Bot AI: evade dangers like trigger_hurt and lava by aligning to the ideal route if...
authorterencehill <piuntn@gmail.com>
Mon, 9 Mar 2020 15:30:05 +0000 (16:30 +0100)
committerterencehill <piuntn@gmail.com>
Thu, 12 Mar 2020 19:10:13 +0000 (20:10 +0100)
qcsrc/lib/vector.qh
qcsrc/server/bot/default/havocbot/havocbot.qc

index ca0e84f67a95b4b8f118eac268d461a64ae6a8a7..6f419954cc5a333f18b856fc6882586debaa65d3 100644 (file)
@@ -69,18 +69,6 @@ float vlen_minnorm2d(vector v)
        return min(max(v.x, -v.x), max(v.y, -v.y));
 }
 
-ERASEABLE
-float dist_point_line(vector p, vector l0, vector ldir)
-{
-       ldir = normalize(ldir);
-
-       // remove the component in line direction
-       p = p - (p * ldir) * ldir;
-
-       // vlen of the remaining vector
-       return vlen(p);
-}
-
 /** requires that m2>m1 in all coordinates, and that m4>m3 */
 ERASEABLE
 float boxesoverlap(vector m1, vector m2, vector m3, vector m4) { return m2_x >= m3_x && m1_x <= m4_x && m2_y >= m3_y && m1_y <= m4_y && m2_z >= m3_z && m1_z <= m4_z; }
@@ -122,6 +110,19 @@ vector Rotate(vector v, float a)
 noref vector _yinvert;
 #define yinvert(v) (_yinvert = (v), _yinvert.y = 1 - _yinvert.y, _yinvert)
 
+/// \param[in] p point
+/// \param[in] l0 starting point of ldir
+/// \param[in] ldir line
+/// \return Vector starting from p perpendicular to ldir
+ERASEABLE
+vector point_line_vec(vector p, vector l0, vector ldir)
+{
+       ldir = normalize(ldir);
+       p = l0 - p;
+       // remove the component in line direction from p
+       return p - ((p * ldir) * ldir);
+}
+
 /**
  * @param dir the directional vector
  * @param norm the normalized normal
index b1ce8a29c539c451ba729138cf03275a9e57bcb6..493038fc31c28b0fa49c6aa300a99368dc7829f4 100644 (file)
@@ -875,7 +875,8 @@ void havocbot_movetogoal(entity this)
                dir = normalize(diff);
        flatdir = (diff.z == 0) ? dir : normalize(vec2(diff));
 
-       vector evadedanger = '0 0 0';
+       bool danger_detected = false;
+       vector do_break = '0 0 0';
 
        //if (this.bot_dodgevector_time < time)
        {
@@ -1084,7 +1085,6 @@ void havocbot_movetogoal(entity this)
 
                        bool unreachable = false;
                        s = CONTENT_SOLID;
-                       bool danger_detected = false;
                        if (trace_fraction == 1 && !this.jumppadcount
                                && !waypoint_is_hardwiredlink(this.goalcurrent_prev, this.goalcurrent)
                                && !(this.goalcurrent_prev && (this.goalcurrent_prev.wpflags & WAYPOINTFLAG_JUMP)))
@@ -1098,6 +1098,8 @@ void havocbot_movetogoal(entity this)
                                {
                                        if (trace_dphitq3surfaceflags & Q3SURFACEFLAG_SKY)
                                                danger_detected = true;
+                                       else if (trace_endpos.z < min(this.origin.z + this.mins.z, this.goalcurrent.origin.z) - 100)
+                                               danger_detected = true;
                                        else
                                        {
                                                s = pointcontents(trace_endpos + '0 0 1');
@@ -1125,12 +1127,6 @@ void havocbot_movetogoal(entity this)
                                        }
                                }
                        }
-                       if (danger_detected && fabs(deviation.y) < 80
-                               && (fabs(deviation.y) > 5 || vdist(vec2(this.velocity), >, maxspeed * 1.5)))
-                       {
-                               evadedanger = normalize(this.velocity) * -1;
-                               evadedanger.z = 0;
-                       }
 
                        dir = flatdir;
                        makevectors(this.v_angle.y * '0 1 0');
@@ -1150,7 +1146,7 @@ void havocbot_movetogoal(entity this)
                                // tracebox wouldn't work when bot is still on the ledge
                                traceline(this.origin, this.origin - '0 0 200', true, this);
                                if (this.origin.z - trace_endpos.z > 120)
-                                       evadedanger = normalize(this.velocity) * -1;
+                                       do_break = normalize(this.velocity) * -1;
                        }
 
                        if(unreachable)
@@ -1165,7 +1161,6 @@ void havocbot_movetogoal(entity this)
                dodge = havocbot_dodge(this);
                if (dodge)
                        dodge *= bound(0, 0.5 + (skill + this.bot_dodgeskill) * 0.1, 1);
-               evadedanger *= bound(1, 3 - (skill + this.bot_dodgeskill), 3); // Noobs fear dangers a lot and take more distance from them
                if (this.enemy)
                {
                        traceline(this.origin, (this.enemy.absmin + this.enemy.absmax) * 0.5, true, NULL);
@@ -1218,10 +1213,27 @@ void havocbot_movetogoal(entity this)
                        bot_aimdir(this, dir, 0);
        }
 
+       vector evadedanger = '0 0 0';
        if (!ladder_zdir)
        {
                dir *= dodge_enemy_factor;
-               dir = normalize(dir + dodge + evadedanger);
+               if (danger_detected && vdist(this.velocity, >, maxspeed * 0.8) && this.goalcurrent_prev
+                       && this.goalcurrent.classname == "waypoint")
+               {
+                       vector p = this.origin + this.velocity * 0.2;
+                       vector evadedanger = point_line_vec(p, vec2(this.goalcurrent_prev.origin) + eZ * p.z,
+                               vec2(destorg - this.goalcurrent_prev.origin));
+                       if (vdist(evadedanger, >, 20))
+                       {
+                               if (vdist(evadedanger, >, 40))
+                                       do_break = normalize(this.velocity) * -1;
+                               evadedanger = normalize(evadedanger);
+                               evadedanger *= bound(1, 3 - (skill + this.bot_dodgeskill), 3); // Noobs fear dangers a lot and take more distance from them
+                       }
+                       else
+                               evadedanger = '0 0 0';
+               }
+               dir = normalize(dir + dodge + do_break + evadedanger);
        }
 
        makevectors(this.v_angle);
@@ -1237,7 +1249,7 @@ void havocbot_movetogoal(entity this)
                havocbot_keyboard_movement(this, destorg);
 
        // Bunnyhop!
-       if (!bunnyhop_forbidden && skill + this.bot_moveskill >= autocvar_bot_ai_bunnyhop_skilloffset)
+       if (!bunnyhop_forbidden && !evadedanger && !do_break && skill + this.bot_moveskill >= autocvar_bot_ai_bunnyhop_skilloffset)
                havocbot_bunnyhop(this, dir);
 
        if (dir * v_up >= autocvar_sv_jumpvelocity * 0.5 && IS_ONGROUND(this))