#include <common/constants.qh>
#include <common/net_linked.qh>
-#include <common/triggers/trigger/jumppads.qh>
+#include <common/mapobjects/func/ladder.qh>
+#include <common/mapobjects/trigger/jumppads.qh>
.float speed;
+void navigation_goalrating_timeout_set(entity this)
+{
+ if(IS_MOVABLE(this.goalentity))
+ this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
+ else
+ this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+}
+
+// use this when current goal must be discarded immediately
+void navigation_goalrating_timeout_force(entity this)
+{
+ navigation_goalrating_timeout_expire(this, 0);
+}
+
+// use this when current goal can be kept for a short while to increase the chance
+// of bot touching a waypoint, which helps to find a new goal more efficiently
+void navigation_goalrating_timeout_expire(entity this, float seconds)
+{
+ if (seconds <= 0)
+ this.bot_strategytime = 0;
+ else if (this.bot_strategytime > time + seconds)
+ this.bot_strategytime = time + seconds;
+}
+
+bool navigation_goalrating_timeout(entity this)
+{
+ return this.bot_strategytime < time;
+}
+
+#define MAX_CHASE_DISTANCE 700
+bool navigation_goalrating_timeout_can_be_anticipated(entity this)
+{
+ vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
+ if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
+ && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
+ {
+ return true;
+ }
+
+ if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
+ {
+ if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
+ {
+ this.ignoregoal = this.goalentity;
+ this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
+ return true;
+ }
+ }
+ return false;
+}
+
void navigation_dynamicgoal_init(entity this, bool initially_static)
{
this.navigation_dynamicgoal = true;
this.nearestwaypointtimeout = time;
}
-void navigation_dynamicgoal_set(entity this)
+void navigation_dynamicgoal_set(entity this, entity dropper)
{
this.nearestwaypointtimeout = time;
+ if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
+ this.nearestwaypoint = dropper.nearestwaypoint;
+ if (this.nearestwaypoint)
+ this.nearestwaypointtimeout += 2;
}
void navigation_dynamicgoal_unset(entity this)
this.nearestwaypointtimeout = -1;
}
+// returns point of ent closer to org
+vector get_closer_dest(entity ent, vector org)
+{
+ vector dest = '0 0 0';
+ if ((ent.classname != "waypoint") || ent.wpisbox)
+ {
+ vector wm1 = ent.origin + ent.mins;
+ vector wm2 = ent.origin + ent.maxs;
+ dest.x = bound(wm1.x, org.x, wm2.x);
+ dest.y = bound(wm1.y, org.y, wm2.y);
+ dest.z = bound(wm1.z, org.z, wm2.z);
+ }
+ else
+ dest = ent.origin;
+ return dest;
+}
+
+void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
+{
+ if ((ent.classname != "waypoint") || ent.wpisbox)
+ {
+ vector wm1 = ent.origin + ent.mins;
+ vector wm2 = ent.origin + ent.maxs;
+ if (IS_PLAYER(ent) || IS_MONSTER(ent))
+ {
+ // move destination point out of player bbox otherwise tracebox always fails
+ // (if bot_navigation_ignoreplayers is false)
+ wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
+ wm2 += vec2(PL_MAX_CONST) + '1 1 0';
+ }
+ // set destination point to x and y coords of ent that are closer to org
+ // z coord is set to ent's min height
+ tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
+ tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
+ if ((IS_PLAYER(ent) || IS_MONSTER(ent))
+ && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
+ {
+ tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
+ tracewalk_dest_height = 0;
+ fix_player_dest = false;
+ }
+ else
+ {
+ tracewalk_dest.z = wm1.z;
+ tracewalk_dest_height = wm2.z - wm1.z;
+ }
+ }
+ else
+ {
+ tracewalk_dest = ent.origin;
+ tracewalk_dest_height = 0;
+ }
+ if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
+ {
+ // snap player to the ground
+ if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
+ {
+ // bot is right under the player
+ tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
+ tracewalk_dest = trace_endpos;
+ tracewalk_dest_height = 0;
+ }
+ else
+ {
+ tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
+ if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
+ {
+ tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
+ tracewalk_dest.z = trace_endpos.z;
+ }
+ }
+ }
+}
+
+// returns point of ent closer to org
+vector set_tracewalk_dest_2(entity ent, vector org)
+{
+ vector closer_dest = '0 0 0';
+ if ((ent.classname != "waypoint") || ent.wpisbox)
+ {
+ vector wm1 = ent.origin + ent.mins;
+ vector wm2 = ent.origin + ent.maxs;
+ closer_dest.x = bound(wm1.x, org.x, wm2.x);
+ closer_dest.y = bound(wm1.y, org.y, wm2.y);
+ closer_dest.z = bound(wm1.z, org.z, wm2.z);
+ // set destination point to x and y coords of ent that are closer to org
+ // z coord is set to ent's min height
+ tracewalk_dest.x = closer_dest.x;
+ tracewalk_dest.y = closer_dest.y;
+ tracewalk_dest.z = wm1.z;
+ tracewalk_dest_height = wm2.z - wm1.z; // destination height
+ }
+ else
+ {
+ closer_dest = ent.origin;
+ tracewalk_dest = closer_dest;
+ tracewalk_dest_height = 0;
+ }
+ return closer_dest;
+}
+
bool navigation_check_submerged_state(entity ent, vector pos)
{
bool submerged;
// rough simulation of walking from one point to another to test if a path
// can be traveled, used for waypoint linking and havocbot
// if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
+// INFO: the command sv_cmd trace walk is useful to test this function in game
bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
{
if(autocvar_bot_debug_tracewalk)
int nav_action;
// Analyze starting point
- traceline(start, start, MOVE_NORMAL, e);
- if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
+ if (IN_LAVA(start))
ignorehazards = true;
tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
// completely empty the goal stack, used when deciding where to go
void navigation_clearroute(entity this)
{
+ this.lastteleporttime = 0;
this.goalcurrent_prev = this.goalcurrent;
- this.goalcurrent_distance = 10000000;
+ this.goalcurrent_distance_2d = FLOAT_MAX;
+ this.goalcurrent_distance_z = FLOAT_MAX;
this.goalcurrent_distance_time = 0;
- //print("bot ", etos(this), " clear\n");
+ this.goalentity_lock_timeout = 0;
+ this.goalentity_shouldbefrozen = false;
this.goalentity = NULL;
this.goalcurrent = NULL;
this.goalstack01 = NULL;
void navigation_pushroute(entity this, entity e)
{
this.goalcurrent_prev = this.goalcurrent;
- this.goalcurrent_distance = 10000000;
+ this.goalcurrent_distance_2d = FLOAT_MAX;
+ this.goalcurrent_distance_z = FLOAT_MAX;
this.goalcurrent_distance_time = 0;
//print("bot ", etos(this), " push ", etos(e), "\n");
if(this.goalstack31 == this.goalentity)
void navigation_poproute(entity this)
{
this.goalcurrent_prev = this.goalcurrent;
- this.goalcurrent_distance = 10000000;
+ this.goalcurrent_distance_2d = FLOAT_MAX;
+ this.goalcurrent_distance_z = FLOAT_MAX;
this.goalcurrent_distance_time = 0;
//print("bot ", etos(this), " pop\n");
if(this.goalcurrent == this.goalentity)
+ {
this.goalentity = NULL;
+ this.goalentity_lock_timeout = 0;
+ }
this.goalcurrent = this.goalstack01;
this.goalstack01 = this.goalstack02;
this.goalstack02 = this.goalstack03;
vector pm2 = ent.origin + ent.maxs;
// do two scans, because box test is cheaper
- IL_EACH(g_waypoints, it != ent && it != except,
+ IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
{
if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
+ {
+ if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
+ {
+ waypoint_clearlinks(ent); // initialize wpXXmincost fields
+ navigation_item_addlink(it, ent);
+ }
return it;
+ }
});
vector org = ent.origin;
te_plasmaburn(org);
entity best = NULL;
- vector v = '0 0 0', v2 = '0 0 0';
- float v2_height = 0;
+ vector v = '0 0 0';
if(ent.size && !IS_PLAYER(ent))
{
if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
continue;
- SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
- if(vdist(v2 - org, <, 1050))
- if(tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
+ set_tracewalk_dest(ent, it.origin, false);
+ if (vdist(tracewalk_dest - it.origin, <, 1050)
+ && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
+ {
navigation_item_addlink(it, ent);
+ }
});
}
if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
continue;
v = it.origin;
- if(walkfromwp)
- SET_TRACEWALK_DESTCOORDS(ent, v, v2, v2_height);
+
+ if (walkfromwp)
+ {
+ set_tracewalk_dest(ent, v, true);
+ if (trace_ent == ent)
+ {
+ bestdist = 0;
+ best = it;
+ break;
+ }
+ }
else
- SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
- if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, v2, v2_height, walkfromwp, bestdist))
+ set_tracewalk_dest(it, org, false);
+
+ if (navigation_waypoint_will_link(v, org, ent,
+ tracewalk_dest, tracewalk_dest_height,
+ tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
{
- bestdist = vlen(v - org);
+ if (walkfromwp)
+ bestdist = vlen(tracewalk_dest - v);
+ else
+ bestdist = vlen(v - org);
best = it;
}
});
+ if(!best && !ent.navigation_dynamicgoal)
+ {
+ int solid_save = ent.solid;
+ ent.solid = SOLID_BSP;
+ IL_EACH(g_jumppads, true,
+ {
+ if(trigger_push_test(it, ent))
+ {
+ best = it.nearestwaypoint;
+ break;
+ }
+ });
+ ent.solid = solid_save;
+ }
return best;
}
entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
// finds the waypoints near the bot initiating a navigation query
float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
{
- vector v = '0 0 0';
//navigation_testtracewalk = true;
int c = 0;
- float v_height = 0;
IL_EACH(g_waypoints, !it.wpconsidered,
{
- SET_TRACEWALK_DESTCOORDS(it, this.origin, v, v_height);
+ set_tracewalk_dest(it, this.origin, false);
- vector diff = v - this.origin;
+ vector diff = tracewalk_dest - this.origin;
diff.z = max(0, diff.z);
if(vdist(diff, <, maxdist))
{
it.wpconsidered = true;
- if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
+ if (tracewalk(this, this.origin, this.mins, this.maxs,
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
{
- it.wpnearestpoint = v;
- it.wpcost = waypoint_gettravelcost(this.origin, v, this, it) + it.dmg;
+ it.wpnearestpoint = tracewalk_dest;
+ it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
it.wpfire = 1;
it.enemy = NULL;
c = c + 1;
// 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)
{
- if (!e)
- return;
-
- if(e.blacklisted)
- return;
+ if (!e || e.blacklisted) { return; }
rangebias = waypoint_getlinearcost(rangebias);
f = waypoint_getlinearcost(f);
if (IS_PLAYER(e))
{
bool rate_wps = false;
- if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
+ if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
+ || (e.flags & FL_PARTIALGROUND))
+ {
rate_wps = true;
+ }
if(!IS_ONGROUND(e))
{
{
entity theEnemy = e;
entity best_wp = NULL;
- float best_dist = 10000;
- IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
+ float best_dist = FLOAT_MAX;
+ IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
+ && vdist(it.origin - theEnemy.origin, <, 500)
&& vdist(it.origin - this.origin, >, 100)
- && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
+ && vdist(it.origin - this.origin, <, 10000),
{
- float dist = vlen(it.origin - theEnemy.origin);
+ float dist = vlen2(it.origin - theEnemy.origin);
if (dist < best_dist)
{
best_wp = it;
//print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
// Evaluate path using jetpack
- if(g_jetpack)
if(this.items & IT_JETPACK)
if(autocvar_bot_ai_navigation_jetpack)
if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
t += xydistance / autocvar_g_jetpack_maxspeed_side;
fuel = t * autocvar_g_jetpack_fuel * 0.8;
- LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
+ LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
// enough fuel ?
- if(this.ammo_fuel>fuel)
+ if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO))
{
// Estimate cost
// (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
&& e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
{
- nwp = navigation_findnearestwaypoint(e, true);
- if(nwp)
- {
- e.nearestwaypoint = nwp;
-
- vector m1 = nwp.absmin, m2 = nwp.absmax;
- m1.x = nwp.origin.x; m1.y = nwp.origin.y;
- m2.x = nwp.origin.x; m2.y = nwp.origin.y;
- vector ve = (e.absmin - e.absmax) * 0.5;
- ve.x = bound(m1.x, ve.x, m2.x);
- ve.y = bound(m1.y, ve.y, m2.y);
- ve.z = bound(m1.z, ve.z, m2.z);
-
- m1 = e.absmin; m2 = e.absmax;
- m1.x = e.origin.x; m1.y = e.origin.y;
- m2.x = e.origin.x; m2.y = e.origin.y;
- vector vnwp = nwp.origin;
- vnwp.x = bound(m1.x, vnwp.x, m2.x);
- vnwp.y = bound(m1.y, vnwp.y, m2.y);
- vnwp.z = bound(m1.z, vnwp.z, m2.z);
- e.nearestwaypoint_dist = vlen(ve - vnwp);
- }
+ if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
+ e.nearestwaypoint = nwp = e.goalcurrent;
else
+ e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
+ if(!nwp)
{
LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
nwp = e.nearestwaypoint;
}
- LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
- if (nwp)
- if (nwp.wpcost < 10000000)
+ if (nwp && nwp.wpcost < 10000000)
{
//te_wizspike(nwp.wpnearestpoint);
- float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
- LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
+ float nwptoitem_cost = 0;
+ if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
+ nwptoitem_cost = nwp.wp00mincost;
+ else
+ nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
+ float cost = nwp.wpcost + nwptoitem_cost;
+ LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
f = f * rangebias / (rangebias + cost);
- LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
+ LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
if (navigation_bestrating < f)
{
- LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
+ LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
navigation_bestrating = f;
navigation_bestgoal = e;
}
return true;
// if it can reach the goal there is nothing more to do
- vector dest = '0 0 0';
- float dest_height = 0;
- SET_TRACEWALK_DESTCOORDS(e, startposition, dest, dest_height);
- if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
+ set_tracewalk_dest(e, startposition, true);
+ if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
+ && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
+ {
return true;
+ }
entity nearest_wp = NULL;
// see if there are waypoints describing a path to the item
if(nearest_wp && nearest_wp.enemy)
{
// often path can be optimized by not adding the nearest waypoint
- if (this.goalentity.nearestwaypoint_dist < 8)
- e = nearest_wp.enemy;
- else
+ if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
{
- if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
+ if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
{
- SET_TRACEWALK_DESTCOORDS(this.goalentity, nearest_wp.enemy.origin, dest, dest_height);
- if(vdist(dest - nearest_wp.enemy.origin, <, 1050))
- if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
+ if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
e = nearest_wp.enemy;
+ else
+ {
+ set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
+ if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
+ && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
+ && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
+ {
+ e = nearest_wp.enemy;
+ }
+ }
}
- else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
- e = nearest_wp.enemy;
}
+ else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
+ e = nearest_wp.enemy;
}
for (;;)
return false;
}
+// shorten path by removing intermediate goals
+bool navigation_shortenpath(entity this)
+{
+ if (!this.goalstack01 || wasfreed(this.goalstack01))
+ return false;
+ if (this.bot_tracewalk_time > time)
+ return false;
+ this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
+
+ bool cut_allowed = false;
+ entity next = this.goalentity;
+ // evaluate whether bot can discard current route and chase directly a player, trying to
+ // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
+ if (IS_MOVABLE(next))
+ {
+ set_tracewalk_dest(next, this.origin, true);
+ if (vdist(this.origin - tracewalk_dest, <, 200))
+ cut_allowed = true;
+ else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
+ && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
+ && vdist(this.origin - this.goalcurrent.origin, >, 100)
+ && checkpvs(this.origin + this.view_ofs, next))
+ {
+ if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
+ cut_allowed = true;
+ else
+ {
+ vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
+ while (deviation.y < -180) deviation.y += 360;
+ while (deviation.y > 180) deviation.y -= 360;
+ if (fabs(deviation.y) > 25)
+ cut_allowed = true;
+ }
+ }
+ if (cut_allowed)
+ {
+ if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
+ {
+ LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
+ do
+ {
+ navigation_poproute(this);
+ }
+ while (this.goalcurrent != next);
+ return true;
+ }
+ return false;
+ }
+ }
+
+ next = this.goalstack01;
+ // if for some reason the bot is closer to the next goal, pop the current one
+ if (!IS_MOVABLE(next) // already checked in the previous case
+ && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
+ && checkpvs(this.origin + this.view_ofs, next))
+ {
+ set_tracewalk_dest(next, this.origin, true);
+ cut_allowed = true;
+ }
+
+ if (cut_allowed)
+ {
+ if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
+ {
+ LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
+ navigation_poproute(this);
+ return true;
+ }
+ }
+ return false;
+}
+
// removes any currently touching waypoints from the goal stack
// (this is how bots detect if they reached a goal)
-void navigation_poptouchedgoals(entity this)
+int navigation_poptouchedgoals(entity this)
{
+ int removed_goals = 0;
+
+ if(!this.goalcurrent)
+ return removed_goals;
+
if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
{
+ if (!this.goalcurrent.wpisbox // warpzone
+ && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
+ {
+ // immediately remove origin and destination waypoints
+ navigation_poproute(this);
+ ++removed_goals;
+ navigation_poproute(this);
+ ++removed_goals;
+ this.lastteleporttime = 0;
+ }
+
// 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
- && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
+ if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
{
- if (this.jumppadcount && !boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax,
- this.lastteleport_origin + STAT(PL_MIN, this), this.lastteleport_origin + STAT(PL_MAX, this)))
- {
- return;
- }
-
if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
{
this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
}
+ if(this.jumppadcount)
+ {
+ // remove jumppad waypoint after a random delay to prevent bots getting
+ // stuck on certain jumppads that require an extra initial horizontal speed
+ float max_delay = 0.1;
+ if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
+ max_delay = 0.05;
+ if (time - this.lastteleporttime < random() * max_delay)
+ return removed_goals;
+ }
+ else if (this.goalcurrent.wpisbox) // teleport
+ {
+ // immediately remove origin and destination waypoints
+ navigation_poproute(this);
+ ++removed_goals;
+ }
navigation_poproute(this);
+ this.lastteleporttime = 0;
+ ++removed_goals;
}
- else
- return;
+ return removed_goals;
}
-
- // If for some reason the bot is closer to the next goal, pop the current one
- 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))
+ else if (this.lastteleporttime > 0)
{
- vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
- dest.z = this.goalstack01.absmin.z;
- float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
- if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
+ // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
+ // teleport / jumppad / warpzone present in its path skipping check of one or more goals
+ // if so immediately fix bot path by removing skipped goals
+ entity tele_ent = NULL;
+ if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
+ tele_ent = this.goalstack01;
+ else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
+ tele_ent = this.goalstack02;
+ else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
+ tele_ent = this.goalstack03;
+ if (tele_ent && TELEPORT_USED(this, tele_ent))
{
- LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
+ if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
+ if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
+ {
+ this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
+ this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
+ }
+ while (this.goalcurrent != tele_ent)
+ {
+ navigation_poproute(this);
+ ++removed_goals;
+ }
navigation_poproute(this);
- if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
- return;
- // TODO this may also be a nice idea to do "early" (e.g. by
- // manipulating the vlen() comparisons) to shorten paths in
- // general - this would make bots walk more "on rails" than
- // "zigzagging" which they currently do with sufficiently
- // random-like waypoints, and thus can make a nice bot
- // personality property
+ this.lastteleporttime = 0;
+ ++removed_goals;
+ return removed_goals;
}
+ // reset of lastteleporttime can be overriden by a jumppad when it's set
+ // in more than one frame: make sure it's reset
+ this.lastteleporttime = 0;
}
// Loose goal touching check when running
}
navigation_poproute(this);
+ ++removed_goals;
if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
- return;
+ return removed_goals;
}
}
}
gc_min = this.goalcurrent.origin - '1 1 1' * 12;
gc_max = this.goalcurrent.origin + '1 1 1' * 12;
}
- if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
- break;
+ if (time < this.ladder_time)
+ {
+ if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
+ break;
+ }
+ else
+ {
+ if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
+ break;
+ }
// Detect personal waypoints
if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
}
navigation_poproute(this);
+ ++removed_goals;
if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
- return;
+ return removed_goals;
+ }
+ return removed_goals;
+}
+
+entity navigation_get_really_close_waypoint(entity this)
+{
+ entity wp = this.goalcurrent;
+ if(!wp)
+ wp = this.goalcurrent_prev;
+ if(!wp)
+ return NULL;
+ if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
+ {
+ wp = this.goalcurrent_prev;
+ if(!wp)
+ return NULL;
+ }
+ if(wp.classname != "waypoint")
+ {
+ wp = wp.nearestwaypoint;
+ if(!wp)
+ return NULL;
+ }
+ if(vdist(wp.origin - this.origin, >, 50))
+ {
+ wp = NULL;
+ IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
+ {
+ if(vdist(it.origin - this.origin, <, 50))
+ {
+ wp = it;
+ break;
+ }
+ });
+ if(!wp)
+ return NULL;
}
+ if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
+ return NULL;
+
+ set_tracewalk_dest(wp, this.origin, false);
+ if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
+ {
+ return NULL;
+ }
+ return wp;
}
// begin a goal selection session (queries spawnfunc_waypoint network)
this.navigation_jetpack_goal = NULL;
navigation_bestrating = -1;
+ entity wp = navigation_get_really_close_waypoint(this);
navigation_clearroute(this);
navigation_bestgoal = NULL;
- navigation_markroutes(this, NULL);
+ navigation_markroutes(this, wp);
+ this.goalstack31 = wp; // temporarly save the really close waypoint
}
// ends a goal selection session (updates goal stack to the best goal)
if(this.aistatus & AI_STATUS_STUCK)
return;
+ entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
+ this.goalstack31 = NULL;
+
navigation_routetogoal(this, navigation_bestgoal, this.origin);
LOG_DEBUG("best goal ", this.goalcurrent.classname);
+ if (wp && this.goalcurrent == wp)
+ navigation_poproute(this);
+
// If the bot got stuck then try to reach the farthest waypoint
- if (!this.goalentity && autocvar_bot_wander_enable)
+ if (!this.goalentity)
{
- if (!(this.aistatus & AI_STATUS_STUCK))
+ if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
{
LOG_DEBUG(this.netname, " cannot walk to any goal");
this.aistatus |= AI_STATUS_STUCK;
}
+ this.goalentity_shouldbefrozen = false;
}
+ else
+ this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
}
void botframe_updatedangerousobjects(float maxupdate)
void navigation_unstuck(entity this)
{
- float search_radius = 1000;
-
if (!autocvar_bot_wander_enable)
return;
+ bool has_user_waypoints = false;
+ IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
+ {
+ has_user_waypoints = true;
+ break;
+ });
+ if (!has_user_waypoints)
+ return;
+
+ float search_radius = 1000;
+
if (!bot_waypoint_queue_owner)
{
LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
// evaluate the next goal on the queue
float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
- vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
- dest.z = bot_waypoint_queue_goal.absmin.z;
- float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
- if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
+ set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
+ if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
+ tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
{
if( d > bot_waypoint_queue_bestgoalrating)
{
bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
}
}
+
+ // move to a random waypoint while bot is searching for a walkable path;
+ // this is usually sufficient to unstuck bots from bad spots or when other
+ // bots of the same team block all their ways
+ if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
+ {
+ navigation_clearroute(this);
+ navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
+ navigation_goalrating_timeout_expire(this, 1 + random() * 2);
+ }
+
bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
if (!bot_waypoint_queue_goal)
if (bot_waypoint_queue_bestgoal)
{
LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
+ navigation_clearroute(this);
navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
- this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+ navigation_goalrating_timeout_set(this);
this.aistatus &= ~AI_STATUS_STUCK;
}
else
projects / xonotic / xonotic-data.pk3dir.git / blobdiff