qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "waypoints.qh"
   7
   8 #include <common/t_items.qh>
   9
  10 #include <common/items/_mod.qh>
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/triggers/trigger/jumppads.qh>
  15
  16 .float speed;
  17
  18 // rough simulation of walking from one point to another to test if a path
  19 // can be traveled, used for waypoint linking and havocbot
  20
  21 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
  22 {
  23         vector org;
  24         vector move;
  25         vector dir;
  26         float dist;
  27         float totaldist;
  28         float stepdist;
  29         float yaw;
  30         float ignorehazards;
  31         float swimming;
  32
  33         if(autocvar_bot_debug_tracewalk)
  34         {
  35                 debugresetnodes();
  36                 debugnode(e, start);
  37         }
  38
  39         move = end - start;
  40         move.z = 0;
  41         org = start;
  42         dist = totaldist = vlen(move);
  43         dir = normalize(move);
  44         stepdist = 32;
  45         ignorehazards = false;
  46         swimming = false;
  47
  48         // Analyze starting point
  49         traceline(start, start, MOVE_NORMAL, e);
  50         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  51                 ignorehazards = true;
  52         else
  53         {
  54                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  55                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  56                 {
  57                         ignorehazards = true;
  58                         swimming = true;
  59                 }
  60         }
  61         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  62         if (trace_startsolid)
  63         {
  64                 // Bad start
  65                 if(autocvar_bot_debug_tracewalk)
  66                         debugnodestatus(start, DEBUG_NODE_FAIL);
  67
  68                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  69                 return false;
  70         }
  71
  72         // Movement loop
  73         yaw = vectoyaw(move);
  74         move = end - org;
  75         for (;;)
  76         {
  77                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  78                 {
  79                         // Succeeded
  80                         if(autocvar_bot_debug_tracewalk)
  81                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  82
  83                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  84                         return true;
  85                 }
  86                 if(autocvar_bot_debug_tracewalk)
  87                         debugnode(e, org);
  88
  89                 if (dist <= 0)
  90                         break;
  91                 if (stepdist > dist)
  92                         stepdist = dist;
  93                 dist = dist - stepdist;
  94                 traceline(org, org, MOVE_NORMAL, e);
  95                 if (!ignorehazards)
  96                 {
  97                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  98                         {
  99                                 // hazards blocking path
 100                                 if(autocvar_bot_debug_tracewalk)
 101                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 102
 103                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 104                                 return false;
 105                         }
 106                 }
 107                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 108                 {
 109                         move = normalize(end - org);
 110                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
 111
 112                         if(autocvar_bot_debug_tracewalk)
 113                                 debugnode(e, trace_endpos);
 114
 115                         if (trace_fraction < 1)
 116                         {
 117                                 swimming = true;
 118                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
 119                                 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
 120                                 {
 121                                                 if(autocvar_bot_debug_tracewalk)
 122                                                         debugnode(e, org);
 123
 124                                         if(pointcontents(org) == CONTENT_EMPTY)
 125                                                         break;
 126                                 }
 127
 128                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 129                                 {
 130                                         if(autocvar_bot_debug_tracewalk)
 131                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 132
 133                                         return false;
 134                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 135                                 }
 136                                 continue;
 137
 138                         }
 139                         else
 140                                 org = trace_endpos;
 141                 }
 142                 else
 143                 {
 144                         move = dir * stepdist + org;
 145                         tracebox(org, m1, m2, move, movemode, e);
 146
 147                         if(autocvar_bot_debug_tracewalk)
 148                                 debugnode(e, trace_endpos);
 149
 150                         // hit something
 151                         if (trace_fraction < 1)
 152                         {
 153                                 // check if we can walk over this obstacle, possibly by jumpstepping
 154                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 155                                 if (trace_fraction < 1 || trace_startsolid)
 156                                 {
 157                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 158                                         if (trace_fraction < 1 || trace_startsolid)
 159                                         {
 160                                                 if(autocvar_bot_debug_tracewalk)
 161                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 162
 163                                                 // check for doors
 164                                                 traceline( org, move, movemode, e);
 165                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 166                                                 {
 167                                                         vector nextmove;
 168                                                         move = trace_endpos;
 169                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 170                                                         {
 171                                                                 nextmove = move + (dir * stepdist);
 172                                                                 traceline( move, nextmove, movemode, e);
 173                                                                 move = nextmove;
 174                                                         }
 175                                                 }
 176                                                 else
 177                                                 {
 178                                                         if(autocvar_bot_debug_tracewalk)
 179                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 180
 181                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 182                                                         //te_explosion(trace_endpos);
 183                                                         //print(ftos(e.dphitcontentsmask), "\n");
 184                                                         return false; // failed
 185                                                 }
 186                                         }
 187                                         else
 188                                                 move = trace_endpos;
 189                                 }
 190                                 else
 191                                         move = trace_endpos;
 192                         }
 193                         else
 194                                 move = trace_endpos;
 195
 196                         // trace down from stepheight as far as possible and move there,
 197                         // if this starts in solid we try again without the stepup, and
 198                         // if that also fails we assume it is a wall
 199                         // (this is the same logic as the Quake walkmove function used)
 200                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 201
 202                         // moved successfully
 203                         if(swimming)
 204                         {
 205                                 float c;
 206                                 c = pointcontents(org + '0 0 1');
 207                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 208                                         swimming = false;
 209                                 else
 210                                         continue;
 211                         }
 212
 213                         org = trace_endpos;
 214                 }
 215         }
 216
 217         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 218
 219         // moved but didn't arrive at the intended destination
 220         if(autocvar_bot_debug_tracewalk)
 221                 debugnodestatus(org, DEBUG_NODE_FAIL);
 222
 223         return false;
 224 }
 225
 226 /////////////////////////////////////////////////////////////////////////////
 227 // goal stack
 228 /////////////////////////////////////////////////////////////////////////////
 229
 230 // completely empty the goal stack, used when deciding where to go
 231 void navigation_clearroute(entity this)
 232 {
 233         //print("bot ", etos(this), " clear\n");
 234         this.navigation_hasgoals = false;
 235         this.goalcurrent = NULL;
 236         this.goalstack01 = NULL;
 237         this.goalstack02 = NULL;
 238         this.goalstack03 = NULL;
 239         this.goalstack04 = NULL;
 240         this.goalstack05 = NULL;
 241         this.goalstack06 = NULL;
 242         this.goalstack07 = NULL;
 243         this.goalstack08 = NULL;
 244         this.goalstack09 = NULL;
 245         this.goalstack10 = NULL;
 246         this.goalstack11 = NULL;
 247         this.goalstack12 = NULL;
 248         this.goalstack13 = NULL;
 249         this.goalstack14 = NULL;
 250         this.goalstack15 = NULL;
 251         this.goalstack16 = NULL;
 252         this.goalstack17 = NULL;
 253         this.goalstack18 = NULL;
 254         this.goalstack19 = NULL;
 255         this.goalstack20 = NULL;
 256         this.goalstack21 = NULL;
 257         this.goalstack22 = NULL;
 258         this.goalstack23 = NULL;
 259         this.goalstack24 = NULL;
 260         this.goalstack25 = NULL;
 261         this.goalstack26 = NULL;
 262         this.goalstack27 = NULL;
 263         this.goalstack28 = NULL;
 264         this.goalstack29 = NULL;
 265         this.goalstack30 = NULL;
 266         this.goalstack31 = NULL;
 267 }
 268
 269 // add a new goal at the beginning of the stack
 270 // (in other words: add a new prerequisite before going to the later goals)
 271 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 272 // next-closest WP on the shortest path to the WP
 273 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 274 // steps to the goal, and then recalculate the path.
 275 void navigation_pushroute(entity this, entity e)
 276 {
 277         //print("bot ", etos(this), " push ", etos(e), "\n");
 278         this.goalstack31 = this.goalstack30;
 279         this.goalstack30 = this.goalstack29;
 280         this.goalstack29 = this.goalstack28;
 281         this.goalstack28 = this.goalstack27;
 282         this.goalstack27 = this.goalstack26;
 283         this.goalstack26 = this.goalstack25;
 284         this.goalstack25 = this.goalstack24;
 285         this.goalstack24 = this.goalstack23;
 286         this.goalstack23 = this.goalstack22;
 287         this.goalstack22 = this.goalstack21;
 288         this.goalstack21 = this.goalstack20;
 289         this.goalstack20 = this.goalstack19;
 290         this.goalstack19 = this.goalstack18;
 291         this.goalstack18 = this.goalstack17;
 292         this.goalstack17 = this.goalstack16;
 293         this.goalstack16 = this.goalstack15;
 294         this.goalstack15 = this.goalstack14;
 295         this.goalstack14 = this.goalstack13;
 296         this.goalstack13 = this.goalstack12;
 297         this.goalstack12 = this.goalstack11;
 298         this.goalstack11 = this.goalstack10;
 299         this.goalstack10 = this.goalstack09;
 300         this.goalstack09 = this.goalstack08;
 301         this.goalstack08 = this.goalstack07;
 302         this.goalstack07 = this.goalstack06;
 303         this.goalstack06 = this.goalstack05;
 304         this.goalstack05 = this.goalstack04;
 305         this.goalstack04 = this.goalstack03;
 306         this.goalstack03 = this.goalstack02;
 307         this.goalstack02 = this.goalstack01;
 308         this.goalstack01 = this.goalcurrent;
 309         this.goalcurrent = e;
 310 }
 311
 312 // remove first goal from stack
 313 // (in other words: remove a prerequisite for reaching the later goals)
 314 // (used when a spawnfunc_waypoint is reached)
 315 void navigation_poproute(entity this)
 316 {
 317         //print("bot ", etos(this), " pop\n");
 318         this.goalcurrent = this.goalstack01;
 319         this.goalstack01 = this.goalstack02;
 320         this.goalstack02 = this.goalstack03;
 321         this.goalstack03 = this.goalstack04;
 322         this.goalstack04 = this.goalstack05;
 323         this.goalstack05 = this.goalstack06;
 324         this.goalstack06 = this.goalstack07;
 325         this.goalstack07 = this.goalstack08;
 326         this.goalstack08 = this.goalstack09;
 327         this.goalstack09 = this.goalstack10;
 328         this.goalstack10 = this.goalstack11;
 329         this.goalstack11 = this.goalstack12;
 330         this.goalstack12 = this.goalstack13;
 331         this.goalstack13 = this.goalstack14;
 332         this.goalstack14 = this.goalstack15;
 333         this.goalstack15 = this.goalstack16;
 334         this.goalstack16 = this.goalstack17;
 335         this.goalstack17 = this.goalstack18;
 336         this.goalstack18 = this.goalstack19;
 337         this.goalstack19 = this.goalstack20;
 338         this.goalstack20 = this.goalstack21;
 339         this.goalstack21 = this.goalstack22;
 340         this.goalstack22 = this.goalstack23;
 341         this.goalstack23 = this.goalstack24;
 342         this.goalstack24 = this.goalstack25;
 343         this.goalstack25 = this.goalstack26;
 344         this.goalstack26 = this.goalstack27;
 345         this.goalstack27 = this.goalstack28;
 346         this.goalstack28 = this.goalstack29;
 347         this.goalstack29 = this.goalstack30;
 348         this.goalstack30 = this.goalstack31;
 349         this.goalstack31 = NULL;
 350 }
 351
 352 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 353 {
 354         float dist;
 355         dist = vlen(v - org);
 356         if (bestdist > dist)
 357         {
 358                 traceline(v, org, true, ent);
 359                 if (trace_fraction == 1)
 360                 {
 361                         if (walkfromwp)
 362                         {
 363                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
 364                                         return true;
 365                         }
 366                         else
 367                         {
 368                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
 369                                         return true;
 370                         }
 371                 }
 372         }
 373         return false;
 374 }
 375
 376 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 377 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 378 {
 379         vector pm1 = ent.origin + ent.mins;
 380         vector pm2 = ent.origin + ent.maxs;
 381
 382         // do two scans, because box test is cheaper
 383         IL_EACH(g_waypoints, it != ent && it != except,
 384         {
 385                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 386                         return it;
 387         });
 388
 389         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 390         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 391         // TODO possibly make other code have the same support for bboxes
 392         if(ent.tag_entity)
 393                 org = org + ent.tag_entity.origin;
 394         if (navigation_testtracewalk)
 395                 te_plasmaburn(org);
 396
 397         entity best = NULL;
 398         vector v;
 399
 400         // box check failed, try walk
 401         IL_EACH(g_waypoints, it != ent,
 402         {
 403                 if(it.wpisbox)
 404                 {
 405                         vector wm1 = it.origin + it.mins;
 406                         vector wm2 = it.origin + it.maxs;
 407                         v.x = bound(wm1_x, org.x, wm2_x);
 408                         v.y = bound(wm1_y, org.y, wm2_y);
 409                         v.z = bound(wm1_z, org.z, wm2_z);
 410                 }
 411                 else
 412                         v = it.origin;
 413                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 414                 {
 415                         bestdist = vlen(v - org);
 416                         best = it;
 417                 }
 418         });
 419         return best;
 420 }
 421 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 422 {
 423         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 424         if (autocvar_g_waypointeditor_auto)
 425         {
 426                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 427                 if (wp && !wp2)
 428                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 429         }
 430         return wp;
 431 }
 432
 433 // finds the waypoints near the bot initiating a navigation query
 434 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 435 {
 436         vector v, m1, m2;
 437 //      navigation_testtracewalk = true;
 438         int c = 0;
 439         IL_EACH(g_waypoints, !it.wpconsidered,
 440         {
 441                 if (it.wpisbox)
 442                 {
 443                         m1 = it.origin + it.mins;
 444                         m2 = it.origin + it.maxs;
 445                         v = this.origin;
 446                         v.x = bound(m1_x, v.x, m2_x);
 447                         v.y = bound(m1_y, v.y, m2_y);
 448                         v.z = bound(m1_z, v.z, m2_z);
 449                 }
 450                 else
 451                         v = it.origin;
 452                 vector diff = v - this.origin;
 453                 diff.z = max(0, diff.z);
 454                 if(vdist(diff, <, maxdist))
 455                 {
 456                         it.wpconsidered = true;
 457                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
 458                         {
 459                                 it.wpnearestpoint = v;
 460                                 it.wpcost = vlen(v - this.origin) + it.dmg;
 461                                 it.wpfire = 1;
 462                                 it.enemy = NULL;
 463                                 c = c + 1;
 464                         }
 465                 }
 466         });
 467         //navigation_testtracewalk = false;
 468         return c;
 469 }
 470
 471 // updates a path link if a spawnfunc_waypoint link is better than the current one
 472 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 473 {
 474         vector m1;
 475         vector m2;
 476         vector v;
 477         if (wp.wpisbox)
 478         {
 479                 m1 = wp.absmin;
 480                 m2 = wp.absmax;
 481                 v.x = bound(m1_x, p.x, m2_x);
 482                 v.y = bound(m1_y, p.y, m2_y);
 483                 v.z = bound(m1_z, p.z, m2_z);
 484         }
 485         else
 486                 v = wp.origin;
 487         cost2 = cost2 + vlen(v - p);
 488         if (wp.wpcost > cost2)
 489         {
 490                 wp.wpcost = cost2;
 491                 wp.enemy = w;
 492                 wp.wpfire = 1;
 493                 wp.wpnearestpoint = v;
 494         }
 495 }
 496
 497 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 498 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 499 {
 500         float cost, cost2;
 501         vector p;
 502
 503         IL_EACH(g_waypoints, true,
 504         {
 505                 it.wpconsidered = false;
 506                 it.wpnearestpoint = '0 0 0';
 507                 it.wpcost = 10000000;
 508                 it.wpfire = 0;
 509                 it.enemy = NULL;
 510         });
 511
 512         if(fixed_source_waypoint)
 513         {
 514                 fixed_source_waypoint.wpconsidered = true;
 515                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 516                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 517                 fixed_source_waypoint.wpfire = 1;
 518                 fixed_source_waypoint.enemy = NULL;
 519         }
 520         else
 521         {
 522                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 523                 // as this search is expensive we will use lower values if the bot is on the air
 524                 float increment, maxdistance;
 525                 if(IS_ONGROUND(this))
 526                 {
 527                         increment = 750;
 528                         maxdistance = 50000;
 529                 }
 530                 else
 531                 {
 532                         increment = 500;
 533                         maxdistance = 1500;
 534                 }
 535
 536                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 537         }
 538
 539         bool searching = true;
 540         while (searching)
 541         {
 542                 searching = false;
 543                 IL_EACH(g_waypoints, it.wpfire,
 544                 {
 545                         searching = true;
 546                         it.wpfire = 0;
 547                         cost = it.wpcost;
 548                         p = it.wpnearestpoint;
 549                         entity wp;
 550                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 551                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 552                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 553                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 554                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 555                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 556                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 557                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 558                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 559                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 560                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 561                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 562                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 563                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 564                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 565                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 566                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 567                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 568                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 569                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 570                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 571                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 572                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 573                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 574                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 575                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 576                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 577                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 578                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 579                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 580                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 581                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 582                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 583                 });
 584         }
 585 }
 586
 587 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 588 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 589 {
 590         float cost, cost2;
 591         vector p;
 592         IL_EACH(g_waypoints, true,
 593         {
 594                 it.wpconsidered = false;
 595                 it.wpnearestpoint = '0 0 0';
 596                 it.wpcost = 10000000;
 597                 it.wpfire = 0;
 598                 it.enemy = NULL;
 599         });
 600
 601         if(fixed_source_waypoint)
 602         {
 603                 fixed_source_waypoint.wpconsidered = true;
 604                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 605                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 606                 fixed_source_waypoint.wpfire = 1;
 607                 fixed_source_waypoint.enemy = NULL;
 608         }
 609         else
 610         {
 611                 error("need to start with a waypoint\n");
 612         }
 613
 614         bool searching = true;
 615         while (searching)
 616         {
 617                 searching = false;
 618                 IL_EACH(g_waypoints, it.wpfire,
 619                 {
 620                         searching = true;
 621                         it.wpfire = 0;
 622                         cost = it.wpcost; // cost to walk from it to home
 623                         p = it.wpnearestpoint;
 624                         entity wp = it;
 625                         IL_EACH(g_waypoints, true,
 626                         {
 627                                 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
 628                                 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
 629                                 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
 630                                 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
 631                                 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
 632                                 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
 633                                 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
 634                                 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
 635                                         continue;
 636                                 cost2 = cost + it.dmg;
 637                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 638                         });
 639                 });
 640         }
 641 }
 642
 643 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 644 void navigation_routerating(entity this, entity e, float f, float rangebias)
 645 {
 646         if (!e)
 647                 return;
 648
 649         if(e.blacklisted)
 650                 return;
 651
 652         if (IS_PLAYER(e))
 653         {
 654                 bool rate_wps = false;
 655                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 656                         rate_wps = true;
 657
 658                 if(!IS_ONGROUND(e))
 659                 {
 660                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 661                         int t = pointcontents(trace_endpos + '0 0 1');
 662                         if(t != CONTENT_SOLID )
 663                         {
 664                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 665                                         rate_wps = true;
 666                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 667                                         return;
 668                         }
 669                 }
 670
 671                 if(rate_wps)
 672                 {
 673                         entity theEnemy = e;
 674                         entity best_wp = NULL;
 675                         float best_dist = 10000;
 676                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 677                                 && vdist(it.origin - this.origin, >, 100)
 678                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 679                         {
 680                                 float dist = vlen(it.origin - theEnemy.origin);
 681                                 if (dist < best_dist)
 682                                 {
 683                                         best_wp = it;
 684                                         best_dist = dist;
 685                                 }
 686                         });
 687                         if (!best_wp)
 688                                 return;
 689                         e = best_wp;
 690                 }
 691         }
 692
 693         vector o = (e.absmin + e.absmax) * 0.5;
 694
 695         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 696
 697         // Evaluate path using jetpack
 698         if(g_jetpack)
 699         if(this.items & IT_JETPACK)
 700         if(autocvar_bot_ai_navigation_jetpack)
 701         if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 702         {
 703                 vector pointa, pointb;
 704
 705                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 706
 707                 // Point A
 708                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 709                 pointa = trace_endpos - '0 0 1';
 710
 711                 // Point B
 712                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 713                 pointb = trace_endpos - '0 0 1';
 714
 715                 // Can I see these two points from the sky?
 716                 traceline(pointa, pointb, MOVE_NORMAL, this);
 717
 718                 if(trace_fraction==1)
 719                 {
 720                         LOG_DEBUG("jetpack ai: can bridge these two points");
 721
 722                         // Lower the altitude of these points as much as possible
 723                         float zdistance, xydistance, cost, t, fuel;
 724                         vector down, npa, npb;
 725
 726                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 727
 728                         do{
 729                                 npa = pointa + down;
 730                                 npb = pointb + down;
 731
 732                                 if(npa.z<=this.absmax.z)
 733                                         break;
 734
 735                                 if(npb.z<=e.absmax.z)
 736                                         break;
 737
 738                                 traceline(npa, npb, MOVE_NORMAL, this);
 739                                 if(trace_fraction==1)
 740                                 {
 741                                         pointa = npa;
 742                                         pointb = npb;
 743                                 }
 744                         }
 745                         while(trace_fraction == 1);
 746
 747
 748                         // Rough estimation of fuel consumption
 749                         // (ignores acceleration and current xyz velocity)
 750                         xydistance = vlen(pointa - pointb);
 751                         zdistance = fabs(pointa.z - this.origin.z);
 752
 753                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 754                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 755                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 756
 757                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 758
 759                         // enough fuel ?
 760                         if(this.ammo_fuel>fuel)
 761                         {
 762                                 // Estimate cost
 763                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 764                                 //  - between air and ground speeds)
 765
 766                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 767                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 768                                 cost *= 1.5;
 769
 770                                 // Compare against other goals
 771                                 f = f * rangebias / (rangebias + cost);
 772
 773                                 if (navigation_bestrating < f)
 774                                 {
 775                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 776                                         navigation_bestrating = f;
 777                                         navigation_bestgoal = e;
 778                                         this.navigation_jetpack_goal = e;
 779                                         this.navigation_jetpack_point = pointb;
 780                                 }
 781                                 return;
 782                         }
 783                 }
 784         }
 785
 786         entity nwp;
 787         //te_wizspike(e.origin);
 788         //bprint(etos(e));
 789         //bprint("\n");
 790         // update the cached spawnfunc_waypoint link on a dynamic item entity
 791         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 792         {
 793                 nwp = e;
 794         }
 795         else
 796         {
 797                 float search;
 798
 799                 search = true;
 800
 801                 if(e.flags & FL_ITEM)
 802                 {
 803                         if (!(e.flags & FL_WEAPON))
 804                         if(e.nearestwaypoint)
 805                                 search = false;
 806                 }
 807                 else if (e.flags & FL_WEAPON)
 808                 {
 809                         if(e.classname != "droppedweapon")
 810                         if(e.nearestwaypoint)
 811                                 search = false;
 812                 }
 813
 814                 if(search)
 815                 if (time > e.nearestwaypointtimeout)
 816                 {
 817                         nwp = navigation_findnearestwaypoint(e, true);
 818                         if(nwp)
 819                                 e.nearestwaypoint = nwp;
 820                         else
 821                         {
 822                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
 823
 824                                 if(e.flags & FL_ITEM)
 825                                         e.blacklisted = true;
 826                                 else if (e.flags & FL_WEAPON)
 827                                 {
 828                                         if(e.classname != "droppedweapon")
 829                                                 e.blacklisted = true;
 830                                 }
 831
 832                                 if(e.blacklisted)
 833                                 {
 834                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
 835                                         return;
 836                                 }
 837                         }
 838
 839                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 840                         if(e.classname=="item_flag_team")
 841                                 e.nearestwaypointtimeout = time + 2;
 842                         else
 843                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 844                 }
 845                 nwp = e.nearestwaypoint;
 846         }
 847
 848         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
 849         if (nwp)
 850         if (nwp.wpcost < 10000000)
 851         {
 852                 //te_wizspike(nwp.wpnearestpoint);
 853                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
 854                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 855                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
 856                 if (navigation_bestrating < f)
 857                 {
 858                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 859                         navigation_bestrating = f;
 860                         navigation_bestgoal = e;
 861                 }
 862         }
 863 }
 864
 865 // adds an item to the the goal stack with the path to a given item
 866 bool navigation_routetogoal(entity this, entity e, vector startposition)
 867 {
 868         this.goalentity = e;
 869
 870         // if there is no goal, just exit
 871         if (!e)
 872                 return false;
 873
 874         this.navigation_hasgoals = true;
 875
 876         // put the entity on the goal stack
 877         //print("routetogoal ", etos(e), "\n");
 878         navigation_pushroute(this, e);
 879
 880         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 881         {
 882                 this.wp_goal_prev1 = this.wp_goal_prev0;
 883                 this.wp_goal_prev0 = e;
 884         }
 885
 886         if(g_jetpack)
 887         if(e==this.navigation_jetpack_goal)
 888                 return true;
 889
 890         // if it can reach the goal there is nothing more to do
 891         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 892                 return true;
 893
 894         // see if there are waypoints describing a path to the item
 895         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 896                 e = e.nearestwaypoint;
 897         else
 898                 e = e.enemy; // we already have added it, so...
 899
 900         if(e == NULL)
 901                 return false;
 902
 903         for (;;)
 904         {
 905                 // add the spawnfunc_waypoint to the path
 906                 navigation_pushroute(this, e);
 907                 e = e.enemy;
 908
 909                 if(e==NULL)
 910                         break;
 911         }
 912
 913         return false;
 914 }
 915
 916 // removes any currently touching waypoints from the goal stack
 917 // (this is how bots detect if they reached a goal)
 918 void navigation_poptouchedgoals(entity this)
 919 {
 920         vector org, m1, m2;
 921         org = this.origin;
 922         m1 = org + this.mins;
 923         m2 = org + this.maxs;
 924
 925         while(this.goalcurrent && wasfreed(this.goalcurrent))
 926                 navigation_poproute(this);
 927
 928         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 929         {
 930                 // make sure jumppad is really hit, don't rely on distance based checks
 931                 // as they may report a touch even if it didn't really happen
 932                 if(this.lastteleporttime>0)
 933                 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
 934                 {
 935                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 936                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
 937                         {
 938                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 939                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 940                         }
 941                         navigation_poproute(this);
 942                         return;
 943                 }
 944         }
 945
 946         if(this.goalcurrent.bot_pickup_respawning)
 947         {
 948                 if(!this.goalcurrent.solid)
 949                 {
 950                         if(time > this.goalcurrent.scheduledrespawntime - 10) // item not yet taken (by someone else)
 951                                 return; // wait for item to respawn
 952                 }
 953                 this.goalcurrent.bot_pickup_respawning = false;
 954         }
 955
 956         // If for some reason the bot is closer to the next goal, pop the current one
 957         if(this.goalstack01 && !wasfreed(this.goalstack01))
 958         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
 959         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
 960         if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 961         {
 962                 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
 963                 navigation_poproute(this);
 964                 // TODO this may also be a nice idea to do "early" (e.g. by
 965                 // manipulating the vlen() comparisons) to shorten paths in
 966                 // general - this would make bots walk more "on rails" than
 967                 // "zigzagging" which they currently do with sufficiently
 968                 // random-like waypoints, and thus can make a nice bot
 969                 // personality property
 970         }
 971
 972         // Loose goal touching check when running
 973         if(this.aistatus & AI_STATUS_RUNNING)
 974         if(this.goalcurrent.classname=="waypoint")
 975         if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
 976         if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
 977         {
 978                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
 979                 {
 980                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
 981                         if(trace_fraction==1)
 982                         {
 983                                 // Detect personal waypoints
 984                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 985                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
 986                                 {
 987                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 988                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 989                                 }
 990
 991                                 navigation_poproute(this);
 992                         }
 993                 }
 994         }
 995
 996         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent) && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax))
 997         {
 998                 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
 999                         break;
1000
1001                 // Detect personal waypoints
1002                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1003                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1004                 {
1005                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1006                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1007                 }
1008
1009                 navigation_poproute(this);
1010         }
1011 }
1012
1013 // begin a goal selection session (queries spawnfunc_waypoint network)
1014 void navigation_goalrating_start(entity this)
1015 {
1016         if(this.aistatus & AI_STATUS_STUCK)
1017                 return;
1018
1019         this.navigation_jetpack_goal = NULL;
1020         navigation_bestrating = -1;
1021         this.navigation_hasgoals = false;
1022         navigation_clearroute(this);
1023         navigation_bestgoal = NULL;
1024         navigation_markroutes(this, NULL);
1025 }
1026
1027 // ends a goal selection session (updates goal stack to the best goal)
1028 void navigation_goalrating_end(entity this)
1029 {
1030         if(this.aistatus & AI_STATUS_STUCK)
1031                 return;
1032
1033         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1034         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1035
1036         // If the bot got stuck then try to reach the farthest waypoint
1037         if (!this.navigation_hasgoals)
1038         if (autocvar_bot_wander_enable)
1039         {
1040                 if (!(this.aistatus & AI_STATUS_STUCK))
1041                 {
1042                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1043                         this.aistatus |= AI_STATUS_STUCK;
1044                 }
1045
1046                 this.navigation_hasgoals = false; // Reset this value
1047         }
1048 }
1049
1050 void botframe_updatedangerousobjects(float maxupdate)
1051 {
1052         vector m1, m2, v, o;
1053         float c, d, danger;
1054         c = 0;
1055         IL_EACH(g_waypoints, true,
1056         {
1057                 danger = 0;
1058                 m1 = it.mins;
1059                 m2 = it.maxs;
1060                 IL_EACH(g_bot_dodge, it.bot_dodge,
1061                 {
1062                         v = it.origin;
1063                         v.x = bound(m1_x, v.x, m2_x);
1064                         v.y = bound(m1_y, v.y, m2_y);
1065                         v.z = bound(m1_z, v.z, m2_z);
1066                         o = (it.absmin + it.absmax) * 0.5;
1067                         d = it.bot_dodgerating - vlen(o - v);
1068                         if (d > 0)
1069                         {
1070                                 traceline(o, v, true, NULL);
1071                                 if (trace_fraction == 1)
1072                                         danger = danger + d;
1073                         }
1074                 });
1075                 it.dmg = danger;
1076                 c = c + 1;
1077                 if (c >= maxupdate)
1078                         break;
1079         });
1080 }
1081
1082 void navigation_unstuck(entity this)
1083 {
1084         float search_radius = 1000;
1085
1086         if (!autocvar_bot_wander_enable)
1087                 return;
1088
1089         if (!bot_waypoint_queue_owner)
1090         {
1091                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1092                 bot_waypoint_queue_owner = this;
1093                 bot_waypoint_queue_bestgoal = NULL;
1094                 bot_waypoint_queue_bestgoalrating = 0;
1095         }
1096
1097         if(bot_waypoint_queue_owner!=this)
1098                 return;
1099
1100         if (bot_waypoint_queue_goal)
1101         {
1102                 // evaluate the next goal on the queue
1103                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1104                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1105                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1106                 {
1107                         if( d > bot_waypoint_queue_bestgoalrating)
1108                         {
1109                                 bot_waypoint_queue_bestgoalrating = d;
1110                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1111                         }
1112                 }
1113                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1114
1115                 if (!bot_waypoint_queue_goal)
1116                 {
1117                         if (bot_waypoint_queue_bestgoal)
1118                         {
1119                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1120                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1121                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1122                                 this.aistatus &= ~AI_STATUS_STUCK;
1123                         }
1124                         else
1125                         {
1126                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1127                         }
1128
1129                         bot_waypoint_queue_owner = NULL;
1130                 }
1131         }
1132         else
1133         {
1134                 if(bot_strategytoken!=this)
1135                         return;
1136
1137                 // build a new queue
1138                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1139
1140                 entity first = NULL;
1141
1142                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1143                 {
1144                         if(bot_waypoint_queue_goal)
1145                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1146                         else
1147                                 first = it;
1148
1149                         bot_waypoint_queue_goal = it;
1150                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1151                 });
1152
1153                 if (first)
1154                         bot_waypoint_queue_goal = first;
1155                 else
1156                 {
1157                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1158                         bot_waypoint_queue_owner = NULL;
1159                 }
1160         }
1161 }
1162
1163 // Support for debugging tracewalk visually
1164
1165 void debugresetnodes()
1166 {
1167         debuglastnode = '0 0 0';
1168 }
1169
1170 void debugnode(entity this, vector node)
1171 {
1172         if (!IS_PLAYER(this))
1173                 return;
1174
1175         if(debuglastnode=='0 0 0')
1176         {
1177                 debuglastnode = node;
1178                 return;
1179         }
1180
1181         te_lightning2(NULL, node, debuglastnode);
1182         debuglastnode = node;
1183 }
1184
1185 void debugnodestatus(vector position, float status)
1186 {
1187         vector c;
1188
1189         switch (status)
1190         {
1191                 case DEBUG_NODE_SUCCESS:
1192                         c = '0 15 0';
1193                         break;
1194                 case DEBUG_NODE_WARNING:
1195                         c = '15 15 0';
1196                         break;
1197                 case DEBUG_NODE_FAIL:
1198                         c = '15 0 0';
1199                         break;
1200                 default:
1201                         c = '15 15 15';
1202         }
1203
1204         te_customflash(position, 40,  2, c);
1205 }
1206
1207 // Support for debugging the goal stack visually
1208
1209 .float goalcounter;
1210 .vector lastposition;
1211
1212 // Debug the goal stack visually
1213 void debuggoalstack(entity this)
1214 {
1215         entity goal;
1216         vector org, go;
1217
1218         if(this.goalcounter==0)goal=this.goalcurrent;
1219         else if(this.goalcounter==1)goal=this.goalstack01;
1220         else if(this.goalcounter==2)goal=this.goalstack02;
1221         else if(this.goalcounter==3)goal=this.goalstack03;
1222         else if(this.goalcounter==4)goal=this.goalstack04;
1223         else if(this.goalcounter==5)goal=this.goalstack05;
1224         else if(this.goalcounter==6)goal=this.goalstack06;
1225         else if(this.goalcounter==7)goal=this.goalstack07;
1226         else if(this.goalcounter==8)goal=this.goalstack08;
1227         else if(this.goalcounter==9)goal=this.goalstack09;
1228         else if(this.goalcounter==10)goal=this.goalstack10;
1229         else if(this.goalcounter==11)goal=this.goalstack11;
1230         else if(this.goalcounter==12)goal=this.goalstack12;
1231         else if(this.goalcounter==13)goal=this.goalstack13;
1232         else if(this.goalcounter==14)goal=this.goalstack14;
1233         else if(this.goalcounter==15)goal=this.goalstack15;
1234         else if(this.goalcounter==16)goal=this.goalstack16;
1235         else if(this.goalcounter==17)goal=this.goalstack17;
1236         else if(this.goalcounter==18)goal=this.goalstack18;
1237         else if(this.goalcounter==19)goal=this.goalstack19;
1238         else if(this.goalcounter==20)goal=this.goalstack20;
1239         else if(this.goalcounter==21)goal=this.goalstack21;
1240         else if(this.goalcounter==22)goal=this.goalstack22;
1241         else if(this.goalcounter==23)goal=this.goalstack23;
1242         else if(this.goalcounter==24)goal=this.goalstack24;
1243         else if(this.goalcounter==25)goal=this.goalstack25;
1244         else if(this.goalcounter==26)goal=this.goalstack26;
1245         else if(this.goalcounter==27)goal=this.goalstack27;
1246         else if(this.goalcounter==28)goal=this.goalstack28;
1247         else if(this.goalcounter==29)goal=this.goalstack29;
1248         else if(this.goalcounter==30)goal=this.goalstack30;
1249         else if(this.goalcounter==31)goal=this.goalstack31;
1250         else goal=NULL;
1251
1252         if(goal==NULL)
1253         {
1254                 this.goalcounter = 0;
1255                 this.lastposition='0 0 0';
1256                 return;
1257         }
1258
1259         if(this.lastposition=='0 0 0')
1260                 org = this.origin;
1261         else
1262                 org = this.lastposition;
1263
1264
1265         go = ( goal.absmin + goal.absmax ) * 0.5;
1266         te_lightning2(NULL, org, go);
1267         this.lastposition = go;
1268
1269         this.goalcounter++;
1270 }