qcsrc/server/bot/navigation.qc

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