#pragma once
/*
 * Globals and Fields
 */

float navigation_bestrating;
float bot_navigation_movemode;
float navigation_testtracewalk;

vector jumpstepheightvec;
vector stepheightvec;

entity navigation_bestgoal;

// stack of current goals (the last one of which may be an item or other
// desirable object, the rest are typically waypoints to reach it)
.entity goalcurrent, goalstack01, goalstack02, goalstack03;
.entity goalstack04, goalstack05, goalstack06, goalstack07;
.entity goalstack08, goalstack09, goalstack10, goalstack11;
.entity goalstack12, goalstack13, goalstack14, goalstack15;
.entity goalstack16, goalstack17, goalstack18, goalstack19;
.entity goalstack20, goalstack21, goalstack22, goalstack23;
.entity goalstack24, goalstack25, goalstack26, goalstack27;
.entity goalstack28, goalstack29, goalstack30, goalstack31;
.entity nearestwaypoint;

.entity wp_goal_prev0;
.entity wp_goal_prev1;

.float nearestwaypointtimeout;
.float lastteleporttime;

.float blacklisted;

.entity navigation_jetpack_goal;
.vector navigation_jetpack_point;

const float DEBUG_NODE_SUCCESS        = 1;
const float DEBUG_NODE_WARNING        = 2;
const float DEBUG_NODE_FAIL           = 3;
vector debuglastnode;

entity bot_waypoint_queue_owner; 	// Owner of the temporary list of goals
entity bot_waypoint_queue_goal;		// Head of the temporary list of goals
.entity bot_waypoint_queue_nextgoal;
entity bot_waypoint_queue_bestgoal;
float bot_waypoint_queue_bestgoalrating;

.entity bot_basewaypoint;
.bool navigation_dynamicgoal;
void navigation_dynamicgoal_init(entity this, bool initially_static);
void navigation_dynamicgoal_set(entity this);
void navigation_dynamicgoal_unset(entity this);


/*
 * Functions
 */

void debugresetnodes();
void debugnode(entity this, vector node);
void debugnodestatus(vector position, float status);

void debuggoalstack(entity this);

float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode);

float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
float navigation_routetogoal(entity this, entity e, vector startposition);

void navigation_clearroute(entity this);
void navigation_pushroute(entity this, entity e);
void navigation_poproute(entity this);
void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
void navigation_markroutes(entity this, entity fixed_source_waypoint);
void navigation_markroutes_inverted(entity fixed_source_waypoint);
void navigation_routerating(entity this, entity e, float f, float rangebias);
void navigation_poptouchedgoals(entity this);
void navigation_goalrating_start(entity this);
void navigation_goalrating_end(entity this);
void navigation_unstuck(entity this);

void botframe_updatedangerousobjects(float maxupdate);

entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist);