Merge branch 'master' into Mario/vaporizer_damage
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / waypoints.qc
1 #include "waypoints.qh"
2 #include "../_all.qh"
3
4 #include "bot.qh"
5 #include "navigation.qh"
6
7 #include "../antilag.qh"
8
9 #include "../../common/constants.qh"
10
11 #include "../../warpzonelib/util_server.qh"
12
13 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
14 // them back to it as well
15 // (suitable for spawnfunc_waypoint editor)
16 entity waypoint_spawn(vector m1, vector m2, float f)
17 {
18         entity w;
19         w = find(world, classname, "waypoint");
20
21         if (!(f & WAYPOINTFLAG_PERSONAL))
22         while (w)
23         {
24                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
25                 if (boxesoverlap(m1, m2, w.absmin, w.absmax))
26                         return w;
27                 w = find(w, classname, "waypoint");
28         }
29
30         w = spawn();
31         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
32         w.classname = "waypoint";
33         w.wpflags = f;
34         setorigin(w, (m1 + m2) * 0.5);
35         setsize(w, m1 - w.origin, m2 - w.origin);
36         if (vlen(w.size) > 0)
37                 w.wpisbox = true;
38
39         if(!w.wpisbox)
40         {
41                 setsize(w, PL_MIN - '1 1 0', PL_MAX + '1 1 0');
42                 if(!move_out_of_solid(w))
43                 {
44                         if(!(f & WAYPOINTFLAG_GENERATED))
45                         {
46                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin), "\n");
47                                 remove(w);
48                                 return world;
49                         }
50                         else
51                         {
52                                 if(autocvar_developer)
53                                 {
54                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
55                                         backtrace("Waypoint stuck");
56                                 }
57                         }
58                 }
59                 setsize(w, '0 0 0', '0 0 0');
60         }
61
62         waypoint_clearlinks(w);
63         //waypoint_schedulerelink(w);
64
65         if (autocvar_g_waypointeditor)
66         {
67                 m1 = w.mins;
68                 m2 = w.maxs;
69                 setmodel(w, "models/runematch/rune.mdl"); w.effects = EF_LOWPRECISION;
70                 setsize(w, m1, m2);
71                 if (w.wpflags & WAYPOINTFLAG_ITEM)
72                         w.colormod = '1 0 0';
73                 else if (w.wpflags & WAYPOINTFLAG_GENERATED)
74                         w.colormod = '1 1 0';
75                 else
76                         w.colormod = '1 1 1';
77         }
78         else
79                 w.model = "";
80
81         return w;
82 }
83
84 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
85 void waypoint_addlink(entity from, entity to)
86 {
87         float c;
88
89         if (from == to)
90                 return;
91         if (from.wpflags & WAYPOINTFLAG_NORELINK)
92                 return;
93
94         if (from.wp00 == to) return;if (from.wp01 == to) return;if (from.wp02 == to) return;if (from.wp03 == to) return;
95         if (from.wp04 == to) return;if (from.wp05 == to) return;if (from.wp06 == to) return;if (from.wp07 == to) return;
96         if (from.wp08 == to) return;if (from.wp09 == to) return;if (from.wp10 == to) return;if (from.wp11 == to) return;
97         if (from.wp12 == to) return;if (from.wp13 == to) return;if (from.wp14 == to) return;if (from.wp15 == to) return;
98         if (from.wp16 == to) return;if (from.wp17 == to) return;if (from.wp18 == to) return;if (from.wp19 == to) return;
99         if (from.wp20 == to) return;if (from.wp21 == to) return;if (from.wp22 == to) return;if (from.wp23 == to) return;
100         if (from.wp24 == to) return;if (from.wp25 == to) return;if (from.wp26 == to) return;if (from.wp27 == to) return;
101         if (from.wp28 == to) return;if (from.wp29 == to) return;if (from.wp30 == to) return;if (from.wp31 == to) return;
102
103         if (to.wpisbox || from.wpisbox)
104         {
105                 // if either is a box we have to find the nearest points on them to
106                 // calculate the distance properly
107                 vector v1, v2, m1, m2;
108                 v1 = from.origin;
109                 m1 = to.absmin;
110                 m2 = to.absmax;
111                 v1_x = bound(m1_x, v1_x, m2_x);
112                 v1_y = bound(m1_y, v1_y, m2_y);
113                 v1_z = bound(m1_z, v1_z, m2_z);
114                 v2 = to.origin;
115                 m1 = from.absmin;
116                 m2 = from.absmax;
117                 v2_x = bound(m1_x, v2_x, m2_x);
118                 v2_y = bound(m1_y, v2_y, m2_y);
119                 v2_z = bound(m1_z, v2_z, m2_z);
120                 v2 = to.origin;
121                 c = vlen(v2 - v1);
122         }
123         else
124                 c = vlen(to.origin - from.origin);
125
126         if (from.wp31mincost < c) return;
127         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
128         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
129         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
130         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
131         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
132         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
133         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
134         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
135         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
136         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
137         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
138         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
139         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
140         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
141         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
142         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
143         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
144         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
145         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
146         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
147         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
148         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
149         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
150         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
151         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
152         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
153         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
154         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
155         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
156         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
157         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
158         from.wp00 = to;from.wp00mincost = c;return;
159 }
160
161 // relink this spawnfunc_waypoint
162 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
163 // (SLOW!)
164 void waypoint_think()
165 {
166         entity e;
167         vector sv, sm1, sm2, ev, em1, em2, dv;
168
169         bot_calculate_stepheightvec();
170
171         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
172
173         //dprint("waypoint_think wpisbox = ", ftos(self.wpisbox), "\n");
174         sm1 = self.origin + self.mins;
175         sm2 = self.origin + self.maxs;
176         for(e = world; (e = find(e, classname, "waypoint")); )
177         {
178                 if (boxesoverlap(self.absmin, self.absmax, e.absmin, e.absmax))
179                 {
180                         waypoint_addlink(self, e);
181                         waypoint_addlink(e, self);
182                 }
183                 else
184                 {
185                         ++relink_total;
186                         if(!checkpvs(self.origin, e))
187                         {
188                                 ++relink_pvsculled;
189                                 continue;
190                         }
191                         sv = e.origin;
192                         sv.x = bound(sm1_x, sv.x, sm2_x);
193                         sv.y = bound(sm1_y, sv.y, sm2_y);
194                         sv.z = bound(sm1_z, sv.z, sm2_z);
195                         ev = self.origin;
196                         em1 = e.origin + e.mins;
197                         em2 = e.origin + e.maxs;
198                         ev.x = bound(em1_x, ev.x, em2_x);
199                         ev.y = bound(em1_y, ev.y, em2_y);
200                         ev.z = bound(em1_z, ev.z, em2_z);
201                         dv = ev - sv;
202                         dv.z = 0;
203                         if (vlen(dv) >= 1050) // max search distance in XY
204                         {
205                                 ++relink_lengthculled;
206                                 continue;
207                         }
208                         navigation_testtracewalk = 0;
209                         if (!self.wpisbox)
210                         {
211                                 tracebox(sv - PL_MIN.z * '0 0 1', PL_MIN, PL_MAX, sv, false, self);
212                                 if (!trace_startsolid)
213                                 {
214                                         //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
215                                         sv = trace_endpos + '0 0 1';
216                                 }
217                         }
218                         if (!e.wpisbox)
219                         {
220                                 tracebox(ev - PL_MIN.z * '0 0 1', PL_MIN, PL_MAX, ev, false, e);
221                                 if (!trace_startsolid)
222                                 {
223                                         //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
224                                         ev = trace_endpos + '0 0 1';
225                                 }
226                         }
227                         //traceline(self.origin, e.origin, false, world);
228                         //if (trace_fraction == 1)
229                         if (!self.wpisbox && tracewalk(self, sv, PL_MIN, PL_MAX, ev, MOVE_NOMONSTERS))
230                                 waypoint_addlink(self, e);
231                         else
232                                 relink_walkculled += 0.5;
233                         if (!e.wpisbox && tracewalk(e, ev, PL_MIN, PL_MAX, sv, MOVE_NOMONSTERS))
234                                 waypoint_addlink(e, self);
235                         else
236                                 relink_walkculled += 0.5;
237                 }
238         }
239         navigation_testtracewalk = 0;
240         self.wplinked = true;
241 }
242
243 void waypoint_clearlinks(entity wp)
244 {
245         // clear links to other waypoints
246         float f;
247         f = 10000000;
248         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = world;
249         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = world;
250         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = world;
251         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = world;
252
253         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
254         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
255         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
256         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
257
258         wp.wplinked = false;
259 }
260
261 // tell a spawnfunc_waypoint to relink
262 void waypoint_schedulerelink(entity wp)
263 {
264         if (wp == world)
265                 return;
266         // TODO: add some sort of visible box in edit mode for box waypoints
267         if (autocvar_g_waypointeditor)
268         {
269                 vector m1, m2;
270                 m1 = wp.mins;
271                 m2 = wp.maxs;
272                 setmodel(wp, "models/runematch/rune.mdl"); wp.effects = EF_LOWPRECISION;
273                 setsize(wp, m1, m2);
274                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
275                         wp.colormod = '1 0 0';
276                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
277                         wp.colormod = '1 1 0';
278                 else
279                         wp.colormod = '1 1 1';
280         }
281         else
282                 wp.model = "";
283         wp.wpisbox = vlen(wp.size) > 0;
284         wp.enemy = world;
285         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
286                 wp.owner = world;
287         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
288                 waypoint_clearlinks(wp);
289         // schedule an actual relink on next frame
290         wp.think = waypoint_think;
291         wp.nextthink = time;
292         wp.effects = EF_LOWPRECISION;
293 }
294
295 // spawnfunc_waypoint map entity
296 void spawnfunc_waypoint()
297 {
298         setorigin(self, self.origin);
299         // schedule a relink after other waypoints have had a chance to spawn
300         waypoint_clearlinks(self);
301         //waypoint_schedulerelink(self);
302 }
303
304 // remove a spawnfunc_waypoint, and schedule all neighbors to relink
305 void waypoint_remove(entity e)
306 {
307         // tell all linked waypoints that they need to relink
308         waypoint_schedulerelink(e.wp00);
309         waypoint_schedulerelink(e.wp01);
310         waypoint_schedulerelink(e.wp02);
311         waypoint_schedulerelink(e.wp03);
312         waypoint_schedulerelink(e.wp04);
313         waypoint_schedulerelink(e.wp05);
314         waypoint_schedulerelink(e.wp06);
315         waypoint_schedulerelink(e.wp07);
316         waypoint_schedulerelink(e.wp08);
317         waypoint_schedulerelink(e.wp09);
318         waypoint_schedulerelink(e.wp10);
319         waypoint_schedulerelink(e.wp11);
320         waypoint_schedulerelink(e.wp12);
321         waypoint_schedulerelink(e.wp13);
322         waypoint_schedulerelink(e.wp14);
323         waypoint_schedulerelink(e.wp15);
324         waypoint_schedulerelink(e.wp16);
325         waypoint_schedulerelink(e.wp17);
326         waypoint_schedulerelink(e.wp18);
327         waypoint_schedulerelink(e.wp19);
328         waypoint_schedulerelink(e.wp20);
329         waypoint_schedulerelink(e.wp21);
330         waypoint_schedulerelink(e.wp22);
331         waypoint_schedulerelink(e.wp23);
332         waypoint_schedulerelink(e.wp24);
333         waypoint_schedulerelink(e.wp25);
334         waypoint_schedulerelink(e.wp26);
335         waypoint_schedulerelink(e.wp27);
336         waypoint_schedulerelink(e.wp28);
337         waypoint_schedulerelink(e.wp29);
338         waypoint_schedulerelink(e.wp30);
339         waypoint_schedulerelink(e.wp31);
340         // and now remove the spawnfunc_waypoint
341         remove(e);
342 }
343
344 // empties the map of waypoints
345 void waypoint_removeall()
346 {
347         entity head, next;
348         head = findchain(classname, "waypoint");
349         while (head)
350         {
351                 next = head.chain;
352                 remove(head);
353                 head = next;
354         }
355 }
356
357 // tell all waypoints to relink
358 // (is this useful at all?)
359 void waypoint_schedulerelinkall()
360 {
361         entity head;
362         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
363         head = findchain(classname, "waypoint");
364         while (head)
365         {
366                 waypoint_schedulerelink(head);
367                 head = head.chain;
368         }
369 }
370
371 // Load waypoint links from file
372 float waypoint_load_links()
373 {
374         string filename, s;
375         float file, tokens, c = 0, found;
376         entity wp_from = world, wp_to;
377         vector wp_to_pos, wp_from_pos;
378         filename = strcat("maps/", mapname);
379         filename = strcat(filename, ".waypoints.cache");
380         file = fopen(filename, FILE_READ);
381
382         if (file < 0)
383         {
384                 LOG_TRACE("waypoint links load from ");
385                 LOG_TRACE(filename);
386                 LOG_TRACE(" failed\n");
387                 return false;
388         }
389
390         while ((s = fgets(file)))
391         {
392                 tokens = tokenizebyseparator(s, "*");
393
394                 if (tokens!=2)
395                 {
396                         // bad file format
397                         fclose(file);
398                         return false;
399                 }
400
401                 wp_from_pos     = stov(argv(0));
402                 wp_to_pos       = stov(argv(1));
403
404                 // Search "from" waypoint
405                 if(!wp_from || wp_from.origin!=wp_from_pos)
406                 {
407                         wp_from = findradius(wp_from_pos, 1);
408                         found = false;
409                         while(wp_from)
410                         {
411                                 if(vlen(wp_from.origin-wp_from_pos)<1)
412                                 if(wp_from.classname == "waypoint")
413                                 {
414                                         found = true;
415                                         break;
416                                 }
417                                 wp_from = wp_from.chain;
418                         }
419
420                         if(!found)
421                         {
422                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from.origin),"\n");
423                                 continue;
424                         }
425
426                 }
427
428                 // Search "to" waypoint
429                 wp_to = findradius(wp_to_pos, 1);
430                 found = false;
431                 while(wp_to)
432                 {
433                         if(vlen(wp_to.origin-wp_to_pos)<1)
434                         if(wp_to.classname == "waypoint")
435                         {
436                                 found = true;
437                                 break;
438                         }
439                         wp_to = wp_to.chain;
440                 }
441
442                 if(!found)
443                 {
444                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to.origin),"\n");
445                         continue;
446                 }
447
448                 ++c;
449                 waypoint_addlink(wp_from, wp_to);
450         }
451
452         fclose(file);
453
454         LOG_TRACE("loaded ");
455         LOG_TRACE(ftos(c));
456         LOG_TRACE(" waypoint links from maps/");
457         LOG_TRACE(mapname);
458         LOG_TRACE(".waypoints.cache\n");
459
460         botframe_cachedwaypointlinks = true;
461         return true;
462 }
463
464 void waypoint_load_links_hardwired()
465 {
466         string filename, s;
467         float file, tokens, c = 0, found;
468         entity wp_from = world, wp_to;
469         vector wp_to_pos, wp_from_pos;
470         filename = strcat("maps/", mapname);
471         filename = strcat(filename, ".waypoints.hardwired");
472         file = fopen(filename, FILE_READ);
473
474         botframe_loadedforcedlinks = true;
475
476         if (file < 0)
477         {
478                 LOG_TRACE("waypoint links load from ");
479                 LOG_TRACE(filename);
480                 LOG_TRACE(" failed\n");
481                 return;
482         }
483
484         while ((s = fgets(file)))
485         {
486                 if(substring(s, 0, 2)=="//")
487                         continue;
488
489                 if(substring(s, 0, 1)=="#")
490                         continue;
491
492                 tokens = tokenizebyseparator(s, "*");
493
494                 if (tokens!=2)
495                         continue;
496
497                 wp_from_pos     = stov(argv(0));
498                 wp_to_pos       = stov(argv(1));
499
500                 // Search "from" waypoint
501                 if(!wp_from || wp_from.origin!=wp_from_pos)
502                 {
503                         wp_from = findradius(wp_from_pos, 5);
504                         found = false;
505                         while(wp_from)
506                         {
507                                 if(vlen(wp_from.origin-wp_from_pos)<5)
508                                 if(wp_from.classname == "waypoint")
509                                 {
510                                         found = true;
511                                         break;
512                                 }
513                                 wp_from = wp_from.chain;
514                         }
515
516                         if(!found)
517                         {
518                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
519                                 continue;
520                         }
521                 }
522
523                 // Search "to" waypoint
524                 wp_to = findradius(wp_to_pos, 5);
525                 found = false;
526                 while(wp_to)
527                 {
528                         if(vlen(wp_to.origin-wp_to_pos)<5)
529                         if(wp_to.classname == "waypoint")
530                         {
531                                 found = true;
532                                 break;
533                         }
534                         wp_to = wp_to.chain;
535                 }
536
537                 if(!found)
538                 {
539                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
540                         continue;
541                 }
542
543                 ++c;
544                 waypoint_addlink(wp_from, wp_to);
545                 wp_from.wphardwired = true;
546                 wp_to.wphardwired = true;
547         }
548
549         fclose(file);
550
551         LOG_TRACE("loaded ");
552         LOG_TRACE(ftos(c));
553         LOG_TRACE(" waypoint links from maps/");
554         LOG_TRACE(mapname);
555         LOG_TRACE(".waypoints.hardwired\n");
556 }
557
558 entity waypoint_get_link(entity w, float i)
559 {
560         switch(i)
561         {
562                 case  0:return w.wp00;
563                 case  1:return w.wp01;
564                 case  2:return w.wp02;
565                 case  3:return w.wp03;
566                 case  4:return w.wp04;
567                 case  5:return w.wp05;
568                 case  6:return w.wp06;
569                 case  7:return w.wp07;
570                 case  8:return w.wp08;
571                 case  9:return w.wp09;
572                 case 10:return w.wp10;
573                 case 11:return w.wp11;
574                 case 12:return w.wp12;
575                 case 13:return w.wp13;
576                 case 14:return w.wp14;
577                 case 15:return w.wp15;
578                 case 16:return w.wp16;
579                 case 17:return w.wp17;
580                 case 18:return w.wp18;
581                 case 19:return w.wp19;
582                 case 20:return w.wp20;
583                 case 21:return w.wp21;
584                 case 22:return w.wp22;
585                 case 23:return w.wp23;
586                 case 24:return w.wp24;
587                 case 25:return w.wp25;
588                 case 26:return w.wp26;
589                 case 27:return w.wp27;
590                 case 28:return w.wp28;
591                 case 29:return w.wp29;
592                 case 30:return w.wp30;
593                 case 31:return w.wp31;
594                 default:return world;
595         }
596 }
597
598 // Save all waypoint links to a file
599 void waypoint_save_links()
600 {
601         string filename, s;
602         float file, c, i;
603         entity w, link;
604         filename = strcat("maps/", mapname);
605         filename = strcat(filename, ".waypoints.cache");
606         file = fopen(filename, FILE_WRITE);
607         if (file < 0)
608         {
609                 LOG_INFO("waypoint links save to ");
610                 LOG_INFO(filename);
611                 LOG_INFO(" failed\n");
612         }
613         c = 0;
614         w = findchain(classname, "waypoint");
615         while (w)
616         {
617                 for(i=0;i<32;++i)
618                 {
619                         // :S
620                         link = waypoint_get_link(w, i);
621                         if(link==world)
622                                 continue;
623
624                         s = strcat(vtos(w.origin), "*", vtos(link.origin), "\n");
625                         fputs(file, s);
626                         ++c;
627                 }
628                 w = w.chain;
629         }
630         fclose(file);
631         botframe_cachedwaypointlinks = true;
632
633         LOG_INFO("saved ");
634         LOG_INFO(ftos(c));
635         LOG_INFO(" waypoints links to maps/");
636         LOG_INFO(mapname);
637         LOG_INFO(".waypoints.cache\n");
638 }
639
640 // save waypoints to gamedir/data/maps/mapname.waypoints
641 void waypoint_saveall()
642 {
643         string filename, s;
644         float file, c;
645         entity w;
646         filename = strcat("maps/", mapname);
647         filename = strcat(filename, ".waypoints");
648         file = fopen(filename, FILE_WRITE);
649         if (file >= 0)
650         {
651                 c = 0;
652                 w = findchain(classname, "waypoint");
653                 while (w)
654                 {
655                         if (!(w.wpflags & WAYPOINTFLAG_GENERATED))
656                         {
657                                 s = strcat(vtos(w.origin + w.mins), "\n");
658                                 s = strcat(s, vtos(w.origin + w.maxs));
659                                 s = strcat(s, "\n");
660                                 s = strcat(s, ftos(w.wpflags));
661                                 s = strcat(s, "\n");
662                                 fputs(file, s);
663                                 c = c + 1;
664                         }
665                         w = w.chain;
666                 }
667                 fclose(file);
668                 bprint("saved ");
669                 bprint(ftos(c));
670                 bprint(" waypoints to maps/");
671                 bprint(mapname);
672                 bprint(".waypoints\n");
673         }
674         else
675         {
676                 bprint("waypoint save to ");
677                 bprint(filename);
678                 bprint(" failed\n");
679         }
680         waypoint_save_links();
681         botframe_loadedforcedlinks = false;
682 }
683
684 // load waypoints from file
685 float waypoint_loadall()
686 {
687         string filename, s;
688         float file, cwp, cwb, fl;
689         vector m1, m2;
690         cwp = 0;
691         cwb = 0;
692         filename = strcat("maps/", mapname);
693         filename = strcat(filename, ".waypoints");
694         file = fopen(filename, FILE_READ);
695         if (file >= 0)
696         {
697                 while ((s = fgets(file)))
698                 {
699                         m1 = stov(s);
700                         s = fgets(file);
701                         if (!s)
702                                 break;
703                         m2 = stov(s);
704                         s = fgets(file);
705                         if (!s)
706                                 break;
707                         fl = stof(s);
708                         waypoint_spawn(m1, m2, fl);
709                         if (m1 == m2)
710                                 cwp = cwp + 1;
711                         else
712                                 cwb = cwb + 1;
713                 }
714                 fclose(file);
715                 LOG_TRACE("loaded ");
716                 LOG_TRACE(ftos(cwp));
717                 LOG_TRACE(" waypoints and ");
718                 LOG_TRACE(ftos(cwb));
719                 LOG_TRACE(" wayboxes from maps/");
720                 LOG_TRACE(mapname);
721                 LOG_TRACE(".waypoints\n");
722         }
723         else
724         {
725                 LOG_TRACE("waypoint load from ");
726                 LOG_TRACE(filename);
727                 LOG_TRACE(" failed\n");
728         }
729         return cwp + cwb;
730 }
731
732 vector waypoint_fixorigin(vector position)
733 {
734         tracebox(position + '0 0 1' * (1 - PL_MIN.z), PL_MIN, PL_MAX, position + '0 0 -512', MOVE_NOMONSTERS, world);
735         if(trace_fraction < 1)
736                 position = trace_endpos;
737         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, world);
738         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
739         return position;
740 }
741
742 void waypoint_spawnforitem_force(entity e, vector org)
743 {
744         entity w;
745
746         // Fix the waypoint altitude if necessary
747         org = waypoint_fixorigin(org);
748
749         // don't spawn an item spawnfunc_waypoint if it already exists
750         w = findchain(classname, "waypoint");
751         while (w)
752         {
753                 if (w.wpisbox)
754                 {
755                         if (boxesoverlap(org, org, w.absmin, w.absmax))
756                         {
757                                 e.nearestwaypoint = w;
758                                 return;
759                         }
760                 }
761                 else
762                 {
763                         if (vlen(w.origin - org) < 16)
764                         {
765                                 e.nearestwaypoint = w;
766                                 return;
767                         }
768                 }
769                 w = w.chain;
770         }
771         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
772 }
773
774 void waypoint_spawnforitem(entity e)
775 {
776         if(!bot_waypoints_for_items)
777                 return;
778
779         waypoint_spawnforitem_force(e, e.origin);
780 }
781
782 void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
783 {
784         entity w;
785         entity dw;
786         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_NORELINK);
787         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
788         // one way link to the destination
789         w.wp00 = dw;
790         w.wp00mincost = timetaken; // this is just for jump pads
791         // the teleporter's nearest spawnfunc_waypoint is this one
792         // (teleporters are not goals, so this is probably useless)
793         e.nearestwaypoint = w;
794         e.nearestwaypointtimeout = time + 1000000000;
795 }
796
797 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
798 {
799         org = waypoint_fixorigin(org);
800         destination = waypoint_fixorigin(destination);
801         waypoint_spawnforteleporter_boxes(e, org, org, destination, destination, timetaken);
802 }
803
804 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
805 {
806         destination = waypoint_fixorigin(destination);
807         waypoint_spawnforteleporter_boxes(e, e.absmin, e.absmax, destination, destination, timetaken);
808 }
809
810 entity waypoint_spawnpersonal(vector position)
811 {
812         entity w;
813
814         // drop the waypoint to a proper location:
815         //   first move it up by a player height
816         //   then move it down to hit the floor with player bbox size
817         position = waypoint_fixorigin(position);
818
819         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
820         w.nearestwaypoint = world;
821         w.nearestwaypointtimeout = 0;
822         w.owner = self;
823
824         waypoint_schedulerelink(w);
825
826         return w;
827 }
828
829 void botframe_showwaypointlinks()
830 {
831         entity player, head, w;
832         if (time < botframe_waypointeditorlightningtime)
833                 return;
834         botframe_waypointeditorlightningtime = time + 0.5;
835         player = find(world, classname, "player");
836         while (player)
837         {
838                 if (!player.isbot)
839                 if (player.flags & FL_ONGROUND || player.waterlevel > WATERLEVEL_NONE)
840                 {
841                         //navigation_testtracewalk = true;
842                         head = navigation_findnearestwaypoint(player, false);
843                 //      print("currently selected WP is ", etos(head), "\n");
844                         //navigation_testtracewalk = false;
845                         if (head)
846                         {
847                                 w = head     ;if (w) te_lightning2(world, w.origin, player.origin);
848                                 w = head.wp00;if (w) te_lightning2(world, w.origin, head.origin);
849                                 w = head.wp01;if (w) te_lightning2(world, w.origin, head.origin);
850                                 w = head.wp02;if (w) te_lightning2(world, w.origin, head.origin);
851                                 w = head.wp03;if (w) te_lightning2(world, w.origin, head.origin);
852                                 w = head.wp04;if (w) te_lightning2(world, w.origin, head.origin);
853                                 w = head.wp05;if (w) te_lightning2(world, w.origin, head.origin);
854                                 w = head.wp06;if (w) te_lightning2(world, w.origin, head.origin);
855                                 w = head.wp07;if (w) te_lightning2(world, w.origin, head.origin);
856                                 w = head.wp08;if (w) te_lightning2(world, w.origin, head.origin);
857                                 w = head.wp09;if (w) te_lightning2(world, w.origin, head.origin);
858                                 w = head.wp10;if (w) te_lightning2(world, w.origin, head.origin);
859                                 w = head.wp11;if (w) te_lightning2(world, w.origin, head.origin);
860                                 w = head.wp12;if (w) te_lightning2(world, w.origin, head.origin);
861                                 w = head.wp13;if (w) te_lightning2(world, w.origin, head.origin);
862                                 w = head.wp14;if (w) te_lightning2(world, w.origin, head.origin);
863                                 w = head.wp15;if (w) te_lightning2(world, w.origin, head.origin);
864                                 w = head.wp16;if (w) te_lightning2(world, w.origin, head.origin);
865                                 w = head.wp17;if (w) te_lightning2(world, w.origin, head.origin);
866                                 w = head.wp18;if (w) te_lightning2(world, w.origin, head.origin);
867                                 w = head.wp19;if (w) te_lightning2(world, w.origin, head.origin);
868                                 w = head.wp20;if (w) te_lightning2(world, w.origin, head.origin);
869                                 w = head.wp21;if (w) te_lightning2(world, w.origin, head.origin);
870                                 w = head.wp22;if (w) te_lightning2(world, w.origin, head.origin);
871                                 w = head.wp23;if (w) te_lightning2(world, w.origin, head.origin);
872                                 w = head.wp24;if (w) te_lightning2(world, w.origin, head.origin);
873                                 w = head.wp25;if (w) te_lightning2(world, w.origin, head.origin);
874                                 w = head.wp26;if (w) te_lightning2(world, w.origin, head.origin);
875                                 w = head.wp27;if (w) te_lightning2(world, w.origin, head.origin);
876                                 w = head.wp28;if (w) te_lightning2(world, w.origin, head.origin);
877                                 w = head.wp29;if (w) te_lightning2(world, w.origin, head.origin);
878                                 w = head.wp30;if (w) te_lightning2(world, w.origin, head.origin);
879                                 w = head.wp31;if (w) te_lightning2(world, w.origin, head.origin);
880                         }
881                 }
882                 player = find(player, classname, "player");
883         }
884 }
885
886 float botframe_autowaypoints_fixdown(vector v)
887 {
888         tracebox(v, PL_MIN, PL_MAX, v + '0 0 -64', MOVE_NOMONSTERS, world);
889         if(trace_fraction >= 1)
890                 return 0;
891         return 1;
892 }
893
894 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
895 {
896         entity w;
897
898         w = find(world, classname, "waypoint");
899         while (w)
900         {
901                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
902                 if (boxesoverlap(v - '32 32 32', v + '32 32 32', w.absmin, w.absmax))
903                 //if (boxesoverlap(v - '4 4 4', v + '4 4 4', w.absmin, w.absmax))
904                         return 0;
905                 w = find(w, classname, "waypoint");
906         }
907
908         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
909         return 1;
910 }
911
912 // return value:
913 //    1 = WP created
914 //    0 = no action needed
915 //   -1 = temp fail, try from world too
916 //   -2 = permanent fail, do not retry
917 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
918 {
919         // make it possible to go from p to wp, if we can
920         // if wp is world, nearest is chosen
921
922         entity w;
923         vector porg;
924         float t, tmin, tmax;
925         vector o;
926         vector save;
927
928         if(!botframe_autowaypoints_fixdown(p.origin))
929                 return -2;
930         porg = trace_endpos;
931
932         if(wp)
933         {
934                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
935
936                 // if wp -> porg, then OK
937                 float maxdist;
938                 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
939                 {
940                         // we may find a better one
941                         maxdist = vlen(wp.origin - porg);
942                 }
943                 else
944                 {
945                         // accept any "good"
946                         maxdist = 2100;
947                 }
948
949                 float bestdist;
950                 bestdist = maxdist;
951                 w = find(world, classname, "waypoint");
952                 while (w)
953                 {
954                         if(w != wp && !(w.wpflags & WAYPOINTFLAG_NORELINK))
955                         {
956                                 float d;
957                                 d = vlen(wp.origin - w.origin) + vlen(w.origin - porg);
958                                 if(d < bestdist)
959                                         if(navigation_waypoint_will_link(wp.origin, w.origin, p, walkfromwp, 1050))
960                                                 if(navigation_waypoint_will_link(w.origin, porg, p, walkfromwp, 1050))
961                                                 {
962                                                         bestdist = d;
963                                                         p.(fld) = w;
964                                                 }
965                         }
966                         w = find(w, classname, "waypoint");
967                 }
968                 if(bestdist < maxdist)
969                 {
970                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
971                         return 0;
972                 }
973
974                 if(bestdist < 2100)
975                 {
976                         // we know maxdist < 2100
977                         // so wp -> porg is still valid
978                         // all is good
979                         p.(fld) = wp;
980                         return 0;
981                 }
982
983                 // otherwise, no existing WP can fix our issues
984         }
985         else
986         {
987                 save = p.origin;
988                 setorigin(p, porg);
989                 w = navigation_findnearestwaypoint(p, walkfromwp);
990                 setorigin(p, save);
991                 if(w)
992                 {
993                         p.(fld) = w;
994                         return 0;
995                 }
996         }
997
998         tmin = 0;
999         tmax = 1;
1000         for (;;)
1001         {
1002                 if(tmax - tmin < 0.001)
1003                 {
1004                         // did not get a good candidate
1005                         return -1;
1006                 }
1007
1008                 t = (tmin + tmax) * 0.5;
1009                 o = antilag_takebackorigin(p, time - t);
1010                 if(!botframe_autowaypoints_fixdown(o))
1011                         return -2;
1012                 o = trace_endpos;
1013
1014                 if(wp)
1015                 {
1016                         if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
1017                         {
1018                                 // we cannot walk from wp.origin to o
1019                                 // get closer to tmax
1020                                 tmin = t;
1021                                 continue;
1022                         }
1023                 }
1024                 else
1025                 {
1026                         save = p.origin;
1027                         setorigin(p, o);
1028                         w = navigation_findnearestwaypoint(p, walkfromwp);
1029                         setorigin(p, save);
1030                         if(!w)
1031                         {
1032                                 // we cannot walk from any WP to o
1033                                 // get closer to tmax
1034                                 tmin = t;
1035                                 continue;
1036                         }
1037                 }
1038
1039                 // if we get here, o is valid regarding waypoints
1040                 // check if o is connected right to the player
1041                 // we break if it succeeds, as that means o is a good waypoint location
1042                 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
1043                         break;
1044
1045                 // o is no good, we need to get closer to the player
1046                 tmax = t;
1047         }
1048
1049         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1050         botframe_autowaypoints_createwp(o, p, fld, 0);
1051         return 1;
1052 }
1053
1054 // automatically create missing waypoints
1055 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1056 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1057 {
1058         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1059         if(r != -1)
1060                 return;
1061         r = botframe_autowaypoints_fix_from(p, walkfromwp, world, fld);
1062         if(r != -1)
1063                 return;
1064
1065         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1066         if(!botframe_autowaypoints_fixdown(p.origin))
1067                 return; // shouldn't happen, caught above
1068         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1069 }
1070
1071 void botframe_deleteuselesswaypoints()
1072 {
1073         entity w, w1, w2;
1074         float i, j, k;
1075         for (w = world; (w = findfloat(w, bot_pickup, true)); )
1076         {
1077                 // NOTE: this protects waypoints if they're the ONLY nearest
1078                 // waypoint. That's the intention.
1079                 navigation_findnearestwaypoint(w, false);  // Walk TO item.
1080                 navigation_findnearestwaypoint(w, true);  // Walk FROM item.
1081         }
1082         for (w = world; (w = find(w, classname, "waypoint")); )
1083         {
1084                 w.wpflags |= WAYPOINTFLAG_DEAD_END;
1085                 w.wpflags &= ~WAYPOINTFLAG_USEFUL;
1086                 // WP is useful if:
1087                 if (w.wpflags & WAYPOINTFLAG_ITEM)
1088                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1089                 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1090                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1091                 if (w.wpflags & WAYPOINTFLAG_PROTECTED)
1092                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1093                 // b) WP is closest WP for an item/spawnpoint/other entity
1094                 //    This has been done above by protecting these WPs.
1095         }
1096         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1097         for (w1 = world; (w1 = find(w1, classname, "waypoint")); )
1098         {
1099                 if (w1.wpflags & WAYPOINTFLAG_PERSONAL)
1100                         continue;
1101                 for (i = 0; i < 32; ++i)
1102                 {
1103                         w = waypoint_get_link(w1, i);
1104                         if (!w)
1105                                 break;
1106                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1107                                 continue;
1108                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1109                                 continue;
1110                         for (j = 0; j < 32; ++j)
1111                         {
1112                                 w2 = waypoint_get_link(w, j);
1113                                 if (!w2)
1114                                         break;
1115                                 if (w1 == w2)
1116                                         continue;
1117                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1118                                         continue;
1119                                 // If we got here, w1 != w2 exist with w1 -> w
1120                                 // and w -> w2. That means the waypoint is not
1121                                 // a dead end.
1122                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1123                                 for (k = 0; k < 32; ++k)
1124                                 {
1125                                         if (waypoint_get_link(w1, k) == w2)
1126                                                 continue;
1127                                         // IF WE GET HERE, w is proven useful
1128                                         // to get from w1 to w2!
1129                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1130                                         goto next;
1131                                 }
1132                         }
1133 :next
1134                 }
1135         }
1136         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1137         //     they are needed to complete routes while autowaypointing.
1138
1139         for (w = world; (w = find(w, classname, "waypoint")); )
1140         {
1141                 if (!(w.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)))
1142                 {
1143                         LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", w.origin);
1144                         te_explosion(w.origin);
1145                         waypoint_remove(w);
1146                         break;
1147                 }
1148         }
1149         for (w = world; (w = find(w, classname, "waypoint")); )
1150                 w.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1151 }
1152
1153 void botframe_autowaypoints()
1154 {
1155         entity p;
1156         FOR_EACH_REALPLAYER(p)
1157         {
1158                 if(p.deadflag)
1159                         continue;
1160                 // going back is broken, so only fix waypoints to walk TO the player
1161                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1162                 botframe_autowaypoints_fix(p, true, botframe_autowaypoints_lastwp1);
1163                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1164         }
1165
1166         if (autocvar_g_waypointeditor_auto >= 2) {
1167                 botframe_deleteuselesswaypoints();
1168         }
1169 }
1170