Merge branch 'terencehill/bot_ai' into 'master'
authorMario <zacjardine@y7mail.com>
Mon, 22 Jan 2018 11:28:22 +0000 (11:28 +0000)
committerMario <zacjardine@y7mail.com>
Mon, 22 Jan 2018 11:28:22 +0000 (11:28 +0000)
Bot AI improvements

See merge request xonotic/xonotic-data.pk3dir!513

40 files changed:
defaultServer.cfg
qcsrc/common/gamemodes/gamemode/onslaught/sv_onslaught.qc
qcsrc/common/t_items.qc
qcsrc/common/t_items.qh
qcsrc/common/triggers/func/ladder.qc
qcsrc/common/triggers/teleporters.qc
qcsrc/common/triggers/teleporters.qh
qcsrc/common/triggers/trigger/jumppads.qc
qcsrc/common/triggers/trigger/jumppads.qh
qcsrc/ecs/systems/physics.qc
qcsrc/lib/warpzone/server.qc
qcsrc/server/autocvars.qh
qcsrc/server/bot/api.qh
qcsrc/server/bot/default/aim.qc
qcsrc/server/bot/default/aim.qh
qcsrc/server/bot/default/bot.qc
qcsrc/server/bot/default/bot.qh
qcsrc/server/bot/default/havocbot/havocbot.qc
qcsrc/server/bot/default/havocbot/havocbot.qh
qcsrc/server/bot/default/havocbot/roles.qc
qcsrc/server/bot/default/navigation.qc
qcsrc/server/bot/default/navigation.qh
qcsrc/server/bot/default/waypoints.qc
qcsrc/server/bot/default/waypoints.qh
qcsrc/server/bot/null/bot_null.qc
qcsrc/server/client.qc
qcsrc/server/command/sv_cmd.qc
qcsrc/server/impulse.qc
qcsrc/server/mutators/mutator/gamemode_assault.qc
qcsrc/server/mutators/mutator/gamemode_assault.qh
qcsrc/server/mutators/mutator/gamemode_ctf.qc
qcsrc/server/mutators/mutator/gamemode_ctf.qh
qcsrc/server/mutators/mutator/gamemode_cts.qc
qcsrc/server/mutators/mutator/gamemode_domination.qc
qcsrc/server/mutators/mutator/gamemode_freezetag.qc
qcsrc/server/mutators/mutator/gamemode_keepaway.qc
qcsrc/server/mutators/mutator/gamemode_keyhunt.qc
qcsrc/server/mutators/mutator/gamemode_race.qc
qcsrc/server/sv_main.qc
qcsrc/server/utils.qh

index db91e385495a17e66d07aa3dfb8c955476085f2f..739746267769380cc8cd599a5f944bc91e477a9d 100644 (file)
@@ -116,7 +116,8 @@ set bot_debug_goalstack 0 "Visualize the current path that each bot is following
 set bot_wander_enable 1 "Have bots wander around if they are unable to reach any useful goal. Disable only for debugging purposes."
 // general bot AI cvars
 set bot_ai_thinkinterval 0.05
-set bot_ai_strategyinterval 5 "How often a new objective is chosen"
+set bot_ai_strategyinterval 7 "How often a new objective is chosen"
+set bot_ai_strategyinterval_movingtarget 5.5 "How often a new objective is chosen when current objective can move"
 set bot_ai_enemydetectioninterval 2 "How often bots pick a new target"
 set bot_ai_enemydetectionradius 10000 "How far bots can see enemies"
 set bot_ai_dodgeupdateinterval 0.2 "How often scan for items to dodge. Currently not in use."
index 0150de3925ee90072b040e2f5d132cd301a736ad..5a0e0975e528e7315c90e4ccf6e17199ac32e59e 100644 (file)
@@ -1488,7 +1488,7 @@ void havocbot_role_ons_offense(entity this)
        if(this.havocbot_attack_time>time)
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                navigation_goalrating_start(this);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 650);
@@ -1497,7 +1497,7 @@ void havocbot_role_ons_offense(entity this)
                havocbot_goalrating_ons_offenseitems(this, 10000, this.origin, 10000);
                navigation_goalrating_end(this);
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index 8469d1e3c27b5ba57007ab60b1ae0852c432af59..e13df065a477b5f0f95a7370c484c5968a444ba4 100644 (file)
@@ -1117,8 +1117,6 @@ float ammo_pickupevalfunc(entity player, entity item)
        return rating;
 }
 
-.int item_group;
-.int item_group_count;
 float healtharmor_pickupevalfunc(entity player, entity item)
 {
        float c = 0;
index 455952dd63801dccc17d5548c4282b2398629254..d2f44c61daa8e6544f44f47f4f92a61c54907218 100644 (file)
@@ -26,6 +26,8 @@ const int ISF_SIZE                            = BIT(7);
 
 #ifdef SVQC
 void StartItem(entity this, entity a);
+.int item_group;
+.int item_group_count;
 #endif
 
 #ifdef CSQC
index f4a7ffb02cae0d36338a447950d7fb62c5a69486..92f361a145c098c56efa037cc3b9ede05b3a9a4f 100644 (file)
@@ -42,9 +42,71 @@ void func_ladder_link(entity this)
 void func_ladder_init(entity this)
 {
        settouch(this, func_ladder_touch);
-
        trigger_init(this);
        func_ladder_link(this);
+
+       if(min(this.absmax.x - this.absmin.x, this.absmax.y - this.absmin.y) > 100)
+               return;
+
+       entity tracetest_ent = spawn();
+       setsize(tracetest_ent, PL_MIN_CONST, PL_MAX_CONST);
+       tracetest_ent.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
+
+       vector top_min = (this.absmin + this.absmax) / 2;
+       top_min.z = this.absmax.z;
+       vector top_max = top_min;
+       top_max.z += PL_MAX_CONST.z - PL_MIN_CONST.z;
+       tracebox(top_max + jumpstepheightvec, PL_MIN_CONST, PL_MAX_CONST, top_min, MOVE_NOMONSTERS, tracetest_ent);
+       if(trace_startsolid)
+       {
+               tracebox(top_max + stepheightvec, PL_MIN_CONST, PL_MAX_CONST, top_min, MOVE_NOMONSTERS, tracetest_ent);
+               if(trace_startsolid)
+               {
+                       tracebox(top_max, PL_MIN_CONST, PL_MAX_CONST, top_min, MOVE_NOMONSTERS, tracetest_ent);
+                       if(trace_startsolid)
+                       {
+                               if(this.absmax.x - this.absmin.x > PL_MAX_CONST.x - PL_MIN_CONST.x
+                                       && this.absmax.y - this.absmin.y < this.absmax.x - this.absmin.x)
+                               {
+                                       // move top on one side
+                                       top_max.y = top_min.y = this.absmin.y + (PL_MAX_CONST.y - PL_MIN_CONST.y) * 0.75;
+                               }
+                               else if(this.absmax.y - this.absmin.y > PL_MAX_CONST.y - PL_MIN_CONST.y
+                                       && this.absmax.x - this.absmin.x < this.absmax.y - this.absmin.y)
+                               {
+                                       // move top on one side
+                                       top_max.x = top_min.x = this.absmin.x + (PL_MAX_CONST.x - PL_MIN_CONST.x) * 0.75;
+                               }
+                               tracebox(top_max, PL_MIN_CONST, PL_MAX_CONST, top_min, MOVE_NOMONSTERS, tracetest_ent);
+                               if(trace_startsolid)
+                               {
+                                       if(this.absmax.x - this.absmin.x > PL_MAX_CONST.x - PL_MIN_CONST.x
+                                               && this.absmax.y - this.absmin.y < this.absmax.x - this.absmin.x)
+                                       {
+                                               // alternatively on the other side
+                                               top_max.y = top_min.y = this.absmax.y - (PL_MAX_CONST.y - PL_MIN_CONST.y) * 0.75;
+                                       }
+                                       else if(this.absmax.y - this.absmin.y > PL_MAX_CONST.y - PL_MIN_CONST.y
+                                               && this.absmax.x - this.absmin.x < this.absmax.y - this.absmin.y)
+                                       {
+                                               // alternatively on the other side
+                                               top_max.x = top_min.x = this.absmax.x - (PL_MAX_CONST.x - PL_MIN_CONST.x) * 0.75;
+                                       }
+                                       tracebox(top_max, PL_MIN_CONST, PL_MAX_CONST, top_min, MOVE_NOMONSTERS, tracetest_ent);
+                               }
+                       }
+               }
+       }
+       if(trace_startsolid || trace_endpos.z < this.absmax.z)
+       {
+               delete(tracetest_ent);
+               return;
+       }
+
+       this.bot_pickup = true; // allow bots to make use of this ladder
+       float cost = waypoint_getlinearcost(trace_endpos.z - this.absmin.z);
+       top_min = trace_endpos;
+       waypoint_spawnforteleporter_boxes(this, WAYPOINTFLAG_LADDER, this.absmin, this.absmax, top_min, top_min, cost);
 }
 
 spawnfunc(func_ladder)
index e1cd95058dbb7b597f174614c8b203be1674e05d..5aedf30214ea16f1939743fc021391c9d5df4d46 100644 (file)
@@ -165,6 +165,7 @@ void TeleportPlayer(entity teleporter, entity player, vector to, vector to_angle
                }
 
                player.lastteleporttime = time;
+               player.lastteleport_origin = from;
        }
 #endif
 }
@@ -236,7 +237,13 @@ void teleport_findtarget(entity this)
                ++n;
 #ifdef SVQC
                if(e.move_movetype == MOVETYPE_NONE)
-                       waypoint_spawnforteleporter(this, e.origin, 0);
+               {
+                       entity tracetest_ent = spawn();
+                       setsize(tracetest_ent, PL_MIN_CONST, PL_MAX_CONST);
+                       tracetest_ent.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
+                       waypoint_spawnforteleporter(this, e.origin, 0, tracetest_ent);
+                       delete(tracetest_ent);
+               }
                if(e.classname != "info_teleport_destination")
                        LOG_INFO("^3MAPPER ERROR: teleporter does target an invalid teleport destination entity. Angles will not work.");
 #endif
@@ -304,7 +311,5 @@ void WarpZone_PostTeleportPlayer_Callback(entity pl)
        #ifdef SVQC
                pl.oldvelocity = pl.velocity;
        #endif
-               // reset teleport time tracking too (or multijump can cause insane speeds)
-               pl.lastteleporttime = time;
        }
 }
index d7faaeff80bd7d76f6e1595e04d2cfef37dda429..6f5b2b595d8c09a110839cb4aeb3ca3a3ef11f42 100644 (file)
@@ -67,5 +67,4 @@ void WarpZone_PostTeleportPlayer_Callback(entity pl);
 
 #ifdef CSQC
 .entity realowner;
-.float lastteleporttime;
 #endif
index 4316a0edf356124837c3586928de62e2b6dc4492..9e40cfd40178224fc9c48efe76cece7de982253a 100644 (file)
@@ -28,10 +28,7 @@ REGISTER_NET_LINKED(ENT_CLIENT_TARGET_PUSH)
          pushed_entity - object that is to be pushed
 
        Returns: velocity for the jump
-       the global trigger_push_calculatevelocity_flighttime is set to the total
-       jump time
  */
-
 vector trigger_push_calculatevelocity(vector org, entity tgt, float ht, entity pushed_entity)
 {
        float grav, sdist, zdist, vs, vz, jumpheight;
@@ -89,6 +86,7 @@ vector trigger_push_calculatevelocity(vector org, entity tgt, float ht, entity p
        if(zdist == 0)
                solution_x = solution.y; // solution_x is 0 in this case, so don't use it, but rather use solution_y (which will be sqrt(0.5 * jumpheight / grav), actually)
 
+       float flighttime;
        if(zdist < 0)
        {
                // down-jump
@@ -97,14 +95,14 @@ vector trigger_push_calculatevelocity(vector org, entity tgt, float ht, entity p
                        // almost straight line type
                        // jump apex is before the jump
                        // we must take the larger one
-                       trigger_push_calculatevelocity_flighttime = solution.y;
+                       flighttime = solution.y;
                }
                else
                {
                        // regular jump
                        // jump apex is during the jump
                        // we must take the larger one too
-                       trigger_push_calculatevelocity_flighttime = solution.y;
+                       flighttime = solution.y;
                }
        }
        else
@@ -115,17 +113,17 @@ vector trigger_push_calculatevelocity(vector org, entity tgt, float ht, entity p
                        // almost straight line type
                        // jump apex is after the jump
                        // we must take the smaller one
-                       trigger_push_calculatevelocity_flighttime = solution.x;
+                       flighttime = solution.x;
                }
                else
                {
                        // regular jump
                        // jump apex is during the jump
                        // we must take the larger one
-                       trigger_push_calculatevelocity_flighttime = solution.y;
+                       flighttime = solution.y;
                }
        }
-       vs = sdist / trigger_push_calculatevelocity_flighttime;
+       vs = sdist / flighttime;
 
        // finally calculate the velocity
        return sdir * vs + '0 0 1' * vz;
@@ -209,13 +207,16 @@ bool jumppad_push(entity this, entity targ)
                                        centerprint(targ, this.message);
                        }
                        else
+                       {
                                targ.lastteleporttime = time;
+                               targ.lastteleport_origin = targ.origin;
+                       }
 
                        if (!IS_DEAD(targ))
                                animdecide_setaction(targ, ANIMACTION_JUMP, true);
                }
                else
-                       targ.jumppadcount = true;
+                       targ.jumppadcount = 1;
 
                // reset tracking of who pushed you into a hazard (for kill credit)
                targ.pushltime = 0;
@@ -273,38 +274,152 @@ void trigger_push_touch(entity this, entity toucher)
 #ifdef SVQC
 void trigger_push_link(entity this);
 void trigger_push_updatelink(entity this);
+bool trigger_push_testorigin(entity tracetest_ent, entity targ, entity jp, vector org)
+{
+       setorigin(tracetest_ent, org);
+       tracetoss(tracetest_ent, tracetest_ent);
+       if(trace_startsolid)
+               return false;
+
+       if (!jp.height)
+       {
+               // since tracetoss starting from jumppad's origin often fails when target
+               // is very close to real destination, start it directly from target's
+               // origin instead
+               vector ofs = '0 0 0';
+               if (vdist(vec2(tracetest_ent.velocity), <, autocvar_sv_maxspeed))
+                       ofs = stepheightvec;
+
+               tracetest_ent.velocity.z = 0;
+               setorigin(tracetest_ent, targ.origin + ofs);
+               tracetoss(tracetest_ent, tracetest_ent);
+               if (trace_startsolid && ofs.z)
+               {
+                       setorigin(tracetest_ent, targ.origin + ofs / 2);
+                       tracetoss(tracetest_ent, tracetest_ent);
+                       if (trace_startsolid && ofs.z)
+                       {
+                               setorigin(tracetest_ent, targ.origin);
+                               tracetoss(tracetest_ent, tracetest_ent);
+                               if (trace_startsolid)
+                                       return false;
+                       }
+               }
+       }
+       tracebox(trace_endpos, tracetest_ent.mins, tracetest_ent.maxs, trace_endpos - eZ * 1500, true, tracetest_ent);
+       return true;
+}
 #endif
-void trigger_push_findtarget(entity this)
+
+/// if (item != NULL) returns true if the item can be reached by using this jumppad, false otherwise
+/// if (item == NULL) tests jumppad's trajectory and eventually spawns waypoints for it (return value doesn't matter)
+bool trigger_push_test(entity this, entity item)
 {
        // first calculate a typical start point for the jump
        vector org = (this.absmin + this.absmax) * 0.5;
-       org.z = this.absmax.z - PL_MIN_CONST.z;
+       org.z = this.absmax.z - PL_MIN_CONST.z - 10;
 
        if (this.target)
        {
                int n = 0;
+#ifdef SVQC
+               vector vel = '0 0 0';
+#endif
                for(entity t = NULL; (t = find(t, targetname, this.target)); )
                {
                        ++n;
 #ifdef SVQC
+                       if(t.move_movetype != MOVETYPE_NONE)
+                               continue;
+
                        entity e = spawn();
-                       setorigin(e, org);
                        setsize(e, PL_MIN_CONST, PL_MAX_CONST);
+                       e.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
                        e.velocity = trigger_push_calculatevelocity(org, t, this.height, e);
-                       tracetoss(e, e);
-                       if(e.move_movetype == MOVETYPE_NONE)
-                               waypoint_spawnforteleporter(this, trace_endpos, vlen(trace_endpos - org) / vlen(e.velocity));
+
+                       if(item)
+                       {
+                               setorigin(e, org);
+                               tracetoss(e, e);
+                               bool r = (trace_ent == item);
+                               delete(e);
+                               return r;
+                       }
+
+                       vel = e.velocity;
+                       vector best_target = '0 0 0';
+                       vector best_org = '0 0 0';
+                       vector best_vel = '0 0 0';
+                       bool valid_best_target = false;
+                       if (trigger_push_testorigin(e, t, this, org))
+                       {
+                               best_target = trace_endpos;
+                               best_org = org;
+                               best_vel = e.velocity;
+                               valid_best_target = true;
+                       }
+
+                       vector new_org;
+                       vector dist = t.origin - org;
+                       if (dist.x || dist.y) // if not perfectly vertical
+                       {
+                               // test trajectory with different starting points, sometimes the trajectory
+                               // starting from the jumppad origin can't reach the real destination
+                               // and destination waypoint ends up near the jumppad itself
+                               vector flatdir = normalize(dist - eZ * dist.z);
+                               vector ofs = flatdir * 0.5 * min(fabs(this.absmax.x - this.absmin.x), fabs(this.absmax.y - this.absmin.y));
+                               new_org = org + ofs;
+                               e.velocity = trigger_push_calculatevelocity(new_org, t, this.height, e);
+                               vel = e.velocity;
+                               if (vdist(vec2(e.velocity), <, autocvar_sv_maxspeed))
+                                       e.velocity = autocvar_sv_maxspeed * flatdir;
+                               if (trigger_push_testorigin(e, t, this, new_org) && (!valid_best_target || trace_endpos.z > best_target.z + 50))
+                               {
+                                       best_target = trace_endpos;
+                                       best_org = new_org;
+                                       best_vel = vel;
+                                       valid_best_target = true;
+                               }
+                               new_org = org - ofs;
+                               e.velocity = trigger_push_calculatevelocity(new_org, t, this.height, e);
+                               vel = e.velocity;
+                               if (vdist(vec2(e.velocity), <, autocvar_sv_maxspeed))
+                                       e.velocity = autocvar_sv_maxspeed * flatdir;
+                               if (trigger_push_testorigin(e, t, this, new_org) && (!valid_best_target || trace_endpos.z > best_target.z + 50))
+                               {
+                                       best_target = trace_endpos;
+                                       best_org = new_org;
+                                       best_vel = vel;
+                                       valid_best_target = true;
+                               }
+                       }
+
+                       if (valid_best_target)
+                       {
+                               if (!(boxesoverlap(this.absmin, this.absmax + eZ * 50, best_target + PL_MIN_CONST, best_target + PL_MAX_CONST)))
+                               {
+                                       float velxy = vlen(vec2(best_vel));
+                                       float cost = vlen(vec2(t.origin - best_org)) / velxy;
+                                       if(velxy < autocvar_sv_maxspeed)
+                                               velxy = autocvar_sv_maxspeed;
+                                       cost += vlen(vec2(best_target - t.origin)) / velxy;
+                                       waypoint_spawnforteleporter(this, best_target, cost, e);
+                               }
+                       }
                        delete(e);
 #endif
                }
 
+               if(item)
+                       return false;
+
                if(!n)
                {
                        // no dest!
 #ifdef SVQC
                        objerror (this, "Jumppad with nonexistant target");
 #endif
-                       return;
+                       return false;
                }
                else if(n == 1)
                {
@@ -321,16 +436,30 @@ void trigger_push_findtarget(entity this)
        else
        {
                entity e = spawn();
-               setorigin(e, org);
                setsize(e, PL_MIN_CONST, PL_MAX_CONST);
+               e.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
+               setorigin(e, org);
                e.velocity = this.movedir;
                tracetoss(e, e);
-               waypoint_spawnforteleporter(this, trace_endpos, vlen(trace_endpos - org) / vlen(e.velocity));
+               if(item)
+               {
+                       bool r = (trace_ent == item);
+                       delete(e);
+                       return r;
+               }
+               if (!(boxesoverlap(this.absmin, this.absmax + eZ * 50, trace_endpos + PL_MIN_CONST, trace_endpos + PL_MAX_CONST)))
+                       waypoint_spawnforteleporter(this, trace_endpos, vlen(trace_endpos - org) / vlen(e.velocity), e);
                delete(e);
        }
 
        defer(this, 0.1, trigger_push_updatelink);
 #endif
+       return true;
+}
+
+void trigger_push_findtarget(entity this)
+{
+       trigger_push_test(this, NULL);
 }
 
 #ifdef SVQC
@@ -395,6 +524,8 @@ spawnfunc(trigger_push)
 
        trigger_push_link(this); // link it now
 
+       IL_PUSH(g_jumppads, this);
+
        // this must be called to spawn the teleport waypoints for bots
        InitializeEntity(this, trigger_push_findtarget, INITPRIO_FINDTARGET);
 }
index 8615bc66d6a06e4137d102580d3bd5db0fc44f1d..50ed0a343c8c86b7cc53e12274ddac7261bead75 100644 (file)
@@ -1,5 +1,8 @@
 #pragma once
 
+IntrusiveList g_jumppads;
+STATIC_INIT(g_jumppads) { g_jumppads = IL_NEW(); }
+
 const float PUSH_ONCE          = 1;
 const float PUSH_SILENT                = 2;
 
@@ -11,11 +14,10 @@ const int NUM_JUMPPADSUSED = 3;
 .float jumppadcount;
 .entity jumppadsused[NUM_JUMPPADSUSED];
 
-float trigger_push_calculatevelocity_flighttime;
-
 #ifdef SVQC
 void SUB_UseTargets(entity this, entity actor, entity trigger);
 void trigger_push_use(entity this, entity actor, entity trigger);
+bool trigger_push_testorigin(entity tracetest_ent, entity targ, entity jp, vector org);
 #endif
 
 /*
@@ -29,15 +31,13 @@ void trigger_push_use(entity this, entity actor, entity trigger);
          pushed_entity - object that is to be pushed
 
        Returns: velocity for the jump
-       the global trigger_push_calculatevelocity_flighttime is set to the total
-       jump time
  */
-
 vector trigger_push_calculatevelocity(vector org, entity tgt, float ht, entity pushed_entity);
 
 void trigger_push_touch(entity this, entity toucher);
 
 .vector dest;
+bool trigger_push_test(entity this, entity item);
 void trigger_push_findtarget(entity this);
 
 /*
index e6c2f7ccd8617e0087b19d0224d5e0760174cf3f..ec97bb2a15734f9bbc7c6f3b700e752a1527f8dc 100644 (file)
@@ -108,6 +108,7 @@ void sys_phys_update(entity this, float dt)
                this.com_phys_water = true;
                sys_phys_simulate(this, dt);
                this.com_phys_water = false;
+               this.jumppadcount = 0;
        } else if (time < this.ladder_time) {
                this.com_phys_friction = PHYS_FRICTION(this);
                this.com_phys_vel_max = PHYS_MAXSPEED(this) * maxspeed_mod;
index 6db6122352511d9640ac75baf603103a4e96ce65..936d075da8f69e2b3057d965dc35029b57b1cf23 100644 (file)
 
 void WarpZone_TeleportPlayer(entity teleporter, entity player, vector to, vector to_angles, vector to_velocity)
 {
+#ifdef SVQC
+       player.lastteleport_origin = player.origin;
+       player.lastteleporttime = time;
+#endif
        setorigin(player, to); // NOTE: this also aborts the move, when this is called by touch
 #ifdef SVQC
        player.oldorigin = to; // for DP's unsticking
index b71d4459d1387469f9c1732fa906dda15617f965..4b3745dc00784589e9c288854c3b6f948bfbfbd8 100644 (file)
@@ -6,6 +6,7 @@ int autocvar__campaign_index;
 string autocvar__campaign_name;
 bool autocvar__sv_init;
 float autocvar_bot_ai_strategyinterval;
+float autocvar_bot_ai_strategyinterval_movingtarget;
 #define autocvar_bot_number cvar("bot_number")
 int autocvar_bot_vs_human;
 int autocvar_captureleadlimit_override;
index f33cc4f2646502447f0bcf60fd4c96c10d0d5738..51ac148fc13c42c1185866cd87d6430165f61b8e 100644 (file)
@@ -2,15 +2,17 @@
 
 #include <server/defs.qh>
 #include <common/weapons/_all.qh>
+#include <common/physics/player.qh>
 
 const int WAYPOINTFLAG_GENERATED = BIT(23);
 const int WAYPOINTFLAG_ITEM = BIT(22);
-const int WAYPOINTFLAG_TELEPORT = BIT(21);
+const int WAYPOINTFLAG_TELEPORT = BIT(21); // teleports, warpzones and jumppads
 const int WAYPOINTFLAG_NORELINK = BIT(20);
 const int WAYPOINTFLAG_PERSONAL = BIT(19);
 const int WAYPOINTFLAG_PROTECTED = BIT(18);  // Useless WP detection never kills these.
 const int WAYPOINTFLAG_USEFUL = BIT(17);  // Useless WP detection temporary flag.
 const int WAYPOINTFLAG_DEAD_END = BIT(16);  // Useless WP detection temporary flag.
+const int WAYPOINTFLAG_LADDER = BIT(15);
 
 entity kh_worldkeylist;
 .entity kh_worldkeynext;
@@ -21,6 +23,7 @@ float bot_weapons_far[Weapons_MAX];
 float bot_weapons_mid[Weapons_MAX];
 float skill;
 
+.float bot_tracewalk_time;
 .float bot_attack;
 .float bot_dodgerating;
 .float bot_dodge;
@@ -28,11 +31,13 @@ float skill;
 .float bot_moveskill; // moving technique
 .float bot_pickup;
 .float(entity player, entity item) bot_pickupevalfunc;
-.float bot_strategytime;
 .string cleanname;
 .float havocbot_role_timeout;
+.void(entity this) havocbot_role;
+.void(entity this) havocbot_previous_role;
 .float isbot; // true if this client is actually a bot
 .float lastteleporttime;
+.vector lastteleport_origin;
 .float navigation_hasgoals;
 .float nearestwaypointtimeout;
 .entity nearestwaypoint;
@@ -70,10 +75,16 @@ void havocbot_goalrating_enemyplayers(entity this, float ratingscale, vector org
 void havocbot_goalrating_items(entity this, float ratingscale, vector org, float sradius);
 void havocbot_goalrating_waypoints(entity this, float ratingscale, vector org, float sradius);
 
+bool havocbot_goalrating_item_pickable_check_players(entity this, vector org, entity item, vector item_org);
+
 vector havocbot_middlepoint;
 float havocbot_middlepoint_radius;
 vector havocbot_symmetryaxis_equation;
 
+.float goalentity_lock_timeout;
+.float ignoregoaltime;
+.entity ignoregoal;
+
 .entity bot_basewaypoint;
 .bool navigation_dynamicgoal;
 void navigation_dynamicgoal_init(entity this, bool initially_static);
@@ -82,21 +93,30 @@ void navigation_dynamicgoal_unset(entity this);
 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
 void navigation_goalrating_end(entity this);
 void navigation_goalrating_start(entity this);
+void navigation_goalrating_timeout_set(entity this);
+void navigation_goalrating_timeout_force(entity this);
+void navigation_goalrating_timeout_expire(entity this, float seconds);
+bool navigation_goalrating_timeout(entity this);
+bool navigation_goalrating_timeout_can_be_anticipated(entity this);
 void navigation_markroutes(entity this, entity fixed_source_waypoint);
 void navigation_markroutes_inverted(entity fixed_source_waypoint);
 void navigation_routerating(entity this, entity e, float f, float rangebias);
 
-bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode);
+vector get_closer_dest(entity ent, vector org);
 
-void waypoint_remove(entity e);
+void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest);
+vector set_tracewalk_dest_2(entity ent, vector org);
+bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
+
+void waypoint_remove_fromeditor(entity pl);
+void waypoint_remove(entity wp);
 void waypoint_saveall();
 void waypoint_schedulerelinkall();
 void waypoint_schedulerelink(entity wp);
 void waypoint_spawnforitem(entity e);
 void waypoint_spawnforitem_force(entity e, vector org);
-void waypoint_spawnforteleporter(entity e, vector destination, float timetaken);
-void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken);
+void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent);
+void waypoint_spawnforteleporter_wz(entity e, vector org, vector destination, float timetaken, vector down_dir, entity tracetest_ent);
+void waypoint_spawn_fromeditor(entity pl);
 entity waypoint_spawn(vector m1, vector m2, float f);
-
-.entity goalcurrent;
-void navigation_clearroute(entity this);
+void waypoint_unreachable(entity pl);
index 8f2abb3f824b5745448a5fb4c16ab21545e5451b..7441ce7bcab56cfafd3cf9e1ac8b6b68eab9385d 100644 (file)
@@ -174,7 +174,7 @@ void bot_lagfunc(entity this, float t, float f1, float f2, entity e1, vector v1,
                this.bot_canfire = 1;
 }
 
-float bot_aimdir(entity this, vector v, float maxfiredeviation)
+void bot_aimdir(entity this, vector v, float maxfiredeviation)
 {
        float dist, delta_t, blend;
        vector desiredang, diffang;
@@ -184,6 +184,9 @@ float bot_aimdir(entity this, vector v, float maxfiredeviation)
        this.v_angle_y = this.v_angle.y - floor(this.v_angle.y / 360) * 360;
        this.v_angle_z = 0;
 
+       // invalid aim dir (can happen when bot overlaps target)
+       if(!v) return;
+
        // get the desired angles to aim at
        //dprint(" at:", vtos(v));
        v = normalize(v);
@@ -314,7 +317,7 @@ float bot_aimdir(entity this, vector v, float maxfiredeviation)
        //dprint(ftos(maxfiredeviation),"\n");
        //dprint(" diff:", vtos(diffang), "\n");
 
-       return this.bot_canfire && (time < this.bot_firetimer);
+       //return this.bot_canfire && (time < this.bot_firetimer);
 }
 
 vector bot_shotlead(vector targorigin, vector targvelocity, float shotspeed, float shotdelay)
@@ -325,7 +328,7 @@ vector bot_shotlead(vector targorigin, vector targvelocity, float shotspeed, flo
 
 bool bot_aim(entity this, .entity weaponentity, float shotspeed, float shotspeedupward, float maxshottime, bool applygravity)
 {
-       float f, r, hf, distanceratio;
+       float r, hf, distanceratio;
        vector v;
        /*
        eprint(this);
@@ -367,11 +370,11 @@ bool bot_aim(entity this, .entity weaponentity, float shotspeed, float shotspeed
                        return false;
                }
 
-               f = bot_aimdir(this, findtrajectory_velocity - shotspeedupward * '0 0 1', r);
+               bot_aimdir(this, findtrajectory_velocity - shotspeedupward * '0 0 1', r);
        }
        else
        {
-               f = bot_aimdir(this, v - shotorg, r);
+               bot_aimdir(this, v - shotorg, r);
                //dprint("AIM: ");dprint(vtos(this.bot_aimtargorigin));dprint(" + ");dprint(vtos(this.bot_aimtargvelocity));dprint(" * ");dprint(ftos(this.bot_aimlatency + vlen(this.bot_aimtargorigin - shotorg) / shotspeed));dprint(" = ");dprint(vtos(v));dprint(" : aimdir = ");dprint(vtos(normalize(v - shotorg)));dprint(" : ");dprint(vtos(shotdir));dprint("\n");
                //traceline(shotorg, shotorg + shotdir * 10000, false, this);
                //if (trace_ent.takedamage)
index e7c60758aec2eca3c46fe3c588a8cce4e635551e..b8b35f1c203a08968e3b82e7029bbfd17109e6dd 100644 (file)
@@ -90,7 +90,7 @@ void lag_update(entity this);
 void bot_lagfunc(entity this, float t, float f1, float f2, entity e1, vector v1, vector v2, vector v3, vector v4);
 
 float bot_shouldattack(entity this, entity targ);
-float bot_aimdir(entity this, vector v, float maxfiredeviation);
+void bot_aimdir(entity this, vector v, float maxfiredeviation);
 bool bot_aim(entity this, .entity weaponentity, float shotspeed, float shotspeedupward, float maxshottime, bool applygravity);
 float findtrajectorywithleading(vector org, vector m1, vector m2, entity targ, float shotspeed, float shotspeedupward, float maxtime, float shotdelay, entity ignore);
 
index 6ea375c0879b19ec945269deb93518e496b4c216..af238029abd85042eb7e72e8f2de43f0a0c6dd94 100644 (file)
@@ -133,7 +133,7 @@ void bot_think(entity this)
                if (this.deadflag == DEAD_DEAD)
                {
                        PHYS_INPUT_BUTTON_JUMP(this) = true; // press jump to respawn
-                       this.bot_strategytime = 0;
+                       navigation_goalrating_timeout_force(this);
                }
        }
        else if(this.aistatus & AI_STATUS_STUCK)
@@ -579,9 +579,8 @@ void autoskill(float factor)
 void bot_calculate_stepheightvec()
 {
        stepheightvec = autocvar_sv_stepheight * '0 0 1';
-       jumpstepheightvec = stepheightvec +
-               ((autocvar_sv_jumpvelocity * autocvar_sv_jumpvelocity) / (2 * autocvar_sv_gravity)) * '0 0 0.85';
-               // 0.75 factor is for safety to make the jumps easy
+       jumpheight_vec = (autocvar_sv_jumpvelocity ** 2) / (2 * autocvar_sv_gravity) * '0 0 1';
+       jumpstepheightvec = stepheightvec + jumpheight_vec * 0.85; // reduce it a bit to make the jumps easy
 }
 
 float bot_fixcount()
@@ -699,6 +698,19 @@ void bot_serverframe()
                return;
        }
 
+       if(autocvar_skill != skill)
+       {
+               float wpcost_update = false;
+               if(skill >= autocvar_bot_ai_bunnyhop_skilloffset && autocvar_skill < autocvar_bot_ai_bunnyhop_skilloffset)
+                       wpcost_update = true;
+               if(skill < autocvar_bot_ai_bunnyhop_skilloffset && autocvar_skill >= autocvar_bot_ai_bunnyhop_skilloffset)
+                       wpcost_update = true;
+
+               skill = autocvar_skill;
+               if (wpcost_update)
+                       waypoint_updatecost_foralllinks();
+       }
+
        bot_calculate_stepheightvec();
        bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
 
@@ -747,8 +759,7 @@ void bot_serverframe()
        {
                botframe_spawnedwaypoints = true;
                waypoint_loadall();
-               if(!waypoint_load_links())
-                       waypoint_schedulerelinkall();
+               waypoint_load_links();
        }
 
        if (bot_list)
@@ -758,11 +769,26 @@ void bot_serverframe()
                //  frame, which causes choppy framerates)
                if (bot_strategytoken_taken)
                {
+                       // give goal token to the first bot without goals; if all bots don't have
+                       // any goal (or are dead/frozen) simply give it to the next one
                        bot_strategytoken_taken = false;
-                       if (bot_strategytoken)
-                               bot_strategytoken = bot_strategytoken.nextbot;
-                       if (!bot_strategytoken)
-                               bot_strategytoken = bot_list;
+                       entity bot_strategytoken_save = bot_strategytoken;
+                       while (true)
+                       {
+                               if (bot_strategytoken)
+                                       bot_strategytoken = bot_strategytoken.nextbot;
+                               if (!bot_strategytoken)
+                                       bot_strategytoken = bot_list;
+
+                               if (!(IS_DEAD(bot_strategytoken) || STAT(FROZEN, bot_strategytoken))
+                                       && !bot_strategytoken.goalcurrent)
+                                       break;
+
+                               if (!bot_strategytoken_save) // break loop if all the bots are dead or frozen
+                                       break;
+                               if (bot_strategytoken == bot_strategytoken_save)
+                                       bot_strategytoken_save = NULL; // looped through all the bots
+                       }
                }
 
                if (botframe_nextdangertime < time)
index b72fad9bd600248601794130a2cf0f505c110991..ea37ccf8ff6d417833b365aaad3b4e20ecaff1a3 100644 (file)
@@ -78,6 +78,12 @@ float botframe_nextdangertime;
 float bot_cvar_nextthink;
 float bot_ignore_bots; // let bots not attack other bots (only works in non-teamplay)
 
+int _content_type;
+#define IN_LAVA(pos) (_content_type = pointcontents(pos), (_content_type == CONTENT_LAVA || _content_type == CONTENT_SLIME))
+#define IN_LIQUID(pos) (_content_type = pointcontents(pos), (_content_type == CONTENT_WATER || _content_type == CONTENT_LAVA || _content_type == CONTENT_SLIME))
+#define SUBMERGED(pos) IN_LIQUID(pos + autocvar_sv_player_viewoffset)
+#define WETFEET(pos) IN_LIQUID(pos + eZ * (m1.z + 1))
+
 /*
  * Functions
  */
index 46acf8828774324f3790596ce465576f6c6c7b77..2a0d0c8503f005c17d2156fd2871ebf216ac932d 100644 (file)
@@ -33,8 +33,7 @@ void havocbot_ai(entity this)
        if(bot_execute_commands(this))
                return;
 
-       if (bot_strategytoken == this)
-       if (!bot_strategytoken_taken)
+       if (bot_strategytoken == this && !bot_strategytoken_taken)
        {
                if(this.havocbot_blockhead)
                {
@@ -46,7 +45,6 @@ void havocbot_ai(entity this)
                                this.havocbot_role(this); // little too far down the rabbit hole
                }
 
-               // TODO: tracewalk() should take care of this job (better path finding under water)
                // if we don't have a goal and we're under water look for a waypoint near the "shore" and push it
                if(!(IS_DEAD(this) || STAT(FROZEN, this)))
                if(!this.goalcurrent)
@@ -86,7 +84,11 @@ void havocbot_ai(entity this)
        }
 
        if(IS_DEAD(this) || STAT(FROZEN, this))
+       {
+               if (this.goalcurrent)
+                       navigation_clearroute(this);
                return;
+       }
 
        havocbot_chooseenemy(this);
 
@@ -139,11 +141,23 @@ void havocbot_ai(entity this)
                this.aistatus |= AI_STATUS_ROAMING;
                this.aistatus &= ~AI_STATUS_ATTACKING;
 
-               vector now,v,next;//,heading;
+               vector now, next;
                float aimdistance,skillblend,distanceblend,blend;
-               next = now = ( (this.goalcurrent.absmin + this.goalcurrent.absmax) * 0.5) - (this.origin + this.view_ofs);
+
+               vector v = get_closer_dest(this.goalcurrent, this.origin);
+               if(this.goalcurrent.wpisbox)
+               {
+                       // avoid a glitch when bot is teleported but teleport waypoint isn't removed yet
+                       if(this.goalstack02 && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT
+                       && this.lastteleporttime > 0 && time - this.lastteleporttime < 0.15)
+                               v = (this.goalstack02.absmin + this.goalstack02.absmax) * 0.5;
+                       // aim to teleport origin if bot is inside teleport waypoint but hasn't touched the real teleport yet
+                       else if(boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax, this.origin, this.origin))
+                               v = this.goalcurrent.origin;
+               }
+               next = now = v - (this.origin + this.view_ofs);
                aimdistance = vlen(now);
-               //heading = this.velocity;
+
                //dprint(this.goalstack01.classname,etos(this.goalstack01),"\n");
                if(
                        this.goalstack01 != this && this.goalstack01 && !wasfreed(this.goalstack01) && ((this.aistatus & AI_STATUS_RUNNING) == 0) &&
@@ -275,7 +289,6 @@ void havocbot_bunnyhop(entity this, vector dir)
        float bunnyhopdistance;
        vector deviation;
        float maxspeed;
-       vector gco, gno;
 
        // Don't jump when attacking
        if(this.aistatus & AI_STATUS_ATTACKING)
@@ -308,12 +321,12 @@ void havocbot_bunnyhop(entity this, vector dir)
                this.bot_timelastseengoal = 0;
        }
 
-       gco = (this.goalcurrent.absmin + this.goalcurrent.absmax) * 0.5;
+       vector gco = get_closer_dest(this.goalcurrent, this.origin);
        bunnyhopdistance = vlen(this.origin - gco);
 
        // Run only to visible goals
        if(IS_ONGROUND(this))
-       if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
+       if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
        if(checkpvs(this.origin + this.view_ofs, this.goalcurrent))
        {
                        this.bot_lastseengoal = this.goalcurrent;
@@ -345,7 +358,7 @@ void havocbot_bunnyhop(entity this, vector dir)
                                        if(fabs(gco.z - this.origin.z) < this.maxs.z - this.mins.z)
                                        if(this.goalstack01 && !wasfreed(this.goalstack01))
                                        {
-                                               gno = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
+                                               vector gno = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
                                                deviation = vectoangles(gno - this.origin) - vectoangles(gco - this.origin);
                                                while (deviation.y < -180) deviation.y = deviation.y + 360;
                                                while (deviation.y > 180) deviation.y = deviation.y - 360;
@@ -415,21 +428,67 @@ void havocbot_bunnyhop(entity this, vector dir)
 #endif
 }
 
-.entity goalcurrent_prev;
-.float goalcurrent_distance;
-.float goalcurrent_distance_time;
+// return true when bot isn't getting closer to the current goal
+bool havocbot_checkgoaldistance(entity this, vector gco)
+{
+       float curr_dist_z = max(20, fabs(this.origin.z - gco.z));
+       float curr_dist_2d = max(20, vlen(vec2(this.origin - gco)));
+       float distance_time = this.goalcurrent_distance_time;
+       if(distance_time < 0)
+               distance_time = -distance_time;
+       if(curr_dist_z >= this.goalcurrent_distance_z && curr_dist_2d >= this.goalcurrent_distance_2d)
+       {
+               if(!distance_time)
+                       this.goalcurrent_distance_time = time;
+               else if (time - distance_time > 0.5)
+                       return true;
+       }
+       else
+       {
+               // reduce it a little bit so it works even with very small approaches to the goal
+               this.goalcurrent_distance_z = max(20, curr_dist_z - 10);
+               this.goalcurrent_distance_2d = max(20, curr_dist_2d - 10);
+               this.goalcurrent_distance_time = 0;
+       }
+       return false;
+}
+
+entity havocbot_select_an_item_of_group(entity this, int gr)
+{
+       entity selected = NULL;
+       float selected_dist2 = 0;
+       // select farthest item of this group from bot's position
+       IL_EACH(g_items, it.item_group == gr && it.solid,
+       {
+               float dist2 = vlen2(this.origin - it.origin);
+               if (dist2 < 600 ** 2 && dist2 > selected_dist2)
+               {
+                       selected = it;
+                       selected_dist2 = vlen2(this.origin - selected.origin);
+               }
+       });
+
+       if (!selected)
+               return NULL;
+
+       set_tracewalk_dest(selected, 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 selected;
+}
+
 void havocbot_movetogoal(entity this)
 {
-       vector destorg;
        vector diff;
        vector dir;
        vector flatdir;
-       vector m1;
-       vector m2;
        vector evadeobstacle;
        vector evadelava;
        float maxspeed;
-       vector gco;
        //float dist;
        vector dodge;
        //if (this.goalentity)
@@ -437,8 +496,8 @@ void havocbot_movetogoal(entity this)
        CS(this).movement = '0 0 0';
        maxspeed = autocvar_sv_maxspeed;
 
+       PHYS_INPUT_BUTTON_JETPACK(this) = false;
        // Jetpack navigation
-       if(this.goalcurrent)
        if(this.navigation_jetpack_goal)
        if(this.goalcurrent==this.navigation_jetpack_goal)
        if(this.ammo_fuel)
@@ -465,18 +524,14 @@ void havocbot_movetogoal(entity this)
                if(this.aistatus & AI_STATUS_JETPACK_LANDING)
                {
                        // Calculate brake distance in xy
-                       float db, v, d;
-                       vector dxy;
-
-                       dxy = this.origin - ( ( this.goalcurrent.absmin + this.goalcurrent.absmax ) * 0.5 ); dxy.z = 0;
-                       d = vlen(dxy);
-                       v = vlen(this.velocity -  this.velocity.z * '0 0 1');
-                       db = ((v ** 2) / (autocvar_g_jetpack_acceleration_side * 2)) + 100;
-               //      dprint("distance ", ftos(ceil(d)), " velocity ", ftos(ceil(v)), " brake at ", ftos(ceil(db)), "\n");
+                       float d = vlen(vec2(this.origin - (this.goalcurrent.absmin + this.goalcurrent.absmax) * 0.5));
+                       float v = vlen(vec2(this.velocity));
+                       float db = ((v ** 2) / (autocvar_g_jetpack_acceleration_side * 2)) + 100;
+                       //LOG_INFOF("distance %d, velocity %d, brake at %d ", ceil(d), ceil(v), ceil(db));
                        if(d < db || d < 500)
                        {
                                // Brake
-                               if(fabs(this.velocity.x)>maxspeed*0.3)
+                               if(v > maxspeed * 0.3)
                                {
                                        CS(this).movement_x = dir * v_forward * -maxspeed;
                                        return;
@@ -497,7 +552,7 @@ void havocbot_movetogoal(entity this)
                }
 
                // Flying
-               PHYS_INPUT_BUTTON_HOOK(this) = true;
+               PHYS_INPUT_BUTTON_JETPACK(this) = true;
                if(this.navigation_jetpack_point.z - STAT(PL_MAX, this).z + STAT(PL_MIN, this).z < this.origin.z)
                {
                        CS(this).movement_x = dir * v_forward * maxspeed;
@@ -509,17 +564,25 @@ void havocbot_movetogoal(entity this)
        // Handling of jump pads
        if(this.jumppadcount)
        {
-               // If got stuck on the jump pad try to reach the farthest visible waypoint
-               // but with some randomness so it can try out different paths
-               if(this.aistatus & AI_STATUS_OUT_JUMPPAD)
+               if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+               {
+                       this.aistatus |= AI_STATUS_OUT_JUMPPAD;
+                       navigation_poptouchedgoals(this);
+                       return;
+               }
+               else if(this.aistatus & AI_STATUS_OUT_JUMPPAD)
                {
-                       if(fabs(this.velocity.z)<50)
+                       // If got stuck on the jump pad try to reach the farthest visible waypoint
+                       // but with some randomness so it can try out different paths
+                       if(!this.goalcurrent)
                        {
                                entity newgoal = NULL;
-                               if (vdist(this.origin - this.goalcurrent.origin, <, 150))
-                                       this.aistatus &= ~AI_STATUS_OUT_JUMPPAD;
-                               else IL_EACH(g_waypoints, vdist(it.origin - this.origin, <=, 1000),
+                               IL_EACH(g_waypoints, vdist(it.origin - this.origin, <=, 1000),
                                {
+                                       if(it.wpflags & WAYPOINTFLAG_TELEPORT)
+                                       if(it.origin.z < this.origin.z - 100 && vdist(vec2(it.origin - this.origin), <, 100))
+                                               continue;
+
                                        traceline(this.origin + this.view_ofs, ((it.absmin + it.absmax) * 0.5), true, this);
 
                                        if(trace_fraction < 1)
@@ -541,11 +604,32 @@ void havocbot_movetogoal(entity this)
                                }
                        }
                        else
-                               return;
+                       {
+                               if (this.goalcurrent.bot_pickup)
+                               {
+                                       entity jumppad_wp = this.goalcurrent_prev;
+                                       navigation_poptouchedgoals(this);
+                                       if(!this.goalcurrent && jumppad_wp.wp00)
+                                       {
+                                               // head to the jumppad destination once bot reaches the goal item
+                                               navigation_pushroute(this, jumppad_wp.wp00);
+                                       }
+                               }
+                               vector gco = (this.goalcurrent.absmin + this.goalcurrent.absmax) * 0.5;
+                               if (this.origin.z > gco.z && vdist(vec2(this.velocity), <, autocvar_sv_maxspeed))
+                                       this.aistatus &= ~AI_STATUS_OUT_JUMPPAD;
+                               else if(havocbot_checkgoaldistance(this, gco))
+                               {
+                                       navigation_clearroute(this);
+                                       navigation_goalrating_timeout_force(this);
+                               }
+                               else
+                                       return;
+                       }
                }
                else
                {
-                       if(time - this.lastteleporttime > 0.3 && this.velocity.z > 0)
+                       if(time - this.lastteleporttime > 0.2 && this.velocity.z > 0)
                        {
                                vector velxy = this.velocity; velxy_z = 0;
                                if(vdist(velxy, <, autocvar_sv_maxspeed * 0.2))
@@ -565,9 +649,12 @@ void havocbot_movetogoal(entity this)
                this.aistatus &= ~AI_STATUS_OUT_JUMPPAD;
 
        // If there is a trigger_hurt right below try to use the jetpack or make a rocketjump
-       if(skill>6)
-       if (!(IS_ONGROUND(this)))
+       if (skill > 6 && !(IS_ONGROUND(this)))
        {
+               #define ROCKETJUMP_DAMAGE() WEP_CVAR(devastator, damage) * 0.8 \
+                       * ((this.strength_finished > time) ? autocvar_g_balance_powerup_strength_selfdamage : 1) \
+                       * ((this.invincible_finished > time) ? autocvar_g_balance_powerup_invincible_takedamage : 1)
+
                tracebox(this.origin, this.mins, this.maxs, this.origin + '0 0 -65536', MOVE_NOMONSTERS, this);
                if(tracebox_hits_trigger_hurt(this.origin, this.mins, this.maxs, trace_endpos ))
                if(this.items & IT_JETPACK)
@@ -576,12 +663,10 @@ void havocbot_movetogoal(entity this)
                        if(tracebox_hits_trigger_hurt(this.origin, this.mins, this.maxs, trace_endpos + '0 0 1' ))
                        {
                                if(this.velocity.z<0)
-                               {
-                                       PHYS_INPUT_BUTTON_HOOK(this) = true;
-                               }
+                                       PHYS_INPUT_BUTTON_JETPACK(this) = true;
                        }
                        else
-                               PHYS_INPUT_BUTTON_HOOK(this) = true;
+                               PHYS_INPUT_BUTTON_JETPACK(this) = true;
 
                        // If there is no goal try to move forward
 
@@ -610,7 +695,7 @@ void havocbot_movetogoal(entity this)
 
                        return;
                }
-               else if(this.health > WEP_CVAR(devastator, damage) * 0.5 * ((this.strength_finished < time) ? autocvar_g_balance_powerup_strength_selfdamage : 1))
+               else if(this.health + this.armorvalue > ROCKETJUMP_DAMAGE())
                {
                        if(this.velocity.z < 0)
                        {
@@ -653,8 +738,7 @@ void havocbot_movetogoal(entity this)
        }
 
        // If we are under water with no goals, swim up
-       if(this.waterlevel)
-       if(this.goalcurrent==NULL)
+       if(this.waterlevel && !this.goalcurrent)
        {
                dir = '0 0 0';
                if(this.waterlevel>WATERLEVEL_SWIMMING)
@@ -675,12 +759,17 @@ void havocbot_movetogoal(entity this)
 
 
        bool locked_goal = false;
-       if(this.goalentity && wasfreed(this.goalentity))
+       if((this.goalentity && wasfreed(this.goalentity))
+               || (this.goalcurrent == this.goalentity && this.goalentity.tag_entity))
        {
                navigation_clearroute(this);
-               this.bot_strategytime = 0;
+               navigation_goalrating_timeout_force(this);
                return;
        }
+       else if(this.goalentity.tag_entity)
+       {
+               navigation_goalrating_timeout_expire(this, 2);
+       }
        else if(this.goalentity.bot_pickup)
        {
                if(this.goalentity.bot_pickup_respawning)
@@ -689,28 +778,91 @@ void havocbot_movetogoal(entity this)
                                this.goalentity.bot_pickup_respawning = false;
                        else if(time < this.goalentity.scheduledrespawntime - 10) // item already taken (by someone else)
                        {
-                               this.goalentity.bot_pickup_respawning = false;
-                               navigation_clearroute(this);
-                               this.bot_strategytime = 0;
-                               return;
+                               if(checkpvs(this.origin, this.goalentity))
+                               {
+                                       this.goalentity.bot_pickup_respawning = false;
+                                       navigation_goalrating_timeout_expire(this, random());
+                               }
+                               locked_goal = true; // wait for item to respawn
                        }
                        else if(this.goalentity == this.goalcurrent)
                                locked_goal = true; // wait for item to respawn
                }
-               else if(!this.goalentity.solid)
+               else if(!this.goalentity.solid && !boxesoverlap(this.goalentity.absmin, this.goalentity.absmax, this.absmin, this.absmax))
                {
-                       navigation_clearroute(this);
-                       this.bot_strategytime = 0;
-                       return;
+                       if(checkpvs(this.origin, this.goalentity))
+                       {
+                               navigation_goalrating_timeout_expire(this, random());
+                       }
+               }
+       }
+       if (this.goalcurrent == this.goalentity && this.goalentity_lock_timeout > time)
+               locked_goal = true;
+
+       navigation_shortenpath(this);
+
+       if (IS_MOVABLE(this.goalcurrent))
+       {
+               if (IS_DEAD(this.goalcurrent))
+               {
+                       if (checkpvs(this.origin + this.view_ofs, this.goalcurrent))
+                       {
+                               navigation_goalrating_timeout_force(this);
+                               return;
+                       }
+               }
+               else if (this.bot_tracewalk_time < time)
+               {
+                       set_tracewalk_dest(this.goalcurrent, this.origin, true);
+                       if (!(trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
+                               tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
+                       {
+                               navigation_goalrating_timeout_force(this);
+                               return;
+                       }
+                       this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
                }
        }
        if(!locked_goal)
-               navigation_poptouchedgoals(this);
+       {
+               // optimize path finding by anticipating goalrating when bot is near a waypoint;
+               // in this case path finding can start directly from a waypoint instead of
+               // looking for all the reachable waypoints up to a certain distance
+               if (navigation_poptouchedgoals(this))
+               {
+                       if (this.goalcurrent)
+                       {
+                               if (IS_MOVABLE(this.goalcurrent) && IS_DEAD(this.goalcurrent))
+                               {
+                                       // remove even if not visible
+                                       navigation_goalrating_timeout_force(this);
+                                       return;
+                               }
+                               else if (navigation_goalrating_timeout_can_be_anticipated(this))
+                                       navigation_goalrating_timeout_force(this);
+                       }
+                       else
+                       {
+                               entity old_goal = this.goalcurrent_prev;
+                               if (old_goal.item_group && this.item_group != old_goal.item_group)
+                               {
+                                       // Avoid multiple costly calls of path finding code that selects one of the closest
+                                       // item of the group by telling the bot to head directly to the farthest item.
+                                       // Next time we let the bot select a goal as usual which can be another item
+                                       // of this group (the closest one) and so on
+                                       this.item_group = old_goal.item_group;
+                                       entity new_goal = havocbot_select_an_item_of_group(this, old_goal.item_group);
+                                       if (new_goal)
+                                               navigation_pushroute(this, new_goal);
+                               }
+                       }
+               }
+       }
 
        // if ran out of goals try to use an alternative goal or get a new strategy asap
        if(this.goalcurrent == NULL)
        {
-               this.bot_strategytime = 0;
+               navigation_goalrating_timeout_force(this);
                return;
        }
 
@@ -718,23 +870,37 @@ void havocbot_movetogoal(entity this)
        if(autocvar_bot_debug_goalstack)
                debuggoalstack(this);
 
-       m1 = this.goalcurrent.origin + this.goalcurrent.mins;
-       m2 = this.goalcurrent.origin + this.goalcurrent.maxs;
-       destorg = this.origin;
-       destorg.x = bound(m1_x, destorg.x, m2_x);
-       destorg.y = bound(m1_y, destorg.y, m2_y);
-       destorg.z = bound(m1_z, destorg.z, m2_z);
+       bool bunnyhop_forbidden = false;
+       vector destorg = get_closer_dest(this.goalcurrent, this.origin);
+
+       // in case bot ends up inside the teleport waypoint without touching
+       // the teleport itself, head to the teleport origin
+       if(this.goalcurrent.wpisbox && boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax, this.origin + eZ * this.mins.z, this.origin + eZ * this.maxs.z))
+       {
+               bunnyhop_forbidden = true;
+               destorg = this.goalcurrent.origin;
+               if(destorg.z > this.origin.z)
+                       PHYS_INPUT_BUTTON_JUMP(this) = true;
+       }
+
        diff = destorg - this.origin;
-       //dist = vlen(diff);
+
+       if (fabs(diff.x) < 10 && fabs(diff.y) < 10
+               && this.goalcurrent == this.goalentity && time < this.goalentity_lock_timeout)
+       {
+               destorg = this.origin;
+               diff.x = 0;
+               diff.y = 0;
+       }
+
        dir = normalize(diff);
        flatdir = diff;flatdir.z = 0;
        flatdir = normalize(flatdir);
-       gco = (this.goalcurrent.absmin + this.goalcurrent.absmax) * 0.5;
 
        //if (this.bot_dodgevector_time < time)
        {
-       //      this.bot_dodgevector_time = time + cvar("bot_ai_dodgeupdateinterval");
-       //      this.bot_dodgevector_jumpbutton = 1;
+               //this.bot_dodgevector_time = time + cvar("bot_ai_dodgeupdateinterval");
+               //this.bot_dodgevector_jumpbutton = 1;
                evadeobstacle = '0 0 0';
                evadelava = '0 0 0';
 
@@ -744,18 +910,20 @@ void havocbot_movetogoal(entity this)
                {
                        if(this.waterlevel>WATERLEVEL_SWIMMING)
                        {
-                       //      flatdir_z = 1;
-                               this.aistatus |= AI_STATUS_OUT_WATER;
+                               if(!this.goalcurrent)
+                                       this.aistatus |= AI_STATUS_OUT_WATER;
+                               else if(destorg.z > this.origin.z)
+                                       PHYS_INPUT_BUTTON_JUMP(this) = true;
                        }
                        else
                        {
-                               if(this.velocity.z >= 0 && !(this.watertype == CONTENT_WATER && gco.z < this.origin.z) &&
+                               dir = flatdir;
+                               if(this.velocity.z >= 0 && !(this.watertype == CONTENT_WATER && destorg.z < this.origin.z) &&
                                        ( !(this.waterlevel == WATERLEVEL_WETFEET && this.watertype == CONTENT_WATER) || this.aistatus & AI_STATUS_OUT_WATER))
                                        PHYS_INPUT_BUTTON_JUMP(this) = true;
                                else
                                        PHYS_INPUT_BUTTON_JUMP(this) = false;
                        }
-                       dir = normalize(flatdir);
                }
                else
                {
@@ -766,62 +934,91 @@ void havocbot_movetogoal(entity this)
 
                        // jump if going toward an obstacle that doesn't look like stairs we
                        // can walk up directly
-                       offset = (vdist(this.velocity, >, 32) ? this.velocity * 0.2 : v_forward * 32);
-                       tracebox(this.origin, this.mins, this.maxs, this.origin + offset, false, this);
+                       vector deviation = '0 0 0';
+                       if (this.velocity)
+                       {
+                               deviation = vectoangles(diff) - vectoangles(this.velocity);
+                               while (deviation.y < -180) deviation.y += 360;
+                               while (deviation.y > 180) deviation.y -= 360;
+                       }
+                       vector flat_diff = vec2(diff);
+                       offset = max(32, vlen(vec2(this.velocity)) * cos(deviation.y * DEG2RAD) * 0.2) * flatdir;
+                       vector actual_destorg = this.origin + offset;
+                       if (!this.goalstack01 || this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+                       {
+                               if (vlen2(flat_diff) < vlen2(offset))
+                               {
+                                       actual_destorg.x = destorg.x;
+                                       actual_destorg.y = destorg.y;
+                               }
+                       }
+                       else if (vdist(flat_diff, <, 32) && diff.z < -16) // destination is under the bot
+                       {
+                               actual_destorg.x = destorg.x;
+                               actual_destorg.y = destorg.y;
+                       }
+                       else if (vlen2(flat_diff) < vlen2(offset))
+                       {
+                               vector next_goal_org = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
+                               vector next_dir = normalize(vec2(next_goal_org - destorg));
+                               float next_dist = vlen(vec2(this.origin + offset - destorg));
+                               actual_destorg = vec2(destorg) + next_dist * next_dir;
+                               actual_destorg.z = this.origin.z;
+                       }
+
+                       tracebox(this.origin, this.mins, this.maxs, actual_destorg, false, this);
                        if (trace_fraction < 1)
                        if (trace_plane_normal.z < 0.7)
                        {
                                s = trace_fraction;
-                               tracebox(this.origin + stepheightvec, this.mins, this.maxs, this.origin + offset + stepheightvec, false, this);
+                               tracebox(this.origin + stepheightvec, this.mins, this.maxs, actual_destorg + stepheightvec, false, this);
                                if (trace_fraction < s + 0.01)
                                if (trace_plane_normal.z < 0.7)
                                {
                                        s = trace_fraction;
-                                       tracebox(this.origin + jumpstepheightvec, this.mins, this.maxs, this.origin + offset + jumpstepheightvec, false, this);
+                                       tracebox(this.origin + jumpstepheightvec, this.mins, this.maxs, actual_destorg + jumpstepheightvec, false, this);
                                        if (trace_fraction > s)
                                                PHYS_INPUT_BUTTON_JUMP(this) = true;
                                }
                        }
 
                        // if bot for some reason doesn't get close to the current goal find another one
-                       if(!IS_PLAYER(this.goalcurrent) && !(this.goalcurrent.bot_pickup_respawning && this.goalcurrent_distance < 50))
+                       if(!this.jumppadcount && !IS_PLAYER(this.goalcurrent))
+                       if(!(locked_goal && this.goalcurrent_distance_z < 50 && this.goalcurrent_distance_2d < 50))
+                       if(havocbot_checkgoaldistance(this, destorg))
                        {
-                               float curr_dist = vlen(this.origin - this.goalcurrent.origin);
-                               if(this.goalcurrent != this.goalcurrent_prev)
-                               {
-                                       this.goalcurrent_prev = this.goalcurrent;
-                                       this.goalcurrent_distance = curr_dist;
-                                       this.goalcurrent_distance_time = 0;
-                               }
-                               else if(curr_dist > this.goalcurrent_distance)
+                               if(this.goalcurrent_distance_time < 0) // can't get close for the second time
                                {
-                                       if(!this.goalcurrent_distance_time)
-                                               this.goalcurrent_distance_time = time;
-                                       else if (time - this.goalcurrent_distance_time > 0.5)
-                                       {
-                                               this.goalcurrent_prev = NULL;
-                                               navigation_clearroute(this);
-                                               this.bot_strategytime = 0;
-                                               return;
-                                       }
+                                       navigation_clearroute(this);
+                                       navigation_goalrating_timeout_force(this);
+                                       return;
                                }
-                               else
+
+                               set_tracewalk_dest(this.goalcurrent, this.origin, false);
+                               if (!tracewalk(this, this.origin, this.mins, this.maxs,
+                                       tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
                                {
-                                       // reduce it a little bit so it works even with very small approaches to the goal
-                                       this.goalcurrent_distance = max(20, curr_dist - 15);
-                                       this.goalcurrent_distance_time = 0;
+                                       navigation_clearroute(this);
+                                       navigation_goalrating_timeout_force(this);
+                                       return;
                                }
+
+                               // give bot only another chance to prevent bot getting stuck
+                               // in case it thinks it can walk but actually can't
+                               this.goalcurrent_distance_z = FLOAT_MAX;
+                               this.goalcurrent_distance_2d = FLOAT_MAX;
+                               this.goalcurrent_distance_time = -time; // mark second try
                        }
 
                        // Check for water/slime/lava and dangerous edges
                        // (only when the bot is on the ground or jumping intentionally)
 
+                       offset = (vdist(this.velocity, >, 32) ? this.velocity * 0.2 : v_forward * 32);
                        vector dst_ahead = this.origin + this.view_ofs + offset;
                        vector dst_down = dst_ahead - '0 0 3000';
                        traceline(this.origin + this.view_ofs, dst_ahead, true, NULL);
 
                        bool unreachable = false;
-                       bool ignorehazards = false;
                        s = CONTENT_SOLID;
                        if(trace_fraction == 1 && this.jumppadcount == 0 && !this.goalcurrent.wphardwired )
                        if((IS_ONGROUND(this)) || (this.aistatus & AI_STATUS_RUNNING) || (this.aistatus & AI_STATUS_ROAMING) || PHYS_INPUT_BUTTON_JUMP(this))
@@ -835,16 +1032,7 @@ void havocbot_movetogoal(entity this)
                                        s = pointcontents(trace_endpos + '0 0 1');
                                        if (s != CONTENT_SOLID)
                                        if (s == CONTENT_LAVA || s == CONTENT_SLIME)
-                                       {
                                                evadelava = normalize(this.velocity) * -1;
-                                               if(this.waterlevel >= WATERLEVEL_WETFEET && (this.watertype == CONTENT_LAVA || this.watertype == CONTENT_SLIME))
-                                                       ignorehazards = true;
-                                       }
-                                       else if (s == CONTENT_WATER)
-                                       {
-                                               if(this.waterlevel >= WATERLEVEL_WETFEET && this.watertype == CONTENT_WATER)
-                                                       ignorehazards = true;
-                                       }
                                        else if (s == CONTENT_SKY)
                                                evadeobstacle = normalize(this.velocity) * -1;
                                        else if (tracebox_hits_trigger_hurt(dst_ahead, this.mins, this.maxs, trace_endpos))
@@ -854,7 +1042,7 @@ void havocbot_movetogoal(entity this)
                                                tracebox(dst_ahead, this.mins, this.maxs, dst_down, true, this);
                                                if (tracebox_hits_trigger_hurt(dst_ahead, this.mins, this.maxs, trace_endpos))
                                                {
-                                                       if (gco.z > this.origin.z + jumpstepheightvec.z)
+                                                       if (destorg.z > this.origin.z + jumpstepheightvec.z)
                                                        {
                                                                // the goal is probably on an upper platform, assume bot can't get there
                                                                unreachable = true;
@@ -873,15 +1061,16 @@ void havocbot_movetogoal(entity this)
 
                        if(evadeobstacle || evadelava || (s == CONTENT_WATER))
                        {
-                               if(!ignorehazards)
-                                       this.aistatus |= AI_STATUS_DANGER_AHEAD;
+                               this.aistatus |= AI_STATUS_DANGER_AHEAD;
                                if(IS_PLAYER(this.goalcurrent))
                                        unreachable = true;
                        }
                        if(unreachable)
                        {
                                navigation_clearroute(this);
-                               this.bot_strategytime = 0;
+                               navigation_goalrating_timeout_force(this);
+                               this.ignoregoal = this.goalcurrent;
+                               this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
                        }
                }
 
@@ -923,8 +1112,8 @@ void havocbot_movetogoal(entity this)
                havocbot_keyboard_movement(this, destorg);
 
        // Bunnyhop!
-//     if(this.aistatus & AI_STATUS_ROAMING)
-       if(this.goalcurrent)
+       //if(this.aistatus & AI_STATUS_ROAMING)
+       if(!bunnyhop_forbidden && this.goalcurrent)
        if(skill+this.bot_moveskill >= autocvar_bot_ai_bunnyhop_skilloffset)
                havocbot_bunnyhop(this, dir);
 
@@ -1265,7 +1454,8 @@ float havocbot_moveto(entity this, vector pos)
                        debuggoalstack(this);
 
                // Heading
-               vector dir = ( ( this.goalcurrent.absmin + this.goalcurrent.absmax ) * 0.5 ) - (this.origin + this.view_ofs);
+               vector dir = get_closer_dest(this.goalcurrent, this.origin);
+               dir = dir - (this.origin + this.view_ofs);
                dir.z = 0;
                bot_aimdir(this, dir, -1);
 
index 88ba407a2d68aca2dd10f96bbe028c79de4987a9..2f987f674ec8719503137e05452abe5e7701fd1e 100644 (file)
@@ -23,6 +23,7 @@
 .float havocbot_stickenemy;
 .float havocbot_role_timeout;
 
+.float bot_tracewalk_time;
 .entity ignoregoal;
 .entity bot_lastseengoal;
 .entity havocbot_personal_waypoint;
index aa1884a33592e4634954165bb2cd2d53f81ea666..e469436014e1e030cc7dd1fc3bad16e61ad9fb11 100644 (file)
@@ -10,6 +10,8 @@
 #include "../bot.qh"
 #include "../navigation.qh"
 
+.float bot_ratingscale;
+.float bot_ratingscale_time;
 .float max_armorvalue;
 .float havocbot_role_timeout;
 
@@ -45,15 +47,81 @@ void havocbot_goalrating_waypoints(entity this, float ratingscale, vector org, f
        }
 };
 
+bool havocbot_goalrating_item_can_be_left_to_teammate(entity this, entity player, entity item)
+{
+       if (item.health && player.health <= this.health) {return true;}
+       if (item.armorvalue && player.armorvalue <= this.armorvalue) {return true;}
+       if (item.weapons && !(player.weapons & item.weapons)) {return true;}
+       if (item.ammo_shells && player.ammo_shells <= this.ammo_shells) {return true;}
+       if (item.ammo_nails && player.ammo_nails <= this.ammo_nails) {return true;}
+       if (item.ammo_rockets && player.ammo_rockets <= this.ammo_rockets) {return true;}
+       if (item.ammo_cells && player.ammo_cells <= this.ammo_cells) {return true;}
+       if (item.ammo_plasma && player.ammo_plasma <= this.ammo_plasma) {return true;}
+       if (item.itemdef.instanceOfPowerup) {return true;}
+
+       return false;
+};
+
+bool havocbot_goalrating_item_pickable_check_players(entity this, vector org, entity item, vector item_org)
+{
+       if(!teamplay)
+               return true;
+
+       // actually these variables hold the squared distances in order to optimize code
+       float friend_distance = FLOAT_MAX;
+       float enemy_distance = FLOAT_MAX;
+       float dist;
+
+       FOREACH_CLIENT(IS_PLAYER(it) && it != this && !IS_DEAD(it),
+       {
+               if (it.team == this.team)
+               {
+                       if (!IS_REAL_CLIENT(it))
+                               continue;
+
+                       dist = vlen2(it.origin - item_org);
+                       if(dist > friend_distance)
+                               continue;
+
+                       if(havocbot_goalrating_item_can_be_left_to_teammate(this, it, item))
+                       {
+                               friend_distance = dist;
+                               continue;
+                       }
+               }
+               else
+               {
+                       // If enemy only track distances
+                       // TODO: track only if visible ?
+                       dist = vlen2(it.origin - item_org);
+                       if(dist < enemy_distance)
+                               enemy_distance = dist;
+               }
+       });
+
+       // Rate the item only if no one needs it, or if an enemy is closer to it
+       dist = vlen2(item_org - org);
+       if ((enemy_distance < friend_distance && dist < enemy_distance) ||
+               (friend_distance > autocvar_bot_ai_friends_aware_pickup_radius ** 2) ||
+               (dist < friend_distance && dist < 200 ** 2))
+               return true;
+       return false;
+};
+
 void havocbot_goalrating_items(entity this, float ratingscale, vector org, float sradius)
 {
-       float rating, discard, friend_distance, enemy_distance;
+       float rating;
        vector o;
        ratingscale = ratingscale * 0.0001; // items are rated around 10000 already
 
        IL_EACH(g_items, it.bot_pickup,
        {
-               rating = 0;
+               // ignore if bot already rated this item with a higher ratingscale
+               // NOTE: this code assumes each bot rates items in a different frame
+               if(it.bot_ratingscale_time == time && ratingscale < it.bot_ratingscale)
+                       continue;
+               it.bot_ratingscale_time = time;
+               it.bot_ratingscale = ratingscale;
 
                if(!it.solid)
                {
@@ -88,8 +156,9 @@ void havocbot_goalrating_items(entity this, float ratingscale, vector org, float
                                continue;
                        traceline(o, o + '0 0 -1500', true, NULL);
 
-                       if(Mod_Q1BSP_SuperContentsFromNativeContents(pointcontents(trace_endpos + '0 0 1')) & DPCONTENTS_LIQUIDSMASK)
+                       if(IN_LAVA(trace_endpos + '0 0 1'))
                                continue;
+
                        // this tracebox_hits_trigger_hurt call isn't needed:
                        // dropped weapons are removed as soon as they fall on a trigger_hurt
                        // and can't be rated while they are in the air
@@ -98,61 +167,14 @@ void havocbot_goalrating_items(entity this, float ratingscale, vector org, float
                }
                else
                {
-                       // Ignore items under water
-                       // TODO: can't .waterlevel be used here?
-                       if(Mod_Q1BSP_SuperContentsFromNativeContents(pointcontents(it.origin + ((it.mins + it.maxs) * 0.5))) & DPCONTENTS_LIQUIDSMASK)
+                       if(IN_LAVA(it.origin + (it.mins + it.maxs) * 0.5))
                                continue;
                }
 
-               if(teamplay)
-               {
-                       friend_distance = 10000; enemy_distance = 10000;
-                       discard = false;
-
-                       entity picker = it;
-                       FOREACH_CLIENT(IS_PLAYER(it) && it != this && !IS_DEAD(it),
-                       {
-                               if ( it.team == this.team )
-                               {
-                                       if ( !IS_REAL_CLIENT(it) || discard )
-                                               continue;
-
-                                       if( vdist(it.origin - o, >, friend_distance) )
-                                               continue;
-
-                                       friend_distance = vlen(it.origin - o); // distance between player and item
-                                       discard = true;
-
-                                       if (picker.health && it.health > this.health) continue;
-                                       if (picker.armorvalue && it.armorvalue > this.armorvalue) continue;
-
-                                       if (picker.weapons && (picker.weapons & ~it.weapons)) continue;
-
-                                       if (picker.ammo_shells && it.ammo_shells > this.ammo_shells) continue;
-                                       if (picker.ammo_nails && it.ammo_nails > this.ammo_nails) continue;
-                                       if (picker.ammo_rockets && it.ammo_rockets > this.ammo_rockets) continue;
-                                       if (picker.ammo_cells && it.ammo_cells > this.ammo_cells) continue;
-                                       if (picker.ammo_plasma && it.ammo_plasma > this.ammo_plasma) continue;
-
-                                       discard = false;
-                               }
-                               else
-                               {
-                                       // If enemy only track distances
-                                       // TODO: track only if visible ?
-                                       if( vdist(it.origin - o, <, enemy_distance) )
-                                               enemy_distance = vlen(it.origin - o); // distance between player and item
-                               }
-                       });
-
-                       // Rate the item only if no one needs it, or if an enemy is closer to it
-                       if ( (enemy_distance < friend_distance && vdist(o - org, <, enemy_distance)) ||
-                               (friend_distance > autocvar_bot_ai_friends_aware_pickup_radius ) || !discard )
-                               rating = it.bot_pickupevalfunc(this, it);
-               }
-               else
-                       rating = it.bot_pickupevalfunc(this, it);
+               if(!havocbot_goalrating_item_pickable_check_players(this, org, it, o))
+                       continue;
 
+               rating = it.bot_pickupevalfunc(this, it);
                if(rating > 0)
                        navigation_routerating(this, it, rating * ratingscale, 2000);
        });
@@ -175,6 +197,8 @@ void havocbot_goalrating_enemyplayers(entity this, float ratingscale, vector org
                // TODO: Merge this logic with the bot_shouldattack function
                if(vdist(it.origin - org, <, 100) || vdist(it.origin - org, >, sradius))
                        continue;
+               if(vdist(vec2(it.velocity), >, autocvar_sv_maxspeed * 2))
+                       continue;
 
                // rate only visible enemies
                /*
@@ -189,6 +213,8 @@ void havocbot_goalrating_enemyplayers(entity this, float ratingscale, vector org
                {
                        if (time < this.strength_finished - 1) t += 0.5;
                        if (time < it.strength_finished - 1) t -= 0.5;
+                       if (time < this.invincible_finished - 1) t += 0.2;
+                       if (time < it.invincible_finished - 1) t -= 0.4;
                }
                t += max(0, 8 - skill) * 0.05; // less skilled bots attack more mindlessly
                ratingscale *= t;
@@ -204,17 +230,15 @@ void havocbot_role_generic(entity this)
        if(IS_DEAD(this))
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
                havocbot_goalrating_items(this, 10000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 10000);
                havocbot_goalrating_waypoints(this, 1, this.origin, 3000);
                navigation_goalrating_end(this);
 
-               if(IS_PLAYER(this.goalentity))
-                       this.bot_strategytime = time + min(2, autocvar_bot_ai_strategyinterval);
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -226,7 +250,7 @@ void havocbot_chooserole_generic(entity this)
 void havocbot_chooserole(entity this)
 {
        LOG_TRACE("choosing a role...");
-       this.bot_strategytime = 0;
+       navigation_goalrating_timeout_force(this);
        if(!MUTATOR_CALLHOOK(HavocBot_ChooseRole, this))
                havocbot_chooserole_generic(this);
 }
index d0061b90068efbcade910b2332e20c5aff9198b5..3c3f9a8a84e870c021348ce3efea6505453738e7 100644 (file)
 
 .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)
+{
+       if(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;
+                       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;
@@ -30,6 +78,8 @@ void navigation_dynamicgoal_init(entity this, bool initially_static)
 void navigation_dynamicgoal_set(entity this)
 {
        this.nearestwaypointtimeout = time;
+       if (this.nearestwaypoint)
+               this.nearestwaypointtimeout += 2;
 }
 
 void navigation_dynamicgoal_unset(entity this)
@@ -39,49 +89,185 @@ void navigation_dynamicgoal_unset(entity this)
        this.nearestwaypointtimeout = -1;
 }
 
-// rough simulation of walking from one point to another to test if a path
-// can be traveled, used for waypoint linking and havocbot
+// 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;
+}
 
-bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
+void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
 {
-       vector org;
-       vector move;
-       vector dir;
-       float dist;
-       float totaldist;
-       float stepdist;
-       float ignorehazards;
-       float swimming;
-       entity tw_ladder = NULL;
+       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);
+               tracewalk_dest.z = wm1.z;
+               tracewalk_dest_height = wm2.z - wm1.z; // destination height
+       }
+       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;
+       if(IS_PLAYER(ent))
+               submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
+       else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
+               submerged = (ent.nav_submerged_state == SUBMERGED_YES);
+       else
+       {
+               submerged = SUBMERGED(pos);
+               // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
+               //  is actually submerged because often they are inside some solid.
+               //  That's why submerged state is saved now that we know current pos is
+               //  not stuck in solid (previous tracewalk call to this pos was successfully)
+               if(!ent.navigation_dynamicgoal)
+                       ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
+       }
+       return submerged;
+}
+
+bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
+{
+       IL_EACH(g_ladders, it.classname == "func_ladder",
+       {
+               if(it.bot_pickup)
+               if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
+               if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
+               {
+                       vector top = org;
+                       top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
+                       tracebox(org, m1, m2, top, movemode, e);
+                       if(trace_fraction == 1)
+                               return true;
+               }
+       });
+       return false;
+}
+
+vector resurface_limited(vector org, float lim, vector m1)
+{
+       if (WETFEET(org + eZ * (lim - org.z)))
+               org.z = lim;
+       else
+       {
+               float RES_min_h = org.z;
+               float RES_max_h = lim;
+               do {
+                       org.z = 0.5 * (RES_min_h + RES_max_h);
+                       if(WETFEET(org))
+                               RES_min_h = org.z;
+                       else
+                               RES_max_h = org.z;
+               } while (RES_max_h - RES_min_h >= 1);
+               org.z = RES_min_h;
+       }
+       return org;
+}
+#define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
+
+#define NAV_WALK 0
+#define NAV_SWIM_ONWATER 1
+#define NAV_SWIM_UNDERWATER 2
+
+// 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]
+bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
+{
        if(autocvar_bot_debug_tracewalk)
        {
                debugresetnodes();
                debugnode(e, start);
        }
 
-       move = end - start;
-       move.z = 0;
-       org = start;
-       dist = totaldist = vlen(move);
-       dir = normalize(move);
-       stepdist = 32;
-       ignorehazards = false;
-       swimming = false;
+       vector org = start;
+       vector flatdir = end - start;
+       flatdir.z = 0;
+       float flatdist = vlen(flatdir);
+       flatdir = normalize(flatdir);
+       float stepdist = 32;
+       bool ignorehazards = false;
+       int nav_action;
 
        // Analyze starting point
        traceline(start, start, MOVE_NORMAL, e);
        if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
                ignorehazards = true;
-       else
-       {
-               traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
-               if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
-               {
-                       ignorehazards = true;
-                       swimming = true;
-               }
-       }
+
        tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
        if (trace_startsolid)
        {
@@ -93,78 +279,309 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
                return false;
        }
 
+       vector end2 = end;
+       if(end_height)
+               end2.z += end_height;
+
+       vector fixed_end = end;
+       vector move;
+
+       if (flatdist > 0 && WETFEET(org))
+       {
+               if (SUBMERGED(org))
+                       nav_action = NAV_SWIM_UNDERWATER;
+               else
+               {
+                       // tracebox down by player's height
+                       // useful to know if water level is so low that bot can still walk
+                       tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
+                       if (SUBMERGED(trace_endpos))
+                       {
+                               org = trace_endpos;
+                               nav_action = NAV_SWIM_UNDERWATER;
+                       }
+                       else
+                               nav_action = NAV_WALK;
+               }
+       }
+       else
+               nav_action =  NAV_WALK;
+
        // Movement loop
-       move = end - org;
-       for (;;)
+       while (true)
        {
-               if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
+               if (flatdist <= 0)
                {
-                       // Succeeded
-                       if(autocvar_bot_debug_tracewalk)
-                               debugnodestatus(org, DEBUG_NODE_SUCCESS);
+                       bool success = true;
+                       if (org.z > end2.z + 1)
+                       {
+                               tracebox(org, m1, m2, end2, movemode, e);
+                               org = trace_endpos;
+                               if (org.z > end2.z + 1)
+                                       success = false;
+                       }
+                       else if (org.z < end.z - 1)
+                       {
+                               tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
+                               if (SUBMERGED(trace_endpos))
+                               {
+                                       vector v = trace_endpos;
+                                       tracebox(v, m1, m2, end, movemode, e);
+                                       if(trace_endpos.z >= end.z - 1)
+                                       {
+                                               RESURFACE_LIMITED(v, trace_endpos.z);
+                                               trace_endpos = v;
+                                       }
+                               }
+                               else if (trace_endpos.z > org.z - jumpheight_vec.z)
+                                       tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
+                               org = trace_endpos;
+                               if (org.z < end.z - 1)
+                                       success = false;
+                       }
 
-                       //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
-                       return true;
+                       if (success)
+                       {
+                               // Succeeded
+                               if(autocvar_bot_debug_tracewalk)
+                               {
+                                       debugnode(e, org);
+                                       debugnodestatus(org, DEBUG_NODE_SUCCESS);
+                               }
+
+                               //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+                               return true;
+                       }
                }
+
                if(autocvar_bot_debug_tracewalk)
                        debugnode(e, org);
 
-               if (dist <= 0)
+               if (flatdist <= 0)
                        break;
-               if (stepdist > dist)
-                       stepdist = dist;
-               dist = dist - stepdist;
-               traceline(org, org, MOVE_NORMAL, e);
-               if (!ignorehazards)
-               {
-                       if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
-                       {
-                               // hazards blocking path
-                               if(autocvar_bot_debug_tracewalk)
-                                       debugnodestatus(org, DEBUG_NODE_FAIL);
 
-                               //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
-                               return false;
+               if (stepdist > flatdist)
+                       stepdist = flatdist;
+               if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
+               {
+                       // can't use movement direction here to calculate move because of
+                       // precision errors especially when direction has a high enough z value
+                       //water_dir = normalize(water_end - org);
+                       //move = org + water_dir * stepdist;
+                       fixed_end.z = bound(end.z, org.z, end2.z);
+                       if (stepdist == flatdist) {
+                               move = fixed_end;
+                               flatdist = 0;
+                       } else {
+                               move = org + (fixed_end - org) * (stepdist / flatdist);
+                               flatdist = vlen(vec2(fixed_end - move));
                        }
                }
-               if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
+               else // horiz. direction
                {
-                       move = normalize(end - org);
-                       tracebox(org, m1, m2, org + move * stepdist, movemode, e);
+                       flatdist -= stepdist;
+                       move = org + flatdir * stepdist;
+               }
 
-                       if(autocvar_bot_debug_tracewalk)
-                               debugnode(e, trace_endpos);
+               if(nav_action == NAV_SWIM_ONWATER)
+               {
+                       tracebox(org, m1, m2, move, movemode, e); // swim
 
+                       // hit something
                        if (trace_fraction < 1)
                        {
-                               swimming = true;
-                               org = trace_endpos + normalize(org - trace_endpos) * stepdist;
-                               for (; org.z < end.z + e.maxs.z; org.z += stepdist)
+                               // stepswim
+                               tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+                               if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
                                {
-                                       if(autocvar_bot_debug_tracewalk)
-                                               debugnode(e, org);
+                                       org = trace_endpos;
+                                       if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
+                                       {
+                                               if(autocvar_bot_debug_tracewalk)
+                                               {
+                                                       debugnode(e, org);
+                                                       debugnodestatus(org, DEBUG_NODE_SUCCESS);
+                                               }
 
-                                       if(pointcontents(org) == CONTENT_EMPTY)
-                                               break;
-                               }
+                                               //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+                                               return true;
+                                       }
 
-                               if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
-                               {
                                        if(autocvar_bot_debug_tracewalk)
                                                debugnodestatus(org, DEBUG_NODE_FAIL);
 
                                        return false;
-                                       //print("tracewalk: ", vtos(start), " failed under water\n");
+                                       //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+                               }
+
+                               //succesful stepswim
+
+                               if (flatdist <= 0)
+                               {
+                                       org = trace_endpos;
+                                       continue;
                                }
-                               continue;
 
+                               if (org.z <= move.z) // going horiz.
+                               {
+                                       tracebox(trace_endpos, m1, m2, move, movemode, e);
+                                       org = trace_endpos;
+                                       nav_action = NAV_WALK;
+                                       continue;
+                               }
                        }
-                       else
+
+                       if (org.z <= move.z) // going horiz.
+                       {
                                org = trace_endpos;
+                               nav_action = NAV_SWIM_ONWATER;
+                       }
+                       else // going down
+                       {
+                               org = trace_endpos;
+                               if (SUBMERGED(org))
+                                       nav_action = NAV_SWIM_UNDERWATER;
+                               else
+                                       nav_action = NAV_SWIM_ONWATER;
+                       }
                }
-               else
+               else if(nav_action == NAV_SWIM_UNDERWATER)
+               {
+                       if (move.z >= org.z) // swimming upwards or horiz.
+                       {
+                               tracebox(org, m1, m2, move, movemode, e); // swim
+
+                               bool stepswum = false;
+
+                               // hit something
+                               if (trace_fraction < 1)
+                               {
+                                       // stepswim
+                                       vector stepswim_move = move + stepheightvec;
+                                       if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
+                                               stepswim_move.z = end2.z;
+
+                                       tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
+
+                                       // hit something
+                                       if (trace_startsolid)
+                                       {
+                                               if(autocvar_bot_debug_tracewalk)
+                                                       debugnodestatus(org, DEBUG_NODE_FAIL);
+
+                                               //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+                                               return false;
+                                       }
+
+                                       if (trace_fraction < 1)
+                                       {
+                                               float org_z_prev = org.z;
+                                               RESURFACE_LIMITED(org, end2.z);
+                                               if(org.z == org_z_prev)
+                                               {
+                                                       if(autocvar_bot_debug_tracewalk)
+                                                               debugnodestatus(org, DEBUG_NODE_FAIL);
+
+                                                       //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
+                                                       return false;
+                                               }
+                                               if(SUBMERGED(org))
+                                                       nav_action = NAV_SWIM_UNDERWATER;
+                                               else
+                                                       nav_action = NAV_SWIM_ONWATER;
+
+                                               // we didn't advance horiz. in this step, flatdist decrease should be reverted
+                                               // but we can't do it properly right now... apply this workaround instead
+                                               if (flatdist <= 0)
+                                                       flatdist = 1;
+
+                                               continue;
+                                       }
+
+                                       //succesful stepswim
+
+                                       if (flatdist <= 0)
+                                       {
+                                               org = trace_endpos;
+                                               continue;
+                                       }
+
+                                       stepswum = true;
+                               }
+
+                               if (!WETFEET(trace_endpos))
+                               {
+                                       tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
+                                       // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
+                                       if (!stepswum && SUBMERGED(trace_endpos))
+                                       {
+                                               RESURFACE_LIMITED(trace_endpos, end2.z);
+                                               org = trace_endpos;
+                                               nav_action = NAV_SWIM_ONWATER;
+                                               continue;
+                                       }
+
+                                       // not submerged
+                                       org = trace_endpos;
+                                       nav_action = NAV_WALK;
+                                       continue;
+                               }
+
+                               // wetfeet
+                               org = trace_endpos;
+                               nav_action = NAV_SWIM_UNDERWATER;
+                               continue;
+                       }
+                       else //if (move.z < org.z) // swimming downwards
+                       {
+                               tracebox(org, m1, m2, move, movemode, e); // swim
+
+                               // hit something
+                               if (trace_fraction < 1)
+                               {
+                                       // stepswim
+                                       tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+                                       // hit something
+                                       if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
+                                       {
+                                               if(autocvar_bot_debug_tracewalk)
+                                                       debugnodestatus(move, DEBUG_NODE_FAIL);
+
+                                               //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+                                               return false;
+                                       }
+
+                                       //succesful stepswim
+
+                                       if (flatdist <= 0)
+                                       {
+                                               org = trace_endpos;
+                                               continue;
+                                       }
+
+                                       if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
+                                       {
+                                               // stepswim caused upwards direction
+                                               tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
+                                               if (!SUBMERGED(trace_endpos))
+                                               {
+                                                       org = trace_endpos;
+                                                       nav_action = NAV_WALK;
+                                                       continue;
+                                               }
+                                       }
+                               }
+
+                               org = trace_endpos;
+                               nav_action = NAV_SWIM_UNDERWATER;
+                               continue;
+                       }
+               }
+               else if(nav_action == NAV_WALK)
                {
-                       move = dir * stepdist + org;
+                       // walk
                        tracebox(org, m1, m2, move, movemode, e);
 
                        if(autocvar_bot_debug_tracewalk)
@@ -177,48 +594,55 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
                                tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
                                if (trace_fraction < 1 || trace_startsolid)
                                {
-                                       tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
-                                       if (trace_fraction < 1 || trace_startsolid)
+                                       if (trace_startsolid) // hit ceiling above org
+                                       {
+                                               // reduce stepwalk height
+                                               tracebox(org, m1, m2, org + stepheightvec, movemode, e);
+                                               tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
+                                       }
+                                       else //if (trace_fraction < 1)
+                                       {
+                                               tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
+                                               if (trace_startsolid) // hit ceiling above org
+                                               {
+                                                       // reduce jumpstepwalk height
+                                                       tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
+                                                       tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
+                                               }
+                                       }
+
+                                       if (trace_fraction < 1)
                                        {
+                                               vector v = trace_endpos;
+                                               v.z = org.z + jumpheight_vec.z;
+                                               if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
+                                               {
+                                                       if(autocvar_bot_debug_tracewalk)
+                                                       {
+                                                               debugnode(e, v);
+                                                               debugnodestatus(v, DEBUG_NODE_SUCCESS);
+                                                       }
+
+                                                       //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+                                                       return true;
+                                               }
+
                                                if(autocvar_bot_debug_tracewalk)
                                                        debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 
-                                               IL_EACH(g_ladders, it.classname == "func_ladder",
-                                                       { it.solid = SOLID_BSP; });
-
                                                traceline( org, move, movemode, e);
 
-                                               IL_EACH(g_ladders, it.classname == "func_ladder",
-                                                       { it.solid = SOLID_TRIGGER; });
-
                                                if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
                                                {
                                                        vector nextmove;
                                                        move = trace_endpos;
                                                        while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
                                                        {
-                                                               nextmove = move + (dir * stepdist);
+                                                               nextmove = move + (flatdir * stepdist);
                                                                traceline( move, nextmove, movemode, e);
                                                                move = nextmove;
                                                        }
-                                               }
-                                               else if (trace_ent.classname == "func_ladder")
-                                               {
-                                                       tw_ladder = trace_ent;
-                                                       vector ladder_bottom = trace_endpos - dir * m2.x;
-                                                       vector ladder_top = ladder_bottom;
-                                                       ladder_top.z = trace_ent.absmax.z + (-m1.z + 1);
-                                                       tracebox(ladder_bottom, m1, m2, ladder_top, movemode, e);
-                                                       if (trace_fraction < 1 || trace_startsolid)
-                                                       {
-                                                               if(autocvar_bot_debug_tracewalk)
-                                                                       debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
-
-                                                               return false; // failed
-                                                       }
-                                                       org = ladder_top + dir * m2.x;
-                                                       move = org + dir * stepdist;
-                                                       continue;
+                                                       flatdist = vlen(vec2(end - move));
                                                }
                                                else
                                                {
@@ -246,28 +670,43 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
                        // (this is the same logic as the Quake walkmove function used)
                        tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 
-                       // moved successfully
-                       if(swimming)
+                       org = trace_endpos;
+
+                       if (!ignorehazards)
                        {
-                               float c;
-                               c = pointcontents(org + '0 0 1');
-                               if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
-                                       swimming = false;
-                               else
-                                       continue;
+                               if (IN_LAVA(org))
+                               {
+                                       if(autocvar_bot_debug_tracewalk)
+                                       {
+                                               debugnode(e, trace_endpos);
+                                               debugnodestatus(org, DEBUG_NODE_FAIL);
+                                       }
+
+                                       //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
+                                       return false;
+                               }
                        }
 
-                       org = trace_endpos;
-               }
+                       if (flatdist <= 0)
+                       {
+                               if(move.z >= end2.z && org.z < end2.z)
+                                       org.z = end2.z;
+                               continue;
+                       }
 
-               if(tw_ladder && org.z < tw_ladder.absmax.z)
-               {
-                       // stop tracewalk if destination height is lower than the top of the ladder
-                       // otherwise bot can't easily figure out climbing direction
+                       if(org.z > move.z - 1 || !SUBMERGED(org))
+                       {
+                               nav_action = NAV_WALK;
+                               continue;
+                       }
+
+                       // ended up submerged while walking
                        if(autocvar_bot_debug_tracewalk)
-                               debugnodestatus(org, DEBUG_NODE_FAIL);
+                               debugnode(e, org);
 
-                       return false;
+                       RESURFACE_LIMITED(org, move.z);
+                       nav_action = NAV_SWIM_ONWATER;
+                       continue;
                }
        }
 
@@ -287,7 +726,11 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
 // completely empty the goal stack, used when deciding where to go
 void navigation_clearroute(entity this)
 {
-       //print("bot ", etos(this), " clear\n");
+       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 = NULL;
        this.goalcurrent = NULL;
        this.goalstack01 = NULL;
@@ -331,6 +774,10 @@ void navigation_clearroute(entity this)
 // steps to the goal, and then recalculate the path.
 void navigation_pushroute(entity this, entity e)
 {
+       this.goalcurrent_prev = this.goalcurrent;
+       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)
                this.goalentity = NULL;
@@ -373,9 +820,16 @@ void navigation_pushroute(entity this, entity e)
 // (used when a spawnfunc_waypoint is reached)
 void navigation_poproute(entity this)
 {
+       this.goalcurrent_prev = this.goalcurrent;
+       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;
@@ -410,23 +864,24 @@ void navigation_poproute(entity this)
        this.goalstack31 = NULL;
 }
 
-float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
+// walking to wp (walkfromwp == false) v2 and v2_height will be used as
+// waypoint destination coordinates instead of v (only useful for box waypoints)
+// for normal waypoints v2 == v and v2_height == 0
+float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
 {
-       float dist;
-       dist = vlen(v - org);
-       if (bestdist > dist)
+       if (vdist(v - org, <, bestdist))
        {
                traceline(v, org, true, ent);
                if (trace_fraction == 1)
                {
                        if (walkfromwp)
                        {
-                               if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
+                               if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
                                        return true;
                        }
                        else
                        {
-                               if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
+                               if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
                                        return true;
                        }
                }
@@ -437,6 +892,9 @@ 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)
 {
+       if(ent.tag_entity)
+               ent = ent.tag_entity;
+
        vector pm1 = ent.origin + ent.mins;
        vector pm2 = ent.origin + ent.maxs;
 
@@ -444,39 +902,92 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom
        IL_EACH(g_waypoints, it != ent && it != except,
        {
                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 + 0.5 * (ent.mins + ent.maxs);
-       org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
-       // TODO possibly make other code have the same support for bboxes
-       if(ent.tag_entity)
-               org = org + ent.tag_entity.origin;
+       vector org = ent.origin;
        if (navigation_testtracewalk)
                te_plasmaburn(org);
 
        entity best = NULL;
-       vector v;
+       vector v = '0 0 0';
+
+       if(ent.size && !IS_PLAYER(ent))
+       {
+               org += 0.5 * (ent.mins + ent.maxs);
+               org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
+       }
+
+       if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
+       {
+               waypoint_clearlinks(ent); // initialize wpXXmincost fields
+               IL_EACH(g_waypoints, it != ent,
+               {
+                       if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
+                               continue;
+
+                       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);
+                       }
+               });
+       }
 
        // box check failed, try walk
        IL_EACH(g_waypoints, it != ent,
        {
-               if(it.wpisbox)
+               if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
+                       continue;
+               v = it.origin;
+
+               if (walkfromwp)
                {
-                       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);
+                       set_tracewalk_dest(ent, v, true);
+                       if (trace_ent == ent)
+                       {
+                               bestdist = 0;
+                               best = it;
+                               break;
+                       }
                }
                else
-                       v = it.origin;
-               if(navigation_waypoint_will_link(v, org, ent, 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)
@@ -494,31 +1005,22 @@ 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, m1, m2;
-//     navigation_testtracewalk = true;
+       //navigation_testtracewalk = true;
        int c = 0;
        IL_EACH(g_waypoints, !it.wpconsidered,
        {
-               if (it.wpisbox)
-               {
-                       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;
+               set_tracewalk_dest(it, this.origin, false);
+
+               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, 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 = vlen(v - this.origin) + 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;
@@ -530,25 +1032,27 @@ float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 }
 
 // updates a path link if a spawnfunc_waypoint link is better than the current one
-void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
+void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 {
-       vector m1;
-       vector m2;
+       vector m1, m2;
        vector v;
        if (wp.wpisbox)
        {
-               m1 = wp.absmin;
-               m2 = wp.absmax;
+               m1 = wp.origin + wp.mins;
+               m2 = wp.origin + wp.maxs;
                v.x = bound(m1_x, p.x, m2_x);
                v.y = bound(m1_y, p.y, m2_y);
                v.z = bound(m1_z, p.z, m2_z);
        }
        else
                v = wp.origin;
-       cost2 = cost2 + vlen(v - p);
-       if (wp.wpcost > cost2)
+       if (w.wpflags & WAYPOINTFLAG_TELEPORT)
+               cost += w.wp00mincost; // assuming teleport has exactly one destination
+       else
+               cost += waypoint_gettravelcost(p, v, w, wp);
+       if (wp.wpcost > cost)
        {
-               wp.wpcost = cost2;
+               wp.wpcost = cost;
                wp.enemy = w;
                wp.wpfire = 1;
                wp.wpnearestpoint = v;
@@ -683,16 +1187,9 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint)
                        cost = it.wpcost; // cost to walk from it to home
                        p = it.wpnearestpoint;
                        entity wp = it;
-                       IL_EACH(g_waypoints, true,
+                       IL_EACH(g_waypoints, it != wp,
                        {
-                               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)
+                               if(!waypoint_islinked(it, wp))
                                        continue;
                                cost2 = cost + it.dmg;
                                navigation_markroutes_checkwaypoint(wp, it, cost2, p);
@@ -710,6 +1207,9 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
        if(e.blacklisted)
                return;
 
+       rangebias = waypoint_getlinearcost(rangebias);
+       f = waypoint_getlinearcost(f);
+
        if (IS_PLAYER(e))
        {
                bool rate_wps = false;
@@ -751,7 +1251,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
                }
        }
 
-       vector o = (e.absmin + e.absmax) * 0.5;
+       vector goal_org = (e.absmin + e.absmax) * 0.5;
 
        //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 
@@ -759,7 +1259,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
        if(g_jetpack)
        if(this.items & IT_JETPACK)
        if(autocvar_bot_ai_navigation_jetpack)
-       if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
+       if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
        {
                vector pointa, pointb;
 
@@ -770,7 +1270,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
                pointa = trace_endpos - '0 0 1';
 
                // Point B
-               traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
+               traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
                pointb = trace_endpos - '0 0 1';
 
                // Can I see these two points from the sky?
@@ -861,10 +1361,11 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
                if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
                        && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
                {
-                       nwp = navigation_findnearestwaypoint(e, true);
-                       if(nwp)
-                               e.nearestwaypoint = nwp;
+                       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));
 
@@ -887,12 +1388,17 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
        }
 
        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);
-               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)));
+               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(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
+               f = f * rangebias / (rangebias + cost);
                LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
                if (navigation_bestrating < f)
                {
@@ -910,12 +1416,25 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
        if (!e)
                return false;
 
+       entity teleport_goal = NULL;
+
        this.goalentity = e;
 
+       if(e.wpflags & WAYPOINTFLAG_TELEPORT)
+       {
+               // force teleport destination as route destination
+               teleport_goal = e;
+               navigation_pushroute(this, e.wp00);
+               this.goalentity = e.wp00;
+       }
+
        // put the entity on the goal stack
        //print("routetogoal ", etos(e), "\n");
        navigation_pushroute(this, e);
 
+       if(teleport_goal)
+               e = this.goalentity;
+
        if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
        {
                this.wp_goal_prev1 = this.wp_goal_prev0;
@@ -927,8 +1446,13 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
                return true;
 
        // if it can reach the goal there is nothing more to do
-       if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, 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
@@ -937,6 +1461,8 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
                e = e.nearestwaypoint;
                nearest_wp = e;
        }
+       else if(teleport_goal)
+               e = teleport_goal;
        else
                e = e.enemy; // we already have added it, so...
 
@@ -946,7 +1472,26 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
        if(nearest_wp && nearest_wp.enemy)
        {
                // often path can be optimized by not adding the nearest waypoint
-               if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode))
+               if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
+               {
+                       if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
+                       {
+                               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;
        }
 
@@ -963,21 +1508,91 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
        return false;
 }
 
+// shorten path by removing intermediate goals
+void navigation_shortenpath(entity this)
+{
+       if (!this.goalstack01 || wasfreed(this.goalstack01))
+               return;
+       if (this.bot_tracewalk_time > time)
+               return;
+       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;
+               }
+       }
+
+       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);
+               }
+       }
+}
+
 // 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)
 {
-       vector org, m1, m2;
-       org = this.origin;
-       m1 = org + this.mins;
-       m2 = org + this.maxs;
+       int removed_goals = 0;
+
+       if(!this.goalcurrent)
+               return removed_goals;
 
        if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
        {
                // make sure jumppad is really hit, don't rely on distance based checks
                // as they may report a touch even if it didn't really happen
-               if(this.lastteleporttime>0)
-               if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
+               if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
                {
                        if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
                        if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
@@ -986,31 +1601,48 @@ void navigation_poptouchedgoals(entity this)
                                this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
                        }
                        navigation_poproute(this);
-                       return;
+                       this.lastteleporttime = 0;
+                       ++removed_goals;
                }
+               else
+                       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))
-       if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
+       else if (this.lastteleporttime > 0)
        {
-               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
-               // "zigzagging" which they currently do with sufficiently
-               // random-like waypoints, and thus can make a nice bot
-               // personality property
+               // 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;
+               }
        }
 
        // Loose goal touching check when running
        if(this.aistatus & AI_STATUS_RUNNING)
        if(this.goalcurrent.classname=="waypoint")
-       if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
-       if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
+       if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
        {
                if(vdist(this.origin - this.goalcurrent.origin, <, 150))
                {
@@ -1026,6 +1658,9 @@ void navigation_poptouchedgoals(entity this)
                                }
 
                                navigation_poproute(this);
+                               ++removed_goals;
+                               if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+                                       return removed_goals;
                        }
                }
        }
@@ -1039,10 +1674,7 @@ void navigation_poptouchedgoals(entity this)
                        gc_min = this.goalcurrent.origin - '1 1 1' * 12;
                        gc_max = this.goalcurrent.origin + '1 1 1' * 12;
                }
-               if(!boxesoverlap(m1, m2, gc_min, gc_max))
-                       break;
-
-               if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
+               if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
                        break;
 
                // Detect personal waypoints
@@ -1054,7 +1686,56 @@ void navigation_poptouchedgoals(entity this)
                }
 
                navigation_poproute(this);
+               ++removed_goals;
+               if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+                       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)
@@ -1065,9 +1746,10 @@ void navigation_goalrating_start(entity this)
 
        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);
 }
 
 // ends a goal selection session (updates goal stack to the best goal)
@@ -1095,11 +1777,13 @@ void botframe_updatedangerousobjects(float maxupdate)
        vector m1, m2, v, o;
        float c, d, danger;
        c = 0;
+       entity wp_cur;
        IL_EACH(g_waypoints, true,
        {
                danger = 0;
-               m1 = it.mins;
-               m2 = it.maxs;
+               m1 = it.absmin;
+               m2 = it.absmax;
+               wp_cur = it;
                IL_EACH(g_bot_dodge, it.bot_dodge,
                {
                        v = it.origin;
@@ -1107,7 +1791,7 @@ void botframe_updatedangerousobjects(float maxupdate)
                        v.y = bound(m1_y, v.y, m2_y);
                        v.z = bound(m1_z, v.z, m2_z);
                        o = (it.absmin + it.absmax) * 0.5;
-                       d = it.bot_dodgerating - vlen(o - v);
+                       d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
                        if (d > 0)
                        {
                                traceline(o, v, true, NULL);
@@ -1145,7 +1829,9 @@ void navigation_unstuck(entity this)
                // 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));
-               if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
+               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),
+                       tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
                {
                        if( d > bot_waypoint_queue_bestgoalrating)
                        {
@@ -1161,7 +1847,7 @@ void navigation_unstuck(entity this)
                        {
                                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;
+                               navigation_goalrating_timeout_set(this);
                                this.aistatus &= ~AI_STATUS_STUCK;
                        }
                        else
index 8f1f03ad1933f9512a2f96126d82ab8770002233..f3103cc4fcd39d875708a0612e83c59addd03095 100644 (file)
@@ -9,6 +9,7 @@ float navigation_testtracewalk;
 
 vector jumpstepheightvec;
 vector stepheightvec;
+vector jumpheight_vec;
 
 entity navigation_bestgoal;
 
@@ -22,13 +23,45 @@ entity navigation_bestgoal;
 .entity goalstack20, goalstack21, goalstack22, goalstack23;
 .entity goalstack24, goalstack25, goalstack26, goalstack27;
 .entity goalstack28, goalstack29, goalstack30, goalstack31;
+
+.entity goalcurrent_prev;
+.float goalcurrent_distance_z;
+.float goalcurrent_distance_2d;
+.float goalcurrent_distance_time;
+
+.float goalentity_lock_timeout;
+
 .entity nearestwaypoint;
+.float nearestwaypointtimeout;
+
+/*
+// item it is linked from waypoint it.wpXX (INCOMING link)
+// links are sorted by their cost (wpXXmincost)
+.entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
+.entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
+
+.float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
+.float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
+.float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
+.float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
+*/
+
+#define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
+#define navigation_item_addlink(from_wp, to_item) \
+       waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
+
+#define TELEPORT_USED(pl, tele_wp) \
+       (time - pl.lastteleporttime < ((tele_wp.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15) \
+       && boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl)))
+
+vector tracewalk_dest;
+float tracewalk_dest_height;
 
 .entity wp_goal_prev0;
 .entity wp_goal_prev1;
 
-.float nearestwaypointtimeout;
 .float lastteleporttime;
+.vector lastteleport_origin;
 
 .float blacklisted;
 
@@ -52,6 +85,12 @@ void navigation_dynamicgoal_init(entity this, bool initially_static);
 void navigation_dynamicgoal_set(entity this);
 void navigation_dynamicgoal_unset(entity this);
 
+.int nav_submerged_state;
+#define SUBMERGED_UNDEFINED 0
+#define SUBMERGED_NO 1
+#define SUBMERGED_YES 2
+bool navigation_check_submerged_state(entity ent, vector pos);
+
 
 /*
  * Functions
@@ -63,7 +102,7 @@ void debugnodestatus(vector position, float status);
 
 void debuggoalstack(entity this);
 
-float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode);
+float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
 
 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
 float navigation_routetogoal(entity this, entity e, vector startposition);
@@ -75,12 +114,16 @@ void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vecto
 void navigation_markroutes(entity this, entity fixed_source_waypoint);
 void navigation_markroutes_inverted(entity fixed_source_waypoint);
 void navigation_routerating(entity this, entity e, float f, float rangebias);
-void navigation_poptouchedgoals(entity this);
+void navigation_shortenpath(entity this);
+int navigation_poptouchedgoals(entity this);
 void navigation_goalrating_start(entity this);
 void navigation_goalrating_end(entity this);
+void navigation_goalrating_timeout_set(entity this);
+void navigation_goalrating_timeout_force(entity this);
+bool navigation_goalrating_timeout(entity this);
 void navigation_unstuck(entity this);
 
 void botframe_updatedangerousobjects(float maxupdate);
 
 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
-float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist);
+float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist);
index b1ff75db72eb477d7942f285ac31c82b62a5c313..fa82d926b63e92776cfd293dbebccf15ba20ad04 100644 (file)
 
 #include <common/constants.qh>
 #include <common/net_linked.qh>
+#include <common/physics/player.qh>
 
 #include <lib/warpzone/common.qh>
 #include <lib/warpzone/util_server.qh>
 
+.entity spawnpointmodel;
+void waypoint_unreachable(entity pl)
+{
+       IL_EACH(g_waypoints, true,
+       {
+               it.colormod = '0.5 0.5 0.5';
+               it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
+       });
+
+       entity e2 = navigation_findnearestwaypoint(pl, false);
+       if(!e2)
+       {
+               LOG_INFOF("Can't find any waypoint nearby\n");
+               return;
+       }
+
+       navigation_markroutes(pl, e2);
+
+       int j = 0;
+       int m = 0;
+       IL_EACH(g_waypoints, it.wpcost >= 10000000,
+       {
+               LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
+               it.colormod_z = 8;
+               it.effects |= EF_NODEPTHTEST | EF_BLUE;
+               j++;
+               m++;
+       });
+       if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
+       navigation_markroutes_inverted(e2);
+
+       j = 0;
+       IL_EACH(g_waypoints, it.wpcost >= 10000000,
+       {
+               LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
+               it.colormod_x = 8;
+               if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
+                       m++;
+               it.effects |= EF_NODEPTHTEST | EF_RED;
+               j++;
+       });
+       if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
+       if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
+
+       j = 0;
+       IL_EACH(g_spawnpoints, true,
+       {
+               if (navigation_findnearestwaypoint(it, false))
+               {
+                       if(it.spawnpointmodel)
+                       {
+                               delete(it.spawnpointmodel);
+                               it.spawnpointmodel = NULL;
+                       }
+               }
+               else
+               {
+                       if(!it.spawnpointmodel)
+                       {
+                               tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
+                               entity e = new(spawnpointmodel);
+                               vector org = trace_endpos + eZ;
+                               setorigin(e, org);
+                               e.solid = SOLID_TRIGGER;
+                               it.spawnpointmodel = e;
+                       }
+                       LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
+                       it.spawnpointmodel.effects |= EF_NODEPTHTEST;
+                       _setmodel(it.spawnpointmodel, pl.model);
+                       it.spawnpointmodel.frame = pl.frame;
+                       it.spawnpointmodel.skin = pl.skin;
+                       it.spawnpointmodel.colormap = pl.colormap;
+                       it.spawnpointmodel.colormod = pl.colormod;
+                       it.spawnpointmodel.glowmod = pl.glowmod;
+                       setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
+                       j++;
+               }
+       });
+       if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
+
+       j = 0;
+       IL_EACH(g_items, true,
+       {
+               it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
+               it.colormod = '0.5 0.5 0.5';
+       });
+       IL_EACH(g_items, true,
+       {
+               if (navigation_findnearestwaypoint(it, false))
+                       continue;
+               LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
+               it.effects |= EF_NODEPTHTEST | EF_RED;
+               it.colormod_x = 8;
+               j++;
+       });
+       if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
+
+       j = 0;
+       IL_EACH(g_items, true,
+       {
+               if (navigation_findnearestwaypoint(it, true))
+                       continue;
+               LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
+               it.effects |= EF_NODEPTHTEST | EF_BLUE;
+               it.colormod_z = 8;
+               j++;
+       });
+       if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
+}
+
+vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
+{
+       vector new_org = org;
+       if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
+       {
+               vector map_center = havocbot_middlepoint;
+               if (autocvar_g_waypointeditor_symmetrical == -1)
+                       map_center = autocvar_g_waypointeditor_symmetrical_origin;
+
+               new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
+       }
+       else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
+       {
+               float m = havocbot_symmetryaxis_equation.x;
+               float q = havocbot_symmetryaxis_equation.y;
+               if (autocvar_g_waypointeditor_symmetrical == -2)
+               {
+                       m = autocvar_g_waypointeditor_symmetrical_axis.x;
+                       q = autocvar_g_waypointeditor_symmetrical_axis.y;
+               }
+
+               new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
+               new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
+       }
+       new_org.z = org.z;
+       return new_org;
+}
+
 void waypoint_setupmodel(entity wp)
 {
        if (autocvar_g_waypointeditor)
@@ -31,6 +170,8 @@ void waypoint_setupmodel(entity wp)
                        wp.colormod = '1 0 0';
                else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
                        wp.colormod = '1 1 0';
+               else if (wp.wphardwired)
+                       wp.colormod = '0.5 0 1';
                else
                        wp.colormod = '1 1 1';
        }
@@ -38,14 +179,13 @@ void waypoint_setupmodel(entity wp)
                wp.model = "";
 }
 
-// create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
-// them back to it as well
-// (suitable for spawnfunc_waypoint editor)
 entity waypoint_spawn(vector m1, vector m2, float f)
 {
-       if(!(f & WAYPOINTFLAG_PERSONAL))
+       if(!(f & (WAYPOINTFLAG_PERSONAL | WAYPOINTFLAG_GENERATED)) && m1 == m2)
        {
-               IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax),
+               vector em1 = m1 - '8 8 8';
+               vector em2 = m2 + '8 8 8';
+               IL_EACH(g_waypoints, boxesoverlap(em1, em2, it.absmin, it.absmax),
                {
                        return it;
                });
@@ -92,6 +232,120 @@ entity waypoint_spawn(vector m1, vector m2, float f)
        return w;
 }
 
+void waypoint_spawn_fromeditor(entity pl)
+{
+       entity e;
+       vector org = pl.origin;
+       int ctf_flags = havocbot_symmetryaxis_equation.z;
+       bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
+                  || (autocvar_g_waypointeditor_symmetrical < 0));
+       int order = ctf_flags;
+       if(autocvar_g_waypointeditor_symmetrical_order >= 2)
+       {
+               order = autocvar_g_waypointeditor_symmetrical_order;
+               ctf_flags = order;
+       }
+
+       if(!PHYS_INPUT_BUTTON_CROUCH(pl))
+       {
+               // snap waypoint to item's origin if close enough
+               IL_EACH(g_items, true,
+               {
+                       vector item_org = (it.absmin + it.absmax) * 0.5;
+                       item_org.z = it.absmin.z - PL_MIN_CONST.z;
+                       if(vlen(item_org - org) < 30)
+                       {
+                               org = item_org;
+                               break;
+                       }
+               });
+       }
+
+       LABEL(add_wp);
+       e = waypoint_spawn(org, org, 0);
+       if(!e)
+       {
+               LOG_INFOF("Couldn't spawn waypoint at %v\n", org);
+               return;
+       }
+       waypoint_schedulerelink(e);
+       bprint(strcat("Waypoint spawned at ", vtos(e.origin), "\n"));
+       if(sym)
+       {
+               org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
+               if (vdist(org - pl.origin, >, 32))
+               {
+                       if(order > 2)
+                               order--;
+                       else
+                               sym = false;
+                       goto add_wp;
+               }
+       }
+}
+
+void waypoint_remove(entity wp)
+{
+       // tell all waypoints linked to wp that they need to relink
+       IL_EACH(g_waypoints, it != wp,
+       {
+               if (waypoint_islinked(it, wp))
+                       waypoint_removelink(it, wp);
+       });
+       delete(wp);
+}
+
+void waypoint_remove_fromeditor(entity pl)
+{
+       entity e = navigation_findnearestwaypoint(pl, false);
+
+       int ctf_flags = havocbot_symmetryaxis_equation.z;
+       bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
+                  || (autocvar_g_waypointeditor_symmetrical < 0));
+       int order = ctf_flags;
+       if(autocvar_g_waypointeditor_symmetrical_order >= 2)
+       {
+               order = autocvar_g_waypointeditor_symmetrical_order;
+               ctf_flags = order;
+       }
+
+       LABEL(remove_wp);
+       if (!e) return;
+       if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
+
+       if (e.wphardwired)
+       {
+               LOG_INFO("^1Warning: ^7Removal of hardwired waypoints is not allowed in the editor. Please remove links from/to this waypoint (", vtos(e.origin), ") by hand from maps/", mapname, ".waypoints.hardwired\n");
+               return;
+       }
+
+       entity wp_sym = NULL;
+       if (sym)
+       {
+               vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
+               FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
+                       if(vdist(org - it.origin, <, 3))
+                       {
+                               wp_sym = it;
+                               break;
+                       }
+               });
+       }
+
+       bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
+       waypoint_remove(e);
+
+       if (sym && wp_sym)
+       {
+               e = wp_sym;
+               if(order > 2)
+                       order--;
+               else
+                       sym = false;
+               goto remove_wp;
+       }
+}
+
 void waypoint_removelink(entity from, entity to)
 {
        if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
@@ -145,41 +399,113 @@ bool waypoint_islinked(entity from, entity to)
        return false;
 }
 
-// add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
-void waypoint_addlink(entity from, entity to)
+void waypoint_updatecost_foralllinks()
 {
-       float c;
+       IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
+       {
+               if(it.wp00) it.wp00mincost = waypoint_getlinkcost(it, it.wp00);
+               if(it.wp01) it.wp01mincost = waypoint_getlinkcost(it, it.wp01);
+               if(it.wp02) it.wp02mincost = waypoint_getlinkcost(it, it.wp02);
+               if(it.wp03) it.wp03mincost = waypoint_getlinkcost(it, it.wp03);
+               if(it.wp04) it.wp04mincost = waypoint_getlinkcost(it, it.wp04);
+               if(it.wp05) it.wp05mincost = waypoint_getlinkcost(it, it.wp05);
+               if(it.wp06) it.wp06mincost = waypoint_getlinkcost(it, it.wp06);
+               if(it.wp07) it.wp07mincost = waypoint_getlinkcost(it, it.wp07);
+               if(it.wp08) it.wp08mincost = waypoint_getlinkcost(it, it.wp08);
+               if(it.wp09) it.wp09mincost = waypoint_getlinkcost(it, it.wp09);
+               if(it.wp10) it.wp10mincost = waypoint_getlinkcost(it, it.wp10);
+               if(it.wp11) it.wp11mincost = waypoint_getlinkcost(it, it.wp11);
+               if(it.wp12) it.wp12mincost = waypoint_getlinkcost(it, it.wp12);
+               if(it.wp13) it.wp13mincost = waypoint_getlinkcost(it, it.wp13);
+               if(it.wp14) it.wp14mincost = waypoint_getlinkcost(it, it.wp14);
+               if(it.wp15) it.wp15mincost = waypoint_getlinkcost(it, it.wp15);
+               if(it.wp16) it.wp16mincost = waypoint_getlinkcost(it, it.wp16);
+               if(it.wp17) it.wp17mincost = waypoint_getlinkcost(it, it.wp17);
+               if(it.wp18) it.wp18mincost = waypoint_getlinkcost(it, it.wp18);
+               if(it.wp19) it.wp19mincost = waypoint_getlinkcost(it, it.wp19);
+               if(it.wp20) it.wp20mincost = waypoint_getlinkcost(it, it.wp20);
+               if(it.wp21) it.wp21mincost = waypoint_getlinkcost(it, it.wp21);
+               if(it.wp22) it.wp22mincost = waypoint_getlinkcost(it, it.wp22);
+               if(it.wp23) it.wp23mincost = waypoint_getlinkcost(it, it.wp23);
+               if(it.wp24) it.wp24mincost = waypoint_getlinkcost(it, it.wp24);
+               if(it.wp25) it.wp25mincost = waypoint_getlinkcost(it, it.wp25);
+               if(it.wp26) it.wp26mincost = waypoint_getlinkcost(it, it.wp26);
+               if(it.wp27) it.wp27mincost = waypoint_getlinkcost(it, it.wp27);
+               if(it.wp28) it.wp28mincost = waypoint_getlinkcost(it, it.wp28);
+               if(it.wp29) it.wp29mincost = waypoint_getlinkcost(it, it.wp29);
+               if(it.wp30) it.wp30mincost = waypoint_getlinkcost(it, it.wp30);
+               if(it.wp31) it.wp31mincost = waypoint_getlinkcost(it, it.wp31);
+       });
+}
 
-       if (from == to)
-               return;
-       if (from.wpflags & WAYPOINTFLAG_NORELINK)
-               return;
+float waypoint_getlinearcost(float dist)
+{
+       if(skill >= autocvar_bot_ai_bunnyhop_skilloffset)
+               return dist / (autocvar_sv_maxspeed * 1.25);
+       return dist / autocvar_sv_maxspeed;
+}
+float waypoint_getlinearcost_underwater(float dist)
+{
+       // NOTE: this value is hardcoded on the engine too, see SV_WaterMove
+       return dist / (autocvar_sv_maxspeed * 0.7);
+}
 
-       if (waypoint_islinked(from, to))
-               return;
+float waypoint_gettravelcost(vector from, vector to, entity from_ent, entity to_ent)
+{
+       bool submerged_from = navigation_check_submerged_state(from_ent, from);
+       bool submerged_to = navigation_check_submerged_state(to_ent, to);
+
+       if (submerged_from && submerged_to)
+               return waypoint_getlinearcost_underwater(vlen(to - from));
+
+       float c = waypoint_getlinearcost(vlen(to - from));
 
-       if (to.wpisbox || from.wpisbox)
+       float height = from.z - to.z;
+       if(height > jumpheight_vec.z && autocvar_sv_gravity > 0)
        {
-               // if either is a box we have to find the nearest points on them to
-               // calculate the distance properly
-               vector v1, v2, m1, m2;
-               v1 = from.origin;
-               m1 = to.absmin;
-               m2 = to.absmax;
-               v1_x = bound(m1_x, v1_x, m2_x);
-               v1_y = bound(m1_y, v1_y, m2_y);
-               v1_z = bound(m1_z, v1_z, m2_z);
-               v2 = to.origin;
-               m1 = from.absmin;
-               m2 = from.absmax;
-               v2_x = bound(m1_x, v2_x, m2_x);
-               v2_y = bound(m1_y, v2_y, m2_y);
-               v2_z = bound(m1_z, v2_z, m2_z);
-               v2 = to.origin;
-               c = vlen(v2 - v1);
+               float height_cost = sqrt(height / (autocvar_sv_gravity / 2));
+               c = waypoint_getlinearcost(vlen(vec2(to - from))); // xy distance cost
+               if(height_cost > c)
+                       c = height_cost;
        }
-       else
-               c = vlen(to.origin - from.origin);
+
+       if (submerged_from || submerged_to)
+               return (c + waypoint_getlinearcost_underwater(vlen(to - from))) / 2;
+       return c;
+}
+
+float waypoint_getlinkcost(entity from, entity to)
+{
+       vector v1 = from.origin;
+       vector v2 = to.origin;
+       if (from.wpisbox)
+       {
+               vector m1 = from.absmin, m2 = from.absmax;
+               v1.x = bound(m1.x, v2.x, m2.x);
+               v1.y = bound(m1.y, v2.y, m2.y);
+               v1.z = bound(m1.z, v2.z, m2.z);
+       }
+       if (to.wpisbox)
+       {
+               vector m1 = to.absmin, m2 = to.absmax;
+               v2.x = bound(m1.x, v1.x, m2.x);
+               v2.y = bound(m1.y, v1.y, m2.y);
+               v2.z = bound(m1.z, v1.z, m2.z);
+       }
+       return waypoint_gettravelcost(v1, v2, from, to);
+}
+
+// add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
+// if c == -1 automatically determine cost of the link
+void waypoint_addlink_customcost(entity from, entity to, float c)
+{
+       if (from == to || waypoint_islinked(from, to))
+               return;
+       if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
+               return;
+
+       if(c == -1)
+               c = waypoint_getlinkcost(from, to);
 
        if (from.wp31mincost < c) return;
        if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
@@ -216,20 +542,24 @@ void waypoint_addlink(entity from, entity to)
        from.wp00 = to;from.wp00mincost = c;return;
 }
 
+void waypoint_addlink(entity from, entity to)
+{
+       waypoint_addlink_customcost(from, to, -1);
+}
+
 // relink this spawnfunc_waypoint
 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
 // (SLOW!)
 void waypoint_think(entity this)
 {
-       vector sv, sm1, sm2, ev, em1, em2, dv;
+       vector sv = '0 0 0', sv2 = '0 0 0', ev = '0 0 0', ev2 = '0 0 0', dv;
+       float sv2_height = 0, ev2_height = 0;
 
        bot_calculate_stepheightvec();
 
        bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
 
        //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
-       sm1 = this.origin + this.mins;
-       sm2 = this.origin + this.maxs;
        IL_EACH(g_waypoints, this != it,
        {
                if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
@@ -245,16 +575,14 @@ void waypoint_think(entity this)
                                ++relink_pvsculled;
                                continue;
                        }
-                       sv = it.origin;
-                       sv.x = bound(sm1_x, sv.x, sm2_x);
-                       sv.y = bound(sm1_y, sv.y, sm2_y);
-                       sv.z = bound(sm1_z, sv.z, sm2_z);
-                       ev = this.origin;
-                       em1 = it.origin + it.mins;
-                       em2 = it.origin + it.maxs;
-                       ev.x = bound(em1_x, ev.x, em2_x);
-                       ev.y = bound(em1_y, ev.y, em2_y);
-                       ev.z = bound(em1_z, ev.z, em2_z);
+
+                       sv = set_tracewalk_dest_2(this, it.origin);
+                       sv2 = tracewalk_dest;
+                       sv2_height = tracewalk_dest_height;
+                       ev = set_tracewalk_dest_2(it, this.origin);
+                       ev2 = tracewalk_dest;
+                       ev2_height = tracewalk_dest_height;
+
                        dv = ev - sv;
                        dv.z = 0;
                        if(vdist(dv, >=, 1050)) // max search distance in XY
@@ -262,35 +590,30 @@ void waypoint_think(entity this)
                                ++relink_lengthculled;
                                continue;
                        }
+
                        navigation_testtracewalk = 0;
-                       if (!this.wpisbox)
-                       {
-                               tracebox(sv - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, sv, false, this);
-                               if (!trace_startsolid)
-                               {
-                                       //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
-                                       sv = trace_endpos + '0 0 1';
-                               }
-                       }
-                       if (!it.wpisbox)
-                       {
-                               tracebox(ev - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, ev, false, it);
-                               if (!trace_startsolid)
-                               {
-                                       //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
-                                       ev = trace_endpos + '0 0 1';
-                               }
-                       }
+
                        //traceline(this.origin, it.origin, false, NULL);
                        //if (trace_fraction == 1)
-                       if (!this.wpisbox && tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev, MOVE_NOMONSTERS))
-                               waypoint_addlink(this, it);
-                       else
+                       if (this.wpisbox)
                                relink_walkculled += 0.5;
-                       if (!it.wpisbox && tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv, MOVE_NOMONSTERS))
-                               waypoint_addlink(it, this);
                        else
+                       {
+                               if (tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev2, ev2_height, MOVE_NOMONSTERS))
+                                       waypoint_addlink(this, it);
+                               else
+                                       relink_walkculled += 0.5;
+                       }
+
+                       if (it.wpisbox)
                                relink_walkculled += 0.5;
+                       else
+                       {
+                               if (tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv2, sv2_height, MOVE_NOMONSTERS))
+                                       waypoint_addlink(it, this);
+                               else
+                                       relink_walkculled += 0.5;
+                       }
                }
        });
        navigation_testtracewalk = 0;
@@ -344,25 +667,6 @@ spawnfunc(waypoint)
        //waypoint_schedulerelink(this);
 }
 
-void waypoint_remove(entity wp)
-{
-       // tell all waypoints linked to wp that they need to relink
-       IL_EACH(g_waypoints, it != wp,
-       {
-               if (waypoint_islinked(it, wp))
-                       waypoint_removelink(it, wp);
-       });
-       delete(wp);
-}
-
-void waypoint_removeall()
-{
-       IL_EACH(g_waypoints, true,
-       {
-               delete(it);
-       });
-}
-
 // tell all waypoints to relink
 // actually this is useful only to update relink_* stats
 void waypoint_schedulerelinkall()
@@ -375,33 +679,76 @@ void waypoint_schedulerelinkall()
        waypoint_load_links_hardwired();
 }
 
+#define GET_GAMETYPE_EXTENSION() ((g_race) ? ".race" : "")
+
 // Load waypoint links from file
-float waypoint_load_links()
+bool waypoint_load_links()
 {
-       string filename, s;
+       string s;
        float file, tokens, c = 0, found;
        entity wp_from = NULL, wp_to;
        vector wp_to_pos, wp_from_pos;
-       filename = strcat("maps/", mapname);
-       filename = strcat(filename, ".waypoints.cache");
+
+       string gt_ext = GET_GAMETYPE_EXTENSION();
+
+       string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
        file = fopen(filename, FILE_READ);
 
+       if (gt_ext != "" && file < 0)
+       {
+               // if race waypoint file doesn't exist load the default one
+               filename = sprintf("maps/%s.waypoints.cache", mapname);
+               file = fopen(filename, FILE_READ);
+       }
+
        if (file < 0)
        {
-               LOG_TRACE("waypoint links load from ");
-               LOG_TRACE(filename);
-               LOG_TRACE(" failed");
+               LOG_TRACE("waypoint links load from ", filename, " failed");
+               waypoint_schedulerelinkall();
                return false;
        }
 
+       bool parse_comments = true;
+       float ver = 0;
+
        while ((s = fgets(file)))
        {
+               if(parse_comments)
+               {
+                       if(substring(s, 0, 2) == "//")
+                       {
+                               if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
+                                       ver = stof(substring(s, 19, -1));
+                               continue;
+                       }
+                       else
+                       {
+                               if(ver < WAYPOINT_VERSION)
+                               {
+                                       LOG_TRACE("waypoint links for this map are outdated.");
+                                       if (g_assault)
+                                       {
+                                               LOG_TRACE("Assault waypoint links need to be manually updated in the editor");
+                                       }
+                                       else
+                                       {
+                                               LOG_TRACE("automatically updating...");
+                                               waypoint_schedulerelinkall();
+                                               fclose(file);
+                                               return false;
+                                       }
+                               }
+                               parse_comments = false;
+                       }
+               }
+
                tokens = tokenizebyseparator(s, "*");
 
                if (tokens!=2)
                {
                        // bad file format
                        fclose(file);
+                       waypoint_schedulerelinkall(); // link all the autogenerated waypoints (teleporters)
                        return false;
                }
 
@@ -429,7 +776,6 @@ float waypoint_load_links()
                                LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
                                continue;
                        }
-
                }
 
                // Search "to" waypoint
@@ -458,7 +804,19 @@ float waypoint_load_links()
 
        fclose(file);
 
-       LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
+       LOG_TRACE("loaded ", ftos(c), " waypoint links from ", filename);
+
+       bool scheduled = false;
+       IL_EACH(g_waypoints, it.wpflags & WAYPOINTFLAG_ITEM,
+       {
+               if (!it.wp00)
+               {
+                       waypoint_schedulerelink(it);
+                       scheduled = true;
+               }
+       });
+       if (scheduled)
+               return false;
 
        botframe_cachedwaypointlinks = true;
        return true;
@@ -466,14 +824,23 @@ float waypoint_load_links()
 
 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
 {
-       string filename, s;
+       string s;
        float file, tokens, c = 0, found;
        entity wp_from = NULL, wp_to;
        vector wp_to_pos, wp_from_pos;
-       filename = strcat("maps/", mapname);
-       filename = strcat(filename, ".waypoints.hardwired");
+
+       string gt_ext = GET_GAMETYPE_EXTENSION();
+
+       string filename = sprintf("maps/%s.waypoints.hardwired", strcat(mapname, gt_ext));
        file = fopen(filename, FILE_READ);
 
+       if (gt_ext != "" && file < 0)
+       {
+               // if race waypoint file doesn't exist load the default one
+               filename = sprintf("maps/%s.waypoints.hardwired", mapname);
+               file = fopen(filename, FILE_READ);
+       }
+
        botframe_loadedforcedlinks = true;
 
        if (file < 0)
@@ -554,17 +921,16 @@ void waypoint_load_or_remove_links_hardwired(bool removal_mode)
                waypoint_addlink(wp_from, wp_to);
                wp_from.wphardwired = true;
                wp_to.wphardwired = true;
+               waypoint_setupmodel(wp_from);
+               waypoint_setupmodel(wp_to);
        }
 
        fclose(file);
 
-       if(!removal_mode)
-               LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
+       LOG_TRACE(((removal_mode) ? "unloaded " : "loaded "),
+               ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
 }
 
-void waypoint_load_links_hardwired() { waypoint_load_or_remove_links_hardwired(false); }
-void waypoint_remove_links_hardwired() { waypoint_load_or_remove_links_hardwired(true); }
-
 entity waypoint_get_link(entity w, float i)
 {
        switch(i)
@@ -611,7 +977,9 @@ void waypoint_save_links()
        // temporarily remove hardwired links so they don't get saved among normal links
        waypoint_remove_links_hardwired();
 
-       string filename = sprintf("maps/%s.waypoints.cache", mapname);
+       string gt_ext = GET_GAMETYPE_EXTENSION();
+
+       string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
        int file = fopen(filename, FILE_WRITE);
        if (file < 0)
        {
@@ -619,6 +987,8 @@ void waypoint_save_links()
                return;
        }
 
+       fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
+
        int c = 0;
        IL_EACH(g_waypoints, true,
        {
@@ -634,9 +1004,10 @@ void waypoint_save_links()
                }
        });
        fclose(file);
+
        botframe_cachedwaypointlinks = true;
 
-       LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache", c, mapname);
+       LOG_INFOF("saved %d waypoint links to %s", c, filename);
 
        waypoint_load_links_hardwired();
 }
@@ -644,7 +1015,9 @@ void waypoint_save_links()
 // save waypoints to gamedir/data/maps/mapname.waypoints
 void waypoint_saveall()
 {
-       string filename = sprintf("maps/%s.waypoints", mapname);
+       string gt_ext = GET_GAMETYPE_EXTENSION();
+
+       string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
        int file = fopen(filename, FILE_WRITE);
        if (file < 0)
        {
@@ -655,6 +1028,12 @@ void waypoint_saveall()
                return;
        }
 
+       // add 3 comments to not break compatibility with older Xonotic versions
+       // (they are read as a waypoint with origin '0 0 0' and flag 0 though)
+       fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
+       fputs(file, strcat("//", "\n"));
+       fputs(file, strcat("//", "\n"));
+
        int c = 0;
        IL_EACH(g_waypoints, true,
        {
@@ -674,63 +1053,99 @@ void waypoint_saveall()
        waypoint_save_links();
        botframe_loadedforcedlinks = false;
 
-       LOG_INFOF("saved %d waypoints to maps/%s.waypoints", c, mapname);
+       LOG_INFOF("saved %d waypoints to %s", c, filename);
 }
 
 // load waypoints from file
 float waypoint_loadall()
 {
-       string filename, s;
+       string s;
        float file, cwp, cwb, fl;
        vector m1, m2;
        cwp = 0;
        cwb = 0;
-       filename = strcat("maps/", mapname);
-       filename = strcat(filename, ".waypoints");
+
+       string gt_ext = GET_GAMETYPE_EXTENSION();
+
+       string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
        file = fopen(filename, FILE_READ);
-       if (file >= 0)
+
+       if (gt_ext != "" && file < 0)
        {
-               while ((s = fgets(file)))
-               {
-                       m1 = stov(s);
-                       s = fgets(file);
-                       if (!s)
-                               break;
-                       m2 = stov(s);
-                       s = fgets(file);
-                       if (!s)
-                               break;
-                       fl = stof(s);
-                       waypoint_spawn(m1, m2, fl);
-                       if (m1 == m2)
-                               cwp = cwp + 1;
-                       else
-                               cwb = cwb + 1;
-               }
-               fclose(file);
-               LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
+               // if race waypoint file doesn't exist load the default one
+               filename = sprintf("maps/%s.waypoints", mapname);
+               file = fopen(filename, FILE_READ);
        }
-       else
+
+       if (file < 0)
        {
                LOG_TRACE("waypoint load from ", filename, " failed");
+               return 0;
        }
+
+       bool parse_comments = true;
+       float ver = 0;
+
+       while ((s = fgets(file)))
+       {
+               if(parse_comments)
+               {
+                       if(substring(s, 0, 2) == "//")
+                       {
+                               if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
+                                       ver = stof(substring(s, 19, -1));
+                               continue;
+                       }
+                       else
+                       {
+                               if(floor(ver) < floor(WAYPOINT_VERSION))
+                               {
+                                       LOG_TRACE("waypoints for this map are outdated");
+                                       LOG_TRACE("please update them in the editor");
+                               }
+                               parse_comments = false;
+                       }
+               }
+               m1 = stov(s);
+               s = fgets(file);
+               if (!s)
+                       break;
+               m2 = stov(s);
+               s = fgets(file);
+               if (!s)
+                       break;
+               fl = stof(s);
+               waypoint_spawn(m1, m2, fl);
+               if (m1 == m2)
+                       cwp = cwp + 1;
+               else
+                       cwb = cwb + 1;
+       }
+       fclose(file);
+       LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
+
        return cwp + cwb;
 }
 
-vector waypoint_fixorigin(vector position)
+#define waypoint_fixorigin(position, tracetest_ent) \
+       waypoint_fixorigin_down_dir(position, tracetest_ent, '0 0 -1')
+
+vector waypoint_fixorigin_down_dir(vector position, entity tracetest_ent, vector down_dir)
 {
-       tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
+       tracebox(position + '0 0 1', PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
+       if(trace_startsolid)
+               tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z / 2), PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
+       if(trace_startsolid)
+               tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + down_dir * 3000, MOVE_NOMONSTERS, tracetest_ent);
        if(trace_fraction < 1)
                position = trace_endpos;
-       //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
-       //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
        return position;
 }
 
 void waypoint_spawnforitem_force(entity e, vector org)
 {
        // Fix the waypoint altitude if necessary
-       org = waypoint_fixorigin(org);
+       org = waypoint_fixorigin(org, NULL);
 
        // don't spawn an item spawnfunc_waypoint if it already exists
        IL_EACH(g_waypoints, true,
@@ -764,11 +1179,11 @@ void waypoint_spawnforitem(entity e)
        waypoint_spawnforitem_force(e, e.origin);
 }
 
-void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
+void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
 {
        entity w;
        entity dw;
-       w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_NORELINK);
+       w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
        dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
        // one way link to the destination
        w.wp00 = dw;
@@ -779,17 +1194,25 @@ void waypoint_spawnforteleporter_boxes(entity e, vector org1, vector org2, vecto
        e.nearestwaypointtimeout = -1;
 }
 
-void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
+void waypoint_spawnforteleporter_wz(entity e, vector org, vector destination, float timetaken, vector down_dir, entity tracetest_ent)
 {
-       org = waypoint_fixorigin(org);
-       destination = waypoint_fixorigin(destination);
-       waypoint_spawnforteleporter_boxes(e, org, org, destination, destination, timetaken);
+       // warpzones with oblique warp plane rely on down_dir to snap waypoints
+       // to the ground without leaving the warp plane
+       // warpzones with horizontal warp plane (down_dir.x == -1) generate
+       // destination waypoint snapped to the ground (leaving warpzone), source
+       // waypoint in the center of the warp plane
+       if(down_dir.x != -1)
+               org = waypoint_fixorigin_down_dir(org, tracetest_ent, down_dir);
+       if(down_dir.x == -1)
+               down_dir = '0 0 -1';
+       destination = waypoint_fixorigin_down_dir(destination, tracetest_ent, down_dir);
+       waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
 }
 
-void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
+void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent)
 {
-       destination = waypoint_fixorigin(destination);
-       waypoint_spawnforteleporter_boxes(e, e.absmin, e.absmax, destination, destination, timetaken);
+       destination = waypoint_fixorigin(destination, tracetest_ent);
+       waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin - PL_MAX_CONST + '1 1 1', e.absmax - PL_MIN_CONST + '-1 -1 -1', destination, destination, timetaken);
 }
 
 entity waypoint_spawnpersonal(entity this, vector position)
@@ -799,7 +1222,7 @@ entity waypoint_spawnpersonal(entity this, vector position)
        // drop the waypoint to a proper location:
        //   first move it up by a player height
        //   then move it down to hit the floor with player bbox size
-       position = waypoint_fixorigin(position);
+       position = waypoint_fixorigin(position, this);
 
        w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
        w.nearestwaypoint = NULL;
@@ -822,6 +1245,35 @@ void waypoint_showlink(entity wp1, entity wp2, int display_type)
                te_lightning2(NULL, wp1.origin, wp2.origin);
 }
 
+void waypoint_showlinks_to(entity wp, int display_type)
+{
+       IL_EACH(g_waypoints, it != wp,
+       {
+               if (waypoint_islinked(it, wp))
+                       waypoint_showlink(it, wp, display_type);
+       });
+}
+
+void waypoint_showlinks_from(entity wp, int display_type)
+{
+       waypoint_showlink(wp.wp00, wp, display_type); waypoint_showlink(wp.wp16, wp, display_type);
+       waypoint_showlink(wp.wp01, wp, display_type); waypoint_showlink(wp.wp17, wp, display_type);
+       waypoint_showlink(wp.wp02, wp, display_type); waypoint_showlink(wp.wp18, wp, display_type);
+       waypoint_showlink(wp.wp03, wp, display_type); waypoint_showlink(wp.wp19, wp, display_type);
+       waypoint_showlink(wp.wp04, wp, display_type); waypoint_showlink(wp.wp20, wp, display_type);
+       waypoint_showlink(wp.wp05, wp, display_type); waypoint_showlink(wp.wp21, wp, display_type);
+       waypoint_showlink(wp.wp06, wp, display_type); waypoint_showlink(wp.wp22, wp, display_type);
+       waypoint_showlink(wp.wp07, wp, display_type); waypoint_showlink(wp.wp23, wp, display_type);
+       waypoint_showlink(wp.wp08, wp, display_type); waypoint_showlink(wp.wp24, wp, display_type);
+       waypoint_showlink(wp.wp09, wp, display_type); waypoint_showlink(wp.wp25, wp, display_type);
+       waypoint_showlink(wp.wp10, wp, display_type); waypoint_showlink(wp.wp26, wp, display_type);
+       waypoint_showlink(wp.wp11, wp, display_type); waypoint_showlink(wp.wp27, wp, display_type);
+       waypoint_showlink(wp.wp12, wp, display_type); waypoint_showlink(wp.wp28, wp, display_type);
+       waypoint_showlink(wp.wp13, wp, display_type); waypoint_showlink(wp.wp29, wp, display_type);
+       waypoint_showlink(wp.wp14, wp, display_type); waypoint_showlink(wp.wp30, wp, display_type);
+       waypoint_showlink(wp.wp15, wp, display_type); waypoint_showlink(wp.wp31, wp, display_type);
+}
+
 void botframe_showwaypointlinks()
 {
        if (time < botframe_waypointeditorlightningtime)
@@ -844,38 +1296,10 @@ void botframe_showwaypointlinks()
                        if (head)
                        {
                                te_lightning2(NULL, head.origin, it.origin);
-                               waypoint_showlink(head.wp00, head, display_type);
-                               waypoint_showlink(head.wp01, head, display_type);
-                               waypoint_showlink(head.wp02, head, display_type);
-                               waypoint_showlink(head.wp03, head, display_type);
-                               waypoint_showlink(head.wp04, head, display_type);
-                               waypoint_showlink(head.wp05, head, display_type);
-                               waypoint_showlink(head.wp06, head, display_type);
-                               waypoint_showlink(head.wp07, head, display_type);
-                               waypoint_showlink(head.wp08, head, display_type);
-                               waypoint_showlink(head.wp09, head, display_type);
-                               waypoint_showlink(head.wp10, head, display_type);
-                               waypoint_showlink(head.wp11, head, display_type);
-                               waypoint_showlink(head.wp12, head, display_type);
-                               waypoint_showlink(head.wp13, head, display_type);
-                               waypoint_showlink(head.wp14, head, display_type);
-                               waypoint_showlink(head.wp15, head, display_type);
-                               waypoint_showlink(head.wp16, head, display_type);
-                               waypoint_showlink(head.wp17, head, display_type);
-                               waypoint_showlink(head.wp18, head, display_type);
-                               waypoint_showlink(head.wp19, head, display_type);
-                               waypoint_showlink(head.wp20, head, display_type);
-                               waypoint_showlink(head.wp21, head, display_type);
-                               waypoint_showlink(head.wp22, head, display_type);
-                               waypoint_showlink(head.wp23, head, display_type);
-                               waypoint_showlink(head.wp24, head, display_type);
-                               waypoint_showlink(head.wp25, head, display_type);
-                               waypoint_showlink(head.wp26, head, display_type);
-                               waypoint_showlink(head.wp27, head, display_type);
-                               waypoint_showlink(head.wp28, head, display_type);
-                               waypoint_showlink(head.wp29, head, display_type);
-                               waypoint_showlink(head.wp30, head, display_type);
-                               waypoint_showlink(head.wp31, head, display_type);
+                               if(PHYS_INPUT_BUTTON_CROUCH(it))
+                                       waypoint_showlinks_to(head, display_type);
+                               else
+                                       waypoint_showlinks_from(head, display_type);
                        }
                }
        });
@@ -927,7 +1351,7 @@ float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .en
 
                // if wp -> porg, then OK
                float maxdist;
-               if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
+               if(navigation_waypoint_will_link(wp.origin, porg, p, porg, 0, wp.origin, 0, walkfromwp, 1050))
                {
                        // we may find a better one
                        maxdist = vlen(wp.origin - porg);
@@ -943,8 +1367,8 @@ float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .en
                {
                        float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
                        if(d < bestdist)
-                       if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
-                       if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
+                       if(navigation_waypoint_will_link(wp.origin, it.origin, p, it.origin, 0, wp.origin, 0, walkfromwp, 1050))
+                       if(navigation_waypoint_will_link(it.origin, porg, p, porg, 0, it.origin, 0, walkfromwp, 1050))
                        {
                                bestdist = d;
                                p.(fld) = it;
@@ -998,7 +1422,7 @@ float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .en
 
                if(wp)
                {
-                       if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
+                       if(!navigation_waypoint_will_link(wp.origin, o, p, o, 0, wp.origin, 0, walkfromwp, 1050))
                        {
                                // we cannot walk from wp.origin to o
                                // get closer to tmax
@@ -1024,7 +1448,7 @@ float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .en
                // if we get here, o is valid regarding waypoints
                // check if o is connected right to the player
                // we break if it succeeds, as that means o is a good waypoint location
-               if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
+               if(navigation_waypoint_will_link(o, porg, p, porg, 0, o, 0, walkfromwp, 1050))
                        break;
 
                // o is no good, we need to get closer to the player
@@ -1071,6 +1495,8 @@ void botframe_deleteuselesswaypoints()
                        it.wpflags |= WAYPOINTFLAG_USEFUL;
                if (it.wpflags & WAYPOINTFLAG_TELEPORT)
                        it.wpflags |= WAYPOINTFLAG_USEFUL;
+               if (it.wpflags & WAYPOINTFLAG_LADDER)
+                       it.wpflags |= WAYPOINTFLAG_USEFUL;
                if (it.wpflags & WAYPOINTFLAG_PROTECTED)
                        it.wpflags |= WAYPOINTFLAG_USEFUL;
                // b) WP is closest WP for an item/spawnpoint/other entity
index 38d57a04a1395a1f472e2e41690703dc466789a5..bea11e9299986ce180765f09a520e37c8295f6de 100644 (file)
@@ -3,6 +3,11 @@
  * Globals and Fields
  */
 
+// increase by 0.01 when changes require only waypoint relinking
+// increase by 1 when changes require to manually edit waypoints
+// max 2 decimal places, always specified
+#define WAYPOINT_VERSION 1.00
+
 // fields you can query using prvm_global server to get some statistics about waypoint linking culling
 float relink_total, relink_walkculled, relink_pvsculled, relink_lengthculled;
 
@@ -10,10 +15,11 @@ float botframe_waypointeditorlightningtime;
 float botframe_loadedforcedlinks;
 float botframe_cachedwaypointlinks;
 
+// waypoint wp links to waypoint wp.wpXX (OUTGOING link)
+// links are sorted by their cost (wpXXmincost)
 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
 
-// itemscore = (howmuchmoreIwant / howmuchIcanwant) / itemdistance
 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
@@ -29,30 +35,43 @@ float botframe_cachedwaypointlinks;
  */
 
 spawnfunc(waypoint);
+void waypoint_removelink(entity from, entity to);
+bool waypoint_islinked(entity from, entity to);
+void waypoint_addlink_customcost(entity from, entity to, float c);
 void waypoint_addlink(entity from, entity to);
 void waypoint_think(entity this);
 void waypoint_clearlinks(entity wp);
 void waypoint_schedulerelink(entity wp);
 
-void waypoint_remove(entity e);
-void waypoint_removeall();
+float waypoint_getlinkcost(entity from, entity to);
+float waypoint_gettravelcost(vector from, vector to, entity from_ent, entity to_ent);
+float waypoint_getlinearcost(float dist);
+void waypoint_updatecost_foralllinks();
+
+void waypoint_remove_fromeditor(entity pl);
+void waypoint_remove(entity wp);
 void waypoint_schedulerelinkall();
-void waypoint_load_links_hardwired();
 void waypoint_save_links();
 void waypoint_saveall();
 
 void waypoint_spawnforitem_force(entity e, vector org);
 void waypoint_spawnforitem(entity e);
-void waypoint_spawnforteleporter(entity e, vector destination, float timetaken);
-void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken);
+void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent);
+void waypoint_spawnforteleporter_wz(entity e, vector org, vector destination, float timetaken, vector down_dir, entity tracetest_ent);
 void botframe_showwaypointlinks();
 
 float waypoint_loadall();
-float waypoint_load_links();
+bool waypoint_load_links();
+#define waypoint_load_links_hardwired() waypoint_load_or_remove_links_hardwired(false)
+#define waypoint_remove_links_hardwired() waypoint_load_or_remove_links_hardwired(true)
+void waypoint_load_or_remove_links_hardwired(bool removal_mode);
 
+void waypoint_spawn_fromeditor(entity pl);
 entity waypoint_spawn(vector m1, vector m2, float f);
 entity waypoint_spawnpersonal(entity this, vector position);
 
-vector waypoint_fixorigin(vector position);
+void waypoint_unreachable(entity pl);
+
+vector waypoint_fixorigin_down_dir(vector position, entity tracetest_ent, vector down_dir);
 
 void botframe_autowaypoints();
index 68ae41670644dd1e241752f946ba0d5aeb071c54..f8738f80fb5cdc855eda4bd6bb9ad351ddf9d5cb 100644 (file)
@@ -28,15 +28,17 @@ void navigation_markroutes(entity this, entity fixed_source_waypoint) { }
 void navigation_markroutes_inverted(entity fixed_source_waypoint) { }
 void navigation_routerating(entity this, entity e, float f, float rangebias) { }
 
-bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode) { return false; }
+bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode) { return false; }
 
-void waypoint_remove(entity e) { }
+void waypoint_remove_fromeditor(entity pl) { }
+void waypoint_remove(entity wp) { }
 void waypoint_saveall() { }
 void waypoint_schedulerelinkall() { }
 void waypoint_schedulerelink(entity wp) { }
 void waypoint_spawnforitem(entity e) { }
 void waypoint_spawnforitem_force(entity e, vector org) { }
-void waypoint_spawnforteleporter(entity e, vector destination, float timetaken) { }
-void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken) { }
+void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent) { }
+void waypoint_spawnforteleporter_wz(entity e, vector org, vector destination, float timetaken, vector down_dir, entity tracetest_ent) { }
+void waypoint_spawn_fromeditor(entity pl) { }
 entity waypoint_spawn(vector m1, vector m2, float f) { return NULL; }
 #endif
index ec6342a2a2212179a4b7dca0e8153634afd82076..bffd503e5e27de3cf4f6eb6bdecb01adc149e5a2 100644 (file)
@@ -639,7 +639,6 @@ void PutPlayerInServer(entity this)
        setorigin(this, spot.origin + '0 0 1' * (1 - this.mins.z - 24));
        // don't reset back to last position, even if new position is stuck in solid
        this.oldorigin = this.origin;
-       this.lastteleporttime = time; // prevent insane speeds due to changing origin
        if(this.conveyor)
                IL_REMOVE(g_conveyed, this);
        this.conveyor = NULL; // prevent conveyors at the previous location from moving a freshly spawned player
index f5569c08f2697d4baf879ff63dc659efaaa88e74..6de4507b1708ef54516d9d5db859bdb960a37457 100644 (file)
@@ -1574,11 +1574,13 @@ void GameCommand_trace(float request, float argc)
 
                                case "walk":
                                {
-                                       if (argc == 4)
+                                       if (argc == 4 || argc == 5)
                                        {
                                                e = nextent(NULL);
-                                               if (tracewalk(e, stov(argv(2)), e.mins, e.maxs, stov(argv(3)), MOVE_NORMAL)) LOG_INFO("can walk");
-                                               else LOG_INFO("cannot walk");
+                                               if (tracewalk(e, stov(argv(2)), e.mins, e.maxs, stov(argv(3)), stof(argv(4)), MOVE_NORMAL))
+                                                       LOG_INFO("can walk");
+                                               else
+                                                       LOG_INFO("cannot walk");
                                                return;
                                        }
                                }
@@ -1604,7 +1606,9 @@ void GameCommand_trace(float request, float argc)
                        LOG_INFO("Incorrect parameters for ^2trace^7");
                case CMD_REQUEST_USAGE:
                {
-                       LOG_INFO("Usage:^3 sv_cmd trace command (startpos endpos)");
+                       LOG_INFO("Usage:^3 sv_cmd trace command [startpos endpos] [endpos_height]");
+                       LOG_INFO("  Where startpos and endpos are parameters for 'walk' and 'showline' commands,");
+                       LOG_INFO("  'endpos_height' is an optional parameter for 'walk' command,");
                        LOG_INFO("  Full list of commands here: \"debug, debug2, walk, showline.\"");
                        LOG_INFO("See also: ^2bbox, gettaginfo^7");
                        return;
index 5b426c1c3f8db9df5e0b4b187e3eb6e03859c8e8..5010d283711ff0e795ed3f146bb097b56cfbcd10 100644 (file)
@@ -572,114 +572,16 @@ IMPULSE(waypoint_clear)
        sprint(this, "all waypoints cleared\n");
 }
 
-vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
-{
-       vector new_org = org;
-       if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
-       {
-               vector map_center = havocbot_middlepoint;
-               if (autocvar_g_waypointeditor_symmetrical == -1)
-                       map_center = autocvar_g_waypointeditor_symmetrical_origin;
-
-               new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
-       }
-       else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
-       {
-               float m = havocbot_symmetryaxis_equation.x;
-               float q = havocbot_symmetryaxis_equation.y;
-               if (autocvar_g_waypointeditor_symmetrical == -2)
-               {
-                       m = autocvar_g_waypointeditor_symmetrical_axis.x;
-                       q = autocvar_g_waypointeditor_symmetrical_axis.y;
-               }
-
-               new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
-               new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
-       }
-       new_org.z = org.z;
-       return new_org;
-}
-
 IMPULSE(navwaypoint_spawn)
 {
        if (!autocvar_g_waypointeditor) return;
-       entity e;
-       vector org = this.origin;
-       int ctf_flags = havocbot_symmetryaxis_equation.z;
-       bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
-                  || (autocvar_g_waypointeditor_symmetrical < 0));
-       int order = ctf_flags;
-       if(autocvar_g_waypointeditor_symmetrical_order >= 2)
-       {
-               order = autocvar_g_waypointeditor_symmetrical_order;
-               ctf_flags = order;
-       }
-
-       LABEL(add_wp);
-       e = waypoint_spawn(org, org, 0);
-       waypoint_schedulerelink(e);
-       bprint(strcat("Waypoint spawned at ", vtos(org), "\n"));
-       if(sym)
-       {
-               org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
-               if (vdist(org - this.origin, >, 32))
-               {
-                       if(order > 2)
-                               order--;
-                       else
-                               sym = false;
-                       goto add_wp;
-               }
-       }
+       waypoint_spawn_fromeditor(this);
 }
 
 IMPULSE(navwaypoint_remove)
 {
        if (!autocvar_g_waypointeditor) return;
-       entity e = navigation_findnearestwaypoint(this, false);
-       int ctf_flags = havocbot_symmetryaxis_equation.z;
-       bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
-                  || (autocvar_g_waypointeditor_symmetrical < 0));
-       int order = ctf_flags;
-       if(autocvar_g_waypointeditor_symmetrical_order >= 2)
-       {
-               order = autocvar_g_waypointeditor_symmetrical_order;
-               ctf_flags = order;
-       }
-
-       LABEL(remove_wp);
-       if (!e) return;
-       if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
-
-       if (e.wphardwired)
-       {
-               LOG_INFO("^1Warning: ^7Removal of hardwired waypoints is not allowed in the editor. Please remove links from/to this waypoint (", vtos(e.origin), ") by hand from maps/", mapname, ".waypoints.hardwired");
-               return;
-       }
-
-       entity wp_sym = NULL;
-       if (sym)
-       {
-               vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
-               IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED), {
-                       if(vdist(org - it.origin, <, 3))
-                       {
-                               wp_sym = it;
-                               break;
-                       }
-               });
-       }
-       bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
-       waypoint_remove(e);
-       if (sym && wp_sym)
-       {
-               e = wp_sym;
-               if(order > 2)
-                       order--;
-               else
-                       sym = false;
-               goto remove_wp;
-       }
+       waypoint_remove_fromeditor(this);
 }
 
 IMPULSE(navwaypoint_relink)
@@ -697,93 +599,5 @@ IMPULSE(navwaypoint_save)
 IMPULSE(navwaypoint_unreachable)
 {
        if (!autocvar_g_waypointeditor) return;
-       IL_EACH(g_waypoints, true,
-       {
-               it.colormod = '0.5 0.5 0.5';
-               it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
-       });
-       entity e2 = navigation_findnearestwaypoint(this, false);
-       navigation_markroutes(this, e2);
-
-       int j, m;
-
-       j = 0;
-       m = 0;
-       IL_EACH(g_waypoints, it.wpcost >= 10000000,
-       {
-               LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin));
-               it.colormod_z = 8;
-               it.effects |= EF_NODEPTHTEST | EF_BLUE;
-               ++j;
-               ++m;
-       });
-       if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)", j);
-       navigation_markroutes_inverted(e2);
-
-       j = 0;
-       IL_EACH(g_waypoints, it.wpcost >= 10000000,
-       {
-               LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin));
-               it.colormod_x = 8;
-               if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
-                       ++m;
-               it.effects |= EF_NODEPTHTEST | EF_RED;
-               ++j;
-       });
-       if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)", j);
-       if (m) LOG_INFOF("%d waypoints have been marked total", m);
-
-       j = 0;
-       IL_EACH(g_spawnpoints, true,
-       {
-               vector org = it.origin;
-               tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
-               setorigin(it, trace_endpos);
-               if (navigation_findnearestwaypoint(it, false))
-               {
-                       setorigin(it, org);
-                       it.effects &= ~EF_NODEPTHTEST;
-                       it.model = "";
-               }
-               else
-               {
-                       setorigin(it, org);
-                       LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin));
-                       it.effects |= EF_NODEPTHTEST;
-                       _setmodel(it, this.model);
-                       it.frame = this.frame;
-                       it.skin = this.skin;
-                       it.colormod = '8 0.5 8';
-                       setsize(it, '0 0 0', '0 0 0');
-                       ++j;
-               }
-       });
-       if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)", j);
-
-       j = 0;
-       IL_EACH(g_items, true,
-       {
-               it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
-               it.colormod = '0.5 0.5 0.5';
-       });
-       IL_EACH(g_items, true,
-       {
-               if (navigation_findnearestwaypoint(it, false)) continue;
-               LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin));
-               it.effects |= EF_NODEPTHTEST | EF_RED;
-               it.colormod_x = 8;
-               ++j;
-       });
-       if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)", j);
-
-       j = 0;
-       IL_EACH(g_items, true,
-       {
-               if (navigation_findnearestwaypoint(it, true)) continue;
-               LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin));
-               it.effects |= EF_NODEPTHTEST | EF_BLUE;
-               it.colormod_z = 8;
-               ++j;
-       });
-       if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)", j);
+       waypoint_unreachable(this);
 }
index affa033de1da73e3082bd12b1c8925cf7ac85330..50861c32f7d005bf40435df9449128e62eb1d05e 100644 (file)
@@ -461,7 +461,7 @@ void havocbot_role_ast_offense(entity this)
        if(this.havocbot_attack_time>time)
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                navigation_goalrating_start(this);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 650);
@@ -469,7 +469,7 @@ void havocbot_role_ast_offense(entity this)
                havocbot_goalrating_items(this, 15000, this.origin, 10000);
                navigation_goalrating_end(this);
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -495,7 +495,7 @@ void havocbot_role_ast_defense(entity this)
        if(this.havocbot_attack_time>time)
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                navigation_goalrating_start(this);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 3000);
@@ -503,7 +503,7 @@ void havocbot_role_ast_defense(entity this)
                havocbot_goalrating_items(this, 15000, this.origin, 10000);
                navigation_goalrating_end(this);
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index f437d98b52c837c6db59520c37d840660ece1003..ea714e6a23ba4528f38b6e189386a69215dd6603 100644 (file)
@@ -31,9 +31,6 @@ const int HAVOCBOT_AST_ROLE_OFFENSE = 4;
 .int havocbot_role_flags;
 .float havocbot_attack_time;
 
-.void(entity this) havocbot_role;
-.void(entity this) havocbot_previous_role;
-
 void(entity this) havocbot_role_ast_defense;
 void(entity this) havocbot_role_ast_offense;
 
index 3cf560ebedf752c3fc99b33cfc2aa3248bcaad2b..3c714ad5396bbb2bf237a24782722d42162d551b 100644 (file)
@@ -540,6 +540,9 @@ void ctf_Handle_Capture(entity flag, entity toucher, int capturetype)
        if(CTF_DIFFTEAM(player, flag)) { return; }
        if((flag.cnt || enemy_flag.cnt) && flag.cnt != enemy_flag.cnt) { return; } // this should catch some edge cases (capturing grouped flag at ungrouped flag disallowed etc)
 
+       if (toucher.goalentity == flag.bot_basewaypoint)
+               toucher.goalentity_lock_timeout = 0;
+
        if(ctf_oneflag)
        for(tmp_entity = ctf_worldflaglist; tmp_entity; tmp_entity = tmp_entity.ctf_worldflagnext)
        if(SAME_TEAM(tmp_entity, player))
@@ -594,6 +597,8 @@ void ctf_Handle_Capture(entity flag, entity toucher, int capturetype)
                        { GameRules_scoring_add_team(enemy_flag.ctf_dropper, SCORE, ((enemy_flag.score_assist) ? enemy_flag.score_assist : autocvar_g_ctf_score_capture_assist)); }
        }
 
+       flag.enemy = toucher;
+
        // reset the flag
        player.next_take_time = time + autocvar_g_ctf_flag_collect_delay;
        ctf_RespawnFlag(enemy_flag);
@@ -636,6 +641,8 @@ void ctf_Handle_Return(entity flag, entity player)
        if(player.flagcarried == flag)
                WaypointSprite_Kill(player.wps_flagcarrier);
 
+       flag.enemy = player;
+
        // reset the flag
        ctf_RespawnFlag(flag);
 }
@@ -773,6 +780,7 @@ void ctf_CheckFlagReturn(entity flag, int returntype)
                        }
                        _sound(flag, CH_TRIGGER, flag.snd_flag_respawn, VOL_BASE, ATTEN_NONE);
                        ctf_EventLog("returned", flag.team, NULL);
+                       flag.enemy = NULL;
                        ctf_RespawnFlag(flag);
                }
        }
@@ -1176,8 +1184,9 @@ void ctf_RespawnFlag(entity flag)
 void ctf_Reset(entity this)
 {
        if(this.owner && IS_PLAYER(this.owner))
-        ctf_Handle_Throw(this.owner, NULL, DROP_RESET);
+               ctf_Handle_Throw(this.owner, NULL, DROP_RESET);
 
+       this.enemy = NULL;
        ctf_RespawnFlag(this);
 }
 
@@ -1653,11 +1662,10 @@ void havocbot_role_ctf_carrier(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
-
                navigation_goalrating_start(this);
+
                if(ctf_oneflag)
                        havocbot_goalrating_ctf_enemybase(this, 50000);
                else
@@ -1668,6 +1676,19 @@ void havocbot_role_ctf_carrier(entity this)
 
                navigation_goalrating_end(this);
 
+               navigation_goalrating_timeout_set(this);
+
+               entity head = ctf_worldflaglist;
+               while (head)
+               {
+                       if (this.goalentity == head.bot_basewaypoint)
+                       {
+                               this.goalentity_lock_timeout = time + 5;
+                               break;
+                       }
+                       head = head.ctf_worldflagnext;
+               }
+
                if (this.goalentity)
                        this.havocbot_cantfindflag = time + 10;
                else if (time > this.havocbot_cantfindflag)
@@ -1729,14 +1750,17 @@ void havocbot_role_ctf_escort(entity this)
        }
 
        // Chase the flag carrier
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
+
                havocbot_goalrating_ctf_enemyflag(this, 30000);
                havocbot_goalrating_ctf_ourstolenflag(this, 40000);
                havocbot_goalrating_items(this, 10000, this.origin, 10000);
+
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1809,15 +1833,18 @@ void havocbot_role_ctf_offense(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
+
                havocbot_goalrating_ctf_ourstolenflag(this, 50000);
                havocbot_goalrating_ctf_enemybase(this, 20000);
                havocbot_goalrating_items(this, 5000, this.origin, 1000);
                havocbot_goalrating_items(this, 1000, this.origin, 10000);
+
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1842,11 +1869,8 @@ void havocbot_role_ctf_retriever(entity this)
        mf = havocbot_ctf_find_flag(this);
        if(mf.ctf_status==FLAG_BASE)
        {
-               if(this.goalcurrent == mf)
-               {
-                       navigation_clearroute(this);
-                       this.bot_strategytime = 0;
-               }
+               if (mf.enemy == this) // did this bot return the flag?
+                       navigation_goalrating_timeout_force(this);
                havocbot_ctf_reset_role(this);
                return;
        }
@@ -1860,18 +1884,21 @@ void havocbot_role_ctf_retriever(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                float rt_radius;
                rt_radius = 10000;
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
+
                havocbot_goalrating_ctf_ourstolenflag(this, 50000);
                havocbot_goalrating_ctf_droppedflags(this, 40000, this.origin, rt_radius);
                havocbot_goalrating_ctf_enemybase(this, 30000);
                havocbot_goalrating_items(this, 500, this.origin, rt_radius);
+
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1907,22 +1934,25 @@ void havocbot_role_ctf_middle(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                vector org;
 
                org = havocbot_middlepoint;
                org.z = this.origin.z;
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
+
                havocbot_goalrating_ctf_ourstolenflag(this, 50000);
                havocbot_goalrating_ctf_droppedflags(this, 30000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 10000, org, havocbot_middlepoint_radius * 0.5);
                havocbot_goalrating_items(this, 5000, org, havocbot_middlepoint_radius * 0.5);
                havocbot_goalrating_items(this, 2500, this.origin, 10000);
                havocbot_goalrating_ctf_enemybase(this, 2500);
+
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1958,11 +1988,10 @@ void havocbot_role_ctf_defense(entity this)
                havocbot_ctf_reset_role(this);
                return;
        }
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                vector org = mf.dropped_origin;
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
                // if enemies are closer to our base, go there
@@ -1988,7 +2017,10 @@ void havocbot_role_ctf_defense(entity this)
                havocbot_goalrating_enemyplayers(this, 15000, org, havocbot_middlepoint_radius);
                havocbot_goalrating_items(this, 10000, org, havocbot_middlepoint_radius);
                havocbot_goalrating_items(this, 5000, this.origin, 10000);
+
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -2002,7 +2034,8 @@ void havocbot_role_ctf_setrole(entity bot, int role)
                        bot.havocbot_role = havocbot_role_ctf_carrier;
                        bot.havocbot_role_timeout = 0;
                        bot.havocbot_cantfindflag = time + 10;
-                       bot.bot_strategytime = 0;
+                       if (bot.havocbot_previous_role != bot.havocbot_role)
+                               navigation_goalrating_timeout_force(bot);
                        break;
                case HAVOCBOT_CTF_ROLE_DEFENSE:
                        s = "defense";
@@ -2024,14 +2057,16 @@ void havocbot_role_ctf_setrole(entity bot, int role)
                        bot.havocbot_previous_role = bot.havocbot_role;
                        bot.havocbot_role = havocbot_role_ctf_retriever;
                        bot.havocbot_role_timeout = time + 10;
-                       bot.bot_strategytime = 0;
+                       if (bot.havocbot_previous_role != bot.havocbot_role)
+                               navigation_goalrating_timeout_expire(bot, 2);
                        break;
                case HAVOCBOT_CTF_ROLE_ESCORT:
                        s = "escort";
                        bot.havocbot_previous_role = bot.havocbot_role;
                        bot.havocbot_role = havocbot_role_ctf_escort;
                        bot.havocbot_role_timeout = time + 30;
-                       bot.bot_strategytime = 0;
+                       if (bot.havocbot_previous_role != bot.havocbot_role)
+                               navigation_goalrating_timeout_expire(bot, 2);
                        break;
        }
        LOG_TRACE(bot.netname, " switched to ", s);
index 0b86a57f809936604fd51a5514b899108558dcac..33d64a074a290610fdb43a45dbfa7f08a996ede4 100644 (file)
@@ -133,6 +133,7 @@ float ctf_captimerecord; // record time for capturing the flag
 .float next_take_time;
 .bool ctf_flagdamaged_byworld;
 int ctf_teams;
+.entity enemy; // when flag is back in the base, it remembers last player who carried/touched the flag, useful to bots
 
 // passing/throwing properties
 .float pass_distance;
index ca892c52ff538c59f2205bf25d1090ed48ddf1bc..daaf8a969592e810af3531a1cdcded327b46a8fc 100644 (file)
@@ -13,20 +13,34 @@ void havocbot_role_cts(entity this)
        if(IS_DEAD(this))
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
+               bool raw_touch_check = true;
+               int cp = this.race_checkpoint;
+
+               LABEL(search_racecheckpoints)
                IL_EACH(g_racecheckpoints, true,
                {
-                       if(it.cnt == this.race_checkpoint)
-                               navigation_routerating(this, it, 1000000, 5000);
-                       else if(this.race_checkpoint == -1)
+                       if(it.cnt == cp || cp == -1)
+                       {
+                               // redirect bot to next goal if it touched the waypoint of an untouchable checkpoint
+                               // e.g. checkpoint in front of Stormkeep's warpzone
+                               // the same workaround is applied in Race game mode
+                               if (raw_touch_check && vdist(this.origin - it.nearestwaypoint.origin, <, 30))
+                               {
+                                       cp = race_NextCheckpoint(cp);
+                                       raw_touch_check = false;
+                                       goto search_racecheckpoints;
+                               }
                                navigation_routerating(this, it, 1000000, 5000);
+                       }
                });
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index be38553c9588bcd4ba1bfd79042432f79aebd583..5980cfbaf38241826244c3f27e3b44d4998017aa 100644 (file)
@@ -402,15 +402,16 @@ void havocbot_role_dom(entity this)
        if(IS_DEAD(this))
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
                havocbot_goalrating_controlpoints(this, 10000, this.origin, 15000);
                havocbot_goalrating_items(this, 8000, this.origin, 8000);
                //havocbot_goalrating_enemyplayers(this, 3000, this.origin, 2000);
                havocbot_goalrating_waypoints(this, 1, this.origin, 3000);
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index 88afaa755d7b9f995419411e912d431b7d4ec166..2ea70c1f1ac16971c6af11a3aa33a4b3f3b0f9d5 100644 (file)
@@ -257,16 +257,16 @@ void havocbot_role_ft_offense(entity this)
                return;
        }
 
-       if (time > this.bot_strategytime)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
-
                navigation_goalrating_start(this);
                havocbot_goalrating_items(this, 10000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 10000);
                havocbot_goalrating_freeplayers(this, 9000, this.origin, 10000);
                havocbot_goalrating_waypoints(this, 1, this.origin, 3000);
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -286,16 +286,16 @@ void havocbot_role_ft_freeing(entity this)
                return;
        }
 
-       if (time > this.bot_strategytime)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
-
                navigation_goalrating_start(this);
                havocbot_goalrating_items(this, 8000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 10000, this.origin, 10000);
                havocbot_goalrating_freeplayers(this, 20000, this.origin, 10000);
                havocbot_goalrating_waypoints(this, 1, this.origin, 3000);
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index 7b33bea6f374dd585755e6a31f572830b514b73d..badae12c2d4897090aaec805bc594d4f1cc9de76 100644 (file)
@@ -232,21 +232,21 @@ void havocbot_role_ka_carrier(entity this)
        if (IS_DEAD(this))
                return;
 
-       if (time > this.bot_strategytime)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
-
                navigation_goalrating_start(this);
                havocbot_goalrating_items(this, 10000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 20000, this.origin, 10000);
                havocbot_goalrating_waypoints(this, 1, this.origin, 3000);
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 
        if (!this.ballcarried)
        {
                this.havocbot_role = havocbot_role_ka_collector;
-               this.bot_strategytime = 0;
+               navigation_goalrating_timeout_expire(this, 2);
        }
 }
 
@@ -255,21 +255,21 @@ void havocbot_role_ka_collector(entity this)
        if (IS_DEAD(this))
                return;
 
-       if (time > this.bot_strategytime)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
-
                navigation_goalrating_start(this);
                havocbot_goalrating_items(this, 10000, this.origin, 10000);
                havocbot_goalrating_enemyplayers(this, 1000, this.origin, 10000);
                havocbot_goalrating_ball(this, 20000, this.origin);
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 
        if (this.ballcarried)
        {
                this.havocbot_role = havocbot_role_ka_carrier;
-               this.bot_strategytime = 0;
+               navigation_goalrating_timeout_expire(this, 2);
        }
 }
 
index 15b6e0f4a6251d81a94d9501858abca0ee0ae602..e6253b091fe49136f822a7e26c9b6df51de7bab4 100644 (file)
@@ -1071,9 +1071,8 @@ void havocbot_role_kh_carrier(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
                if(kh_Key_AllOwnedByWhichTeam() == this.team)
@@ -1082,6 +1081,8 @@ void havocbot_role_kh_carrier(entity this)
                        havocbot_goalrating_kh(this, 4, 4, 1); // play defensively
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1108,10 +1109,9 @@ void havocbot_role_kh_defense(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                float key_owner_team;
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
                key_owner_team = kh_Key_AllOwnedByWhichTeam();
@@ -1123,6 +1123,8 @@ void havocbot_role_kh_defense(entity this)
                        havocbot_goalrating_kh(this, 0.1, 0.1, 10); // ATTACK ANYWAY
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1149,11 +1151,10 @@ void havocbot_role_kh_offense(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
                float key_owner_team;
 
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
                key_owner_team = kh_Key_AllOwnedByWhichTeam();
@@ -1165,6 +1166,8 @@ void havocbot_role_kh_offense(entity this)
                        havocbot_goalrating_kh(this, 0.1, 0.1, 10); // ATTACK! EMERGENCY!
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
@@ -1199,9 +1202,8 @@ void havocbot_role_kh_freelancer(entity this)
                return;
        }
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
                int key_owner_team = kh_Key_AllOwnedByWhichTeam();
@@ -1213,6 +1215,8 @@ void havocbot_role_kh_freelancer(entity this)
                        havocbot_goalrating_kh(this, 0.1, 0.1, 10); // ATTACK ANYWAY
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index 2f581d8c433af0c6b8047e71ab7571825eb7ceba..aa6d12a83e063166da288364d0314e521d3c9970 100644 (file)
@@ -14,24 +14,34 @@ void havocbot_role_race(entity this)
        if(IS_DEAD(this))
                return;
 
-       if (this.bot_strategytime < time)
+       if (navigation_goalrating_timeout(this))
        {
-               this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
                navigation_goalrating_start(this);
 
+               bool raw_touch_check = true;
+               int cp = this.race_checkpoint;
+
+               LABEL(search_racecheckpoints)
                IL_EACH(g_racecheckpoints, true,
                {
-                       if(it.cnt == this.race_checkpoint)
-                       {
-                               navigation_routerating(this, it, 1000000, 5000);
-                       }
-                       else if(this.race_checkpoint == -1)
+                       if(it.cnt == cp || cp == -1)
                        {
+                               // redirect bot to next goal if it touched the waypoint of an untouchable checkpoint
+                               // e.g. checkpoint in front of Stormkeep's warpzone
+                               // the same workaround is applied in CTS game mode
+                               if (raw_touch_check && vdist(this.origin - it.nearestwaypoint.origin, <, 30))
+                               {
+                                       cp = race_NextCheckpoint(cp);
+                                       raw_touch_check = false;
+                                       goto search_racecheckpoints;
+                               }
                                navigation_routerating(this, it, 1000000, 5000);
                        }
                });
 
                navigation_goalrating_end(this);
+
+               navigation_goalrating_timeout_set(this);
        }
 }
 
index 97299ffeffa7e4a7c114ad53bf7885ca7585ed79..1e5435795ede10837845c36ebd35104ea2ad96d3 100644 (file)
@@ -216,8 +216,6 @@ void StartFrame()
        if (timeout_status == TIMEOUT_LEADTIME) // just before the timeout (when timeout_status will be TIMEOUT_ACTIVE)
                orig_slowmo = autocvar_slowmo; // slowmo will be restored after the timeout
 
-       skill = autocvar_skill;
-
        // detect when the pre-game countdown (if any) has ended and the game has started
        bool game_delay = (time < game_starttime);
        if (autocvar_sv_eventlog && game_delay_last && !game_delay)
@@ -365,6 +363,9 @@ LABEL(cleanup)
 void WarpZone_PostInitialize_Callback()
 {
        // create waypoint links for warpzones
+       entity tracetest_ent = spawn();
+       setsize(tracetest_ent, PL_MIN_CONST, PL_MAX_CONST);
+       tracetest_ent.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
        //for(entity e = warpzone_first; e; e = e.warpzone_next)
        for(entity e = NULL; (e = find(e, classname, "trigger_warpzone")); )
        {
@@ -375,6 +376,7 @@ void WarpZone_PostInitialize_Callback()
                dst = (e.enemy.absmin + e.enemy.absmax) * 0.5;
                makevectors(e.enemy.warpzone_angles);
                dst = dst + ((e.enemy.warpzone_origin - dst) * v_forward) * v_forward - 16 * v_right;
-               waypoint_spawnforteleporter_v(e, src, dst, 0);
+               waypoint_spawnforteleporter_wz(e, src, dst, 0, -v_up, tracetest_ent);
        }
+       delete(tracetest_ent);
 }
index 4a603c02256d244dd69fca54040a80b9f4faeed1..097685abf1766820a9e3f964928da71172c31d5b 100644 (file)
@@ -22,6 +22,8 @@ const string STR_OBSERVER = "observer";
 #define IS_VEHICLE(v) (v.vehicle_flags & VHF_ISVEHICLE)
 #define IS_TURRET(v) (v.turret_flags & TUR_FLAG_ISTURRET)
 
+#define IS_MOVABLE(v) ((IS_PLAYER(v) || IS_MONSTER(v)) && !STAT(FROZEN, v))
+
 // NOTE: FOR_EACH_CLIENTSLOT deprecated! Use the following instead: FOREACH_CLIENTSLOT(true, { code; });
 // NOTE: FOR_EACH_CLIENT deprecated! Use the following instead: FOREACH_CLIENT(true, { code; });
 // NOTE: FOR_EACH_REALCLIENT deprecated! Use the following instead: FOREACH_CLIENT(IS_REAL_CLIENT(it), { code; });