1 #include "navigation.qh"
3 #include <server/defs.qh>
4 #include <server/miscfunctions.qh>
8 #include "waypoints.qh"
10 #include <common/t_items.qh>
12 #include <common/items/_mod.qh>
14 #include <common/constants.qh>
15 #include <common/net_linked.qh>
16 #include <common/mapobjects/trigger/jumppads.qh>
20 void navigation_goalrating_timeout_set(entity this)
22 if(IS_MOVABLE(this.goalentity))
23 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
25 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
28 // use this when current goal must be discarded immediately
29 void navigation_goalrating_timeout_force(entity this)
31 navigation_goalrating_timeout_expire(this, 0);
34 // use this when current goal can be kept for a short while to increase the chance
35 // of bot touching a waypoint, which helps to find a new goal more efficiently
36 void navigation_goalrating_timeout_expire(entity this, float seconds)
39 this.bot_strategytime = 0;
40 else if (this.bot_strategytime > time + seconds)
41 this.bot_strategytime = time + seconds;
44 bool navigation_goalrating_timeout(entity this)
46 return this.bot_strategytime < time;
49 #define MAX_CHASE_DISTANCE 700
50 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
52 if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
55 if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
57 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
58 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
60 this.ignoregoal = this.goalentity;
61 this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
68 void navigation_dynamicgoal_init(entity this, bool initially_static)
70 this.navigation_dynamicgoal = true;
71 this.bot_basewaypoint = this.nearestwaypoint;
73 this.nearestwaypointtimeout = -1;
75 this.nearestwaypointtimeout = time;
78 void navigation_dynamicgoal_set(entity this)
80 this.nearestwaypointtimeout = time;
81 if (this.nearestwaypoint)
82 this.nearestwaypointtimeout += 2;
85 void navigation_dynamicgoal_unset(entity this)
87 if(this.bot_basewaypoint)
88 this.nearestwaypoint = this.bot_basewaypoint;
89 this.nearestwaypointtimeout = -1;
92 // returns point of ent closer to org
93 vector get_closer_dest(entity ent, vector org)
95 vector dest = '0 0 0';
96 if ((ent.classname != "waypoint") || ent.wpisbox)
98 vector wm1 = ent.origin + ent.mins;
99 vector wm2 = ent.origin + ent.maxs;
100 dest.x = bound(wm1.x, org.x, wm2.x);
101 dest.y = bound(wm1.y, org.y, wm2.y);
102 dest.z = bound(wm1.z, org.z, wm2.z);
109 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
111 if ((ent.classname != "waypoint") || ent.wpisbox)
113 vector wm1 = ent.origin + ent.mins;
114 vector wm2 = ent.origin + ent.maxs;
115 if (IS_PLAYER(ent) || IS_MONSTER(ent))
117 // move destination point out of player bbox otherwise tracebox always fails
118 // (if bot_navigation_ignoreplayers is false)
119 wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
120 wm2 += vec2(PL_MAX_CONST) + '1 1 0';
122 // set destination point to x and y coords of ent that are closer to org
123 // z coord is set to ent's min height
124 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
125 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
126 tracewalk_dest.z = wm1.z;
127 tracewalk_dest_height = wm2.z - wm1.z; // destination height
131 tracewalk_dest = ent.origin;
132 tracewalk_dest_height = 0;
134 if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
136 // snap player to the ground
137 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
139 // bot is right under the player
140 tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
141 tracewalk_dest = trace_endpos;
142 tracewalk_dest_height = 0;
146 tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
147 if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
149 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
150 tracewalk_dest.z = trace_endpos.z;
156 // returns point of ent closer to org
157 vector set_tracewalk_dest_2(entity ent, vector org)
159 vector closer_dest = '0 0 0';
160 if ((ent.classname != "waypoint") || ent.wpisbox)
162 vector wm1 = ent.origin + ent.mins;
163 vector wm2 = ent.origin + ent.maxs;
164 closer_dest.x = bound(wm1.x, org.x, wm2.x);
165 closer_dest.y = bound(wm1.y, org.y, wm2.y);
166 closer_dest.z = bound(wm1.z, org.z, wm2.z);
167 // set destination point to x and y coords of ent that are closer to org
168 // z coord is set to ent's min height
169 tracewalk_dest.x = closer_dest.x;
170 tracewalk_dest.y = closer_dest.y;
171 tracewalk_dest.z = wm1.z;
172 tracewalk_dest_height = wm2.z - wm1.z; // destination height
176 closer_dest = ent.origin;
177 tracewalk_dest = closer_dest;
178 tracewalk_dest_height = 0;
183 bool navigation_check_submerged_state(entity ent, vector pos)
187 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
188 else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
189 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
192 submerged = SUBMERGED(pos);
193 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
194 // is actually submerged because often they are inside some solid.
195 // That's why submerged state is saved now that we know current pos is
196 // not stuck in solid (previous tracewalk call to this pos was successfully)
197 if(!ent.navigation_dynamicgoal)
198 ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
203 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
205 IL_EACH(g_ladders, it.classname == "func_ladder",
208 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
209 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
212 top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
213 tracebox(org, m1, m2, top, movemode, e);
214 if(trace_fraction == 1)
221 vector resurface_limited(vector org, float lim, vector m1)
223 if (WETFEET(org + eZ * (lim - org.z)))
227 float RES_min_h = org.z;
228 float RES_max_h = lim;
230 org.z = 0.5 * (RES_min_h + RES_max_h);
235 } while (RES_max_h - RES_min_h >= 1);
240 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
243 #define NAV_SWIM_ONWATER 1
244 #define NAV_SWIM_UNDERWATER 2
246 // rough simulation of walking from one point to another to test if a path
247 // can be traveled, used for waypoint linking and havocbot
248 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
249 // INFO: the command sv_cmd trace walk is useful to test this function in game
250 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
252 if(autocvar_bot_debug_tracewalk)
259 vector flatdir = end - start;
261 float flatdist = vlen(flatdir);
262 flatdir = normalize(flatdir);
264 bool ignorehazards = false;
267 // Analyze starting point
268 traceline(start, start, MOVE_NORMAL, e);
269 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
270 ignorehazards = true;
272 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
273 if (trace_startsolid)
276 if(autocvar_bot_debug_tracewalk)
277 debugnodestatus(start, DEBUG_NODE_FAIL);
279 //print("tracewalk: ", vtos(start), " is a bad start\n");
285 end2.z += end_height;
287 vector fixed_end = end;
290 if (flatdist > 0 && WETFEET(org))
293 nav_action = NAV_SWIM_UNDERWATER;
296 // tracebox down by player's height
297 // useful to know if water level is so low that bot can still walk
298 tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
299 if (SUBMERGED(trace_endpos))
302 nav_action = NAV_SWIM_UNDERWATER;
305 nav_action = NAV_WALK;
309 nav_action = NAV_WALK;
317 if (org.z > end2.z + 1)
319 tracebox(org, m1, m2, end2, movemode, e);
321 if (org.z > end2.z + 1)
324 else if (org.z < end.z - 1)
326 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
327 if (SUBMERGED(trace_endpos))
329 vector v = trace_endpos;
330 tracebox(v, m1, m2, end, movemode, e);
331 if(trace_endpos.z >= end.z - 1)
333 RESURFACE_LIMITED(v, trace_endpos.z);
337 else if (trace_endpos.z > org.z - jumpheight_vec.z)
338 tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
340 if (org.z < end.z - 1)
347 if(autocvar_bot_debug_tracewalk)
350 debugnodestatus(org, DEBUG_NODE_SUCCESS);
353 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
358 if(autocvar_bot_debug_tracewalk)
364 if (stepdist > flatdist)
366 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
368 // can't use movement direction here to calculate move because of
369 // precision errors especially when direction has a high enough z value
370 //water_dir = normalize(water_end - org);
371 //move = org + water_dir * stepdist;
372 fixed_end.z = bound(end.z, org.z, end2.z);
373 if (stepdist == flatdist) {
377 move = org + (fixed_end - org) * (stepdist / flatdist);
378 flatdist = vlen(vec2(fixed_end - move));
381 else // horiz. direction
383 flatdist -= stepdist;
384 move = org + flatdir * stepdist;
387 if(nav_action == NAV_SWIM_ONWATER)
389 tracebox(org, m1, m2, move, movemode, e); // swim
392 if (trace_fraction < 1)
395 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
397 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
400 if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
402 if(autocvar_bot_debug_tracewalk)
405 debugnodestatus(org, DEBUG_NODE_SUCCESS);
408 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
412 if(autocvar_bot_debug_tracewalk)
413 debugnodestatus(org, DEBUG_NODE_FAIL);
416 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
427 if (org.z <= move.z) // going horiz.
429 tracebox(trace_endpos, m1, m2, move, movemode, e);
431 nav_action = NAV_WALK;
436 if (org.z <= move.z) // going horiz.
439 nav_action = NAV_SWIM_ONWATER;
445 nav_action = NAV_SWIM_UNDERWATER;
447 nav_action = NAV_SWIM_ONWATER;
450 else if(nav_action == NAV_SWIM_UNDERWATER)
452 if (move.z >= org.z) // swimming upwards or horiz.
454 tracebox(org, m1, m2, move, movemode, e); // swim
456 bool stepswum = false;
459 if (trace_fraction < 1)
462 vector stepswim_move = move + stepheightvec;
463 if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
464 stepswim_move.z = end2.z;
466 tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
469 if (trace_startsolid)
471 if(autocvar_bot_debug_tracewalk)
472 debugnodestatus(org, DEBUG_NODE_FAIL);
474 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
478 if (trace_fraction < 1)
480 float org_z_prev = org.z;
481 RESURFACE_LIMITED(org, end2.z);
482 if(org.z == org_z_prev)
484 if(autocvar_bot_debug_tracewalk)
485 debugnodestatus(org, DEBUG_NODE_FAIL);
487 //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
491 nav_action = NAV_SWIM_UNDERWATER;
493 nav_action = NAV_SWIM_ONWATER;
495 // we didn't advance horiz. in this step, flatdist decrease should be reverted
496 // but we can't do it properly right now... apply this workaround instead
514 if (!WETFEET(trace_endpos))
516 tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
517 // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
518 if (!stepswum && SUBMERGED(trace_endpos))
520 RESURFACE_LIMITED(trace_endpos, end2.z);
522 nav_action = NAV_SWIM_ONWATER;
528 nav_action = NAV_WALK;
534 nav_action = NAV_SWIM_UNDERWATER;
537 else //if (move.z < org.z) // swimming downwards
539 tracebox(org, m1, m2, move, movemode, e); // swim
542 if (trace_fraction < 1)
545 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
548 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
550 if(autocvar_bot_debug_tracewalk)
551 debugnodestatus(move, DEBUG_NODE_FAIL);
553 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
565 if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
567 // stepswim caused upwards direction
568 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
569 if (!SUBMERGED(trace_endpos))
572 nav_action = NAV_WALK;
579 nav_action = NAV_SWIM_UNDERWATER;
583 else if(nav_action == NAV_WALK)
586 tracebox(org, m1, m2, move, movemode, e);
588 if(autocvar_bot_debug_tracewalk)
589 debugnode(e, trace_endpos);
592 if (trace_fraction < 1)
594 // check if we can walk over this obstacle, possibly by jumpstepping
595 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
596 if (trace_fraction < 1 || trace_startsolid)
598 if (trace_startsolid) // hit ceiling above org
600 // reduce stepwalk height
601 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
602 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
604 else //if (trace_fraction < 1)
606 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
607 if (trace_startsolid) // hit ceiling above org
609 // reduce jumpstepwalk height
610 tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
611 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
615 if (trace_fraction < 1)
617 vector v = trace_endpos;
618 v.z = org.z + jumpheight_vec.z;
619 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
621 if(autocvar_bot_debug_tracewalk)
624 debugnodestatus(v, DEBUG_NODE_SUCCESS);
627 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
631 if(autocvar_bot_debug_tracewalk)
632 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
634 traceline( org, move, movemode, e);
636 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
640 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
642 nextmove = move + (flatdir * stepdist);
643 traceline( move, nextmove, movemode, e);
646 flatdist = vlen(vec2(end - move));
650 if(autocvar_bot_debug_tracewalk)
651 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
653 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
654 //te_explosion(trace_endpos);
655 //print(ftos(e.dphitcontentsmask), "\n");
656 return false; // failed
668 // trace down from stepheight as far as possible and move there,
669 // if this starts in solid we try again without the stepup, and
670 // if that also fails we assume it is a wall
671 // (this is the same logic as the Quake walkmove function used)
672 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
680 if(autocvar_bot_debug_tracewalk)
682 debugnode(e, trace_endpos);
683 debugnodestatus(org, DEBUG_NODE_FAIL);
686 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
693 if(move.z >= end2.z && org.z < end2.z)
698 if(org.z > move.z - 1 || !SUBMERGED(org))
700 nav_action = NAV_WALK;
704 // ended up submerged while walking
705 if(autocvar_bot_debug_tracewalk)
708 RESURFACE_LIMITED(org, move.z);
709 nav_action = NAV_SWIM_ONWATER;
714 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
716 // moved but didn't arrive at the intended destination
717 if(autocvar_bot_debug_tracewalk)
718 debugnodestatus(org, DEBUG_NODE_FAIL);
723 /////////////////////////////////////////////////////////////////////////////
725 /////////////////////////////////////////////////////////////////////////////
727 // completely empty the goal stack, used when deciding where to go
728 void navigation_clearroute(entity this)
730 this.goalcurrent_prev = this.goalcurrent;
731 this.goalcurrent_distance_2d = FLOAT_MAX;
732 this.goalcurrent_distance_z = FLOAT_MAX;
733 this.goalcurrent_distance_time = 0;
734 this.goalentity_lock_timeout = 0;
735 this.goalentity = NULL;
736 this.goalcurrent = NULL;
737 this.goalstack01 = NULL;
738 this.goalstack02 = NULL;
739 this.goalstack03 = NULL;
740 this.goalstack04 = NULL;
741 this.goalstack05 = NULL;
742 this.goalstack06 = NULL;
743 this.goalstack07 = NULL;
744 this.goalstack08 = NULL;
745 this.goalstack09 = NULL;
746 this.goalstack10 = NULL;
747 this.goalstack11 = NULL;
748 this.goalstack12 = NULL;
749 this.goalstack13 = NULL;
750 this.goalstack14 = NULL;
751 this.goalstack15 = NULL;
752 this.goalstack16 = NULL;
753 this.goalstack17 = NULL;
754 this.goalstack18 = NULL;
755 this.goalstack19 = NULL;
756 this.goalstack20 = NULL;
757 this.goalstack21 = NULL;
758 this.goalstack22 = NULL;
759 this.goalstack23 = NULL;
760 this.goalstack24 = NULL;
761 this.goalstack25 = NULL;
762 this.goalstack26 = NULL;
763 this.goalstack27 = NULL;
764 this.goalstack28 = NULL;
765 this.goalstack29 = NULL;
766 this.goalstack30 = NULL;
767 this.goalstack31 = NULL;
770 // add a new goal at the beginning of the stack
771 // (in other words: add a new prerequisite before going to the later goals)
772 // NOTE: when a waypoint is added, the WP gets pushed first, then the
773 // next-closest WP on the shortest path to the WP
774 // That means, if the stack overflows, the bot will know how to do the FIRST 32
775 // steps to the goal, and then recalculate the path.
776 void navigation_pushroute(entity this, entity e)
778 this.goalcurrent_prev = this.goalcurrent;
779 this.goalcurrent_distance_2d = FLOAT_MAX;
780 this.goalcurrent_distance_z = FLOAT_MAX;
781 this.goalcurrent_distance_time = 0;
782 //print("bot ", etos(this), " push ", etos(e), "\n");
783 if(this.goalstack31 == this.goalentity)
784 this.goalentity = NULL;
785 this.goalstack31 = this.goalstack30;
786 this.goalstack30 = this.goalstack29;
787 this.goalstack29 = this.goalstack28;
788 this.goalstack28 = this.goalstack27;
789 this.goalstack27 = this.goalstack26;
790 this.goalstack26 = this.goalstack25;
791 this.goalstack25 = this.goalstack24;
792 this.goalstack24 = this.goalstack23;
793 this.goalstack23 = this.goalstack22;
794 this.goalstack22 = this.goalstack21;
795 this.goalstack21 = this.goalstack20;
796 this.goalstack20 = this.goalstack19;
797 this.goalstack19 = this.goalstack18;
798 this.goalstack18 = this.goalstack17;
799 this.goalstack17 = this.goalstack16;
800 this.goalstack16 = this.goalstack15;
801 this.goalstack15 = this.goalstack14;
802 this.goalstack14 = this.goalstack13;
803 this.goalstack13 = this.goalstack12;
804 this.goalstack12 = this.goalstack11;
805 this.goalstack11 = this.goalstack10;
806 this.goalstack10 = this.goalstack09;
807 this.goalstack09 = this.goalstack08;
808 this.goalstack08 = this.goalstack07;
809 this.goalstack07 = this.goalstack06;
810 this.goalstack06 = this.goalstack05;
811 this.goalstack05 = this.goalstack04;
812 this.goalstack04 = this.goalstack03;
813 this.goalstack03 = this.goalstack02;
814 this.goalstack02 = this.goalstack01;
815 this.goalstack01 = this.goalcurrent;
816 this.goalcurrent = e;
819 // remove first goal from stack
820 // (in other words: remove a prerequisite for reaching the later goals)
821 // (used when a spawnfunc_waypoint is reached)
822 void navigation_poproute(entity this)
824 this.goalcurrent_prev = this.goalcurrent;
825 this.goalcurrent_distance_2d = FLOAT_MAX;
826 this.goalcurrent_distance_z = FLOAT_MAX;
827 this.goalcurrent_distance_time = 0;
828 //print("bot ", etos(this), " pop\n");
829 if(this.goalcurrent == this.goalentity)
831 this.goalentity = NULL;
832 this.goalentity_lock_timeout = 0;
834 this.goalcurrent = this.goalstack01;
835 this.goalstack01 = this.goalstack02;
836 this.goalstack02 = this.goalstack03;
837 this.goalstack03 = this.goalstack04;
838 this.goalstack04 = this.goalstack05;
839 this.goalstack05 = this.goalstack06;
840 this.goalstack06 = this.goalstack07;
841 this.goalstack07 = this.goalstack08;
842 this.goalstack08 = this.goalstack09;
843 this.goalstack09 = this.goalstack10;
844 this.goalstack10 = this.goalstack11;
845 this.goalstack11 = this.goalstack12;
846 this.goalstack12 = this.goalstack13;
847 this.goalstack13 = this.goalstack14;
848 this.goalstack14 = this.goalstack15;
849 this.goalstack15 = this.goalstack16;
850 this.goalstack16 = this.goalstack17;
851 this.goalstack17 = this.goalstack18;
852 this.goalstack18 = this.goalstack19;
853 this.goalstack19 = this.goalstack20;
854 this.goalstack20 = this.goalstack21;
855 this.goalstack21 = this.goalstack22;
856 this.goalstack22 = this.goalstack23;
857 this.goalstack23 = this.goalstack24;
858 this.goalstack24 = this.goalstack25;
859 this.goalstack25 = this.goalstack26;
860 this.goalstack26 = this.goalstack27;
861 this.goalstack27 = this.goalstack28;
862 this.goalstack28 = this.goalstack29;
863 this.goalstack29 = this.goalstack30;
864 this.goalstack30 = this.goalstack31;
865 this.goalstack31 = NULL;
868 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
869 // waypoint destination coordinates instead of v (only useful for box waypoints)
870 // for normal waypoints v2 == v and v2_height == 0
871 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)
873 if (vdist(v - org, <, bestdist))
875 traceline(v, org, true, ent);
876 if (trace_fraction == 1)
880 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
885 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
893 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
894 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
897 ent = ent.tag_entity;
899 vector pm1 = ent.origin + ent.mins;
900 vector pm2 = ent.origin + ent.maxs;
902 // do two scans, because box test is cheaper
903 IL_EACH(g_waypoints, it != ent && it != except,
905 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
907 if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
909 waypoint_clearlinks(ent); // initialize wpXXmincost fields
910 navigation_item_addlink(it, ent);
916 vector org = ent.origin;
917 if (navigation_testtracewalk)
923 if(ent.size && !IS_PLAYER(ent))
925 org += 0.5 * (ent.mins + ent.maxs);
926 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
929 if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
931 waypoint_clearlinks(ent); // initialize wpXXmincost fields
932 IL_EACH(g_waypoints, it != ent,
934 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
937 set_tracewalk_dest(ent, it.origin, false);
938 if (vdist(tracewalk_dest - it.origin, <, 1050)
939 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
940 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
942 navigation_item_addlink(it, ent);
947 // box check failed, try walk
948 IL_EACH(g_waypoints, it != ent,
950 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
956 set_tracewalk_dest(ent, v, true);
957 if (trace_ent == ent)
965 set_tracewalk_dest(it, org, false);
967 if (navigation_waypoint_will_link(v, org, ent,
968 tracewalk_dest, tracewalk_dest_height,
969 tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
972 bestdist = vlen(tracewalk_dest - v);
974 bestdist = vlen(v - org);
978 if(!best && !ent.navigation_dynamicgoal)
980 int solid_save = ent.solid;
981 ent.solid = SOLID_BSP;
982 IL_EACH(g_jumppads, true,
984 if(trigger_push_test(it, ent))
986 best = it.nearestwaypoint;
990 ent.solid = solid_save;
994 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
996 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
997 if (autocvar_g_waypointeditor_auto)
999 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1001 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1006 // finds the waypoints near the bot initiating a navigation query
1007 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1009 //navigation_testtracewalk = true;
1011 IL_EACH(g_waypoints, !it.wpconsidered,
1013 set_tracewalk_dest(it, this.origin, false);
1015 vector diff = tracewalk_dest - this.origin;
1016 diff.z = max(0, diff.z);
1017 if(vdist(diff, <, maxdist))
1019 it.wpconsidered = true;
1020 if (tracewalk(this, this.origin, this.mins, this.maxs,
1021 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1023 it.wpnearestpoint = tracewalk_dest;
1024 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1031 //navigation_testtracewalk = false;
1035 // updates a path link if a spawnfunc_waypoint link is better than the current one
1036 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1042 m1 = wp.origin + wp.mins;
1043 m2 = wp.origin + wp.maxs;
1044 v.x = bound(m1_x, p.x, m2_x);
1045 v.y = bound(m1_y, p.y, m2_y);
1046 v.z = bound(m1_z, p.z, m2_z);
1050 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1051 cost += w.wp00mincost; // assuming teleport has exactly one destination
1053 cost += waypoint_gettravelcost(p, v, w, wp);
1054 if (wp.wpcost > cost)
1059 wp.wpnearestpoint = v;
1063 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1064 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1069 IL_EACH(g_waypoints, true,
1071 it.wpconsidered = false;
1072 it.wpnearestpoint = '0 0 0';
1073 it.wpcost = 10000000;
1078 if(fixed_source_waypoint)
1080 fixed_source_waypoint.wpconsidered = true;
1081 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1082 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1083 fixed_source_waypoint.wpfire = 1;
1084 fixed_source_waypoint.enemy = NULL;
1088 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1089 // as this search is expensive we will use lower values if the bot is on the air
1090 float increment, maxdistance;
1091 if(IS_ONGROUND(this))
1094 maxdistance = 50000;
1102 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1105 bool searching = true;
1109 IL_EACH(g_waypoints, it.wpfire,
1114 p = it.wpnearestpoint;
1116 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1117 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1118 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1119 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1120 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1121 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1122 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1123 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1124 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1125 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1126 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1127 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1128 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1129 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1130 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1131 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1132 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1133 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1134 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1135 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1153 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1154 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1158 IL_EACH(g_waypoints, true,
1160 it.wpconsidered = false;
1161 it.wpnearestpoint = '0 0 0';
1162 it.wpcost = 10000000;
1167 if(fixed_source_waypoint)
1169 fixed_source_waypoint.wpconsidered = true;
1170 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1171 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1172 fixed_source_waypoint.wpfire = 1;
1173 fixed_source_waypoint.enemy = NULL;
1177 error("need to start with a waypoint\n");
1180 bool searching = true;
1184 IL_EACH(g_waypoints, it.wpfire,
1188 cost = it.wpcost; // cost to walk from it to home
1189 p = it.wpnearestpoint;
1191 IL_EACH(g_waypoints, it != wp,
1193 if(!waypoint_islinked(it, wp))
1195 cost2 = cost + it.dmg;
1196 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1202 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1203 void navigation_routerating(entity this, entity e, float f, float rangebias)
1211 rangebias = waypoint_getlinearcost(rangebias);
1212 f = waypoint_getlinearcost(f);
1216 bool rate_wps = false;
1217 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
1222 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1223 int t = pointcontents(trace_endpos + '0 0 1');
1224 if(t != CONTENT_SOLID )
1226 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1228 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1235 entity theEnemy = e;
1236 entity best_wp = NULL;
1237 float best_dist = FLOAT_MAX;
1238 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1239 && vdist(it.origin - theEnemy.origin, <, 500)
1240 && vdist(it.origin - this.origin, >, 100)
1241 && vdist(it.origin - this.origin, <, 10000),
1243 float dist = vlen2(it.origin - theEnemy.origin);
1244 if (dist < best_dist)
1256 vector goal_org = (e.absmin + e.absmax) * 0.5;
1258 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1260 // Evaluate path using jetpack
1261 if(this.items & IT_JETPACK)
1262 if(autocvar_bot_ai_navigation_jetpack)
1263 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1265 vector pointa, pointb;
1267 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1270 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1271 pointa = trace_endpos - '0 0 1';
1274 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1275 pointb = trace_endpos - '0 0 1';
1277 // Can I see these two points from the sky?
1278 traceline(pointa, pointb, MOVE_NORMAL, this);
1280 if(trace_fraction==1)
1282 LOG_DEBUG("jetpack ai: can bridge these two points");
1284 // Lower the altitude of these points as much as possible
1285 float zdistance, xydistance, cost, t, fuel;
1286 vector down, npa, npb;
1288 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1291 npa = pointa + down;
1292 npb = pointb + down;
1294 if(npa.z<=this.absmax.z)
1297 if(npb.z<=e.absmax.z)
1300 traceline(npa, npb, MOVE_NORMAL, this);
1301 if(trace_fraction==1)
1307 while(trace_fraction == 1);
1310 // Rough estimation of fuel consumption
1311 // (ignores acceleration and current xyz velocity)
1312 xydistance = vlen(pointa - pointb);
1313 zdistance = fabs(pointa.z - this.origin.z);
1315 t = zdistance / autocvar_g_jetpack_maxspeed_up;
1316 t += xydistance / autocvar_g_jetpack_maxspeed_side;
1317 fuel = t * autocvar_g_jetpack_fuel * 0.8;
1319 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResourceAmount(this, RESOURCE_FUEL)));
1322 if(GetResourceAmount(this, RESOURCE_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO))
1325 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1326 // - between air and ground speeds)
1328 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1329 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1332 // Compare against other goals
1333 f = f * rangebias / (rangebias + cost);
1335 if (navigation_bestrating < f)
1337 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1338 navigation_bestrating = f;
1339 navigation_bestgoal = e;
1340 this.navigation_jetpack_goal = e;
1341 this.navigation_jetpack_point = pointb;
1349 //te_wizspike(e.origin);
1352 // update the cached spawnfunc_waypoint link on a dynamic item entity
1353 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1359 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1360 e.nearestwaypoint = NULL;
1362 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1363 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1365 if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1366 e.nearestwaypoint = nwp = e.goalcurrent;
1368 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1371 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1373 if(!e.navigation_dynamicgoal)
1374 e.blacklisted = true;
1378 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1383 if(e.navigation_dynamicgoal)
1384 e.nearestwaypointtimeout = time + 2;
1385 else if(autocvar_g_waypointeditor)
1386 e.nearestwaypointtimeout = time + 3 + random() * 2;
1388 nwp = e.nearestwaypoint;
1391 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1392 if (nwp && nwp.wpcost < 10000000)
1394 //te_wizspike(nwp.wpnearestpoint);
1395 float nwptoitem_cost = 0;
1396 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1397 nwptoitem_cost = nwp.wp00mincost;
1399 nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1400 float cost = nwp.wpcost + nwptoitem_cost;
1401 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1402 f = f * rangebias / (rangebias + cost);
1403 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1404 if (navigation_bestrating < f)
1406 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1407 navigation_bestrating = f;
1408 navigation_bestgoal = e;
1413 // adds an item to the the goal stack with the path to a given item
1414 bool navigation_routetogoal(entity this, entity e, vector startposition)
1416 // if there is no goal, just exit
1420 entity teleport_goal = NULL;
1422 this.goalentity = e;
1424 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1426 // force teleport destination as route destination
1428 navigation_pushroute(this, e.wp00);
1429 this.goalentity = e.wp00;
1432 // put the entity on the goal stack
1433 //print("routetogoal ", etos(e), "\n");
1434 navigation_pushroute(this, e);
1437 e = this.goalentity;
1439 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1441 this.wp_goal_prev1 = this.wp_goal_prev0;
1442 this.wp_goal_prev0 = e;
1446 if(e==this.navigation_jetpack_goal)
1449 // if it can reach the goal there is nothing more to do
1450 set_tracewalk_dest(e, startposition, true);
1451 if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1452 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1453 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1458 entity nearest_wp = NULL;
1459 // see if there are waypoints describing a path to the item
1460 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1462 e = e.nearestwaypoint;
1465 else if(teleport_goal)
1468 e = e.enemy; // we already have added it, so...
1473 if(nearest_wp && nearest_wp.enemy)
1475 // often path can be optimized by not adding the nearest waypoint
1476 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1478 if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1480 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1481 e = nearest_wp.enemy;
1484 set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1485 if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1486 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1487 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1488 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1490 e = nearest_wp.enemy;
1495 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1496 e = nearest_wp.enemy;
1501 // add the spawnfunc_waypoint to the path
1502 navigation_pushroute(this, e);
1512 // shorten path by removing intermediate goals
1513 void navigation_shortenpath(entity this)
1515 if (!this.goalstack01 || wasfreed(this.goalstack01))
1517 if (this.bot_tracewalk_time > time)
1519 this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1521 bool cut_allowed = false;
1522 entity next = this.goalentity;
1523 // evaluate whether bot can discard current route and chase directly a player, trying to
1524 // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1525 if (IS_MOVABLE(next))
1527 set_tracewalk_dest(next, this.origin, true);
1528 if (vdist(this.origin - tracewalk_dest, <, 200))
1530 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1531 && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1532 && vdist(this.origin - this.goalcurrent.origin, >, 100)
1533 && checkpvs(this.origin + this.view_ofs, next))
1535 if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1539 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1540 while (deviation.y < -180) deviation.y += 360;
1541 while (deviation.y > 180) deviation.y -= 360;
1542 if (fabs(deviation.y) > 25)
1548 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1549 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1551 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1554 navigation_poproute(this);
1556 while (this.goalcurrent != next);
1562 next = this.goalstack01;
1563 // if for some reason the bot is closer to the next goal, pop the current one
1564 if (!IS_MOVABLE(next) // already checked in the previous case
1565 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1566 && checkpvs(this.origin + this.view_ofs, next))
1568 set_tracewalk_dest(next, this.origin, true);
1574 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1575 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1577 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1578 navigation_poproute(this);
1583 // removes any currently touching waypoints from the goal stack
1584 // (this is how bots detect if they reached a goal)
1585 int navigation_poptouchedgoals(entity this)
1587 int removed_goals = 0;
1589 if(!this.goalcurrent)
1590 return removed_goals;
1592 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1594 // make sure jumppad is really hit, don't rely on distance based checks
1595 // as they may report a touch even if it didn't really happen
1596 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1598 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1599 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1601 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1602 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1604 navigation_poproute(this);
1605 this.lastteleporttime = 0;
1609 return removed_goals;
1611 else if (this.lastteleporttime > 0)
1613 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1614 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1615 // if so immediately fix bot path by removing skipped goals
1616 entity tele_ent = NULL;
1617 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1618 tele_ent = this.goalstack01;
1619 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1620 tele_ent = this.goalstack02;
1621 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1622 tele_ent = this.goalstack03;
1623 if (tele_ent && TELEPORT_USED(this, tele_ent))
1625 if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1626 if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1628 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1629 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1631 while (this.goalcurrent != tele_ent)
1633 navigation_poproute(this);
1636 navigation_poproute(this);
1637 this.lastteleporttime = 0;
1639 return removed_goals;
1643 // Loose goal touching check when running
1644 if(this.aistatus & AI_STATUS_RUNNING)
1645 if(this.goalcurrent.classname=="waypoint")
1646 if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1648 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1650 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1651 if(trace_fraction==1)
1653 // Detect personal waypoints
1654 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1655 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1657 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1658 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1661 navigation_poproute(this);
1663 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1664 return removed_goals;
1669 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1671 vector gc_min = this.goalcurrent.absmin;
1672 vector gc_max = this.goalcurrent.absmax;
1673 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1675 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1676 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1678 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1681 // Detect personal waypoints
1682 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1683 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1685 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1686 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1689 navigation_poproute(this);
1691 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1692 return removed_goals;
1694 return removed_goals;
1697 entity navigation_get_really_close_waypoint(entity this)
1699 entity wp = this.goalcurrent;
1701 wp = this.goalcurrent_prev;
1704 if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1706 wp = this.goalcurrent_prev;
1710 if(wp.classname != "waypoint")
1712 wp = wp.nearestwaypoint;
1716 if(vdist(wp.origin - this.origin, >, 50))
1719 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1721 if(vdist(it.origin - this.origin, <, 50))
1730 if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1733 set_tracewalk_dest(wp, this.origin, false);
1734 if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1735 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1742 // begin a goal selection session (queries spawnfunc_waypoint network)
1743 void navigation_goalrating_start(entity this)
1745 if(this.aistatus & AI_STATUS_STUCK)
1748 this.navigation_jetpack_goal = NULL;
1749 navigation_bestrating = -1;
1750 entity wp = navigation_get_really_close_waypoint(this);
1751 navigation_clearroute(this);
1752 navigation_bestgoal = NULL;
1753 navigation_markroutes(this, wp);
1756 // ends a goal selection session (updates goal stack to the best goal)
1757 void navigation_goalrating_end(entity this)
1759 if(this.aistatus & AI_STATUS_STUCK)
1762 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1763 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1765 // If the bot got stuck then try to reach the farthest waypoint
1766 if (!this.goalentity && autocvar_bot_wander_enable)
1768 if (!(this.aistatus & AI_STATUS_STUCK))
1770 LOG_DEBUG(this.netname, " cannot walk to any goal");
1771 this.aistatus |= AI_STATUS_STUCK;
1776 void botframe_updatedangerousobjects(float maxupdate)
1778 vector m1, m2, v, o;
1782 IL_EACH(g_waypoints, true,
1788 IL_EACH(g_bot_dodge, it.bot_dodge,
1791 v.x = bound(m1_x, v.x, m2_x);
1792 v.y = bound(m1_y, v.y, m2_y);
1793 v.z = bound(m1_z, v.z, m2_z);
1794 o = (it.absmin + it.absmax) * 0.5;
1795 d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1798 traceline(o, v, true, NULL);
1799 if (trace_fraction == 1)
1800 danger = danger + d;
1810 void navigation_unstuck(entity this)
1812 if (!autocvar_bot_wander_enable)
1815 bool has_user_waypoints = false;
1816 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1818 has_user_waypoints = true;
1821 if (!has_user_waypoints)
1824 float search_radius = 1000;
1826 if (!bot_waypoint_queue_owner)
1828 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1829 bot_waypoint_queue_owner = this;
1830 bot_waypoint_queue_bestgoal = NULL;
1831 bot_waypoint_queue_bestgoalrating = 0;
1834 if(bot_waypoint_queue_owner!=this)
1837 if (bot_waypoint_queue_goal)
1839 // evaluate the next goal on the queue
1840 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1841 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1842 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1843 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1844 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1846 if( d > bot_waypoint_queue_bestgoalrating)
1848 bot_waypoint_queue_bestgoalrating = d;
1849 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1852 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1854 if (!bot_waypoint_queue_goal)
1856 if (bot_waypoint_queue_bestgoal)
1858 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1859 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1860 navigation_goalrating_timeout_set(this);
1861 this.aistatus &= ~AI_STATUS_STUCK;
1865 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1868 bot_waypoint_queue_owner = NULL;
1873 if(bot_strategytoken!=this)
1876 // build a new queue
1877 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1879 entity first = NULL;
1881 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1883 if(bot_waypoint_queue_goal)
1884 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1888 bot_waypoint_queue_goal = it;
1889 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1893 bot_waypoint_queue_goal = first;
1896 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1897 bot_waypoint_queue_owner = NULL;
1902 // Support for debugging tracewalk visually
1904 void debugresetnodes()
1906 debuglastnode = '0 0 0';
1909 void debugnode(entity this, vector node)
1911 if (!IS_PLAYER(this))
1914 if(debuglastnode=='0 0 0')
1916 debuglastnode = node;
1920 te_lightning2(NULL, node, debuglastnode);
1921 debuglastnode = node;
1924 void debugnodestatus(vector position, float status)
1930 case DEBUG_NODE_SUCCESS:
1933 case DEBUG_NODE_WARNING:
1936 case DEBUG_NODE_FAIL:
1943 te_customflash(position, 40, 2, c);
1946 // Support for debugging the goal stack visually
1949 .vector lastposition;
1951 // Debug the goal stack visually
1952 void debuggoalstack(entity this)
1957 if(this.goalcounter==0)goal=this.goalcurrent;
1958 else if(this.goalcounter==1)goal=this.goalstack01;
1959 else if(this.goalcounter==2)goal=this.goalstack02;
1960 else if(this.goalcounter==3)goal=this.goalstack03;
1961 else if(this.goalcounter==4)goal=this.goalstack04;
1962 else if(this.goalcounter==5)goal=this.goalstack05;
1963 else if(this.goalcounter==6)goal=this.goalstack06;
1964 else if(this.goalcounter==7)goal=this.goalstack07;
1965 else if(this.goalcounter==8)goal=this.goalstack08;
1966 else if(this.goalcounter==9)goal=this.goalstack09;
1967 else if(this.goalcounter==10)goal=this.goalstack10;
1968 else if(this.goalcounter==11)goal=this.goalstack11;
1969 else if(this.goalcounter==12)goal=this.goalstack12;
1970 else if(this.goalcounter==13)goal=this.goalstack13;
1971 else if(this.goalcounter==14)goal=this.goalstack14;
1972 else if(this.goalcounter==15)goal=this.goalstack15;
1973 else if(this.goalcounter==16)goal=this.goalstack16;
1974 else if(this.goalcounter==17)goal=this.goalstack17;
1975 else if(this.goalcounter==18)goal=this.goalstack18;
1976 else if(this.goalcounter==19)goal=this.goalstack19;
1977 else if(this.goalcounter==20)goal=this.goalstack20;
1978 else if(this.goalcounter==21)goal=this.goalstack21;
1979 else if(this.goalcounter==22)goal=this.goalstack22;
1980 else if(this.goalcounter==23)goal=this.goalstack23;
1981 else if(this.goalcounter==24)goal=this.goalstack24;
1982 else if(this.goalcounter==25)goal=this.goalstack25;
1983 else if(this.goalcounter==26)goal=this.goalstack26;
1984 else if(this.goalcounter==27)goal=this.goalstack27;
1985 else if(this.goalcounter==28)goal=this.goalstack28;
1986 else if(this.goalcounter==29)goal=this.goalstack29;
1987 else if(this.goalcounter==30)goal=this.goalstack30;
1988 else if(this.goalcounter==31)goal=this.goalstack31;
1993 this.goalcounter = 0;
1994 this.lastposition='0 0 0';
1998 if(this.lastposition=='0 0 0')
2001 org = this.lastposition;
2004 go = ( goal.absmin + goal.absmax ) * 0.5;
2005 te_lightning2(NULL, org, go);
2006 this.lastposition = go;