
570                                 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
571                                 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
572                                 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
573                                 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
574                                 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
575                                 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
576                                 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
577                                 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
578                                 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
579                                 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
580                                 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
581                                 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
582                                 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
583                                 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
584                                 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
585                         }
586                         w = w.chain;
587                 }
588         }
589 }
590
591 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
592 void navigation_markroutes_inverted(entity fixed_source_waypoint)
593 {
594         entity w, wp, waylist;
595         float searching, cost, cost2;
596         vector p;
597         w = waylist = findchain(classname, "waypoint");
598         while (w)
599         {
600                 w.wpconsidered = FALSE;
601                 w.wpnearestpoint = '0 0 0';
602                 w.wpcost = 10000000;
603                 w.wpfire = 0;
604                 w.enemy = world;
605                 w = w.chain;
606         }
607
608         if(fixed_source_waypoint)
609         {
610                 fixed_source_waypoint.wpconsidered = TRUE;
611                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
612                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
613                 fixed_source_waypoint.wpfire = 1;
614                 fixed_source_waypoint.enemy = world;
615         }
616         else
617         {
618                 error("need to start with a waypoint\n");
619         }
620
621         searching = TRUE;
622         while (searching)
623         {
624                 searching = FALSE;
625                 w = waylist;
626                 while (w)
627                 {
628                         if (w.wpfire)
629                         {
630                                 searching = TRUE;
631                                 w.wpfire = 0;
632                                 cost = w.wpcost; // cost to walk from w to home
633                                 p = w.wpnearestpoint;
634                                 for(wp = waylist; wp; wp = wp.chain)
635                                 {
636                                         if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
637                                         if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
638                                         if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
639                                         if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
640                                         if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
641                                         if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
642                                         if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
643                                         if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
644                                                 continue;
645                                         cost2 = cost + wp.dmg;
646                                         navigation_markroutes_checkwaypoint(w, wp, cost2, p);
647                                 }
648                         }
649                         w = w.chain;
650                 }
651         }
652 }
653
654 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
655 void navigation_routerating(entity e, float f, float rangebias)
656 {
657         entity nwp;
658         vector o;
659         if (!e)
660                 return;
661
662         if(e.blacklisted)
663                 return;
664
665         o = (e.absmin + e.absmax) * 0.5;
666
667         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
668
669         // Evaluate path using jetpack
670         if(g_jetpack)
671         if(self.items & IT_JETPACK)
672         if(autocvar_bot_ai_navigation_jetpack)
673         if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
674         {
675                 vector pointa, pointb;
676
677         //      dprint("jetpack ai: evaluating path for ", e.classname,"\n");
678
679                 // Point A
680                 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
681                 pointa = trace_endpos - '0 0 1';
682
683                 // Point B
684                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
685                 pointb = trace_endpos - '0 0 1';
686
687                 // Can I see these two points from the sky?
688                 traceline(pointa, pointb, MOVE_NORMAL, self);
689
690                 if(trace_fraction==1)
691                 {
692                 //      dprint("jetpack ai: can bridge these two points\n");
693
694                         // Lower the altitude of these points as much as possible
695                         float zdistance, xydistance, cost, t, fuel;
696                         vector down, npa, npb;
697
698                         down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
699
700                         do{
701                                 npa = pointa + down;
702                                 npb = pointb + down;
703
704                                 if(npa_z<=self.absmax_z)
705                                         break;
706
707                                 if(npb_z<=e.absmax_z)
708                                         break;
709
710                                 traceline(npa, npb, MOVE_NORMAL, self);
711                                 if(trace_fraction==1)
712                                 {
713                                         pointa = npa;
714                                         pointb = npb;
715                                 }
716                         }
717                         while(trace_fraction == 1);
718
719
720                         // Rough estimation of fuel consumption
721                         // (ignores acceleration and current xyz velocity)
722                         xydistance = vlen(pointa - pointb);
723                         zdistance = fabs(pointa_z - self.origin_z);
724
725                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
726                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
727                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
728
729                 //      dprint("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel),"\n");
730
731                         // enough fuel ?
732                         if(self.ammo_fuel>fuel)
733                         {
734                                 // Estimate cost
735                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
736                                 //  - between air and ground speeds)
737
738                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
739                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
740                                 cost *= 1.5;
741
742                                 // Compare against other goals
743                                 f = f * rangebias / (rangebias + cost);
744
745                                 if (navigation_bestrating < f)
746                                 {
747                         //              dprint("jetpack path: added goal", e.classname, " (with rating ", ftos(f), ")\n");
748                                         navigation_bestrating = f;
749                                         navigation_bestgoal = e;
750                                         self.navigation_jetpack_goal = e;
751                                         self.navigation_jetpack_point = pointb;
752                                 }
753                                 return;
754                         }
755                 }
756         }
757
758         //te_wizspike(e.origin);
759         //bprint(etos(e));
760         //bprint("\n");
761         // update the cached spawnfunc_waypoint link on a dynamic item entity
762         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
763         {
764                 nwp = e;
765         }
766         else
767         {
768                 float search;
769
770                 search = TRUE;
771
772                 if(e.flags & FL_ITEM)
773                 {
774                         if not(e.flags & FL_WEAPON)
775                         if(e.nearestwaypoint)
776                                 search = FALSE;
777                 }
778                 else if (e.flags & FL_WEAPON)
779                 {
780                         if(e.classname != "droppedweapon")
781                         if(e.nearestwaypoint)
782                                 search = FALSE;
783                 }
784
785                 if(search)
786                 if (time > e.nearestwaypointtimeout)
787                 {
788                         nwp = navigation_findnearestwaypoint(e, TRUE);
789                         if(nwp)
790                                 e.nearestwaypoint = nwp;
791                         else
792                         {
793                                 dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n");
794
795                                 if(e.flags & FL_ITEM)
796                                         e.blacklisted = TRUE;
797                                 else if (e.flags & FL_WEAPON)
798                                 {
799                                         if(e.classname != "droppedweapon")
800                                                 e.blacklisted = TRUE;
801                                 }
802
803                                 if(e.blacklisted)
804                                 {
805                                         dprint("The entity '", e.classname, "' is going to be excluded from path finding during this match\n");
806                                         return;
807                                 }
808                         }
809
810                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
811                         if(e.classname=="item_flag_team")
812                                 e.nearestwaypointtimeout = time + 2;
813                         else
814                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
815                 }
816                 nwp = e.nearestwaypoint;
817         }
818
819         //dprint("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n");
820         if (nwp)
821         if (nwp.wpcost < 10000000)
822         {
823                 //te_wizspike(nwp.wpnearestpoint);
824         //      dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
825                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
826                 //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
827                 //dprint(ftos(f));
828                 if (navigation_bestrating < f)
829                 {
830                 //      dprint("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n");
831                         navigation_bestrating = f;
832                         navigation_bestgoal = e;
833                 }
834         }
835         //dprint("\n");
836 }
837
838 // adds an item to the the goal stack with the path to a given item
839 float navigation_routetogoal(entity e, vector startposition)
840 {
841         self.goalentity = e;
842
843         // if there is no goal, just exit
844         if (!e)
845                 return FALSE;
846
847         self.navigation_hasgoals = TRUE;
848
849         // put the entity on the goal stack
850         //print("routetogoal ", etos(e), "\n");
851         navigation_pushroute(e);
852
853         if(g_jetpack)
854         if(e==self.navigation_jetpack_goal)
855                 return TRUE;
856
857         // if it can reach the goal there is nothing more to do
858         if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
859                 return TRUE;
860
861         // see if there are waypoints describing a path to the item
862         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
863                 e = e.nearestwaypoint;
864         else
865                 e = e.enemy; // we already have added it, so...
866
867         if(e == world)
868                 return FALSE;
869
870         for (;;)
871         {
872                 // add the spawnfunc_waypoint to the path
873                 navigation_pushroute(e);
874                 e = e.enemy;
875
876                 if(e==world)
877                         break;
878         }
879
880         return FALSE;
881 }
882
883 // removes any currently touching waypoints from the goal stack
884 // (this is how bots detect if they reached a goal)
885 void navigation_poptouchedgoals()
886 {
887         vector org, m1, m2;
888         org = self.origin;
889         m1 = org + self.mins;
890         m2 = org + self.maxs;
891
892         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
893         {
894                 if(self.lastteleporttime>0)
895                 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
896                 {
897                         if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
898                         if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
899                         {
900                                 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
901                                 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
902                         }
903                         navigation_poproute();
904                         return;
905                 }
906         }
907
908         // If for some reason the bot is closer to the next goal, pop the current one
909         if(self.goalstack01)
910         if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
911         if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
912         if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
913         {
914         ///     dprint("path optimized for ", self.netname, ", removed a goal from the queue\n");
915                 navigation_poproute();
916                 // TODO this may also be a nice idea to do "early" (e.g. by
917                 // manipulating the vlen() comparisons) to shorten paths in
918                 // general - this would make bots walk more "on rails" than
919                 // "zigzagging" which they currently do with sufficiently
920                 // random-like waypoints, and thus can make a nice bot
921                 // personality property
922         }
923
924         // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
925         // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
926         if(self.goalcurrent.classname=="player")
927                 navigation_poproute();
928
929         // aid for detecting jump pads better (distance based check fails sometimes)
930         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
931                 navigation_poproute();
932
933         // Loose goal touching check when running
934         if(self.aistatus & AI_STATUS_RUNNING)
935         if(self.speed >= autocvar_sv_maxspeed) // if -really- running
936         if(self.goalcurrent.classname=="waypoint")
937         {
938                 if(vlen(self.origin - self.goalcurrent.origin)<150)
939                 {
940                         traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
941                         if(trace_fraction==1)
942                         {
943                                 // Detect personal waypoints
944                                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
945                                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
946                                 {
947                                         self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
948                                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
949                                 }
950
951                                 navigation_poproute();
952                         }
953                 }
954         }
955
956         while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
957         {
958                 // Detect personal waypoints
959                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
960                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
961                 {
962                         self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
963                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
964                 }
965
966                 navigation_poproute();
967         }
968 }
969
970 // begin a goal selection session (queries spawnfunc_waypoint network)
971 void navigation_goalrating_start()
972 {
973         if(self.aistatus & AI_STATUS_STUCK)
974                 return;
975
976         self.navigation_jetpack_goal = world;
977         navigation_bestrating = -1;
978         self.navigation_hasgoals = FALSE;
979         navigation_clearroute();
980         navigation_bestgoal = world;
981         navigation_markroutes(world);
982 }
983
984 // ends a goal selection session (updates goal stack to the best goal)
985 void navigation_goalrating_end()
986 {
987         if(self.aistatus & AI_STATUS_STUCK)
988                 return;
989
990         navigation_routetogoal(navigation_bestgoal, self.origin);
991 //      dprint("best goal ", self.goalcurrent.classname , "\n");
992
993         // If the bot got stuck then try to reach the farthest waypoint
994         if not (self.navigation_hasgoals)
995         if (autocvar_bot_wander_enable)
996         {
997                 if not(self.aistatus & AI_STATUS_STUCK)
998                 {
999                         dprint(self.netname, " cannot walk to any goal\n");
1000                         self.aistatus |= AI_STATUS_STUCK;
1001                 }
1002
1003                 self.navigation_hasgoals = FALSE; // Reset this value
1004         }
1005 }
1006
1007 void botframe_updatedangerousobjects(float maxupdate)
1008 {
1009         entity head, bot_dodgelist;
1010         vector m1, m2, v, o;
1011         float c, d, danger;
1012         c = 0;
1013         bot_dodgelist = findchainfloat(bot_dodge, TRUE);
1014         botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1015         while (botframe_dangerwaypoint != world)
1016         {
1017                 danger = 0;
1018                 m1 = botframe_dangerwaypoint.mins;
1019                 m2 = botframe_dangerwaypoint.maxs;
1020                 head = bot_dodgelist;
1021                 while (head)
1022                 {
1023                         v = head.origin;
1024                         v_x = bound(m1_x, v_x, m2_x);
1025                         v_y = bound(m1_y, v_y, m2_y);
1026                         v_z = bound(m1_z, v_z, m2_z);
1027                         o = (head.absmin + head.absmax) * 0.5;
1028                         d = head.bot_dodgerating - vlen(o - v);
1029                         if (d > 0)
1030                         {
1031                                 traceline(o, v, TRUE, world);
1032                                 if (trace_fraction == 1)
1033                                         danger = danger + d;
1034                         }
1035                         head = head.chain;
1036                 }
1037                 botframe_dangerwaypoint.dmg = danger;
1038                 c = c + 1;
1039                 if (c >= maxupdate)
1040                         break;
1041                 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1042         }
1043 }
1044
1045 void navigation_unstuck()
1046 {
1047         float search_radius = 1000;
1048
1049         if not(autocvar_bot_wander_enable)
1050                 return;
1051
1052         if not(bot_waypoint_queue_owner)
1053         {
1054         //      dprint(self.netname, " sutck, taking over the waypoints queue\n");
1055                 bot_waypoint_queue_owner = self;
1056                 bot_waypoint_queue_bestgoal = world;
1057                 bot_waypoint_queue_bestgoalrating = 0;
1058         }
1059
1060         if(bot_waypoint_queue_owner!=self)
1061                 return;
1062
1063         if (bot_waypoint_queue_goal)
1064         {
1065                 // evaluate the next goal on the queue
1066                 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1067                 // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
1068                 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1069                 {
1070                         if( d > bot_waypoint_queue_bestgoalrating)
1071                         {
1072                                 bot_waypoint_queue_bestgoalrating = d;
1073                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1074                         }
1075                 }
1076                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1077
1078                 if not(bot_waypoint_queue_goal)
1079                 {
1080                         if (bot_waypoint_queue_bestgoal)
1081                         {
1082                                 dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
1083                                 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1084                                 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1085                                 self.aistatus &~= AI_STATUS_STUCK;
1086                         }
1087                         else
1088                         {
1089                                 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1090                         }
1091
1092                         bot_waypoint_queue_owner = world;
1093                 }
1094         }
1095         else
1096         {
1097                 if(bot_strategytoken!=self)
1098                         return;
1099
1100                 // build a new queue
1101                 dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
1102
1103                 entity head, first;
1104
1105                 first = world;
1106                 head = findradius(self.origin, search_radius);
1107
1108                 while(head)
1109                 {
1110                         if(head.classname=="waypoint")
1111                 //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1112                         {
1113                                 if(bot_waypoint_queue_goal)
1114                                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1115                                 else
1116                                         first = head;
1117
1118                                 bot_waypoint_queue_goal = head;
1119                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1120                         }
1121
1122                         head = head.chain;
1123                 }
1124
1125                 if (first)
1126                         bot_waypoint_queue_goal = first;
1127                 else
1128                 {
1129                         dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1130                         bot_waypoint_queue_owner = world;
1131                 }
1132         }
1133 }
1134
1135 // Support for debugging tracewalk visually
1136
1137 void debugresetnodes()
1138 {
1139         debuglastnode = '0 0 0';
1140 }
1141
1142 void debugnode(vector node)
1143 {
1144         if not(self.classname=="player")
1145                 return;
1146
1147         if(debuglastnode=='0 0 0')
1148         {
1149                 debuglastnode = node;
1150                 return;
1151         }
1152
1153         te_lightning2(world, node, debuglastnode);
1154         debuglastnode = node;
1155 }
1156
1157 void debugnodestatus(vector position, float status)
1158 {
1159         vector c;
1160
1161         switch (status)
1162         {
1163                 case DEBUG_NODE_SUCCESS:
1164                         c = '0 15 0';
1165                         break;
1166                 case DEBUG_NODE_WARNING:
1167                         c = '15 15 0';
1168                         break;
1169                 case DEBUG_NODE_FAIL:
1170                         c = '15 0 0';
1171                         break;
1172                 default:
1173                         c = '15 15 15';
1174         }
1175
1176         te_customflash(position, 40,  2, c);
1177 }
1178
1179 // Support for debugging the goal stack visually
1180
1181 .float goalcounter;
1182 .vector lastposition;
1183
1184 // Debug the goal stack visually
1185 void debuggoalstack()
1186 {
1187         entity goal;
1188         vector org, go;
1189
1190         if(self.goalcounter==0)goal=self.goalcurrent;
1191         else if(self.goalcounter==1)goal=self.goalstack01;
1192         else if(self.goalcounter==2)goal=self.goalstack02;
1193         else if(self.goalcounter==3)goal=self.goalstack03;
1194         else if(self.goalcounter==4)goal=self.goalstack04;
1195         else if(self.goalcounter==5)goal=self.goalstack05;
1196         else if(self.goalcounter==6)goal=self.goalstack06;
1197         else if(self.goalcounter==7)goal=self.goalstack07;
1198         else if(self.goalcounter==8)goal=self.goalstack08;
1199         else if(self.goalcounter==9)goal=self.goalstack09;
1200         else if(self.goalcounter==10)goal=self.goalstack10;
1201         else if(self.goalcounter==11)goal=self.goalstack11;
1202         else if(self.goalcounter==12)goal=self.goalstack12;
1203         else if(self.goalcounter==13)goal=self.goalstack13;
1204         else if(self.goalcounter==14)goal=self.goalstack14;
1205         else if(self.goalcounter==15)goal=self.goalstack15;
1206         else if(self.goalcounter==16)goal=self.goalstack16;
1207         else if(self.goalcounter==17)goal=self.goalstack17;
1208         else if(self.goalcounter==18)goal=self.goalstack18;
1209         else if(self.goalcounter==19)goal=self.goalstack19;
1210         else if(self.goalcounter==20)goal=self.goalstack20;
1211         else if(self.goalcounter==21)goal=self.goalstack21;
1212         else if(self.goalcounter==22)goal=self.goalstack22;
1213         else if(self.goalcounter==23)goal=self.goalstack23;
1214         else if(self.goalcounter==24)goal=self.goalstack24;
1215         else if(self.goalcounter==25)goal=self.goalstack25;
1216         else if(self.goalcounter==26)goal=self.goalstack26;
1217         else if(self.goalcounter==27)goal=self.goalstack27;
1218         else if(self.goalcounter==28)goal=self.goalstack28;
1219         else if(self.goalcounter==29)goal=self.goalstack29;
1220         else if(self.goalcounter==30)goal=self.goalstack30;
1221         else if(self.goalcounter==31)goal=self.goalstack31;
1222         else goal=world;
1223
1224         if(goal==world)
1225         {
1226                 self.goalcounter = 0;
1227                 self.lastposition='0 0 0';
1228                 return;
1229         }
1230
1231         if(self.lastposition=='0 0 0')
1232                 org = self.origin;
1233         else
1234                 org = self.lastposition;
1235
1236
1237         go = ( goal.absmin + goal.absmax ) * 0.5;
1238         te_lightning2(world, org, go);
1239         self.lastposition = go;
1240
1241         self.goalcounter++;
1242 }