#pragma once
/*
 * Globals and Fields
 */

float navigation_bestrating;
float bot_navigation_movemode;
float navigation_testtracewalk;

vector jumpstepheightvec;
vector stepheightvec;
vector jumpheight_vec;

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 goalcurrent_prev;
.float goalcurrent_distance;
.float goalcurrent_distance_time;

.entity nearestwaypoint;
.float nearestwaypoint_dist;
.float nearestwaypointtimeout;

/*
// item it is linked from waypoint it.wpXX (INCOMING link)
// links are sorted by their cost (wpXXmincost)
.entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
.entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;

.float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
.float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
.float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
.float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
*/

#define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
#define navigation_item_addlink(from_wp, to_item) \
	waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))

// if ent is a box waypoint or an item v is set to coords of ent that are closer to org
// (but v.z is set to the middle coord of ent)
#define SET_DESTCOORDS(ent, org, v) MACRO_BEGIN { \
	if ((ent.classname != "waypoint") || ent.wpisbox) { \
		vector wm1 = ent.origin + ent.mins; \
		vector wm2 = ent.origin + ent.maxs; \
		v.x = bound(wm1.x, org.x, wm2.x); \
		v.y = bound(wm1.y, org.y, wm2.y); \
		v.z = (wm2.z - wm1.z) / 2; \
	} else { \
		v = ent.origin; \
	} \
} MACRO_END

// if ent is a box waypoint or an item v is set to coords of ent that are closer to org
// (but v.z is set to the lowest coord of ent), v_height is set to ent's height
#define SET_TRACEWALK_DESTCOORDS(ent, org, v, v_height) MACRO_BEGIN { \
	if ((ent.classname != "waypoint") || ent.wpisbox) { \
		vector wm1 = ent.origin + ent.mins; \
		vector wm2 = ent.origin + ent.maxs; \
		v.x = bound(wm1.x, org.x, wm2.x); \
		v.y = bound(wm1.y, org.y, wm2.y); \
		v.z = wm1.z; \
		v_height = wm2.z - wm1.z; \
	} else { \
		v = ent.origin; \
		v_height = 0; \
	} \
} MACRO_END

// if ent is a box waypoint or an item v and v2 are set to coords of ent that are closer to org
// (but v2.z is set to the lowest coord of ent), v2_height is set to ent's height
#define SET_TRACEWALK_DESTCOORDS_2(ent, org, v, v2, v2_height) MACRO_BEGIN { \
	if ((ent.classname != "waypoint") || ent.wpisbox) { \
		vector wm1 = ent.origin + ent.mins; \
		vector wm2 = ent.origin + ent.maxs; \
		v.x = bound(wm1.x, org.x, wm2.x); \
		v.y = bound(wm1.y, org.y, wm2.y); \
		v.z = bound(wm1.z, org.z, wm2.z); \
		v2.x = v.x; \
		v2.y = v.y; \
		v2.z = wm1.z; \
		v2_height = wm2.z - wm1.z; \
	} else { \
		v = ent.origin; \
		v2 = v; \
		v2_height = 0; \
	} \
} MACRO_END

.entity wp_goal_prev0;
.entity wp_goal_prev1;

.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 end_height, 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, vector v2, float v2_height, float walkfromwp, float bestdist);