1 #include "navigation.qh"
6 #include "waypoints.qh"
8 #include <common/t_items.qh>
10 #include <common/items/_mod.qh>
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/triggers/trigger/jumppads.qh>
18 void navigation_dynamicgoal_init(entity this, bool initially_static)
20 this.navigation_dynamicgoal = true;
21 this.bot_basewaypoint = this.nearestwaypoint;
23 this.nearestwaypointtimeout = -1;
25 this.nearestwaypointtimeout = time;
28 void navigation_dynamicgoal_set(entity this)
30 this.nearestwaypointtimeout = time;
33 void navigation_dynamicgoal_unset(entity this)
35 if(this.bot_basewaypoint)
36 this.nearestwaypoint = this.bot_basewaypoint;
37 this.nearestwaypointtimeout = -1;
40 // rough simulation of walking from one point to another to test if a path
41 // can be traveled, used for waypoint linking and havocbot
43 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
53 entity tw_ladder = NULL;
55 if(autocvar_bot_debug_tracewalk)
64 dist = totaldist = vlen(move);
65 dir = normalize(move);
67 ignorehazards = false;
70 // Analyze starting point
71 traceline(start, start, MOVE_NORMAL, e);
72 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
76 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
77 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
83 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
87 if(autocvar_bot_debug_tracewalk)
88 debugnodestatus(start, DEBUG_NODE_FAIL);
90 //print("tracewalk: ", vtos(start), " is a bad start\n");
98 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
101 if(autocvar_bot_debug_tracewalk)
102 debugnodestatus(org, DEBUG_NODE_SUCCESS);
104 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
107 if(autocvar_bot_debug_tracewalk)
114 dist = dist - stepdist;
115 traceline(org, org, MOVE_NORMAL, e);
118 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
120 // hazards blocking path
121 if(autocvar_bot_debug_tracewalk)
122 debugnodestatus(org, DEBUG_NODE_FAIL);
124 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
128 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
130 move = normalize(end - org);
131 tracebox(org, m1, m2, org + move * stepdist, movemode, e);
133 if(autocvar_bot_debug_tracewalk)
134 debugnode(e, trace_endpos);
136 if (trace_fraction < 1)
139 org = trace_endpos + normalize(org - trace_endpos) * stepdist;
140 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
142 if(autocvar_bot_debug_tracewalk)
145 if(pointcontents(org) == CONTENT_EMPTY)
149 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
151 if(autocvar_bot_debug_tracewalk)
152 debugnodestatus(org, DEBUG_NODE_FAIL);
155 //print("tracewalk: ", vtos(start), " failed under water\n");
165 move = dir * stepdist + org;
166 tracebox(org, m1, m2, move, movemode, e);
168 if(autocvar_bot_debug_tracewalk)
169 debugnode(e, trace_endpos);
172 if (trace_fraction < 1)
174 // check if we can walk over this obstacle, possibly by jumpstepping
175 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
176 if (trace_fraction < 1 || trace_startsolid)
178 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
179 if (trace_fraction < 1 || trace_startsolid)
181 if(autocvar_bot_debug_tracewalk)
182 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
184 IL_EACH(g_ladders, it.classname == "func_ladder",
185 { it.solid = SOLID_BSP; });
187 traceline( org, move, movemode, e);
189 IL_EACH(g_ladders, it.classname == "func_ladder",
190 { it.solid = SOLID_TRIGGER; });
192 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
196 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
198 nextmove = move + (dir * stepdist);
199 traceline( move, nextmove, movemode, e);
203 else if (trace_ent.classname == "func_ladder")
205 tw_ladder = trace_ent;
206 vector ladder_bottom = trace_endpos - dir * m2.x;
207 vector ladder_top = ladder_bottom;
208 ladder_top.z = trace_ent.absmax.z + (-m1.z + 1);
209 tracebox(ladder_bottom, m1, m2, ladder_top, movemode, e);
210 if (trace_fraction < 1 || trace_startsolid)
212 if(autocvar_bot_debug_tracewalk)
213 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
215 return false; // failed
217 org = ladder_top + dir * m2.x;
218 move = org + dir * stepdist;
223 if(autocvar_bot_debug_tracewalk)
224 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
226 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
227 //te_explosion(trace_endpos);
228 //print(ftos(e.dphitcontentsmask), "\n");
229 return false; // failed
241 // trace down from stepheight as far as possible and move there,
242 // if this starts in solid we try again without the stepup, and
243 // if that also fails we assume it is a wall
244 // (this is the same logic as the Quake walkmove function used)
245 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
247 // moved successfully
251 c = pointcontents(org + '0 0 1');
252 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
261 if(tw_ladder && org.z < tw_ladder.absmax.z)
263 // stop tracewalk if destination height is lower than the top of the ladder
264 // otherwise bot can't easily figure out climbing direction
265 if(autocvar_bot_debug_tracewalk)
266 debugnodestatus(org, DEBUG_NODE_FAIL);
272 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
274 // moved but didn't arrive at the intended destination
275 if(autocvar_bot_debug_tracewalk)
276 debugnodestatus(org, DEBUG_NODE_FAIL);
281 /////////////////////////////////////////////////////////////////////////////
283 /////////////////////////////////////////////////////////////////////////////
285 // completely empty the goal stack, used when deciding where to go
286 void navigation_clearroute(entity this)
288 //print("bot ", etos(this), " clear\n");
289 this.goalentity = NULL;
290 this.goalcurrent = NULL;
291 this.goalstack01 = NULL;
292 this.goalstack02 = NULL;
293 this.goalstack03 = NULL;
294 this.goalstack04 = NULL;
295 this.goalstack05 = NULL;
296 this.goalstack06 = NULL;
297 this.goalstack07 = NULL;
298 this.goalstack08 = NULL;
299 this.goalstack09 = NULL;
300 this.goalstack10 = NULL;
301 this.goalstack11 = NULL;
302 this.goalstack12 = NULL;
303 this.goalstack13 = NULL;
304 this.goalstack14 = NULL;
305 this.goalstack15 = NULL;
306 this.goalstack16 = NULL;
307 this.goalstack17 = NULL;
308 this.goalstack18 = NULL;
309 this.goalstack19 = NULL;
310 this.goalstack20 = NULL;
311 this.goalstack21 = NULL;
312 this.goalstack22 = NULL;
313 this.goalstack23 = NULL;
314 this.goalstack24 = NULL;
315 this.goalstack25 = NULL;
316 this.goalstack26 = NULL;
317 this.goalstack27 = NULL;
318 this.goalstack28 = NULL;
319 this.goalstack29 = NULL;
320 this.goalstack30 = NULL;
321 this.goalstack31 = NULL;
324 // add a new goal at the beginning of the stack
325 // (in other words: add a new prerequisite before going to the later goals)
326 // NOTE: when a waypoint is added, the WP gets pushed first, then the
327 // next-closest WP on the shortest path to the WP
328 // That means, if the stack overflows, the bot will know how to do the FIRST 32
329 // steps to the goal, and then recalculate the path.
330 void navigation_pushroute(entity this, entity e)
332 //print("bot ", etos(this), " push ", etos(e), "\n");
333 if(this.goalstack31 == this.goalentity)
334 this.goalentity = NULL;
335 this.goalstack31 = this.goalstack30;
336 this.goalstack30 = this.goalstack29;
337 this.goalstack29 = this.goalstack28;
338 this.goalstack28 = this.goalstack27;
339 this.goalstack27 = this.goalstack26;
340 this.goalstack26 = this.goalstack25;
341 this.goalstack25 = this.goalstack24;
342 this.goalstack24 = this.goalstack23;
343 this.goalstack23 = this.goalstack22;
344 this.goalstack22 = this.goalstack21;
345 this.goalstack21 = this.goalstack20;
346 this.goalstack20 = this.goalstack19;
347 this.goalstack19 = this.goalstack18;
348 this.goalstack18 = this.goalstack17;
349 this.goalstack17 = this.goalstack16;
350 this.goalstack16 = this.goalstack15;
351 this.goalstack15 = this.goalstack14;
352 this.goalstack14 = this.goalstack13;
353 this.goalstack13 = this.goalstack12;
354 this.goalstack12 = this.goalstack11;
355 this.goalstack11 = this.goalstack10;
356 this.goalstack10 = this.goalstack09;
357 this.goalstack09 = this.goalstack08;
358 this.goalstack08 = this.goalstack07;
359 this.goalstack07 = this.goalstack06;
360 this.goalstack06 = this.goalstack05;
361 this.goalstack05 = this.goalstack04;
362 this.goalstack04 = this.goalstack03;
363 this.goalstack03 = this.goalstack02;
364 this.goalstack02 = this.goalstack01;
365 this.goalstack01 = this.goalcurrent;
366 this.goalcurrent = e;
369 // remove first goal from stack
370 // (in other words: remove a prerequisite for reaching the later goals)
371 // (used when a spawnfunc_waypoint is reached)
372 void navigation_poproute(entity this)
374 //print("bot ", etos(this), " pop\n");
375 if(this.goalcurrent == this.goalentity)
376 this.goalentity = NULL;
377 this.goalcurrent = this.goalstack01;
378 this.goalstack01 = this.goalstack02;
379 this.goalstack02 = this.goalstack03;
380 this.goalstack03 = this.goalstack04;
381 this.goalstack04 = this.goalstack05;
382 this.goalstack05 = this.goalstack06;
383 this.goalstack06 = this.goalstack07;
384 this.goalstack07 = this.goalstack08;
385 this.goalstack08 = this.goalstack09;
386 this.goalstack09 = this.goalstack10;
387 this.goalstack10 = this.goalstack11;
388 this.goalstack11 = this.goalstack12;
389 this.goalstack12 = this.goalstack13;
390 this.goalstack13 = this.goalstack14;
391 this.goalstack14 = this.goalstack15;
392 this.goalstack15 = this.goalstack16;
393 this.goalstack16 = this.goalstack17;
394 this.goalstack17 = this.goalstack18;
395 this.goalstack18 = this.goalstack19;
396 this.goalstack19 = this.goalstack20;
397 this.goalstack20 = this.goalstack21;
398 this.goalstack21 = this.goalstack22;
399 this.goalstack22 = this.goalstack23;
400 this.goalstack23 = this.goalstack24;
401 this.goalstack24 = this.goalstack25;
402 this.goalstack25 = this.goalstack26;
403 this.goalstack26 = this.goalstack27;
404 this.goalstack27 = this.goalstack28;
405 this.goalstack28 = this.goalstack29;
406 this.goalstack29 = this.goalstack30;
407 this.goalstack30 = this.goalstack31;
408 this.goalstack31 = NULL;
411 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
414 dist = vlen(v - org);
417 traceline(v, org, true, ent);
418 if (trace_fraction == 1)
422 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
427 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
435 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
436 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
438 vector pm1 = ent.origin + ent.mins;
439 vector pm2 = ent.origin + ent.maxs;
441 // do two scans, because box test is cheaper
442 IL_EACH(g_waypoints, it != ent && it != except,
444 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
448 vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
449 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
450 // TODO possibly make other code have the same support for bboxes
452 org = org + ent.tag_entity.origin;
453 if (navigation_testtracewalk)
459 // box check failed, try walk
460 IL_EACH(g_waypoints, it != ent,
464 vector wm1 = it.origin + it.mins;
465 vector wm2 = it.origin + it.maxs;
466 v.x = bound(wm1_x, org.x, wm2_x);
467 v.y = bound(wm1_y, org.y, wm2_y);
468 v.z = bound(wm1_z, org.z, wm2_z);
472 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
474 bestdist = vlen(v - org);
480 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
482 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
483 if (autocvar_g_waypointeditor_auto)
485 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
487 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
492 // finds the waypoints near the bot initiating a navigation query
493 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
496 // navigation_testtracewalk = true;
498 IL_EACH(g_waypoints, !it.wpconsidered,
502 m1 = it.origin + it.mins;
503 m2 = it.origin + it.maxs;
505 v.x = bound(m1_x, v.x, m2_x);
506 v.y = bound(m1_y, v.y, m2_y);
507 v.z = bound(m1_z, v.z, m2_z);
511 vector diff = v - this.origin;
512 diff.z = max(0, diff.z);
513 if(vdist(diff, <, maxdist))
515 it.wpconsidered = true;
516 if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
518 it.wpnearestpoint = v;
519 it.wpcost = vlen(v - this.origin) + it.dmg;
526 //navigation_testtracewalk = false;
530 // updates a path link if a spawnfunc_waypoint link is better than the current one
531 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
540 v.x = bound(m1_x, p.x, m2_x);
541 v.y = bound(m1_y, p.y, m2_y);
542 v.z = bound(m1_z, p.z, m2_z);
546 cost2 = cost2 + vlen(v - p);
547 if (wp.wpcost > cost2)
552 wp.wpnearestpoint = v;
556 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
557 void navigation_markroutes(entity this, entity fixed_source_waypoint)
562 IL_EACH(g_waypoints, true,
564 it.wpconsidered = false;
565 it.wpnearestpoint = '0 0 0';
566 it.wpcost = 10000000;
571 if(fixed_source_waypoint)
573 fixed_source_waypoint.wpconsidered = true;
574 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
575 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
576 fixed_source_waypoint.wpfire = 1;
577 fixed_source_waypoint.enemy = NULL;
581 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
582 // as this search is expensive we will use lower values if the bot is on the air
583 float increment, maxdistance;
584 if(IS_ONGROUND(this))
595 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
598 bool searching = true;
602 IL_EACH(g_waypoints, it.wpfire,
607 p = it.wpnearestpoint;
609 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
610 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
611 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
612 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
613 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
614 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
615 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
616 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
617 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
618 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
619 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
620 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
621 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
622 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
623 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
624 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
625 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
626 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
627 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
628 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
629 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
630 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
631 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
632 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
633 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
634 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
635 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
636 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
637 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
638 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
639 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
640 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
641 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
646 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
647 void navigation_markroutes_inverted(entity fixed_source_waypoint)
651 IL_EACH(g_waypoints, true,
653 it.wpconsidered = false;
654 it.wpnearestpoint = '0 0 0';
655 it.wpcost = 10000000;
660 if(fixed_source_waypoint)
662 fixed_source_waypoint.wpconsidered = true;
663 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
664 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
665 fixed_source_waypoint.wpfire = 1;
666 fixed_source_waypoint.enemy = NULL;
670 error("need to start with a waypoint\n");
673 bool searching = true;
677 IL_EACH(g_waypoints, it.wpfire,
681 cost = it.wpcost; // cost to walk from it to home
682 p = it.wpnearestpoint;
684 IL_EACH(g_waypoints, true,
686 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
687 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
688 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
689 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
690 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
691 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
692 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
693 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
695 cost2 = cost + it.dmg;
696 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
702 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
703 void navigation_routerating(entity this, entity e, float f, float rangebias)
713 bool rate_wps = false;
714 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
719 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
720 int t = pointcontents(trace_endpos + '0 0 1');
721 if(t != CONTENT_SOLID )
723 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
725 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
733 entity best_wp = NULL;
734 float best_dist = 10000;
735 IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
736 && vdist(it.origin - this.origin, >, 100)
737 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
739 float dist = vlen(it.origin - theEnemy.origin);
740 if (dist < best_dist)
752 vector o = (e.absmin + e.absmax) * 0.5;
754 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
756 // Evaluate path using jetpack
758 if(this.items & IT_JETPACK)
759 if(autocvar_bot_ai_navigation_jetpack)
760 if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
762 vector pointa, pointb;
764 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
767 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
768 pointa = trace_endpos - '0 0 1';
771 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
772 pointb = trace_endpos - '0 0 1';
774 // Can I see these two points from the sky?
775 traceline(pointa, pointb, MOVE_NORMAL, this);
777 if(trace_fraction==1)
779 LOG_DEBUG("jetpack ai: can bridge these two points");
781 // Lower the altitude of these points as much as possible
782 float zdistance, xydistance, cost, t, fuel;
783 vector down, npa, npb;
785 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
791 if(npa.z<=this.absmax.z)
794 if(npb.z<=e.absmax.z)
797 traceline(npa, npb, MOVE_NORMAL, this);
798 if(trace_fraction==1)
804 while(trace_fraction == 1);
807 // Rough estimation of fuel consumption
808 // (ignores acceleration and current xyz velocity)
809 xydistance = vlen(pointa - pointb);
810 zdistance = fabs(pointa.z - this.origin.z);
812 t = zdistance / autocvar_g_jetpack_maxspeed_up;
813 t += xydistance / autocvar_g_jetpack_maxspeed_side;
814 fuel = t * autocvar_g_jetpack_fuel * 0.8;
816 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
819 if(this.ammo_fuel>fuel)
822 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
823 // - between air and ground speeds)
825 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
826 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
829 // Compare against other goals
830 f = f * rangebias / (rangebias + cost);
832 if (navigation_bestrating < f)
834 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
835 navigation_bestrating = f;
836 navigation_bestgoal = e;
837 this.navigation_jetpack_goal = e;
838 this.navigation_jetpack_point = pointb;
846 //te_wizspike(e.origin);
849 // update the cached spawnfunc_waypoint link on a dynamic item entity
850 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
856 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
857 e.nearestwaypoint = NULL;
859 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
860 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
862 nwp = navigation_findnearestwaypoint(e, true);
864 e.nearestwaypoint = nwp;
867 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
869 if(!e.navigation_dynamicgoal)
870 e.blacklisted = true;
874 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
879 if(e.navigation_dynamicgoal)
880 e.nearestwaypointtimeout = time + 2;
881 else if(autocvar_g_waypointeditor)
882 e.nearestwaypointtimeout = time + 3 + random() * 2;
884 nwp = e.nearestwaypoint;
887 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
889 if (nwp.wpcost < 10000000)
891 //te_wizspike(nwp.wpnearestpoint);
892 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
893 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
894 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
895 if (navigation_bestrating < f)
897 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
898 navigation_bestrating = f;
899 navigation_bestgoal = e;
904 // adds an item to the the goal stack with the path to a given item
905 bool navigation_routetogoal(entity this, entity e, vector startposition)
907 // if there is no goal, just exit
913 // put the entity on the goal stack
914 //print("routetogoal ", etos(e), "\n");
915 navigation_pushroute(this, e);
917 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
919 this.wp_goal_prev1 = this.wp_goal_prev0;
920 this.wp_goal_prev0 = e;
924 if(e==this.navigation_jetpack_goal)
927 // if it can reach the goal there is nothing more to do
928 if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
931 entity nearest_wp = NULL;
932 // see if there are waypoints describing a path to the item
933 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
935 e = e.nearestwaypoint;
939 e = e.enemy; // we already have added it, so...
944 if(nearest_wp && nearest_wp.enemy)
946 // often path can be optimized by not adding the nearest waypoint
947 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode))
948 e = nearest_wp.enemy;
953 // add the spawnfunc_waypoint to the path
954 navigation_pushroute(this, e);
964 // removes any currently touching waypoints from the goal stack
965 // (this is how bots detect if they reached a goal)
966 void navigation_poptouchedgoals(entity this)
970 m1 = org + this.mins;
971 m2 = org + this.maxs;
973 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
975 // make sure jumppad is really hit, don't rely on distance based checks
976 // as they may report a touch even if it didn't really happen
977 if(this.lastteleporttime>0)
978 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
980 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
981 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
983 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
984 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
986 navigation_poproute(this);
991 // If for some reason the bot is closer to the next goal, pop the current one
992 if(this.goalstack01 && !wasfreed(this.goalstack01))
993 if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
994 if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
995 if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
997 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
998 navigation_poproute(this);
999 // TODO this may also be a nice idea to do "early" (e.g. by
1000 // manipulating the vlen() comparisons) to shorten paths in
1001 // general - this would make bots walk more "on rails" than
1002 // "zigzagging" which they currently do with sufficiently
1003 // random-like waypoints, and thus can make a nice bot
1004 // personality property
1007 // Loose goal touching check when running
1008 if(this.aistatus & AI_STATUS_RUNNING)
1009 if(this.goalcurrent.classname=="waypoint")
1010 if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
1011 if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
1013 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1015 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1016 if(trace_fraction==1)
1018 // Detect personal waypoints
1019 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1020 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1022 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1023 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1026 navigation_poproute(this);
1031 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1033 vector gc_min = this.goalcurrent.absmin;
1034 vector gc_max = this.goalcurrent.absmax;
1035 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1037 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1038 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1040 if(!boxesoverlap(m1, m2, gc_min, gc_max))
1043 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
1046 // Detect personal waypoints
1047 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1048 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1050 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1051 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1054 navigation_poproute(this);
1058 // begin a goal selection session (queries spawnfunc_waypoint network)
1059 void navigation_goalrating_start(entity this)
1061 if(this.aistatus & AI_STATUS_STUCK)
1064 this.navigation_jetpack_goal = NULL;
1065 navigation_bestrating = -1;
1066 navigation_clearroute(this);
1067 navigation_bestgoal = NULL;
1068 navigation_markroutes(this, NULL);
1071 // ends a goal selection session (updates goal stack to the best goal)
1072 void navigation_goalrating_end(entity this)
1074 if(this.aistatus & AI_STATUS_STUCK)
1077 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1078 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1080 // If the bot got stuck then try to reach the farthest waypoint
1081 if (!this.goalentity && autocvar_bot_wander_enable)
1083 if (!(this.aistatus & AI_STATUS_STUCK))
1085 LOG_DEBUG(this.netname, " cannot walk to any goal");
1086 this.aistatus |= AI_STATUS_STUCK;
1091 void botframe_updatedangerousobjects(float maxupdate)
1093 vector m1, m2, v, o;
1096 IL_EACH(g_waypoints, true,
1101 IL_EACH(g_bot_dodge, it.bot_dodge,
1104 v.x = bound(m1_x, v.x, m2_x);
1105 v.y = bound(m1_y, v.y, m2_y);
1106 v.z = bound(m1_z, v.z, m2_z);
1107 o = (it.absmin + it.absmax) * 0.5;
1108 d = it.bot_dodgerating - vlen(o - v);
1111 traceline(o, v, true, NULL);
1112 if (trace_fraction == 1)
1113 danger = danger + d;
1123 void navigation_unstuck(entity this)
1125 float search_radius = 1000;
1127 if (!autocvar_bot_wander_enable)
1130 if (!bot_waypoint_queue_owner)
1132 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1133 bot_waypoint_queue_owner = this;
1134 bot_waypoint_queue_bestgoal = NULL;
1135 bot_waypoint_queue_bestgoalrating = 0;
1138 if(bot_waypoint_queue_owner!=this)
1141 if (bot_waypoint_queue_goal)
1143 // evaluate the next goal on the queue
1144 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1145 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1146 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1148 if( d > bot_waypoint_queue_bestgoalrating)
1150 bot_waypoint_queue_bestgoalrating = d;
1151 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1154 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1156 if (!bot_waypoint_queue_goal)
1158 if (bot_waypoint_queue_bestgoal)
1160 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1161 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1162 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1163 this.aistatus &= ~AI_STATUS_STUCK;
1167 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1170 bot_waypoint_queue_owner = NULL;
1175 if(bot_strategytoken!=this)
1178 // build a new queue
1179 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1181 entity first = NULL;
1183 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1185 if(bot_waypoint_queue_goal)
1186 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1190 bot_waypoint_queue_goal = it;
1191 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1195 bot_waypoint_queue_goal = first;
1198 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1199 bot_waypoint_queue_owner = NULL;
1204 // Support for debugging tracewalk visually
1206 void debugresetnodes()
1208 debuglastnode = '0 0 0';
1211 void debugnode(entity this, vector node)
1213 if (!IS_PLAYER(this))
1216 if(debuglastnode=='0 0 0')
1218 debuglastnode = node;
1222 te_lightning2(NULL, node, debuglastnode);
1223 debuglastnode = node;
1226 void debugnodestatus(vector position, float status)
1232 case DEBUG_NODE_SUCCESS:
1235 case DEBUG_NODE_WARNING:
1238 case DEBUG_NODE_FAIL:
1245 te_customflash(position, 40, 2, c);
1248 // Support for debugging the goal stack visually
1251 .vector lastposition;
1253 // Debug the goal stack visually
1254 void debuggoalstack(entity this)
1259 if(this.goalcounter==0)goal=this.goalcurrent;
1260 else if(this.goalcounter==1)goal=this.goalstack01;
1261 else if(this.goalcounter==2)goal=this.goalstack02;
1262 else if(this.goalcounter==3)goal=this.goalstack03;
1263 else if(this.goalcounter==4)goal=this.goalstack04;
1264 else if(this.goalcounter==5)goal=this.goalstack05;
1265 else if(this.goalcounter==6)goal=this.goalstack06;
1266 else if(this.goalcounter==7)goal=this.goalstack07;
1267 else if(this.goalcounter==8)goal=this.goalstack08;
1268 else if(this.goalcounter==9)goal=this.goalstack09;
1269 else if(this.goalcounter==10)goal=this.goalstack10;
1270 else if(this.goalcounter==11)goal=this.goalstack11;
1271 else if(this.goalcounter==12)goal=this.goalstack12;
1272 else if(this.goalcounter==13)goal=this.goalstack13;
1273 else if(this.goalcounter==14)goal=this.goalstack14;
1274 else if(this.goalcounter==15)goal=this.goalstack15;
1275 else if(this.goalcounter==16)goal=this.goalstack16;
1276 else if(this.goalcounter==17)goal=this.goalstack17;
1277 else if(this.goalcounter==18)goal=this.goalstack18;
1278 else if(this.goalcounter==19)goal=this.goalstack19;
1279 else if(this.goalcounter==20)goal=this.goalstack20;
1280 else if(this.goalcounter==21)goal=this.goalstack21;
1281 else if(this.goalcounter==22)goal=this.goalstack22;
1282 else if(this.goalcounter==23)goal=this.goalstack23;
1283 else if(this.goalcounter==24)goal=this.goalstack24;
1284 else if(this.goalcounter==25)goal=this.goalstack25;
1285 else if(this.goalcounter==26)goal=this.goalstack26;
1286 else if(this.goalcounter==27)goal=this.goalstack27;
1287 else if(this.goalcounter==28)goal=this.goalstack28;
1288 else if(this.goalcounter==29)goal=this.goalstack29;
1289 else if(this.goalcounter==30)goal=this.goalstack30;
1290 else if(this.goalcounter==31)goal=this.goalstack31;
1295 this.goalcounter = 0;
1296 this.lastposition='0 0 0';
1300 if(this.lastposition=='0 0 0')
1303 org = this.lastposition;
1306 go = ( goal.absmin + goal.absmax ) * 0.5;
1307 te_lightning2(NULL, org, go);
1308 this.lastposition = go;