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=7c7f7e1e1264a8e7b9eaeb98be8f7780efd1cd85;hp=3754897bda3fe5ff2554409d318933ad3e11e38a;hb=76dd66af43f0f01131d019c3a8dacfe35a6f6a18;hpb=13e8382b4bd9c0de8bcfd2a96f56e638ba5d431d diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 3754897bda..7c7f7e1e12 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -13,7 +13,8 @@ #include #include -#include +#include +#include .float speed; @@ -49,12 +50,15 @@ bool navigation_goalrating_timeout(entity this) #define MAX_CHASE_DISTANCE 700 bool navigation_goalrating_timeout_can_be_anticipated(entity this) { - if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2)) + 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) { - vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5; if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco)) { this.ignoregoal = this.goalentity; @@ -75,9 +79,11 @@ void navigation_dynamicgoal_init(entity this, bool initially_static) 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; } @@ -123,8 +129,18 @@ void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest) // 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); - tracewalk_dest.z = wm1.z; - tracewalk_dest_height = wm2.z - wm1.z; // destination height + 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 { @@ -246,6 +262,7 @@ vector resurface_limited(vector org, float lim, vector m1) // 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) @@ -264,8 +281,7 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float e 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); @@ -726,11 +742,13 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float 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_2d = FLOAT_MAX; this.goalcurrent_distance_z = FLOAT_MAX; this.goalcurrent_distance_time = 0; this.goalentity_lock_timeout = 0; + this.goalentity_shouldbefrozen = false; this.goalentity = NULL; this.goalcurrent = NULL; this.goalstack01 = NULL; @@ -899,7 +917,7 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom 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)) { @@ -1201,11 +1219,7 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) // 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); @@ -1213,8 +1227,11 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) 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)) { @@ -1233,12 +1250,13 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) { 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; @@ -1256,7 +1274,6 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) //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)) @@ -1315,10 +1332,10 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) 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(GetResourceAmount(this, RESOURCE_FUEL))); // enough fuel ? - if(this.ammo_fuel>fuel) + if(GetResourceAmount(this, RESOURCE_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 @@ -1387,7 +1404,6 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) nwp = e.nearestwaypoint; } - LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")"); if (nwp && nwp.wpcost < 10000000) { //te_wizspike(nwp.wpnearestpoint); @@ -1397,12 +1413,12 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) else nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e); float cost = nwp.wpcost + nwptoitem_cost; - LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = "); + 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; } @@ -1509,12 +1525,12 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) } // shorten path by removing intermediate goals -void navigation_shortenpath(entity this) +bool navigation_shortenpath(entity this) { if (!this.goalstack01 || wasfreed(this.goalstack01)) - return; + return false; if (this.bot_tracewalk_time > time) - return; + return false; this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25; bool cut_allowed = false; @@ -1553,8 +1569,9 @@ void navigation_shortenpath(entity this) navigation_poproute(this); } while (this.goalcurrent != next); + return true; } - return; + return false; } } @@ -1573,10 +1590,12 @@ void navigation_shortenpath(entity this) 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"); + 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 @@ -1590,29 +1609,82 @@ int navigation_poptouchedgoals(entity this) 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 removed_goals; + } + else if (this.lastteleporttime > 0) + { + // 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)) + { + 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); + 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 @@ -1650,8 +1722,16 @@ int navigation_poptouchedgoals(entity this) 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) @@ -1726,6 +1806,7 @@ void navigation_goalrating_start(entity this) navigation_clearroute(this); navigation_bestgoal = 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) @@ -1734,18 +1815,27 @@ void navigation_goalrating_end(entity this) 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) @@ -1784,11 +1874,20 @@ 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"); @@ -1806,7 +1905,7 @@ void navigation_unstuck(entity this) float d = vlen2(this.origin - bot_waypoint_queue_goal.origin); LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d)); set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false); - if (tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), + 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) @@ -1815,6 +1914,17 @@ void navigation_unstuck(entity this) 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) @@ -1822,6 +1932,7 @@ void navigation_unstuck(entity this) 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); navigation_goalrating_timeout_set(this); this.aistatus &= ~AI_STATUS_STUCK;