#include <common/items/_mod.qh>
#include <common/constants.qh>
+#include <common/net_linked.qh>
#include <common/triggers/trigger/jumppads.qh>
.float speed;
+void navigation_dynamicgoal_init(entity this, bool initially_static)
+{
+ this.navigation_dynamicgoal = true;
+ this.bot_basewaypoint = this.nearestwaypoint;
+ if(initially_static)
+ this.nearestwaypointtimeout = -1;
+ else
+ this.nearestwaypointtimeout = time;
+}
+
+void navigation_dynamicgoal_set(entity this)
+{
+ this.nearestwaypointtimeout = time;
+}
+
+void navigation_dynamicgoal_unset(entity this)
+{
+ if(this.bot_basewaypoint)
+ this.nearestwaypoint = this.bot_basewaypoint;
+ this.nearestwaypointtimeout = -1;
+}
+
// rough simulation of walking from one point to another to test if a path
// can be traveled, used for waypoint linking and havocbot
float dist;
float totaldist;
float stepdist;
- float yaw;
float ignorehazards;
float swimming;
+ entity tw_ladder = NULL;
if(autocvar_bot_debug_tracewalk)
{
}
// Movement loop
- yaw = vectoyaw(move);
move = end - org;
for (;;)
{
org = trace_endpos - normalize(org - trace_endpos) * stepdist;
for (; org.z < end.z + e.maxs.z; org.z += stepdist)
{
- if(autocvar_bot_debug_tracewalk)
- debugnode(e, org);
+ if(autocvar_bot_debug_tracewalk)
+ debugnode(e, org);
- if(pointcontents(org) == CONTENT_EMPTY)
- break;
+ if(pointcontents(org) == CONTENT_EMPTY)
+ break;
}
if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
if(autocvar_bot_debug_tracewalk)
debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
- // check for doors
+ FOREACH_ENTITY_CLASS("func_ladder", true,
+ { it.solid = SOLID_BSP; });
+
traceline( org, move, movemode, e);
+
+ FOREACH_ENTITY_CLASS("func_ladder", true,
+ { it.solid = SOLID_TRIGGER; });
+
if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
{
vector nextmove;
move = nextmove;
}
}
+ else if (trace_ent.classname == "func_ladder")
+ {
+ tw_ladder = trace_ent;
+ vector ladder_bottom = trace_endpos - dir * m2.x;
+ vector ladder_top = ladder_bottom;
+ ladder_top.z = trace_ent.absmax.z + (-m1.z + 1);
+ tracebox(ladder_bottom, m1, m2, ladder_top, movemode, e);
+ if (trace_fraction < 1 || trace_startsolid)
+ {
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
+
+ return false; // failed
+ }
+ org = ladder_top + dir * m2.x;
+ move = org + dir * stepdist;
+ continue;
+ }
else
{
if(autocvar_bot_debug_tracewalk)
org = trace_endpos;
}
+
+ if(tw_ladder && org.z < tw_ladder.absmax.z)
+ {
+ // stop tracewalk if destination height is lower than the top of the ladder
+ // otherwise bot can't easily figure out climbing direction
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(org, DEBUG_NODE_FAIL);
+
+ return false;
+ }
}
//print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
void navigation_clearroute(entity this)
{
//print("bot ", etos(this), " clear\n");
- this.navigation_hasgoals = false;
+ this.goalentity = NULL;
this.goalcurrent = NULL;
this.goalstack01 = NULL;
this.goalstack02 = NULL;
void navigation_pushroute(entity this, entity e)
{
//print("bot ", etos(this), " push ", etos(e), "\n");
+ if(this.goalstack31 == this.goalentity)
+ this.goalentity = NULL;
this.goalstack31 = this.goalstack30;
this.goalstack30 = this.goalstack29;
this.goalstack29 = this.goalstack28;
void navigation_poproute(entity this)
{
//print("bot ", etos(this), " pop\n");
+ if(this.goalcurrent == this.goalentity)
+ this.goalentity = NULL;
this.goalcurrent = this.goalstack01;
this.goalstack01 = this.goalstack02;
this.goalstack02 = this.goalstack03;
{
if (walkfromwp)
{
- if (tracewalk(ent, v, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), org, bot_navigation_movemode))
+ if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
return true;
}
else
{
- if (tracewalk(ent, org, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), v, bot_navigation_movemode))
+ if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
return true;
}
}
});
vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
- org.z = ent.origin.z + ent.mins.z - STAT(PL_MIN, NULL).z; // player height
+ org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
// TODO possibly make other code have the same support for bboxes
if(ent.tag_entity)
org = org + ent.tag_entity.origin;
// updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
void navigation_routerating(entity this, entity e, float f, float rangebias)
{
- entity nwp;
- vector o;
if (!e)
return;
if(e.blacklisted)
return;
- o = (e.absmin + e.absmax) * 0.5;
+ if (IS_PLAYER(e))
+ {
+ bool rate_wps = false;
+ if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
+ rate_wps = true;
+
+ if(!IS_ONGROUND(e))
+ {
+ traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
+ int t = pointcontents(trace_endpos + '0 0 1');
+ if(t != CONTENT_SOLID )
+ {
+ if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
+ rate_wps = true;
+ else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
+ return;
+ }
+ }
+
+ if(rate_wps)
+ {
+ entity theEnemy = e;
+ entity best_wp = NULL;
+ float best_dist = 10000;
+ IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
+ && vdist(it.origin - this.origin, >, 100)
+ && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
+ {
+ float dist = vlen(it.origin - theEnemy.origin);
+ if (dist < best_dist)
+ {
+ best_wp = it;
+ best_dist = dist;
+ }
+ });
+ if (!best_wp)
+ return;
+ e = best_wp;
+ }
+ }
+
+ vector o = (e.absmin + e.absmax) * 0.5;
//print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
float zdistance, xydistance, cost, t, fuel;
vector down, npa, npb;
- down = '0 0 -1' * (STAT(PL_MAX, NULL).z - STAT(PL_MIN, NULL).z) * 10;
+ down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
do{
npa = pointa + down;
}
}
+ entity nwp;
//te_wizspike(e.origin);
//bprint(etos(e));
//bprint("\n");
}
else
{
- float search;
-
- search = true;
-
- if(e.flags & FL_ITEM)
- {
- if (!(e.flags & FL_WEAPON))
- if(e.nearestwaypoint)
- search = false;
- }
- else if (e.flags & FL_WEAPON)
- {
- if(e.classname != "droppedweapon")
- if(e.nearestwaypoint)
- search = false;
- }
-
- if(search)
- if (time > e.nearestwaypointtimeout)
+ if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
+ && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
{
nwp = navigation_findnearestwaypoint(e, true);
if(nwp)
{
LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
- if(e.flags & FL_ITEM)
+ if(!e.navigation_dynamicgoal)
e.blacklisted = true;
- else if (e.flags & FL_WEAPON)
- {
- if(e.classname != "droppedweapon")
- e.blacklisted = true;
- }
if(e.blacklisted)
{
}
}
- // TODO: Cleaner solution, probably handling this timeout from ctf.qc
- if(e.classname=="item_flag_team")
+ if(e.navigation_dynamicgoal)
e.nearestwaypointtimeout = time + 2;
- else
- e.nearestwaypointtimeout = time + random() * 3 + 5;
}
nwp = e.nearestwaypoint;
}
// adds an item to the the goal stack with the path to a given item
bool navigation_routetogoal(entity this, entity e, vector startposition)
{
- this.goalentity = e;
-
// if there is no goal, just exit
if (!e)
return false;
- this.navigation_hasgoals = true;
+ this.goalentity = e;
// put the entity on the goal stack
//print("routetogoal ", etos(e), "\n");
navigation_pushroute(this, e);
+ if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
+ {
+ this.wp_goal_prev1 = this.wp_goal_prev0;
+ this.wp_goal_prev0 = e;
+ }
+
if(g_jetpack)
if(e==this.navigation_jetpack_goal)
return true;
// if it can reach the goal there is nothing more to do
- if (tracewalk(this, startposition, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
+ if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
return true;
+ entity nearest_wp = NULL;
// see if there are waypoints describing a path to the item
if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
+ {
e = e.nearestwaypoint;
+ nearest_wp = e;
+ }
else
e = e.enemy; // we already have added it, so...
if(e == NULL)
return false;
+ if(nearest_wp && nearest_wp.enemy)
+ {
+ // often path can be optimized by not adding the nearest waypoint
+ if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode))
+ e = nearest_wp.enemy;
+ }
+
for (;;)
{
// add the spawnfunc_waypoint to the path
if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
{
+ // make sure jumppad is really hit, don't rely on distance based checks
+ // as they may report a touch even if it didn't really happen
if(this.lastteleporttime>0)
- if(time-this.lastteleporttime<(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
+ if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
{
if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
}
// If for some reason the bot is closer to the next goal, pop the current one
- if(this.goalstack01)
+ if(this.goalstack01 && !wasfreed(this.goalstack01))
if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
// personality property
}
- // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
- // TODO: rate waypoints near the targetted player at that moment, instead of the player itthis
- if(IS_PLAYER(this.goalcurrent))
- navigation_poproute(this);
-
- // aid for detecting jump pads better (distance based check fails sometimes)
- if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && this.jumppadcount > 0 )
- navigation_poproute(this);
-
// Loose goal touching check when running
if(this.aistatus & AI_STATUS_RUNNING)
- if(this.speed >= autocvar_sv_maxspeed) // if -really- running
if(this.goalcurrent.classname=="waypoint")
+ if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
+ if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
{
if(vdist(this.origin - this.goalcurrent.origin, <, 150))
{
}
}
- while (this.goalcurrent && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax))
+ while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
{
+ vector gc_min = this.goalcurrent.absmin;
+ vector gc_max = this.goalcurrent.absmax;
+ if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
+ {
+ gc_min = this.goalcurrent.origin - '1 1 1' * 12;
+ gc_max = this.goalcurrent.origin + '1 1 1' * 12;
+ }
+ if(!boxesoverlap(m1, m2, gc_min, gc_max))
+ break;
+
+ if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
+ break;
+
// Detect personal waypoints
if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
this.navigation_jetpack_goal = NULL;
navigation_bestrating = -1;
- this.navigation_hasgoals = false;
navigation_clearroute(this);
navigation_bestgoal = NULL;
navigation_markroutes(this, NULL);
LOG_DEBUG("best goal ", this.goalcurrent.classname);
// If the bot got stuck then try to reach the farthest waypoint
- if (!this.navigation_hasgoals)
- if (autocvar_bot_wander_enable)
+ if (!this.goalentity && autocvar_bot_wander_enable)
{
if (!(this.aistatus & AI_STATUS_STUCK))
{
LOG_DEBUG(this.netname, " cannot walk to any goal");
this.aistatus |= AI_STATUS_STUCK;
}
-
- this.navigation_hasgoals = false; // Reset this value
}
}
if (!bot_waypoint_queue_owner)
{
- LOG_DEBUG(this.netname, " sutck, taking over the waypoints queue");
+ LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
bot_waypoint_queue_owner = this;
bot_waypoint_queue_bestgoal = NULL;
bot_waypoint_queue_bestgoalrating = 0;
if (bot_waypoint_queue_goal)
{
// evaluate the next goal on the queue
- float d = vlen(this.origin - bot_waypoint_queue_goal.origin);
+ float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
- if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
+ if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
{
if( d > bot_waypoint_queue_bestgoalrating)
{
projects / xonotic / xonotic-data.pk3dir.git / blobdiff