X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fxonotic-data.pk3dir.git;a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=5092a65c664c4adcebc4753c279d386c6426cb08;hp=8898b71632b6c937c2ac70829f7b02a91d1c2ef5;hb=26693a3ac060825ce6c7f170d4e65f7ac2a1fb25;hpb=05375be95785001ea4228a59f830308501e59b5e diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 8898b7163..5092a65c6 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -1,21 +1,25 @@ #include "navigation.qh" -#include "../../../common/triggers/trigger/jumppads.qh" +#include "cvars.qh" -void bot_debug(string input) -{ - switch(autocvar_bot_debug) - { - case 1: LOG_TRACE(input); break; - case 2: LOG_INFO(input); break; - } -} +#include "bot.qh" +#include "waypoints.qh" + +#include + +#include + +#include +#include +#include + +.float speed; // rough simulation of walking from one point to another to test if a path // can be traveled, used for waypoint linking and havocbot -float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode) -{SELFPARAM(); +bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode) +{ vector org; vector move; vector dir; @@ -29,7 +33,7 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float if(autocvar_bot_debug_tracewalk) { debugresetnodes(); - debugnode(start); + debugnode(e, start); } move = end - start; @@ -80,7 +84,7 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float return true; } if(autocvar_bot_debug_tracewalk) - debugnode(org); + debugnode(e, org); if (dist <= 0) break; @@ -106,16 +110,16 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float tracebox(org, m1, m2, org + move * stepdist, movemode, e); if(autocvar_bot_debug_tracewalk) - debugnode(trace_endpos); + debugnode(e, trace_endpos); if (trace_fraction < 1) { swimming = true; org = trace_endpos - normalize(org - trace_endpos) * stepdist; - for (; org.z < end.z + self.maxs.z; org.z += stepdist) + for (; org.z < end.z + e.maxs.z; org.z += stepdist) { if(autocvar_bot_debug_tracewalk) - debugnode(org); + debugnode(e, org); if(pointcontents(org) == CONTENT_EMPTY) break; @@ -141,7 +145,7 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float tracebox(org, m1, m2, move, movemode, e); if(autocvar_bot_debug_tracewalk) - debugnode(trace_endpos); + debugnode(e, trace_endpos); // hit something if (trace_fraction < 1) @@ -224,42 +228,42 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float ///////////////////////////////////////////////////////////////////////////// // completely empty the goal stack, used when deciding where to go -void navigation_clearroute() -{SELFPARAM(); - //print("bot ", etos(self), " clear\n"); - self.navigation_hasgoals = false; - self.goalcurrent = world; - self.goalstack01 = world; - self.goalstack02 = world; - self.goalstack03 = world; - self.goalstack04 = world; - self.goalstack05 = world; - self.goalstack06 = world; - self.goalstack07 = world; - self.goalstack08 = world; - self.goalstack09 = world; - self.goalstack10 = world; - self.goalstack11 = world; - self.goalstack12 = world; - self.goalstack13 = world; - self.goalstack14 = world; - self.goalstack15 = world; - self.goalstack16 = world; - self.goalstack17 = world; - self.goalstack18 = world; - self.goalstack19 = world; - self.goalstack20 = world; - self.goalstack21 = world; - self.goalstack22 = world; - self.goalstack23 = world; - self.goalstack24 = world; - self.goalstack25 = world; - self.goalstack26 = world; - self.goalstack27 = world; - self.goalstack28 = world; - self.goalstack29 = world; - self.goalstack30 = world; - self.goalstack31 = world; +void navigation_clearroute(entity this) +{ + //print("bot ", etos(this), " clear\n"); + this.navigation_hasgoals = false; + this.goalcurrent = NULL; + this.goalstack01 = NULL; + this.goalstack02 = NULL; + this.goalstack03 = NULL; + this.goalstack04 = NULL; + this.goalstack05 = NULL; + this.goalstack06 = NULL; + this.goalstack07 = NULL; + this.goalstack08 = NULL; + this.goalstack09 = NULL; + this.goalstack10 = NULL; + this.goalstack11 = NULL; + this.goalstack12 = NULL; + this.goalstack13 = NULL; + this.goalstack14 = NULL; + this.goalstack15 = NULL; + this.goalstack16 = NULL; + this.goalstack17 = NULL; + this.goalstack18 = NULL; + this.goalstack19 = NULL; + this.goalstack20 = NULL; + this.goalstack21 = NULL; + this.goalstack22 = NULL; + this.goalstack23 = NULL; + this.goalstack24 = NULL; + this.goalstack25 = NULL; + this.goalstack26 = NULL; + this.goalstack27 = NULL; + this.goalstack28 = NULL; + this.goalstack29 = NULL; + this.goalstack30 = NULL; + this.goalstack31 = NULL; } // add a new goal at the beginning of the stack @@ -268,81 +272,81 @@ void navigation_clearroute() // next-closest WP on the shortest path to the WP // That means, if the stack overflows, the bot will know how to do the FIRST 32 // steps to the goal, and then recalculate the path. -void navigation_pushroute(entity e) -{SELFPARAM(); - //print("bot ", etos(self), " push ", etos(e), "\n"); - self.goalstack31 = self.goalstack30; - self.goalstack30 = self.goalstack29; - self.goalstack29 = self.goalstack28; - self.goalstack28 = self.goalstack27; - self.goalstack27 = self.goalstack26; - self.goalstack26 = self.goalstack25; - self.goalstack25 = self.goalstack24; - self.goalstack24 = self.goalstack23; - self.goalstack23 = self.goalstack22; - self.goalstack22 = self.goalstack21; - self.goalstack21 = self.goalstack20; - self.goalstack20 = self.goalstack19; - self.goalstack19 = self.goalstack18; - self.goalstack18 = self.goalstack17; - self.goalstack17 = self.goalstack16; - self.goalstack16 = self.goalstack15; - self.goalstack15 = self.goalstack14; - self.goalstack14 = self.goalstack13; - self.goalstack13 = self.goalstack12; - self.goalstack12 = self.goalstack11; - self.goalstack11 = self.goalstack10; - self.goalstack10 = self.goalstack09; - self.goalstack09 = self.goalstack08; - self.goalstack08 = self.goalstack07; - self.goalstack07 = self.goalstack06; - self.goalstack06 = self.goalstack05; - self.goalstack05 = self.goalstack04; - self.goalstack04 = self.goalstack03; - self.goalstack03 = self.goalstack02; - self.goalstack02 = self.goalstack01; - self.goalstack01 = self.goalcurrent; - self.goalcurrent = e; +void navigation_pushroute(entity this, entity e) +{ + //print("bot ", etos(this), " push ", etos(e), "\n"); + this.goalstack31 = this.goalstack30; + this.goalstack30 = this.goalstack29; + this.goalstack29 = this.goalstack28; + this.goalstack28 = this.goalstack27; + this.goalstack27 = this.goalstack26; + this.goalstack26 = this.goalstack25; + this.goalstack25 = this.goalstack24; + this.goalstack24 = this.goalstack23; + this.goalstack23 = this.goalstack22; + this.goalstack22 = this.goalstack21; + this.goalstack21 = this.goalstack20; + this.goalstack20 = this.goalstack19; + this.goalstack19 = this.goalstack18; + this.goalstack18 = this.goalstack17; + this.goalstack17 = this.goalstack16; + this.goalstack16 = this.goalstack15; + this.goalstack15 = this.goalstack14; + this.goalstack14 = this.goalstack13; + this.goalstack13 = this.goalstack12; + this.goalstack12 = this.goalstack11; + this.goalstack11 = this.goalstack10; + this.goalstack10 = this.goalstack09; + this.goalstack09 = this.goalstack08; + this.goalstack08 = this.goalstack07; + this.goalstack07 = this.goalstack06; + this.goalstack06 = this.goalstack05; + this.goalstack05 = this.goalstack04; + this.goalstack04 = this.goalstack03; + this.goalstack03 = this.goalstack02; + this.goalstack02 = this.goalstack01; + this.goalstack01 = this.goalcurrent; + this.goalcurrent = e; } // remove first goal from stack // (in other words: remove a prerequisite for reaching the later goals) // (used when a spawnfunc_waypoint is reached) -void navigation_poproute() -{SELFPARAM(); - //print("bot ", etos(self), " pop\n"); - self.goalcurrent = self.goalstack01; - self.goalstack01 = self.goalstack02; - self.goalstack02 = self.goalstack03; - self.goalstack03 = self.goalstack04; - self.goalstack04 = self.goalstack05; - self.goalstack05 = self.goalstack06; - self.goalstack06 = self.goalstack07; - self.goalstack07 = self.goalstack08; - self.goalstack08 = self.goalstack09; - self.goalstack09 = self.goalstack10; - self.goalstack10 = self.goalstack11; - self.goalstack11 = self.goalstack12; - self.goalstack12 = self.goalstack13; - self.goalstack13 = self.goalstack14; - self.goalstack14 = self.goalstack15; - self.goalstack15 = self.goalstack16; - self.goalstack16 = self.goalstack17; - self.goalstack17 = self.goalstack18; - self.goalstack18 = self.goalstack19; - self.goalstack19 = self.goalstack20; - self.goalstack20 = self.goalstack21; - self.goalstack21 = self.goalstack22; - self.goalstack22 = self.goalstack23; - self.goalstack23 = self.goalstack24; - self.goalstack24 = self.goalstack25; - self.goalstack25 = self.goalstack26; - self.goalstack26 = self.goalstack27; - self.goalstack27 = self.goalstack28; - self.goalstack28 = self.goalstack29; - self.goalstack29 = self.goalstack30; - self.goalstack30 = self.goalstack31; - self.goalstack31 = world; +void navigation_poproute(entity this) +{ + //print("bot ", etos(this), " pop\n"); + this.goalcurrent = this.goalstack01; + this.goalstack01 = this.goalstack02; + this.goalstack02 = this.goalstack03; + this.goalstack03 = this.goalstack04; + this.goalstack04 = this.goalstack05; + this.goalstack05 = this.goalstack06; + this.goalstack06 = this.goalstack07; + this.goalstack07 = this.goalstack08; + this.goalstack08 = this.goalstack09; + this.goalstack09 = this.goalstack10; + this.goalstack10 = this.goalstack11; + this.goalstack11 = this.goalstack12; + this.goalstack12 = this.goalstack13; + this.goalstack13 = this.goalstack14; + this.goalstack14 = this.goalstack15; + this.goalstack15 = this.goalstack16; + this.goalstack16 = this.goalstack17; + this.goalstack17 = this.goalstack18; + this.goalstack18 = this.goalstack19; + this.goalstack19 = this.goalstack20; + this.goalstack20 = this.goalstack21; + this.goalstack21 = this.goalstack22; + this.goalstack22 = this.goalstack23; + this.goalstack23 = this.goalstack24; + this.goalstack24 = this.goalstack25; + this.goalstack25 = this.goalstack26; + this.goalstack26 = this.goalstack27; + this.goalstack27 = this.goalstack28; + this.goalstack28 = this.goalstack29; + this.goalstack29 = this.goalstack30; + this.goalstack30 = this.goalstack31; + this.goalstack31 = NULL; } float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist) @@ -356,12 +360,12 @@ float navigation_waypoint_will_link(vector v, vector org, entity ent, float walk { if (walkfromwp) { - if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode)) + if (tracewalk(ent, v, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), org, bot_navigation_movemode)) return true; } else { - if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode)) + if (tracewalk(ent, org, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), v, bot_navigation_movemode)) return true; } } @@ -372,65 +376,51 @@ float navigation_waypoint_will_link(vector v, vector org, entity ent, float walk // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except) { - entity waylist, w, best; - vector v, org, pm1, pm2; - - pm1 = ent.origin + ent.mins; - pm2 = ent.origin + ent.maxs; - waylist = findchain(classname, "waypoint"); + vector pm1 = ent.origin + ent.mins; + vector pm2 = ent.origin + ent.maxs; // do two scans, because box test is cheaper - w = waylist; - while (w) + IL_EACH(g_waypoints, it != ent && it != except, { - // if object is touching spawnfunc_waypoint - if(w != ent && w != except) - if (boxesoverlap(pm1, pm2, w.absmin, w.absmax)) - return w; - w = w.chain; - } + if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) + return it; + }); - org = ent.origin + 0.5 * (ent.mins + ent.maxs); - org.z = ent.origin.z + ent.mins.z - PL_MIN.z; // player height + 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 // TODO possibly make other code have the same support for bboxes if(ent.tag_entity) org = org + ent.tag_entity.origin; if (navigation_testtracewalk) te_plasmaburn(org); - best = world; + entity best = NULL; + vector v; // box check failed, try walk - w = waylist; - while (w) + IL_EACH(g_waypoints, it != ent, { - // if object can walk from spawnfunc_waypoint - if(w != ent) + if(it.wpisbox) { - if (w.wpisbox) - { - vector wm1, wm2; - wm1 = w.origin + w.mins; - wm2 = w.origin + w.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); - } - else - v = w.origin; - if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist)) - { - bestdist = vlen(v - org); - best = w; - } + vector wm1 = it.origin + it.mins; + vector wm2 = it.origin + it.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); } - w = w.chain; - } + else + v = it.origin; + if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist)) + { + bestdist = vlen(v - org); + best = it; + } + }); return best; } entity navigation_findnearestwaypoint(entity ent, float walkfromwp) { - entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, world); + entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL); if (autocvar_g_waypointeditor_auto) { entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp); @@ -441,46 +431,39 @@ entity navigation_findnearestwaypoint(entity ent, float walkfromwp) } // finds the waypoints near the bot initiating a navigation query -float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist) -{SELFPARAM(); - entity head; - vector v, m1, m2, diff; - float c; +float navigation_markroutes_nearestwaypoints(entity this, float maxdist) +{ + vector v, m1, m2; // navigation_testtracewalk = true; - c = 0; - head = waylist; - while (head) + int c = 0; + IL_EACH(g_waypoints, !it.wpconsidered, { - if (!head.wpconsidered) + if (it.wpisbox) { - if (head.wpisbox) - { - m1 = head.origin + head.mins; - m2 = head.origin + head.maxs; - v = self.origin; - v.x = bound(m1_x, v.x, m2_x); - v.y = bound(m1_y, v.y, m2_y); - v.z = bound(m1_z, v.z, m2_z); - } - else - v = head.origin; - diff = v - self.origin; - diff.z = max(0, diff.z); - if (vlen(diff) < maxdist) + m1 = it.origin + it.mins; + m2 = it.origin + it.maxs; + v = this.origin; + v.x = bound(m1_x, v.x, m2_x); + v.y = bound(m1_y, v.y, m2_y); + v.z = bound(m1_z, v.z, m2_z); + } + else + v = it.origin; + vector diff = v - 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, bot_navigation_movemode)) { - head.wpconsidered = true; - if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode)) - { - head.wpnearestpoint = v; - head.wpcost = vlen(v - self.origin) + head.dmg; - head.wpfire = 1; - head.enemy = world; - c = c + 1; - } + it.wpnearestpoint = v; + it.wpcost = vlen(v - this.origin) + it.dmg; + it.wpfire = 1; + it.enemy = NULL; + c = c + 1; } } - head = head.chain; - } + }); //navigation_testtracewalk = false; return c; } @@ -512,21 +495,19 @@ void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vecto } // queries the entire spawnfunc_waypoint network for pathes leading away from the bot -void navigation_markroutes(entity fixed_source_waypoint) -{SELFPARAM(); - entity w, wp, waylist; - float searching, cost, cost2; +void navigation_markroutes(entity this, entity fixed_source_waypoint) +{ + float cost, cost2; vector p; - w = waylist = findchain(classname, "waypoint"); - while (w) + + IL_EACH(g_waypoints, true, { - w.wpconsidered = false; - w.wpnearestpoint = '0 0 0'; - w.wpcost = 10000000; - w.wpfire = 0; - w.enemy = world; - w = w.chain; - } + it.wpconsidered = false; + it.wpnearestpoint = '0 0 0'; + it.wpcost = 10000000; + it.wpfire = 0; + it.enemy = NULL; + }); if(fixed_source_waypoint) { @@ -534,14 +515,14 @@ void navigation_markroutes(entity fixed_source_waypoint) fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs); fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; fixed_source_waypoint.wpfire = 1; - fixed_source_waypoint.enemy = world; + fixed_source_waypoint.enemy = NULL; } else { // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found // as this search is expensive we will use lower values if the bot is on the air - float i, increment, maxdistance; - if(self.flags & FL_ONGROUND) + float increment, maxdistance; + if(IS_ONGROUND(this)) { increment = 750; maxdistance = 50000; @@ -552,77 +533,70 @@ void navigation_markroutes(entity fixed_source_waypoint) maxdistance = 1500; } - for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p); - }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}} - } - w = w.chain; - } + searching = true; + it.wpfire = 0; + cost = it.wpcost; + p = it.wpnearestpoint; + entity wp; + wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p); + }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}} + }); } } // queries the entire spawnfunc_waypoint network for pathes leading to the bot void navigation_markroutes_inverted(entity fixed_source_waypoint) { - entity w, wp, waylist; - float searching, cost, cost2; + float cost, cost2; vector p; - w = waylist = findchain(classname, "waypoint"); - while (w) + IL_EACH(g_waypoints, true, { - w.wpconsidered = false; - w.wpnearestpoint = '0 0 0'; - w.wpcost = 10000000; - w.wpfire = 0; - w.enemy = world; - w = w.chain; - } + it.wpconsidered = false; + it.wpnearestpoint = '0 0 0'; + it.wpcost = 10000000; + it.wpfire = 0; + it.enemy = NULL; + }); if(fixed_source_waypoint) { @@ -630,49 +604,45 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs); fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint fixed_source_waypoint.wpfire = 1; - fixed_source_waypoint.enemy = world; + fixed_source_waypoint.enemy = NULL; } else { error("need to start with a waypoint\n"); } - searching = true; + bool searching = true; while (searching) { searching = false; - w = waylist; - while (w) + IL_EACH(g_waypoints, it.wpfire, { - if (w.wpfire) + searching = true; + it.wpfire = 0; + cost = it.wpcost; // cost to walk from it to home + p = it.wpnearestpoint; + entity wp = it; + IL_EACH(g_waypoints, true, { - searching = true; - w.wpfire = 0; - cost = w.wpcost; // cost to walk from w to home - p = w.wpnearestpoint; - for(wp = waylist; wp; wp = wp.chain) - { - if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03) - if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07) - if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11) - if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15) - if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19) - if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23) - if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27) - if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31) - continue; - cost2 = cost + wp.dmg; - navigation_markroutes_checkwaypoint(w, wp, cost2, p); - } - } - w = w.chain; - } + if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03) + if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07) + if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11) + if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15) + if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19) + if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23) + if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27) + if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31) + continue; + cost2 = cost + it.dmg; + navigation_markroutes_checkwaypoint(wp, it, cost2, p); + }); + }); } } // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item -void navigation_routerating(entity e, float f, float rangebias) -{SELFPARAM(); +void navigation_routerating(entity this, entity e, float f, float rangebias) +{ entity nwp; vector o; if (!e) @@ -687,16 +657,16 @@ void navigation_routerating(entity e, float f, float rangebias) // Evaluate path using jetpack if(g_jetpack) - if(self.items & IT_JETPACK) + if(this.items & IT_JETPACK) if(autocvar_bot_ai_navigation_jetpack) - if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance) + if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance)) { vector pointa, pointb; - bot_debug(strcat("jetpack ai: evaluating path for ", e.classname, "\n")); + LOG_DEBUG("jetpack ai: evaluating path for ", e.classname); // Point A - traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self); + traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this); pointa = trace_endpos - '0 0 1'; // Point B @@ -704,29 +674,29 @@ void navigation_routerating(entity e, float f, float rangebias) pointb = trace_endpos - '0 0 1'; // Can I see these two points from the sky? - traceline(pointa, pointb, MOVE_NORMAL, self); + traceline(pointa, pointb, MOVE_NORMAL, this); if(trace_fraction==1) { - bot_debug("jetpack ai: can bridge these two points\n"); + LOG_DEBUG("jetpack ai: can bridge these two points"); // Lower the altitude of these points as much as possible float zdistance, xydistance, cost, t, fuel; vector down, npa, npb; - down = '0 0 -1' * (PL_MAX.z - PL_MIN.z) * 10; + down = '0 0 -1' * (STAT(PL_MAX, NULL).z - STAT(PL_MIN, NULL).z) * 10; do{ npa = pointa + down; npb = pointb + down; - if(npa.z<=self.absmax.z) + if(npa.z<=this.absmax.z) break; if(npb.z<=e.absmax.z) break; - traceline(npa, npb, MOVE_NORMAL, self); + traceline(npa, npb, MOVE_NORMAL, this); if(trace_fraction==1) { pointa = npa; @@ -739,16 +709,16 @@ void navigation_routerating(entity e, float f, float rangebias) // Rough estimation of fuel consumption // (ignores acceleration and current xyz velocity) xydistance = vlen(pointa - pointb); - zdistance = fabs(pointa.z - self.origin.z); + zdistance = fabs(pointa.z - this.origin.z); t = zdistance / autocvar_g_jetpack_maxspeed_up; t += xydistance / autocvar_g_jetpack_maxspeed_side; fuel = t * autocvar_g_jetpack_fuel * 0.8; - bot_debug(strcat("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel), "\n")); + LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel)); // enough fuel ? - if(self.ammo_fuel>fuel) + if(this.ammo_fuel>fuel) { // Estimate cost // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship @@ -763,11 +733,11 @@ void navigation_routerating(entity e, float f, float rangebias) if (navigation_bestrating < f) { - bot_debug(strcat("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")\n")); + LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")"); navigation_bestrating = f; navigation_bestgoal = e; - self.navigation_jetpack_goal = e; - self.navigation_jetpack_point = pointb; + this.navigation_jetpack_goal = e; + this.navigation_jetpack_point = pointb; } return; } @@ -809,7 +779,7 @@ void navigation_routerating(entity e, float f, float rangebias) e.nearestwaypoint = nwp; else { - bot_debug(strcat("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n")); + LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e)); if(e.flags & FL_ITEM) e.blacklisted = true; @@ -821,7 +791,7 @@ void navigation_routerating(entity e, float f, float rangebias) if(e.blacklisted) { - bot_debug(strcat("The entity '", e.classname, "' is going to be excluded from path finding during this match\n")); + LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match"); return; } } @@ -835,17 +805,17 @@ void navigation_routerating(entity e, float f, float rangebias) nwp = e.nearestwaypoint; } - bot_debug(strcat("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n")); + LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")"); if (nwp) if (nwp.wpcost < 10000000) { //te_wizspike(nwp.wpnearestpoint); - bot_debug(strcat(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ")); + LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = "); f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint))); - bot_debug(strcat("considering ", e.classname, " (with rating ", ftos(f), ")\n")); + LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")"); if (navigation_bestrating < f) { - bot_debug(strcat("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n")); + LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")"); navigation_bestrating = f; navigation_bestgoal = e; } @@ -853,26 +823,26 @@ void navigation_routerating(entity e, float f, float rangebias) } // adds an item to the the goal stack with the path to a given item -float navigation_routetogoal(entity e, vector startposition) -{SELFPARAM(); - self.goalentity = e; +bool navigation_routetogoal(entity this, entity e, vector startposition) +{ + this.goalentity = e; // if there is no goal, just exit if (!e) return false; - self.navigation_hasgoals = true; + this.navigation_hasgoals = true; // put the entity on the goal stack //print("routetogoal ", etos(e), "\n"); - navigation_pushroute(e); + navigation_pushroute(this, e); if(g_jetpack) - if(e==self.navigation_jetpack_goal) + if(e==this.navigation_jetpack_goal) return true; // if it can reach the goal there is nothing more to do - if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) + if (tracewalk(this, startposition, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) return true; // see if there are waypoints describing a path to the item @@ -881,16 +851,16 @@ float navigation_routetogoal(entity e, vector startposition) else e = e.enemy; // we already have added it, so... - if(e == world) + if(e == NULL) return false; for (;;) { // add the spawnfunc_waypoint to the path - navigation_pushroute(e); + navigation_pushroute(this, e); e = e.enemy; - if(e==world) + if(e==NULL) break; } @@ -899,37 +869,37 @@ float navigation_routetogoal(entity e, vector startposition) // removes any currently touching waypoints from the goal stack // (this is how bots detect if they reached a goal) -void navigation_poptouchedgoals() -{SELFPARAM(); +void navigation_poptouchedgoals(entity this) +{ vector org, m1, m2; - org = self.origin; - m1 = org + self.mins; - m2 = org + self.maxs; + org = this.origin; + m1 = org + this.mins; + m2 = org + this.maxs; - if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) + if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) { - if(self.lastteleporttime>0) - if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15) + if(this.lastteleporttime>0) + if(time-this.lastteleporttime<(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15) { - if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self) + if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) + if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) { - self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; - self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; + this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; + this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; } - navigation_poproute(); + navigation_poproute(this); return; } } // If for some reason the bot is closer to the next goal, pop the current one - if(self.goalstack01) - if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin)) - if(checkpvs(self.origin + self.view_ofs, self.goalstack01)) - if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode)) + if(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)) { - bot_debug(strcat("path optimized for ", self.netname, ", removed a goal from the queue\n")); - navigation_poproute(); + LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue"); + navigation_poproute(this); // 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 @@ -940,127 +910,121 @@ void navigation_poptouchedgoals() // 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 itself - if(IS_PLAYER(self.goalcurrent)) - navigation_poproute(); + if(IS_PLAYER(this.goalcurrent)) + navigation_poproute(this); // aid for detecting jump pads better (distance based check fails sometimes) - if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 ) - navigation_poproute(); + if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && this.jumppadcount > 0 ) + navigation_poproute(this); // Loose goal touching check when running - if(self.aistatus & AI_STATUS_RUNNING) - if(self.speed >= autocvar_sv_maxspeed) // if -really- running - if(self.goalcurrent.classname=="waypoint") + if(this.aistatus & AI_STATUS_RUNNING) + if(this.speed >= autocvar_sv_maxspeed) // if -really- running + if(this.goalcurrent.classname=="waypoint") { - if(vlen(self.origin - self.goalcurrent.origin)<150) + if(vdist(this.origin - this.goalcurrent.origin, <, 150)) { - traceline(self.origin + self.view_ofs , self.goalcurrent.origin, true, world); + traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL); if(trace_fraction==1) { // Detect personal waypoints - if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self) + if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) + if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) { - self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; - self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; + this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; + this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; } - navigation_poproute(); + navigation_poproute(this); } } } - while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax)) + while (this.goalcurrent && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax)) { // Detect personal waypoints - if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self) + if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) + if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) { - self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; - self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; + this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; + this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; } - navigation_poproute(); + navigation_poproute(this); } } // begin a goal selection session (queries spawnfunc_waypoint network) -void navigation_goalrating_start() -{SELFPARAM(); - if(self.aistatus & AI_STATUS_STUCK) +void navigation_goalrating_start(entity this) +{ + if(this.aistatus & AI_STATUS_STUCK) return; - self.navigation_jetpack_goal = world; + this.navigation_jetpack_goal = NULL; navigation_bestrating = -1; - self.navigation_hasgoals = false; - navigation_clearroute(); - navigation_bestgoal = world; - navigation_markroutes(world); + this.navigation_hasgoals = false; + navigation_clearroute(this); + navigation_bestgoal = NULL; + navigation_markroutes(this, NULL); } // ends a goal selection session (updates goal stack to the best goal) -void navigation_goalrating_end() -{SELFPARAM(); - if(self.aistatus & AI_STATUS_STUCK) +void navigation_goalrating_end(entity this) +{ + if(this.aistatus & AI_STATUS_STUCK) return; - navigation_routetogoal(navigation_bestgoal, self.origin); - bot_debug(strcat("best goal ", self.goalcurrent.classname , "\n")); + navigation_routetogoal(this, navigation_bestgoal, this.origin); + LOG_DEBUG("best goal ", this.goalcurrent.classname); // If the bot got stuck then try to reach the farthest waypoint - if (!self.navigation_hasgoals) + if (!this.navigation_hasgoals) if (autocvar_bot_wander_enable) { - if (!(self.aistatus & AI_STATUS_STUCK)) + if (!(this.aistatus & AI_STATUS_STUCK)) { - bot_debug(strcat(self.netname, " cannot walk to any goal\n")); - self.aistatus |= AI_STATUS_STUCK; + LOG_DEBUG(this.netname, " cannot walk to any goal"); + this.aistatus |= AI_STATUS_STUCK; } - self.navigation_hasgoals = false; // Reset this value + this.navigation_hasgoals = false; // Reset this value } } void botframe_updatedangerousobjects(float maxupdate) { - entity head, bot_dodgelist; vector m1, m2, v, o; float c, d, danger; c = 0; - bot_dodgelist = findchainfloat(bot_dodge, true); - botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint"); - while (botframe_dangerwaypoint != world) + IL_EACH(g_waypoints, true, { danger = 0; - m1 = botframe_dangerwaypoint.mins; - m2 = botframe_dangerwaypoint.maxs; - head = bot_dodgelist; - while (head) + m1 = it.mins; + m2 = it.maxs; + IL_EACH(g_bot_dodge, it.bot_dodge, { - v = head.origin; + v = it.origin; v.x = bound(m1_x, v.x, m2_x); v.y = bound(m1_y, v.y, m2_y); v.z = bound(m1_z, v.z, m2_z); - o = (head.absmin + head.absmax) * 0.5; - d = head.bot_dodgerating - vlen(o - v); + o = (it.absmin + it.absmax) * 0.5; + d = it.bot_dodgerating - vlen(o - v); if (d > 0) { - traceline(o, v, true, world); + traceline(o, v, true, NULL); if (trace_fraction == 1) danger = danger + d; } - head = head.chain; - } - botframe_dangerwaypoint.dmg = danger; + }); + it.dmg = danger; c = c + 1; if (c >= maxupdate) break; - botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint"); - } + }); } -void navigation_unstuck() -{SELFPARAM(); +void navigation_unstuck(entity this) +{ float search_radius = 1000; if (!autocvar_bot_wander_enable) @@ -1068,21 +1032,21 @@ void navigation_unstuck() if (!bot_waypoint_queue_owner) { - bot_debug(strcat(self.netname, " sutck, taking over the waypoints queue\n")); - bot_waypoint_queue_owner = self; - bot_waypoint_queue_bestgoal = world; + 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_owner!=self) + if(bot_waypoint_queue_owner!=this) return; if (bot_waypoint_queue_goal) { // evaluate the next goal on the queue - float d = vlen(self.origin - bot_waypoint_queue_goal.origin); - bot_debug(strcat(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n")); - if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode)) + 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( d > bot_waypoint_queue_bestgoalrating) { @@ -1096,55 +1060,46 @@ void navigation_unstuck() { if (bot_waypoint_queue_bestgoal) { - bot_debug(strcat(self.netname, " stuck, reachable waypoint found, heading to it\n")); - navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin); - self.bot_strategytime = time + autocvar_bot_ai_strategyinterval; - self.aistatus &= ~AI_STATUS_STUCK; + LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it"); + navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin); + this.bot_strategytime = time + autocvar_bot_ai_strategyinterval; + this.aistatus &= ~AI_STATUS_STUCK; } else { - bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n")); + LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all"); } - bot_waypoint_queue_owner = world; + bot_waypoint_queue_owner = NULL; } } else { - if(bot_strategytoken!=self) + if(bot_strategytoken!=this) return; // build a new queue - bot_debug(strcat(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n")); - - entity head, first; + LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu"); - first = world; - head = findradius(self.origin, search_radius); + entity first = NULL; - while(head) + FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED), { - if(head.classname=="waypoint") - // if(!(head.wpflags & WAYPOINTFLAG_GENERATED)) - { - if(bot_waypoint_queue_goal) - bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head; - else - first = head; - - bot_waypoint_queue_goal = head; - bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world; - } + if(bot_waypoint_queue_goal) + bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it; + else + first = it; - head = head.chain; - } + bot_waypoint_queue_goal = it; + bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL; + }); if (first) bot_waypoint_queue_goal = first; else { - bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n")); - bot_waypoint_queue_owner = world; + LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all"); + bot_waypoint_queue_owner = NULL; } } } @@ -1156,9 +1111,9 @@ void debugresetnodes() debuglastnode = '0 0 0'; } -void debugnode(vector node) -{SELFPARAM(); - if (!IS_PLAYER(self)) +void debugnode(entity this, vector node) +{ + if (!IS_PLAYER(this)) return; if(debuglastnode=='0 0 0') @@ -1167,7 +1122,7 @@ void debugnode(vector node) return; } - te_lightning2(world, node, debuglastnode); + te_lightning2(NULL, node, debuglastnode); debuglastnode = node; } @@ -1199,61 +1154,61 @@ void debugnodestatus(vector position, float status) .vector lastposition; // Debug the goal stack visually -void debuggoalstack() -{SELFPARAM(); +void debuggoalstack(entity this) +{ entity goal; vector org, go; - if(self.goalcounter==0)goal=self.goalcurrent; - else if(self.goalcounter==1)goal=self.goalstack01; - else if(self.goalcounter==2)goal=self.goalstack02; - else if(self.goalcounter==3)goal=self.goalstack03; - else if(self.goalcounter==4)goal=self.goalstack04; - else if(self.goalcounter==5)goal=self.goalstack05; - else if(self.goalcounter==6)goal=self.goalstack06; - else if(self.goalcounter==7)goal=self.goalstack07; - else if(self.goalcounter==8)goal=self.goalstack08; - else if(self.goalcounter==9)goal=self.goalstack09; - else if(self.goalcounter==10)goal=self.goalstack10; - else if(self.goalcounter==11)goal=self.goalstack11; - else if(self.goalcounter==12)goal=self.goalstack12; - else if(self.goalcounter==13)goal=self.goalstack13; - else if(self.goalcounter==14)goal=self.goalstack14; - else if(self.goalcounter==15)goal=self.goalstack15; - else if(self.goalcounter==16)goal=self.goalstack16; - else if(self.goalcounter==17)goal=self.goalstack17; - else if(self.goalcounter==18)goal=self.goalstack18; - else if(self.goalcounter==19)goal=self.goalstack19; - else if(self.goalcounter==20)goal=self.goalstack20; - else if(self.goalcounter==21)goal=self.goalstack21; - else if(self.goalcounter==22)goal=self.goalstack22; - else if(self.goalcounter==23)goal=self.goalstack23; - else if(self.goalcounter==24)goal=self.goalstack24; - else if(self.goalcounter==25)goal=self.goalstack25; - else if(self.goalcounter==26)goal=self.goalstack26; - else if(self.goalcounter==27)goal=self.goalstack27; - else if(self.goalcounter==28)goal=self.goalstack28; - else if(self.goalcounter==29)goal=self.goalstack29; - else if(self.goalcounter==30)goal=self.goalstack30; - else if(self.goalcounter==31)goal=self.goalstack31; - else goal=world; - - if(goal==world) + if(this.goalcounter==0)goal=this.goalcurrent; + else if(this.goalcounter==1)goal=this.goalstack01; + else if(this.goalcounter==2)goal=this.goalstack02; + else if(this.goalcounter==3)goal=this.goalstack03; + else if(this.goalcounter==4)goal=this.goalstack04; + else if(this.goalcounter==5)goal=this.goalstack05; + else if(this.goalcounter==6)goal=this.goalstack06; + else if(this.goalcounter==7)goal=this.goalstack07; + else if(this.goalcounter==8)goal=this.goalstack08; + else if(this.goalcounter==9)goal=this.goalstack09; + else if(this.goalcounter==10)goal=this.goalstack10; + else if(this.goalcounter==11)goal=this.goalstack11; + else if(this.goalcounter==12)goal=this.goalstack12; + else if(this.goalcounter==13)goal=this.goalstack13; + else if(this.goalcounter==14)goal=this.goalstack14; + else if(this.goalcounter==15)goal=this.goalstack15; + else if(this.goalcounter==16)goal=this.goalstack16; + else if(this.goalcounter==17)goal=this.goalstack17; + else if(this.goalcounter==18)goal=this.goalstack18; + else if(this.goalcounter==19)goal=this.goalstack19; + else if(this.goalcounter==20)goal=this.goalstack20; + else if(this.goalcounter==21)goal=this.goalstack21; + else if(this.goalcounter==22)goal=this.goalstack22; + else if(this.goalcounter==23)goal=this.goalstack23; + else if(this.goalcounter==24)goal=this.goalstack24; + else if(this.goalcounter==25)goal=this.goalstack25; + else if(this.goalcounter==26)goal=this.goalstack26; + else if(this.goalcounter==27)goal=this.goalstack27; + else if(this.goalcounter==28)goal=this.goalstack28; + else if(this.goalcounter==29)goal=this.goalstack29; + else if(this.goalcounter==30)goal=this.goalstack30; + else if(this.goalcounter==31)goal=this.goalstack31; + else goal=NULL; + + if(goal==NULL) { - self.goalcounter = 0; - self.lastposition='0 0 0'; + this.goalcounter = 0; + this.lastposition='0 0 0'; return; } - if(self.lastposition=='0 0 0') - org = self.origin; + if(this.lastposition=='0 0 0') + org = this.origin; else - org = self.lastposition; + org = this.lastposition; go = ( goal.absmin + goal.absmax ) * 0.5; - te_lightning2(world, org, go); - self.lastposition = go; + te_lightning2(NULL, org, go); + this.lastposition = go; - self.goalcounter++; + this.goalcounter++; }