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 bool navigation_check_submerged_state(entity ent, vector pos)
44 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
45 else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
46 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
49 submerged = SUBMERGED(pos);
50 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
51 // is actually submerged because often they are inside some solid.
52 // That's why submerged state is saved now that we know current pos is
53 // not stuck in solid (previous tracewalk call to this pos was successfully)
54 if(!ent.navigation_dynamicgoal)
55 ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
60 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
62 IL_EACH(g_ladders, it.classname == "func_ladder",
65 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
66 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
69 top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
70 tracebox(org, m1, m2, top, movemode, e);
71 if(trace_fraction == 1)
78 vector resurface_limited(vector org, float lim, vector m1)
80 if (WETFEET(org + eZ * (lim - org.z)))
84 float RES_min_h = org.z;
85 float RES_max_h = lim;
87 org.z = 0.5 * (RES_min_h + RES_max_h);
92 } while (RES_max_h - RES_min_h >= 1);
97 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
100 #define NAV_SWIM_ONWATER 1
101 #define NAV_SWIM_UNDERWATER 2
103 // rough simulation of walking from one point to another to test if a path
104 // can be traveled, used for waypoint linking and havocbot
105 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
106 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
108 if(autocvar_bot_debug_tracewalk)
115 vector flatdir = end - start;
117 float flatdist = vlen(flatdir);
118 flatdir = normalize(flatdir);
120 bool ignorehazards = false;
123 // Analyze starting point
124 traceline(start, start, MOVE_NORMAL, e);
125 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
126 ignorehazards = true;
128 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
129 if (trace_startsolid)
132 if(autocvar_bot_debug_tracewalk)
133 debugnodestatus(start, DEBUG_NODE_FAIL);
135 //print("tracewalk: ", vtos(start), " is a bad start\n");
141 end2.z += end_height;
143 vector fixed_end = end;
146 if (flatdist > 0 && WETFEET(org))
149 nav_action = NAV_SWIM_UNDERWATER;
152 // tracebox down by player's height
153 // useful to know if water level is so low that bot can still walk
154 tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
155 if (SUBMERGED(trace_endpos))
158 nav_action = NAV_SWIM_UNDERWATER;
161 nav_action = NAV_WALK;
165 nav_action = NAV_WALK;
173 if (org.z > end2.z + 1)
175 tracebox(org, m1, m2, end2, movemode, e);
177 if (org.z > end2.z + 1)
180 else if (org.z < end.z - 1)
182 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
183 if (SUBMERGED(trace_endpos))
184 RESURFACE_LIMITED(trace_endpos, end.z);
185 else if (trace_endpos.z > org.z - jumpheight_vec.z)
186 tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
188 if (org.z < end.z - 1)
195 if(autocvar_bot_debug_tracewalk)
198 debugnodestatus(org, DEBUG_NODE_SUCCESS);
201 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
206 if(autocvar_bot_debug_tracewalk)
212 if (stepdist > flatdist)
214 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
216 // can't use movement direction here to calculate move because of
217 // precision errors especially when direction has a high enough z value
218 //water_dir = normalize(water_end - org);
219 //move = org + water_dir * stepdist;
220 fixed_end.z = bound(end.z, org.z, end2.z);
221 if (stepdist == flatdist) {
225 move = org + (fixed_end - org) * (stepdist / flatdist);
226 flatdist = vlen(vec2(fixed_end - move));
229 else // horiz. direction
231 flatdist -= stepdist;
232 move = org + flatdir * stepdist;
235 if(nav_action == NAV_SWIM_ONWATER)
237 tracebox(org, m1, m2, move, movemode, e); // swim
240 if (trace_fraction < 1)
243 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
245 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
248 if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
250 if(autocvar_bot_debug_tracewalk)
253 debugnodestatus(org, DEBUG_NODE_SUCCESS);
256 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
260 if(autocvar_bot_debug_tracewalk)
261 debugnodestatus(org, DEBUG_NODE_FAIL);
264 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
275 if (org.z <= move.z) // going horiz.
277 tracebox(trace_endpos, m1, m2, move, movemode, e);
279 nav_action = NAV_WALK;
284 if (org.z <= move.z) // going horiz.
287 nav_action = NAV_SWIM_ONWATER;
293 nav_action = NAV_SWIM_UNDERWATER;
295 nav_action = NAV_SWIM_ONWATER;
298 else if(nav_action == NAV_SWIM_UNDERWATER)
300 if (move.z >= org.z) // swimming upwards or horiz.
302 tracebox(org, m1, m2, move, movemode, e); // swim
304 bool stepswimmed = false;
307 if (trace_fraction < 1)
310 vector stepswim_move = move + stepheightvec;
311 if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
312 stepswim_move.z = end2.z;
314 tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
317 if (trace_startsolid)
319 if(autocvar_bot_debug_tracewalk)
320 debugnodestatus(org, DEBUG_NODE_FAIL);
322 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
326 if (trace_fraction < 1)
328 float org_z_prev = org.z;
329 RESURFACE_LIMITED(org, end2.z);
330 if(org.z == org_z_prev)
332 if(autocvar_bot_debug_tracewalk)
333 debugnodestatus(org, DEBUG_NODE_FAIL);
335 //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
339 nav_action = NAV_SWIM_UNDERWATER;
341 nav_action = NAV_SWIM_ONWATER;
343 // we didn't advance horiz. in this step, flatdist decrease should be reverted
344 // but we can't do it properly right now... apply this workaround instead
362 if (!WETFEET(trace_endpos))
364 tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
365 // if stepswimmed we'll land on the obstacle, avoid the SUBMERGED check
366 if (!stepswimmed && SUBMERGED(trace_endpos))
368 RESURFACE_LIMITED(trace_endpos, end2.z);
370 nav_action = NAV_SWIM_ONWATER;
376 nav_action = NAV_WALK;
382 nav_action = NAV_SWIM_UNDERWATER;
385 else //if (move.z < org.z) // swimming downwards
387 tracebox(org, m1, m2, move, movemode, e); // swim
390 if (trace_fraction < 1)
393 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
396 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
398 if(autocvar_bot_debug_tracewalk)
399 debugnodestatus(move, DEBUG_NODE_FAIL);
401 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
413 if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
415 // stepswim caused upwards direction
416 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
417 if (!SUBMERGED(trace_endpos))
420 nav_action = NAV_WALK;
427 nav_action = NAV_SWIM_UNDERWATER;
431 else if(nav_action == NAV_WALK)
434 tracebox(org, m1, m2, move, movemode, e);
436 if(autocvar_bot_debug_tracewalk)
437 debugnode(e, trace_endpos);
440 if (trace_fraction < 1)
442 // check if we can walk over this obstacle, possibly by jumpstepping
443 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
444 if (trace_fraction < 1 || trace_startsolid)
446 if (trace_startsolid) // hit ceiling above org
448 // reduce stepwalk height
449 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
450 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
452 else //if (trace_fraction < 1)
454 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
455 if (trace_startsolid) // hit ceiling above org
457 // reduce jumpstepwalk height
458 tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
459 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
463 if (trace_fraction < 1)
465 vector v = trace_endpos;
466 v.z = org.z + jumpheight_vec.z;
467 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
469 if(autocvar_bot_debug_tracewalk)
472 debugnodestatus(v, DEBUG_NODE_SUCCESS);
475 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
479 if(autocvar_bot_debug_tracewalk)
480 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
482 traceline( org, move, movemode, e);
484 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
488 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
490 nextmove = move + (flatdir * stepdist);
491 traceline( move, nextmove, movemode, e);
494 flatdist = vlen(vec2(end - move));
498 if(autocvar_bot_debug_tracewalk)
499 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
501 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
502 //te_explosion(trace_endpos);
503 //print(ftos(e.dphitcontentsmask), "\n");
504 return false; // failed
516 // trace down from stepheight as far as possible and move there,
517 // if this starts in solid we try again without the stepup, and
518 // if that also fails we assume it is a wall
519 // (this is the same logic as the Quake walkmove function used)
520 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
528 if(autocvar_bot_debug_tracewalk)
530 debugnode(e, trace_endpos);
531 debugnodestatus(org, DEBUG_NODE_FAIL);
534 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
541 if(move.z >= end2.z && org.z < end2.z)
546 if(org.z > move.z - 1 || !SUBMERGED(org))
548 nav_action = NAV_WALK;
552 // ended up submerged while walking
553 if(autocvar_bot_debug_tracewalk)
556 RESURFACE_LIMITED(org, move.z);
557 nav_action = NAV_SWIM_ONWATER;
562 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
564 // moved but didn't arrive at the intended destination
565 if(autocvar_bot_debug_tracewalk)
566 debugnodestatus(org, DEBUG_NODE_FAIL);
571 /////////////////////////////////////////////////////////////////////////////
573 /////////////////////////////////////////////////////////////////////////////
575 // completely empty the goal stack, used when deciding where to go
576 void navigation_clearroute(entity this)
578 this.goalcurrent_prev = this.goalcurrent;
579 this.goalcurrent_distance = 10000000;
580 this.goalcurrent_distance_time = 0;
581 //print("bot ", etos(this), " clear\n");
582 this.goalentity = NULL;
583 this.goalcurrent = NULL;
584 this.goalstack01 = NULL;
585 this.goalstack02 = NULL;
586 this.goalstack03 = NULL;
587 this.goalstack04 = NULL;
588 this.goalstack05 = NULL;
589 this.goalstack06 = NULL;
590 this.goalstack07 = NULL;
591 this.goalstack08 = NULL;
592 this.goalstack09 = NULL;
593 this.goalstack10 = NULL;
594 this.goalstack11 = NULL;
595 this.goalstack12 = NULL;
596 this.goalstack13 = NULL;
597 this.goalstack14 = NULL;
598 this.goalstack15 = NULL;
599 this.goalstack16 = NULL;
600 this.goalstack17 = NULL;
601 this.goalstack18 = NULL;
602 this.goalstack19 = NULL;
603 this.goalstack20 = NULL;
604 this.goalstack21 = NULL;
605 this.goalstack22 = NULL;
606 this.goalstack23 = NULL;
607 this.goalstack24 = NULL;
608 this.goalstack25 = NULL;
609 this.goalstack26 = NULL;
610 this.goalstack27 = NULL;
611 this.goalstack28 = NULL;
612 this.goalstack29 = NULL;
613 this.goalstack30 = NULL;
614 this.goalstack31 = NULL;
617 // add a new goal at the beginning of the stack
618 // (in other words: add a new prerequisite before going to the later goals)
619 // NOTE: when a waypoint is added, the WP gets pushed first, then the
620 // next-closest WP on the shortest path to the WP
621 // That means, if the stack overflows, the bot will know how to do the FIRST 32
622 // steps to the goal, and then recalculate the path.
623 void navigation_pushroute(entity this, entity e)
625 this.goalcurrent_prev = this.goalcurrent;
626 this.goalcurrent_distance = 10000000;
627 this.goalcurrent_distance_time = 0;
628 //print("bot ", etos(this), " push ", etos(e), "\n");
629 if(this.goalstack31 == this.goalentity)
630 this.goalentity = NULL;
631 this.goalstack31 = this.goalstack30;
632 this.goalstack30 = this.goalstack29;
633 this.goalstack29 = this.goalstack28;
634 this.goalstack28 = this.goalstack27;
635 this.goalstack27 = this.goalstack26;
636 this.goalstack26 = this.goalstack25;
637 this.goalstack25 = this.goalstack24;
638 this.goalstack24 = this.goalstack23;
639 this.goalstack23 = this.goalstack22;
640 this.goalstack22 = this.goalstack21;
641 this.goalstack21 = this.goalstack20;
642 this.goalstack20 = this.goalstack19;
643 this.goalstack19 = this.goalstack18;
644 this.goalstack18 = this.goalstack17;
645 this.goalstack17 = this.goalstack16;
646 this.goalstack16 = this.goalstack15;
647 this.goalstack15 = this.goalstack14;
648 this.goalstack14 = this.goalstack13;
649 this.goalstack13 = this.goalstack12;
650 this.goalstack12 = this.goalstack11;
651 this.goalstack11 = this.goalstack10;
652 this.goalstack10 = this.goalstack09;
653 this.goalstack09 = this.goalstack08;
654 this.goalstack08 = this.goalstack07;
655 this.goalstack07 = this.goalstack06;
656 this.goalstack06 = this.goalstack05;
657 this.goalstack05 = this.goalstack04;
658 this.goalstack04 = this.goalstack03;
659 this.goalstack03 = this.goalstack02;
660 this.goalstack02 = this.goalstack01;
661 this.goalstack01 = this.goalcurrent;
662 this.goalcurrent = e;
665 // remove first goal from stack
666 // (in other words: remove a prerequisite for reaching the later goals)
667 // (used when a spawnfunc_waypoint is reached)
668 void navigation_poproute(entity this)
670 this.goalcurrent_prev = this.goalcurrent;
671 this.goalcurrent_distance = 10000000;
672 this.goalcurrent_distance_time = 0;
673 //print("bot ", etos(this), " pop\n");
674 if(this.goalcurrent == this.goalentity)
675 this.goalentity = NULL;
676 this.goalcurrent = this.goalstack01;
677 this.goalstack01 = this.goalstack02;
678 this.goalstack02 = this.goalstack03;
679 this.goalstack03 = this.goalstack04;
680 this.goalstack04 = this.goalstack05;
681 this.goalstack05 = this.goalstack06;
682 this.goalstack06 = this.goalstack07;
683 this.goalstack07 = this.goalstack08;
684 this.goalstack08 = this.goalstack09;
685 this.goalstack09 = this.goalstack10;
686 this.goalstack10 = this.goalstack11;
687 this.goalstack11 = this.goalstack12;
688 this.goalstack12 = this.goalstack13;
689 this.goalstack13 = this.goalstack14;
690 this.goalstack14 = this.goalstack15;
691 this.goalstack15 = this.goalstack16;
692 this.goalstack16 = this.goalstack17;
693 this.goalstack17 = this.goalstack18;
694 this.goalstack18 = this.goalstack19;
695 this.goalstack19 = this.goalstack20;
696 this.goalstack20 = this.goalstack21;
697 this.goalstack21 = this.goalstack22;
698 this.goalstack22 = this.goalstack23;
699 this.goalstack23 = this.goalstack24;
700 this.goalstack24 = this.goalstack25;
701 this.goalstack25 = this.goalstack26;
702 this.goalstack26 = this.goalstack27;
703 this.goalstack27 = this.goalstack28;
704 this.goalstack28 = this.goalstack29;
705 this.goalstack29 = this.goalstack30;
706 this.goalstack30 = this.goalstack31;
707 this.goalstack31 = NULL;
710 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
711 // waypoint destination coordinates instead of v (only useful for box waypoints)
712 // for normal waypoints v2 == v and v2_height == 0
713 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, float walkfromwp, float bestdist)
715 if (vdist(v - org, <, bestdist))
717 traceline(v, org, true, ent);
718 if (trace_fraction == 1)
722 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, 0, bot_navigation_movemode))
727 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
735 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
736 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
738 vector pm1 = ent.origin + ent.mins;
739 vector pm2 = ent.origin + ent.maxs;
741 // do two scans, because box test is cheaper
742 IL_EACH(g_waypoints, it != ent && it != except,
744 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
748 vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
749 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
750 // TODO possibly make other code have the same support for bboxes
752 org = org + ent.tag_entity.origin;
753 if (navigation_testtracewalk)
760 if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
762 waypoint_clearlinks(ent); // initialize wpXXmincost fields
763 IL_EACH(g_waypoints, it != ent,
765 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
768 SET_TRACEWALK_DESTCOORDS_2(it, org, v, v2, v2_height);
769 if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, walkfromwp, 1050))
770 navigation_item_addlink(it, ent);
774 // box check failed, try walk
775 IL_EACH(g_waypoints, it != ent,
777 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
779 SET_TRACEWALK_DESTCOORDS_2(it, org, v, v2, v2_height);
780 if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, walkfromwp, bestdist))
782 bestdist = vlen(v - org);
788 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
790 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
791 if (autocvar_g_waypointeditor_auto)
793 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
795 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
800 // finds the waypoints near the bot initiating a navigation query
801 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
804 //navigation_testtracewalk = true;
807 IL_EACH(g_waypoints, !it.wpconsidered,
809 SET_TRACEWALK_DESTCOORDS(it, this.origin, v, v_height);
811 vector diff = v - this.origin;
812 diff.z = max(0, diff.z);
813 if(vdist(diff, <, maxdist))
815 it.wpconsidered = true;
816 if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
818 it.wpnearestpoint = v;
819 it.wpcost = waypoint_gettravelcost(this.origin, v, this, it) + it.dmg;
826 //navigation_testtracewalk = false;
830 // updates a path link if a spawnfunc_waypoint link is better than the current one
831 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
837 m1 = wp.origin + wp.mins;
838 m2 = wp.origin + wp.maxs;
839 v.x = bound(m1_x, p.x, m2_x);
840 v.y = bound(m1_y, p.y, m2_y);
841 v.z = bound(m1_z, p.z, m2_z);
845 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
846 cost += w.wp00mincost; // assuming teleport has exactly one destination
848 cost += waypoint_gettravelcost(p, v, w, wp);
849 if (wp.wpcost > cost)
854 wp.wpnearestpoint = v;
858 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
859 void navigation_markroutes(entity this, entity fixed_source_waypoint)
864 IL_EACH(g_waypoints, true,
866 it.wpconsidered = false;
867 it.wpnearestpoint = '0 0 0';
868 it.wpcost = 10000000;
873 if(fixed_source_waypoint)
875 fixed_source_waypoint.wpconsidered = true;
876 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
877 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
878 fixed_source_waypoint.wpfire = 1;
879 fixed_source_waypoint.enemy = NULL;
883 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
884 // as this search is expensive we will use lower values if the bot is on the air
885 float increment, maxdistance;
886 if(IS_ONGROUND(this))
897 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
900 bool searching = true;
904 IL_EACH(g_waypoints, it.wpfire,
909 p = it.wpnearestpoint;
911 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
912 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
913 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
914 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
915 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
916 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
917 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
918 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
919 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
920 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
921 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
922 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
923 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
924 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
925 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
926 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
927 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
928 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
929 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
930 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
931 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
932 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
933 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
934 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
935 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
936 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
937 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
938 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
939 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
940 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
941 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
942 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
943 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
948 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
949 void navigation_markroutes_inverted(entity fixed_source_waypoint)
953 IL_EACH(g_waypoints, true,
955 it.wpconsidered = false;
956 it.wpnearestpoint = '0 0 0';
957 it.wpcost = 10000000;
962 if(fixed_source_waypoint)
964 fixed_source_waypoint.wpconsidered = true;
965 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
966 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
967 fixed_source_waypoint.wpfire = 1;
968 fixed_source_waypoint.enemy = NULL;
972 error("need to start with a waypoint\n");
975 bool searching = true;
979 IL_EACH(g_waypoints, it.wpfire,
983 cost = it.wpcost; // cost to walk from it to home
984 p = it.wpnearestpoint;
986 IL_EACH(g_waypoints, it != wp,
988 if(!waypoint_islinked(it, wp))
990 cost2 = cost + it.dmg;
991 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
997 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
998 void navigation_routerating(entity this, entity e, float f, float rangebias)
1006 rangebias = waypoint_getlinearcost(rangebias);
1007 f = waypoint_getlinearcost(f);
1011 bool rate_wps = false;
1012 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
1017 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1018 int t = pointcontents(trace_endpos + '0 0 1');
1019 if(t != CONTENT_SOLID )
1021 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1023 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1030 entity theEnemy = e;
1031 entity best_wp = NULL;
1032 float best_dist = 10000;
1033 IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
1034 && vdist(it.origin - this.origin, >, 100)
1035 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1037 float dist = vlen(it.origin - theEnemy.origin);
1038 if (dist < best_dist)
1050 vector goal_org = (e.absmin + e.absmax) * 0.5;
1052 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1054 // Evaluate path using jetpack
1056 if(this.items & IT_JETPACK)
1057 if(autocvar_bot_ai_navigation_jetpack)
1058 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1060 vector pointa, pointb;
1062 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1065 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1066 pointa = trace_endpos - '0 0 1';
1069 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1070 pointb = trace_endpos - '0 0 1';
1072 // Can I see these two points from the sky?
1073 traceline(pointa, pointb, MOVE_NORMAL, this);
1075 if(trace_fraction==1)
1077 LOG_DEBUG("jetpack ai: can bridge these two points");
1079 // Lower the altitude of these points as much as possible
1080 float zdistance, xydistance, cost, t, fuel;
1081 vector down, npa, npb;
1083 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1086 npa = pointa + down;
1087 npb = pointb + down;
1089 if(npa.z<=this.absmax.z)
1092 if(npb.z<=e.absmax.z)
1095 traceline(npa, npb, MOVE_NORMAL, this);
1096 if(trace_fraction==1)
1102 while(trace_fraction == 1);
1105 // Rough estimation of fuel consumption
1106 // (ignores acceleration and current xyz velocity)
1107 xydistance = vlen(pointa - pointb);
1108 zdistance = fabs(pointa.z - this.origin.z);
1110 t = zdistance / autocvar_g_jetpack_maxspeed_up;
1111 t += xydistance / autocvar_g_jetpack_maxspeed_side;
1112 fuel = t * autocvar_g_jetpack_fuel * 0.8;
1114 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
1117 if(this.ammo_fuel>fuel)
1120 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1121 // - between air and ground speeds)
1123 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1124 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1127 // Compare against other goals
1128 f = f * rangebias / (rangebias + cost);
1130 if (navigation_bestrating < f)
1132 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1133 navigation_bestrating = f;
1134 navigation_bestgoal = e;
1135 this.navigation_jetpack_goal = e;
1136 this.navigation_jetpack_point = pointb;
1144 //te_wizspike(e.origin);
1147 // update the cached spawnfunc_waypoint link on a dynamic item entity
1148 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1154 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1155 e.nearestwaypoint = NULL;
1157 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1158 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1160 nwp = navigation_findnearestwaypoint(e, true);
1163 e.nearestwaypoint = nwp;
1165 vector m1 = nwp.absmin, m2 = nwp.absmax;
1166 m1.x = nwp.origin.x; m1.y = nwp.origin.y;
1167 m2.x = nwp.origin.x; m2.y = nwp.origin.y;
1168 vector ve = (e.absmin - e.absmax) * 0.5;
1169 ve.x = bound(m1.x, ve.x, m2.x);
1170 ve.y = bound(m1.y, ve.y, m2.y);
1171 ve.z = bound(m1.z, ve.z, m2.z);
1173 m1 = e.absmin; m2 = e.absmax;
1174 m1.x = e.origin.x; m1.y = e.origin.y;
1175 m2.x = e.origin.x; m2.y = e.origin.y;
1176 vector vnwp = nwp.origin;
1177 vnwp.x = bound(m1.x, vnwp.x, m2.x);
1178 vnwp.y = bound(m1.y, vnwp.y, m2.y);
1179 vnwp.z = bound(m1.z, vnwp.z, m2.z);
1180 e.nearestwaypoint_dist = vlen(ve - vnwp);
1184 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1186 if(!e.navigation_dynamicgoal)
1187 e.blacklisted = true;
1191 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1196 if(e.navigation_dynamicgoal)
1197 e.nearestwaypointtimeout = time + 2;
1198 else if(autocvar_g_waypointeditor)
1199 e.nearestwaypointtimeout = time + 3 + random() * 2;
1201 nwp = e.nearestwaypoint;
1204 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1206 if (nwp.wpcost < 10000000)
1208 //te_wizspike(nwp.wpnearestpoint);
1209 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1210 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1211 f = f * rangebias / (rangebias + cost);
1212 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1213 if (navigation_bestrating < f)
1215 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1216 navigation_bestrating = f;
1217 navigation_bestgoal = e;
1222 // adds an item to the the goal stack with the path to a given item
1223 bool navigation_routetogoal(entity this, entity e, vector startposition)
1225 // if there is no goal, just exit
1229 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1231 // force teleport destination as route destination
1236 this.goalentity = e;
1238 // put the entity on the goal stack
1239 //print("routetogoal ", etos(e), "\n");
1240 navigation_pushroute(this, e);
1242 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1244 this.wp_goal_prev1 = this.wp_goal_prev0;
1245 this.wp_goal_prev0 = e;
1249 if(e==this.navigation_jetpack_goal)
1252 // if it can reach the goal there is nothing more to do
1253 vector dest = (e.absmin + e.absmax) * 0.5;
1254 dest.z = e.absmin.z;
1255 float dest_height = e.absmax.z - e.absmin.z;
1256 if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1259 entity nearest_wp = NULL;
1260 // see if there are waypoints describing a path to the item
1261 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1263 e = e.nearestwaypoint;
1267 e = e.enemy; // we already have added it, so...
1272 if(nearest_wp && nearest_wp.enemy)
1274 // often path can be optimized by not adding the nearest waypoint
1275 if (this.goalentity.nearestwaypoint_dist < 8)
1276 e = nearest_wp.enemy;
1279 if (this.goalentity.navigation_dynamicgoal)
1281 vector dest = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
1282 dest.z = this.goalentity.absmin.z;
1283 float dest_height = this.goalentity.absmax.z - this.goalentity.absmin.z;
1284 if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1285 e = nearest_wp.enemy;
1287 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1288 e = nearest_wp.enemy;
1294 // add the spawnfunc_waypoint to the path
1295 navigation_pushroute(this, e);
1305 // removes any currently touching waypoints from the goal stack
1306 // (this is how bots detect if they reached a goal)
1307 void navigation_poptouchedgoals(entity this)
1309 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1311 // make sure jumppad is really hit, don't rely on distance based checks
1312 // as they may report a touch even if it didn't really happen
1313 if(this.lastteleporttime > 0
1314 && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1316 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1317 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1319 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1320 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1322 navigation_poproute(this);
1328 // If for some reason the bot is closer to the next goal, pop the current one
1329 if(this.goalstack01 && !wasfreed(this.goalstack01))
1330 if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
1331 if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1333 vector dest = (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5;
1334 dest.z = this.goalstack01.absmin.z;
1335 float dest_height = this.goalstack01.absmax.z - this.goalstack01.absmin.z;
1336 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1338 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1339 navigation_poproute(this);
1340 // TODO this may also be a nice idea to do "early" (e.g. by
1341 // manipulating the vlen() comparisons) to shorten paths in
1342 // general - this would make bots walk more "on rails" than
1343 // "zigzagging" which they currently do with sufficiently
1344 // random-like waypoints, and thus can make a nice bot
1345 // personality property
1349 // Loose goal touching check when running
1350 if(this.aistatus & AI_STATUS_RUNNING)
1351 if(this.goalcurrent.classname=="waypoint")
1352 if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1354 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1356 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1357 if(trace_fraction==1)
1359 // Detect personal waypoints
1360 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1361 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1363 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1364 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1367 navigation_poproute(this);
1372 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1374 vector gc_min = this.goalcurrent.absmin;
1375 vector gc_max = this.goalcurrent.absmax;
1376 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1378 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1379 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1381 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1384 // Detect personal waypoints
1385 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1386 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1388 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1389 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1392 navigation_poproute(this);
1396 // begin a goal selection session (queries spawnfunc_waypoint network)
1397 void navigation_goalrating_start(entity this)
1399 if(this.aistatus & AI_STATUS_STUCK)
1402 this.navigation_jetpack_goal = NULL;
1403 navigation_bestrating = -1;
1404 navigation_clearroute(this);
1405 navigation_bestgoal = NULL;
1406 navigation_markroutes(this, NULL);
1409 // ends a goal selection session (updates goal stack to the best goal)
1410 void navigation_goalrating_end(entity this)
1412 if(this.aistatus & AI_STATUS_STUCK)
1415 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1416 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1418 // If the bot got stuck then try to reach the farthest waypoint
1419 if (!this.goalentity && autocvar_bot_wander_enable)
1421 if (!(this.aistatus & AI_STATUS_STUCK))
1423 LOG_DEBUG(this.netname, " cannot walk to any goal");
1424 this.aistatus |= AI_STATUS_STUCK;
1429 void botframe_updatedangerousobjects(float maxupdate)
1431 vector m1, m2, v, o;
1435 IL_EACH(g_waypoints, true,
1441 IL_EACH(g_bot_dodge, it.bot_dodge,
1444 v.x = bound(m1_x, v.x, m2_x);
1445 v.y = bound(m1_y, v.y, m2_y);
1446 v.z = bound(m1_z, v.z, m2_z);
1447 o = (it.absmin + it.absmax) * 0.5;
1448 d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1451 traceline(o, v, true, NULL);
1452 if (trace_fraction == 1)
1453 danger = danger + d;
1463 void navigation_unstuck(entity this)
1465 float search_radius = 1000;
1467 if (!autocvar_bot_wander_enable)
1470 if (!bot_waypoint_queue_owner)
1472 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1473 bot_waypoint_queue_owner = this;
1474 bot_waypoint_queue_bestgoal = NULL;
1475 bot_waypoint_queue_bestgoalrating = 0;
1478 if(bot_waypoint_queue_owner!=this)
1481 if (bot_waypoint_queue_goal)
1483 // evaluate the next goal on the queue
1484 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1485 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1486 vector dest = (bot_waypoint_queue_goal.absmin + bot_waypoint_queue_goal.absmax) * 0.5;
1487 dest.z = bot_waypoint_queue_goal.absmin.z;
1488 float dest_height = bot_waypoint_queue_goal.absmax.z - bot_waypoint_queue_goal.absmin.z;
1489 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1491 if( d > bot_waypoint_queue_bestgoalrating)
1493 bot_waypoint_queue_bestgoalrating = d;
1494 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1497 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1499 if (!bot_waypoint_queue_goal)
1501 if (bot_waypoint_queue_bestgoal)
1503 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1504 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1505 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1506 this.aistatus &= ~AI_STATUS_STUCK;
1510 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1513 bot_waypoint_queue_owner = NULL;
1518 if(bot_strategytoken!=this)
1521 // build a new queue
1522 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1524 entity first = NULL;
1526 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1528 if(bot_waypoint_queue_goal)
1529 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1533 bot_waypoint_queue_goal = it;
1534 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1538 bot_waypoint_queue_goal = first;
1541 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1542 bot_waypoint_queue_owner = NULL;
1547 // Support for debugging tracewalk visually
1549 void debugresetnodes()
1551 debuglastnode = '0 0 0';
1554 void debugnode(entity this, vector node)
1556 if (!IS_PLAYER(this))
1559 if(debuglastnode=='0 0 0')
1561 debuglastnode = node;
1565 te_lightning2(NULL, node, debuglastnode);
1566 debuglastnode = node;
1569 void debugnodestatus(vector position, float status)
1575 case DEBUG_NODE_SUCCESS:
1578 case DEBUG_NODE_WARNING:
1581 case DEBUG_NODE_FAIL:
1588 te_customflash(position, 40, 2, c);
1591 // Support for debugging the goal stack visually
1594 .vector lastposition;
1596 // Debug the goal stack visually
1597 void debuggoalstack(entity this)
1602 if(this.goalcounter==0)goal=this.goalcurrent;
1603 else if(this.goalcounter==1)goal=this.goalstack01;
1604 else if(this.goalcounter==2)goal=this.goalstack02;
1605 else if(this.goalcounter==3)goal=this.goalstack03;
1606 else if(this.goalcounter==4)goal=this.goalstack04;
1607 else if(this.goalcounter==5)goal=this.goalstack05;
1608 else if(this.goalcounter==6)goal=this.goalstack06;
1609 else if(this.goalcounter==7)goal=this.goalstack07;
1610 else if(this.goalcounter==8)goal=this.goalstack08;
1611 else if(this.goalcounter==9)goal=this.goalstack09;
1612 else if(this.goalcounter==10)goal=this.goalstack10;
1613 else if(this.goalcounter==11)goal=this.goalstack11;
1614 else if(this.goalcounter==12)goal=this.goalstack12;
1615 else if(this.goalcounter==13)goal=this.goalstack13;
1616 else if(this.goalcounter==14)goal=this.goalstack14;
1617 else if(this.goalcounter==15)goal=this.goalstack15;
1618 else if(this.goalcounter==16)goal=this.goalstack16;
1619 else if(this.goalcounter==17)goal=this.goalstack17;
1620 else if(this.goalcounter==18)goal=this.goalstack18;
1621 else if(this.goalcounter==19)goal=this.goalstack19;
1622 else if(this.goalcounter==20)goal=this.goalstack20;
1623 else if(this.goalcounter==21)goal=this.goalstack21;
1624 else if(this.goalcounter==22)goal=this.goalstack22;
1625 else if(this.goalcounter==23)goal=this.goalstack23;
1626 else if(this.goalcounter==24)goal=this.goalstack24;
1627 else if(this.goalcounter==25)goal=this.goalstack25;
1628 else if(this.goalcounter==26)goal=this.goalstack26;
1629 else if(this.goalcounter==27)goal=this.goalstack27;
1630 else if(this.goalcounter==28)goal=this.goalstack28;
1631 else if(this.goalcounter==29)goal=this.goalstack29;
1632 else if(this.goalcounter==30)goal=this.goalstack30;
1633 else if(this.goalcounter==31)goal=this.goalstack31;
1638 this.goalcounter = 0;
1639 this.lastposition='0 0 0';
1643 if(this.lastposition=='0 0 0')
1646 org = this.lastposition;
1649 go = ( goal.absmin + goal.absmax ) * 0.5;
1650 te_lightning2(NULL, org, go);
1651 this.lastposition = go;