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.goalentity = NULL;
 236         this.goalcurrent = NULL;
 237         this.goalstack01 = NULL;
 238         this.goalstack02 = NULL;
 239         this.goalstack03 = NULL;
 240         this.goalstack04 = NULL;
 241         this.goalstack05 = NULL;
 242         this.goalstack06 = NULL;
 243         this.goalstack07 = NULL;
 244         this.goalstack08 = NULL;
 245         this.goalstack09 = NULL;
 246         this.goalstack10 = NULL;
 247         this.goalstack11 = NULL;
 248         this.goalstack12 = NULL;
 249         this.goalstack13 = NULL;
 250         this.goalstack14 = NULL;
 251         this.goalstack15 = NULL;
 252         this.goalstack16 = NULL;
 253         this.goalstack17 = NULL;
 254         this.goalstack18 = NULL;
 255         this.goalstack19 = NULL;
 256         this.goalstack20 = NULL;
 257         this.goalstack21 = NULL;
 258         this.goalstack22 = NULL;
 259         this.goalstack23 = NULL;
 260         this.goalstack24 = NULL;
 261         this.goalstack25 = NULL;
 262         this.goalstack26 = NULL;
 263         this.goalstack27 = NULL;
 264         this.goalstack28 = NULL;
 265         this.goalstack29 = NULL;
 266         this.goalstack30 = NULL;
 267         this.goalstack31 = NULL;
 268 }
 269
 270 // add a new goal at the beginning of the stack
 271 // (in other words: add a new prerequisite before going to the later goals)
 272 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 273 // next-closest WP on the shortest path to the WP
 274 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 275 // steps to the goal, and then recalculate the path.
 276 void navigation_pushroute(entity this, entity e)
 277 {
 278         //print("bot ", etos(this), " push ", etos(e), "\n");
 279         if(this.goalstack31 == this.goalentity)
 280                 this.goalentity = NULL;
 281         this.goalstack31 = this.goalstack30;
 282         this.goalstack30 = this.goalstack29;
 283         this.goalstack29 = this.goalstack28;
 284         this.goalstack28 = this.goalstack27;
 285         this.goalstack27 = this.goalstack26;
 286         this.goalstack26 = this.goalstack25;
 287         this.goalstack25 = this.goalstack24;
 288         this.goalstack24 = this.goalstack23;
 289         this.goalstack23 = this.goalstack22;
 290         this.goalstack22 = this.goalstack21;
 291         this.goalstack21 = this.goalstack20;
 292         this.goalstack20 = this.goalstack19;
 293         this.goalstack19 = this.goalstack18;
 294         this.goalstack18 = this.goalstack17;
 295         this.goalstack17 = this.goalstack16;
 296         this.goalstack16 = this.goalstack15;
 297         this.goalstack15 = this.goalstack14;
 298         this.goalstack14 = this.goalstack13;
 299         this.goalstack13 = this.goalstack12;
 300         this.goalstack12 = this.goalstack11;
 301         this.goalstack11 = this.goalstack10;
 302         this.goalstack10 = this.goalstack09;
 303         this.goalstack09 = this.goalstack08;
 304         this.goalstack08 = this.goalstack07;
 305         this.goalstack07 = this.goalstack06;
 306         this.goalstack06 = this.goalstack05;
 307         this.goalstack05 = this.goalstack04;
 308         this.goalstack04 = this.goalstack03;
 309         this.goalstack03 = this.goalstack02;
 310         this.goalstack02 = this.goalstack01;
 311         this.goalstack01 = this.goalcurrent;
 312         this.goalcurrent = e;
 313 }
 314
 315 // remove first goal from stack
 316 // (in other words: remove a prerequisite for reaching the later goals)
 317 // (used when a spawnfunc_waypoint is reached)
 318 void navigation_poproute(entity this)
 319 {
 320         //print("bot ", etos(this), " pop\n");
 321         if(this.goalcurrent == this.goalentity)
 322                 this.goalentity = NULL;
 323         this.goalcurrent = this.goalstack01;
 324         this.goalstack01 = this.goalstack02;
 325         this.goalstack02 = this.goalstack03;
 326         this.goalstack03 = this.goalstack04;
 327         this.goalstack04 = this.goalstack05;
 328         this.goalstack05 = this.goalstack06;
 329         this.goalstack06 = this.goalstack07;
 330         this.goalstack07 = this.goalstack08;
 331         this.goalstack08 = this.goalstack09;
 332         this.goalstack09 = this.goalstack10;
 333         this.goalstack10 = this.goalstack11;
 334         this.goalstack11 = this.goalstack12;
 335         this.goalstack12 = this.goalstack13;
 336         this.goalstack13 = this.goalstack14;
 337         this.goalstack14 = this.goalstack15;
 338         this.goalstack15 = this.goalstack16;
 339         this.goalstack16 = this.goalstack17;
 340         this.goalstack17 = this.goalstack18;
 341         this.goalstack18 = this.goalstack19;
 342         this.goalstack19 = this.goalstack20;
 343         this.goalstack20 = this.goalstack21;
 344         this.goalstack21 = this.goalstack22;
 345         this.goalstack22 = this.goalstack23;
 346         this.goalstack23 = this.goalstack24;
 347         this.goalstack24 = this.goalstack25;
 348         this.goalstack25 = this.goalstack26;
 349         this.goalstack26 = this.goalstack27;
 350         this.goalstack27 = this.goalstack28;
 351         this.goalstack28 = this.goalstack29;
 352         this.goalstack29 = this.goalstack30;
 353         this.goalstack30 = this.goalstack31;
 354         this.goalstack31 = NULL;
 355 }
 356
 357 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 358 {
 359         float dist;
 360         dist = vlen(v - org);
 361         if (bestdist > dist)
 362         {
 363                 traceline(v, org, true, ent);
 364                 if (trace_fraction == 1)
 365                 {
 366                         if (walkfromwp)
 367                         {
 368                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
 369                                         return true;
 370                         }
 371                         else
 372                         {
 373                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
 374                                         return true;
 375                         }
 376                 }
 377         }
 378         return false;
 379 }
 380
 381 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 382 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 383 {
 384         vector pm1 = ent.origin + ent.mins;
 385         vector pm2 = ent.origin + ent.maxs;
 386
 387         // do two scans, because box test is cheaper
 388         IL_EACH(g_waypoints, it != ent && it != except,
 389         {
 390                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 391                         return it;
 392         });
 393
 394         vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 395         org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 396         // TODO possibly make other code have the same support for bboxes
 397         if(ent.tag_entity)
 398                 org = org + ent.tag_entity.origin;
 399         if (navigation_testtracewalk)
 400                 te_plasmaburn(org);
 401
 402         entity best = NULL;
 403         vector v;
 404
 405         // box check failed, try walk
 406         IL_EACH(g_waypoints, it != ent,
 407         {
 408                 if(it.wpisbox)
 409                 {
 410                         vector wm1 = it.origin + it.mins;
 411                         vector wm2 = it.origin + it.maxs;
 412                         v.x = bound(wm1_x, org.x, wm2_x);
 413                         v.y = bound(wm1_y, org.y, wm2_y);
 414                         v.z = bound(wm1_z, org.z, wm2_z);
 415                 }
 416                 else
 417                         v = it.origin;
 418                 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 419                 {
 420                         bestdist = vlen(v - org);
 421                         best = it;
 422                 }
 423         });
 424         return best;
 425 }
 426 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 427 {
 428         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 429         if (autocvar_g_waypointeditor_auto)
 430         {
 431                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 432                 if (wp && !wp2)
 433                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 434         }
 435         return wp;
 436 }
 437
 438 // finds the waypoints near the bot initiating a navigation query
 439 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 440 {
 441         vector v, m1, m2;
 442 //      navigation_testtracewalk = true;
 443         int c = 0;
 444         IL_EACH(g_waypoints, !it.wpconsidered,
 445         {
 446                 if (it.wpisbox)
 447                 {
 448                         m1 = it.origin + it.mins;
 449                         m2 = it.origin + it.maxs;
 450                         v = this.origin;
 451                         v.x = bound(m1_x, v.x, m2_x);
 452                         v.y = bound(m1_y, v.y, m2_y);
 453                         v.z = bound(m1_z, v.z, m2_z);
 454                 }
 455                 else
 456                         v = it.origin;
 457                 vector diff = v - this.origin;
 458                 diff.z = max(0, diff.z);
 459                 if(vdist(diff, <, maxdist))
 460                 {
 461                         it.wpconsidered = true;
 462                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
 463                         {
 464                                 it.wpnearestpoint = v;
 465                                 it.wpcost = vlen(v - this.origin) + it.dmg;
 466                                 it.wpfire = 1;
 467                                 it.enemy = NULL;
 468                                 c = c + 1;
 469                         }
 470                 }
 471         });
 472         //navigation_testtracewalk = false;
 473         return c;
 474 }
 475
 476 // updates a path link if a spawnfunc_waypoint link is better than the current one
 477 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 478 {
 479         vector m1;
 480         vector m2;
 481         vector v;
 482         if (wp.wpisbox)
 483         {
 484                 m1 = wp.absmin;
 485                 m2 = wp.absmax;
 486                 v.x = bound(m1_x, p.x, m2_x);
 487                 v.y = bound(m1_y, p.y, m2_y);
 488                 v.z = bound(m1_z, p.z, m2_z);
 489         }
 490         else
 491                 v = wp.origin;
 492         cost2 = cost2 + vlen(v - p);
 493         if (wp.wpcost > cost2)
 494         {
 495                 wp.wpcost = cost2;
 496                 wp.enemy = w;
 497                 wp.wpfire = 1;
 498                 wp.wpnearestpoint = v;
 499         }
 500 }
 501
 502 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 503 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 504 {
 505         float cost, cost2;
 506         vector p;
 507
 508         IL_EACH(g_waypoints, true,
 509         {
 510                 it.wpconsidered = false;
 511                 it.wpnearestpoint = '0 0 0';
 512                 it.wpcost = 10000000;
 513                 it.wpfire = 0;
 514                 it.enemy = NULL;
 515         });
 516
 517         if(fixed_source_waypoint)
 518         {
 519                 fixed_source_waypoint.wpconsidered = true;
 520                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 521                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 522                 fixed_source_waypoint.wpfire = 1;
 523                 fixed_source_waypoint.enemy = NULL;
 524         }
 525         else
 526         {
 527                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 528                 // as this search is expensive we will use lower values if the bot is on the air
 529                 float increment, maxdistance;
 530                 if(IS_ONGROUND(this))
 531                 {
 532                         increment = 750;
 533                         maxdistance = 50000;
 534                 }
 535                 else
 536                 {
 537                         increment = 500;
 538                         maxdistance = 1500;
 539                 }
 540
 541                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 542         }
 543
 544         bool searching = true;
 545         while (searching)
 546         {
 547                 searching = false;
 548                 IL_EACH(g_waypoints, it.wpfire,
 549                 {
 550                         searching = true;
 551                         it.wpfire = 0;
 552                         cost = it.wpcost;
 553                         p = it.wpnearestpoint;
 554                         entity wp;
 555                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 556                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 557                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 558                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 559                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 560                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 561                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 562                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 563                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 564                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 565                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 566                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 567                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 568                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 569                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 570                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 571                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 572                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 573                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 574                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 575                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 576                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 577                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 578                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 579                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 580                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 581                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 582                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 583                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 584                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 585                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 586                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 587                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 588                 });
 589         }
 590 }
 591
 592 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 593 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 594 {
 595         float cost, cost2;
 596         vector p;
 597         IL_EACH(g_waypoints, true,
 598         {
 599                 it.wpconsidered = false;
 600                 it.wpnearestpoint = '0 0 0';
 601                 it.wpcost = 10000000;
 602                 it.wpfire = 0;
 603                 it.enemy = NULL;
 604         });
 605
 606         if(fixed_source_waypoint)
 607         {
 608                 fixed_source_waypoint.wpconsidered = true;
 609                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 610                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 611                 fixed_source_waypoint.wpfire = 1;
 612                 fixed_source_waypoint.enemy = NULL;
 613         }
 614         else
 615         {
 616                 error("need to start with a waypoint\n");
 617         }
 618
 619         bool searching = true;
 620         while (searching)
 621         {
 622                 searching = false;
 623                 IL_EACH(g_waypoints, it.wpfire,
 624                 {
 625                         searching = true;
 626                         it.wpfire = 0;
 627                         cost = it.wpcost; // cost to walk from it to home
 628                         p = it.wpnearestpoint;
 629                         entity wp = it;
 630                         IL_EACH(g_waypoints, true,
 631                         {
 632                                 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
 633                                 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
 634                                 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
 635                                 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
 636                                 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
 637                                 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
 638                                 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
 639                                 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
 640                                         continue;
 641                                 cost2 = cost + it.dmg;
 642                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
 643                         });
 644                 });
 645         }
 646 }
 647
 648 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 649 void navigation_routerating(entity this, entity e, float f, float rangebias)
 650 {
 651         if (!e)
 652                 return;
 653
 654         if(e.blacklisted)
 655                 return;
 656
 657         if (IS_PLAYER(e))
 658         {
 659                 bool rate_wps = false;
 660                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
 661                         rate_wps = true;
 662
 663                 if(!IS_ONGROUND(e))
 664                 {
 665                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
 666                         int t = pointcontents(trace_endpos + '0 0 1');
 667                         if(t != CONTENT_SOLID )
 668                         {
 669                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
 670                                         rate_wps = true;
 671                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
 672                                         return;
 673                         }
 674                 }
 675
 676                 if(rate_wps)
 677                 {
 678                         entity theEnemy = e;
 679                         entity best_wp = NULL;
 680                         float best_dist = 10000;
 681                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
 682                                 && vdist(it.origin - this.origin, >, 100)
 683                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 684                         {
 685                                 float dist = vlen(it.origin - theEnemy.origin);
 686                                 if (dist < best_dist)
 687                                 {
 688                                         best_wp = it;
 689                                         best_dist = dist;
 690                                 }
 691                         });
 692                         if (!best_wp)
 693                                 return;
 694                         e = best_wp;
 695                 }
 696         }
 697
 698         vector o = (e.absmin + e.absmax) * 0.5;
 699
 700         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 701
 702         // Evaluate path using jetpack
 703         if(g_jetpack)
 704         if(this.items & IT_JETPACK)
 705         if(autocvar_bot_ai_navigation_jetpack)
 706         if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
 707         {
 708                 vector pointa, pointb;
 709
 710                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
 711
 712                 // Point A
 713                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
 714                 pointa = trace_endpos - '0 0 1';
 715
 716                 // Point B
 717                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 718                 pointb = trace_endpos - '0 0 1';
 719
 720                 // Can I see these two points from the sky?
 721                 traceline(pointa, pointb, MOVE_NORMAL, this);
 722
 723                 if(trace_fraction==1)
 724                 {
 725                         LOG_DEBUG("jetpack ai: can bridge these two points");
 726
 727                         // Lower the altitude of these points as much as possible
 728                         float zdistance, xydistance, cost, t, fuel;
 729                         vector down, npa, npb;
 730
 731                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
 732
 733                         do{
 734                                 npa = pointa + down;
 735                                 npb = pointb + down;
 736
 737                                 if(npa.z<=this.absmax.z)
 738                                         break;
 739
 740                                 if(npb.z<=e.absmax.z)
 741                                         break;
 742
 743                                 traceline(npa, npb, MOVE_NORMAL, this);
 744                                 if(trace_fraction==1)
 745                                 {
 746                                         pointa = npa;
 747                                         pointb = npb;
 748                                 }
 749                         }
 750                         while(trace_fraction == 1);
 751
 752
 753                         // Rough estimation of fuel consumption
 754                         // (ignores acceleration and current xyz velocity)
 755                         xydistance = vlen(pointa - pointb);
 756                         zdistance = fabs(pointa.z - this.origin.z);
 757
 758                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 759                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 760                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 761
 762                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
 763
 764                         // enough fuel ?
 765                         if(this.ammo_fuel>fuel)
 766                         {
 767                                 // Estimate cost
 768                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 769                                 //  - between air and ground speeds)
 770
 771                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 772                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 773                                 cost *= 1.5;
 774
 775                                 // Compare against other goals
 776                                 f = f * rangebias / (rangebias + cost);
 777
 778                                 if (navigation_bestrating < f)
 779                                 {
 780                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 781                                         navigation_bestrating = f;
 782                                         navigation_bestgoal = e;
 783                                         this.navigation_jetpack_goal = e;
 784                                         this.navigation_jetpack_point = pointb;
 785                                 }
 786                                 return;
 787                         }
 788                 }
 789         }
 790
 791         entity nwp;
 792         //te_wizspike(e.origin);
 793         //bprint(etos(e));
 794         //bprint("\n");
 795         // update the cached spawnfunc_waypoint link on a dynamic item entity
 796         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 797         {
 798                 nwp = e;
 799         }
 800         else
 801         {
 802                 bool search = true;
 803
 804                 if((e.flags & FL_ITEM) && e.nearestwaypoint)
 805                 {
 806                         if (e.flags & FL_WEAPON)
 807                         {
 808                                 if(e.classname != "droppedweapon")
 809                                         search = false;
 810                         }
 811                         else
 812                                 search = false;
 813                 }
 814
 815                 if(search)
 816                 if (time > e.nearestwaypointtimeout)
 817                 {
 818                         nwp = navigation_findnearestwaypoint(e, true);
 819                         if(nwp)
 820                                 e.nearestwaypoint = nwp;
 821                         else
 822                         {
 823                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
 824
 825                                 if(e.flags & FL_ITEM)
 826                                 {
 827                                         if (e.flags & FL_WEAPON)
 828                                         {
 829                                                 if(e.classname != "droppedweapon")
 830                                                         e.blacklisted = true;
 831                                         }
 832                                         else
 833                                                 e.blacklisted = true;
 834                                 }
 835
 836                                 if(e.blacklisted)
 837                                 {
 838                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
 839                                         return;
 840                                 }
 841                         }
 842
 843                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 844                         if(e.classname=="item_flag_team")
 845                                 e.nearestwaypointtimeout = time + 2;
 846                         else
 847                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 848                 }
 849                 nwp = e.nearestwaypoint;
 850         }
 851
 852         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
 853         if (nwp)
 854         if (nwp.wpcost < 10000000)
 855         {
 856                 //te_wizspike(nwp.wpnearestpoint);
 857                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
 858                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 859                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
 860                 if (navigation_bestrating < f)
 861                 {
 862                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
 863                         navigation_bestrating = f;
 864                         navigation_bestgoal = e;
 865                 }
 866         }
 867 }
 868
 869 // adds an item to the the goal stack with the path to a given item
 870 bool navigation_routetogoal(entity this, entity e, vector startposition)
 871 {
 872         this.goalentity = e;
 873
 874         // if there is no goal, just exit
 875         if (!e)
 876                 return false;
 877
 878         this.navigation_hasgoals = true;
 879
 880         // put the entity on the goal stack
 881         //print("routetogoal ", etos(e), "\n");
 882         navigation_pushroute(this, e);
 883
 884         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 885         {
 886                 this.wp_goal_prev1 = this.wp_goal_prev0;
 887                 this.wp_goal_prev0 = e;
 888         }
 889
 890         if(g_jetpack)
 891         if(e==this.navigation_jetpack_goal)
 892                 return true;
 893
 894         // if it can reach the goal there is nothing more to do
 895         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 896                 return true;
 897
 898         // see if there are waypoints describing a path to the item
 899         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 900                 e = e.nearestwaypoint;
 901         else
 902                 e = e.enemy; // we already have added it, so...
 903
 904         if(e == NULL)
 905                 return false;
 906
 907         for (;;)
 908         {
 909                 // add the spawnfunc_waypoint to the path
 910                 navigation_pushroute(this, e);
 911                 e = e.enemy;
 912
 913                 if(e==NULL)
 914                         break;
 915         }
 916
 917         return false;
 918 }
 919
 920 // removes any currently touching waypoints from the goal stack
 921 // (this is how bots detect if they reached a goal)
 922 void navigation_poptouchedgoals(entity this)
 923 {
 924         vector org, m1, m2;
 925         org = this.origin;
 926         m1 = org + this.mins;
 927         m2 = org + this.maxs;
 928
 929         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 930         {
 931                 // make sure jumppad is really hit, don't rely on distance based checks
 932                 // as they may report a touch even if it didn't really happen
 933                 if(this.lastteleporttime>0)
 934                 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
 935                 {
 936                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 937                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
 938                         {
 939                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 940                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 941                         }
 942                         navigation_poproute(this);
 943                         return;
 944                 }
 945         }
 946
 947         // If for some reason the bot is closer to the next goal, pop the current one
 948         if(this.goalstack01 && !wasfreed(this.goalstack01))
 949         if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
 950         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
 951         if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 952         {
 953                 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
 954                 navigation_poproute(this);
 955                 // TODO this may also be a nice idea to do "early" (e.g. by
 956                 // manipulating the vlen() comparisons) to shorten paths in
 957                 // general - this would make bots walk more "on rails" than
 958                 // "zigzagging" which they currently do with sufficiently
 959                 // random-like waypoints, and thus can make a nice bot
 960                 // personality property
 961         }
 962
 963         // Loose goal touching check when running
 964         if(this.aistatus & AI_STATUS_RUNNING)
 965         if(this.goalcurrent.classname=="waypoint")
 966         if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
 967         if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
 968         {
 969                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
 970                 {
 971                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
 972                         if(trace_fraction==1)
 973                         {
 974                                 // Detect personal waypoints
 975                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 976                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
 977                                 {
 978                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 979                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 980                                 }
 981
 982                                 navigation_poproute(this);
 983                         }
 984                 }
 985         }
 986
 987         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
 988         {
 989                 vector gc_min = this.goalcurrent.absmin;
 990                 vector gc_max = this.goalcurrent.absmax;
 991                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
 992                 {
 993                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
 994                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
 995                 }
 996                 if(!boxesoverlap(m1, m2, gc_min, gc_max))
 997                         break;
 998
 999                 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
1000                         break;
1001
1002                 // Detect personal waypoints
1003                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1004                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1005                 {
1006                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1007                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1008                 }
1009
1010                 navigation_poproute(this);
1011         }
1012 }
1013
1014 // begin a goal selection session (queries spawnfunc_waypoint network)
1015 void navigation_goalrating_start(entity this)
1016 {
1017         if(this.aistatus & AI_STATUS_STUCK)
1018                 return;
1019
1020         this.navigation_jetpack_goal = NULL;
1021         navigation_bestrating = -1;
1022         this.navigation_hasgoals = false;
1023         navigation_clearroute(this);
1024         navigation_bestgoal = NULL;
1025         navigation_markroutes(this, NULL);
1026 }
1027
1028 // ends a goal selection session (updates goal stack to the best goal)
1029 void navigation_goalrating_end(entity this)
1030 {
1031         if(this.aistatus & AI_STATUS_STUCK)
1032                 return;
1033
1034         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1035         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1036
1037         // If the bot got stuck then try to reach the farthest waypoint
1038         if (!this.navigation_hasgoals)
1039         if (autocvar_bot_wander_enable)
1040         {
1041                 if (!(this.aistatus & AI_STATUS_STUCK))
1042                 {
1043                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1044                         this.aistatus |= AI_STATUS_STUCK;
1045                 }
1046
1047                 this.navigation_hasgoals = false; // Reset this value
1048         }
1049 }
1050
1051 void botframe_updatedangerousobjects(float maxupdate)
1052 {
1053         vector m1, m2, v, o;
1054         float c, d, danger;
1055         c = 0;
1056         IL_EACH(g_waypoints, true,
1057         {
1058                 danger = 0;
1059                 m1 = it.mins;
1060                 m2 = it.maxs;
1061                 IL_EACH(g_bot_dodge, it.bot_dodge,
1062                 {
1063                         v = it.origin;
1064                         v.x = bound(m1_x, v.x, m2_x);
1065                         v.y = bound(m1_y, v.y, m2_y);
1066                         v.z = bound(m1_z, v.z, m2_z);
1067                         o = (it.absmin + it.absmax) * 0.5;
1068                         d = it.bot_dodgerating - vlen(o - v);
1069                         if (d > 0)
1070                         {
1071                                 traceline(o, v, true, NULL);
1072                                 if (trace_fraction == 1)
1073                                         danger = danger + d;
1074                         }
1075                 });
1076                 it.dmg = danger;
1077                 c = c + 1;
1078                 if (c >= maxupdate)
1079                         break;
1080         });
1081 }
1082
1083 void navigation_unstuck(entity this)
1084 {
1085         float search_radius = 1000;
1086
1087         if (!autocvar_bot_wander_enable)
1088                 return;
1089
1090         if (!bot_waypoint_queue_owner)
1091         {
1092                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1093                 bot_waypoint_queue_owner = this;
1094                 bot_waypoint_queue_bestgoal = NULL;
1095                 bot_waypoint_queue_bestgoalrating = 0;
1096         }
1097
1098         if(bot_waypoint_queue_owner!=this)
1099                 return;
1100
1101         if (bot_waypoint_queue_goal)
1102         {
1103                 // evaluate the next goal on the queue
1104                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1105                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1106                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1107                 {
1108                         if( d > bot_waypoint_queue_bestgoalrating)
1109                         {
1110                                 bot_waypoint_queue_bestgoalrating = d;
1111                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1112                         }
1113                 }
1114                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1115
1116                 if (!bot_waypoint_queue_goal)
1117                 {
1118                         if (bot_waypoint_queue_bestgoal)
1119                         {
1120                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1121                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1122                                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1123                                 this.aistatus &= ~AI_STATUS_STUCK;
1124                         }
1125                         else
1126                         {
1127                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1128                         }
1129
1130                         bot_waypoint_queue_owner = NULL;
1131                 }
1132         }
1133         else
1134         {
1135                 if(bot_strategytoken!=this)
1136                         return;
1137
1138                 // build a new queue
1139                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1140
1141                 entity first = NULL;
1142
1143                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1144                 {
1145                         if(bot_waypoint_queue_goal)
1146                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1147                         else
1148                                 first = it;
1149
1150                         bot_waypoint_queue_goal = it;
1151                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1152                 });
1153
1154                 if (first)
1155                         bot_waypoint_queue_goal = first;
1156                 else
1157                 {
1158                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1159                         bot_waypoint_queue_owner = NULL;
1160                 }
1161         }
1162 }
1163
1164 // Support for debugging tracewalk visually
1165
1166 void debugresetnodes()
1167 {
1168         debuglastnode = '0 0 0';
1169 }
1170
1171 void debugnode(entity this, vector node)
1172 {
1173         if (!IS_PLAYER(this))
1174                 return;
1175
1176         if(debuglastnode=='0 0 0')
1177         {
1178                 debuglastnode = node;
1179                 return;
1180         }
1181
1182         te_lightning2(NULL, node, debuglastnode);
1183         debuglastnode = node;
1184 }
1185
1186 void debugnodestatus(vector position, float status)
1187 {
1188         vector c;
1189
1190         switch (status)
1191         {
1192                 case DEBUG_NODE_SUCCESS:
1193                         c = '0 15 0';
1194                         break;
1195                 case DEBUG_NODE_WARNING:
1196                         c = '15 15 0';
1197                         break;
1198                 case DEBUG_NODE_FAIL:
1199                         c = '15 0 0';
1200                         break;
1201                 default:
1202                         c = '15 15 15';
1203         }
1204
1205         te_customflash(position, 40,  2, c);
1206 }
1207
1208 // Support for debugging the goal stack visually
1209
1210 .float goalcounter;
1211 .vector lastposition;
1212
1213 // Debug the goal stack visually
1214 void debuggoalstack(entity this)
1215 {
1216         entity goal;
1217         vector org, go;
1218
1219         if(this.goalcounter==0)goal=this.goalcurrent;
1220         else if(this.goalcounter==1)goal=this.goalstack01;
1221         else if(this.goalcounter==2)goal=this.goalstack02;
1222         else if(this.goalcounter==3)goal=this.goalstack03;
1223         else if(this.goalcounter==4)goal=this.goalstack04;
1224         else if(this.goalcounter==5)goal=this.goalstack05;
1225         else if(this.goalcounter==6)goal=this.goalstack06;
1226         else if(this.goalcounter==7)goal=this.goalstack07;
1227         else if(this.goalcounter==8)goal=this.goalstack08;
1228         else if(this.goalcounter==9)goal=this.goalstack09;
1229         else if(this.goalcounter==10)goal=this.goalstack10;
1230         else if(this.goalcounter==11)goal=this.goalstack11;
1231         else if(this.goalcounter==12)goal=this.goalstack12;
1232         else if(this.goalcounter==13)goal=this.goalstack13;
1233         else if(this.goalcounter==14)goal=this.goalstack14;
1234         else if(this.goalcounter==15)goal=this.goalstack15;
1235         else if(this.goalcounter==16)goal=this.goalstack16;
1236         else if(this.goalcounter==17)goal=this.goalstack17;
1237         else if(this.goalcounter==18)goal=this.goalstack18;
1238         else if(this.goalcounter==19)goal=this.goalstack19;
1239         else if(this.goalcounter==20)goal=this.goalstack20;
1240         else if(this.goalcounter==21)goal=this.goalstack21;
1241         else if(this.goalcounter==22)goal=this.goalstack22;
1242         else if(this.goalcounter==23)goal=this.goalstack23;
1243         else if(this.goalcounter==24)goal=this.goalstack24;
1244         else if(this.goalcounter==25)goal=this.goalstack25;
1245         else if(this.goalcounter==26)goal=this.goalstack26;
1246         else if(this.goalcounter==27)goal=this.goalstack27;
1247         else if(this.goalcounter==28)goal=this.goalstack28;
1248         else if(this.goalcounter==29)goal=this.goalstack29;
1249         else if(this.goalcounter==30)goal=this.goalstack30;
1250         else if(this.goalcounter==31)goal=this.goalstack31;
1251         else goal=NULL;
1252
1253         if(goal==NULL)
1254         {
1255                 this.goalcounter = 0;
1256                 this.lastposition='0 0 0';
1257                 return;
1258         }
1259
1260         if(this.lastposition=='0 0 0')
1261                 org = this.origin;
1262         else
1263                 org = this.lastposition;
1264
1265
1266         go = ( goal.absmin + goal.absmax ) * 0.5;
1267         te_lightning2(NULL, org, go);
1268         this.lastposition = go;
1269
1270         this.goalcounter++;
1271 }