1 #include "navigation.qh"
3 #include <server/defs.qh>
4 #include <server/miscfunctions.qh>
8 #include "waypoints.qh"
10 #include <common/t_items.qh>
12 #include <common/items/_mod.qh>
14 #include <common/constants.qh>
15 #include <common/net_linked.qh>
16 #include <common/mapobjects/trigger/jumppads.qh>
20 void navigation_goalrating_timeout_set(entity this)
22 if(IS_MOVABLE(this.goalentity))
23 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
25 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
28 // use this when current goal must be discarded immediately
29 void navigation_goalrating_timeout_force(entity this)
31 navigation_goalrating_timeout_expire(this, 0);
34 // use this when current goal can be kept for a short while to increase the chance
35 // of bot touching a waypoint, which helps to find a new goal more efficiently
36 void navigation_goalrating_timeout_expire(entity this, float seconds)
39 this.bot_strategytime = 0;
40 else if (this.bot_strategytime > time + seconds)
41 this.bot_strategytime = time + seconds;
44 bool navigation_goalrating_timeout(entity this)
46 return this.bot_strategytime < time;
49 #define MAX_CHASE_DISTANCE 700
50 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
52 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
53 if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
54 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
59 if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
61 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
63 this.ignoregoal = this.goalentity;
64 this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
71 void navigation_dynamicgoal_init(entity this, bool initially_static)
73 this.navigation_dynamicgoal = true;
74 this.bot_basewaypoint = this.nearestwaypoint;
76 this.nearestwaypointtimeout = -1;
78 this.nearestwaypointtimeout = time;
81 void navigation_dynamicgoal_set(entity this)
83 this.nearestwaypointtimeout = time;
84 if (this.nearestwaypoint)
85 this.nearestwaypointtimeout += 2;
88 void navigation_dynamicgoal_unset(entity this)
90 if(this.bot_basewaypoint)
91 this.nearestwaypoint = this.bot_basewaypoint;
92 this.nearestwaypointtimeout = -1;
95 // returns point of ent closer to org
96 vector get_closer_dest(entity ent, vector org)
98 vector dest = '0 0 0';
99 if ((ent.classname != "waypoint") || ent.wpisbox)
101 vector wm1 = ent.origin + ent.mins;
102 vector wm2 = ent.origin + ent.maxs;
103 dest.x = bound(wm1.x, org.x, wm2.x);
104 dest.y = bound(wm1.y, org.y, wm2.y);
105 dest.z = bound(wm1.z, org.z, wm2.z);
112 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
114 if ((ent.classname != "waypoint") || ent.wpisbox)
116 vector wm1 = ent.origin + ent.mins;
117 vector wm2 = ent.origin + ent.maxs;
118 if (IS_PLAYER(ent) || IS_MONSTER(ent))
120 // move destination point out of player bbox otherwise tracebox always fails
121 // (if bot_navigation_ignoreplayers is false)
122 wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
123 wm2 += vec2(PL_MAX_CONST) + '1 1 0';
125 // set destination point to x and y coords of ent that are closer to org
126 // z coord is set to ent's min height
127 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
128 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
129 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
130 && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
132 tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
133 tracewalk_dest_height = 0;
134 fix_player_dest = false;
138 tracewalk_dest.z = wm1.z;
139 tracewalk_dest_height = wm2.z - wm1.z;
144 tracewalk_dest = ent.origin;
145 tracewalk_dest_height = 0;
147 if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
149 // snap player to the ground
150 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
152 // bot is right under the player
153 tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
154 tracewalk_dest = trace_endpos;
155 tracewalk_dest_height = 0;
159 tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
160 if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
162 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
163 tracewalk_dest.z = trace_endpos.z;
169 // returns point of ent closer to org
170 vector set_tracewalk_dest_2(entity ent, vector org)
172 vector closer_dest = '0 0 0';
173 if ((ent.classname != "waypoint") || ent.wpisbox)
175 vector wm1 = ent.origin + ent.mins;
176 vector wm2 = ent.origin + ent.maxs;
177 closer_dest.x = bound(wm1.x, org.x, wm2.x);
178 closer_dest.y = bound(wm1.y, org.y, wm2.y);
179 closer_dest.z = bound(wm1.z, org.z, wm2.z);
180 // set destination point to x and y coords of ent that are closer to org
181 // z coord is set to ent's min height
182 tracewalk_dest.x = closer_dest.x;
183 tracewalk_dest.y = closer_dest.y;
184 tracewalk_dest.z = wm1.z;
185 tracewalk_dest_height = wm2.z - wm1.z; // destination height
189 closer_dest = ent.origin;
190 tracewalk_dest = closer_dest;
191 tracewalk_dest_height = 0;
196 bool navigation_check_submerged_state(entity ent, vector pos)
200 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
201 else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
202 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
205 submerged = SUBMERGED(pos);
206 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
207 // is actually submerged because often they are inside some solid.
208 // That's why submerged state is saved now that we know current pos is
209 // not stuck in solid (previous tracewalk call to this pos was successfully)
210 if(!ent.navigation_dynamicgoal)
211 ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
216 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
218 IL_EACH(g_ladders, it.classname == "func_ladder",
221 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
222 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
225 top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
226 tracebox(org, m1, m2, top, movemode, e);
227 if(trace_fraction == 1)
234 vector resurface_limited(vector org, float lim, vector m1)
236 if (WETFEET(org + eZ * (lim - org.z)))
240 float RES_min_h = org.z;
241 float RES_max_h = lim;
243 org.z = 0.5 * (RES_min_h + RES_max_h);
248 } while (RES_max_h - RES_min_h >= 1);
253 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
256 #define NAV_SWIM_ONWATER 1
257 #define NAV_SWIM_UNDERWATER 2
259 // rough simulation of walking from one point to another to test if a path
260 // can be traveled, used for waypoint linking and havocbot
261 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
262 // INFO: the command sv_cmd trace walk is useful to test this function in game
263 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
265 if(autocvar_bot_debug_tracewalk)
272 vector flatdir = end - start;
274 float flatdist = vlen(flatdir);
275 flatdir = normalize(flatdir);
277 bool ignorehazards = false;
280 // Analyze starting point
282 ignorehazards = true;
284 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
285 if (trace_startsolid)
288 if(autocvar_bot_debug_tracewalk)
289 debugnodestatus(start, DEBUG_NODE_FAIL);
291 //print("tracewalk: ", vtos(start), " is a bad start\n");
297 end2.z += end_height;
299 vector fixed_end = end;
302 if (flatdist > 0 && WETFEET(org))
305 nav_action = NAV_SWIM_UNDERWATER;
308 // tracebox down by player's height
309 // useful to know if water level is so low that bot can still walk
310 tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
311 if (SUBMERGED(trace_endpos))
314 nav_action = NAV_SWIM_UNDERWATER;
317 nav_action = NAV_WALK;
321 nav_action = NAV_WALK;
329 if (org.z > end2.z + 1)
331 tracebox(org, m1, m2, end2, movemode, e);
333 if (org.z > end2.z + 1)
336 else if (org.z < end.z - 1)
338 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
339 if (SUBMERGED(trace_endpos))
341 vector v = trace_endpos;
342 tracebox(v, m1, m2, end, movemode, e);
343 if(trace_endpos.z >= end.z - 1)
345 RESURFACE_LIMITED(v, trace_endpos.z);
349 else if (trace_endpos.z > org.z - jumpheight_vec.z)
350 tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
352 if (org.z < end.z - 1)
359 if(autocvar_bot_debug_tracewalk)
362 debugnodestatus(org, DEBUG_NODE_SUCCESS);
365 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
370 if(autocvar_bot_debug_tracewalk)
376 if (stepdist > flatdist)
378 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
380 // can't use movement direction here to calculate move because of
381 // precision errors especially when direction has a high enough z value
382 //water_dir = normalize(water_end - org);
383 //move = org + water_dir * stepdist;
384 fixed_end.z = bound(end.z, org.z, end2.z);
385 if (stepdist == flatdist) {
389 move = org + (fixed_end - org) * (stepdist / flatdist);
390 flatdist = vlen(vec2(fixed_end - move));
393 else // horiz. direction
395 flatdist -= stepdist;
396 move = org + flatdir * stepdist;
399 if(nav_action == NAV_SWIM_ONWATER)
401 tracebox(org, m1, m2, move, movemode, e); // swim
404 if (trace_fraction < 1)
407 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
409 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
412 if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
414 if(autocvar_bot_debug_tracewalk)
417 debugnodestatus(org, DEBUG_NODE_SUCCESS);
420 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
424 if(autocvar_bot_debug_tracewalk)
425 debugnodestatus(org, DEBUG_NODE_FAIL);
428 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
439 if (org.z <= move.z) // going horiz.
441 tracebox(trace_endpos, m1, m2, move, movemode, e);
443 nav_action = NAV_WALK;
448 if (org.z <= move.z) // going horiz.
451 nav_action = NAV_SWIM_ONWATER;
457 nav_action = NAV_SWIM_UNDERWATER;
459 nav_action = NAV_SWIM_ONWATER;
462 else if(nav_action == NAV_SWIM_UNDERWATER)
464 if (move.z >= org.z) // swimming upwards or horiz.
466 tracebox(org, m1, m2, move, movemode, e); // swim
468 bool stepswum = false;
471 if (trace_fraction < 1)
474 vector stepswim_move = move + stepheightvec;
475 if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
476 stepswim_move.z = end2.z;
478 tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
481 if (trace_startsolid)
483 if(autocvar_bot_debug_tracewalk)
484 debugnodestatus(org, DEBUG_NODE_FAIL);
486 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
490 if (trace_fraction < 1)
492 float org_z_prev = org.z;
493 RESURFACE_LIMITED(org, end2.z);
494 if(org.z == org_z_prev)
496 if(autocvar_bot_debug_tracewalk)
497 debugnodestatus(org, DEBUG_NODE_FAIL);
499 //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
503 nav_action = NAV_SWIM_UNDERWATER;
505 nav_action = NAV_SWIM_ONWATER;
507 // we didn't advance horiz. in this step, flatdist decrease should be reverted
508 // but we can't do it properly right now... apply this workaround instead
526 if (!WETFEET(trace_endpos))
528 tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
529 // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
530 if (!stepswum && SUBMERGED(trace_endpos))
532 RESURFACE_LIMITED(trace_endpos, end2.z);
534 nav_action = NAV_SWIM_ONWATER;
540 nav_action = NAV_WALK;
546 nav_action = NAV_SWIM_UNDERWATER;
549 else //if (move.z < org.z) // swimming downwards
551 tracebox(org, m1, m2, move, movemode, e); // swim
554 if (trace_fraction < 1)
557 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
560 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
562 if(autocvar_bot_debug_tracewalk)
563 debugnodestatus(move, DEBUG_NODE_FAIL);
565 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
577 if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
579 // stepswim caused upwards direction
580 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
581 if (!SUBMERGED(trace_endpos))
584 nav_action = NAV_WALK;
591 nav_action = NAV_SWIM_UNDERWATER;
595 else if(nav_action == NAV_WALK)
598 tracebox(org, m1, m2, move, movemode, e);
600 if(autocvar_bot_debug_tracewalk)
601 debugnode(e, trace_endpos);
604 if (trace_fraction < 1)
606 // check if we can walk over this obstacle, possibly by jumpstepping
607 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
608 if (trace_fraction < 1 || trace_startsolid)
610 if (trace_startsolid) // hit ceiling above org
612 // reduce stepwalk height
613 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
614 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
616 else //if (trace_fraction < 1)
618 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
619 if (trace_startsolid) // hit ceiling above org
621 // reduce jumpstepwalk height
622 tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
623 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
627 if (trace_fraction < 1)
629 vector v = trace_endpos;
630 v.z = org.z + jumpheight_vec.z;
631 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
633 if(autocvar_bot_debug_tracewalk)
636 debugnodestatus(v, DEBUG_NODE_SUCCESS);
639 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
643 if(autocvar_bot_debug_tracewalk)
644 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
646 traceline( org, move, movemode, e);
648 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
652 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
654 nextmove = move + (flatdir * stepdist);
655 traceline( move, nextmove, movemode, e);
658 flatdist = vlen(vec2(end - move));
662 if(autocvar_bot_debug_tracewalk)
663 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
665 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
666 //te_explosion(trace_endpos);
667 //print(ftos(e.dphitcontentsmask), "\n");
668 return false; // failed
680 // trace down from stepheight as far as possible and move there,
681 // if this starts in solid we try again without the stepup, and
682 // if that also fails we assume it is a wall
683 // (this is the same logic as the Quake walkmove function used)
684 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
692 if(autocvar_bot_debug_tracewalk)
694 debugnode(e, trace_endpos);
695 debugnodestatus(org, DEBUG_NODE_FAIL);
698 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
705 if(move.z >= end2.z && org.z < end2.z)
710 if(org.z > move.z - 1 || !SUBMERGED(org))
712 nav_action = NAV_WALK;
716 // ended up submerged while walking
717 if(autocvar_bot_debug_tracewalk)
720 RESURFACE_LIMITED(org, move.z);
721 nav_action = NAV_SWIM_ONWATER;
726 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
728 // moved but didn't arrive at the intended destination
729 if(autocvar_bot_debug_tracewalk)
730 debugnodestatus(org, DEBUG_NODE_FAIL);
735 /////////////////////////////////////////////////////////////////////////////
737 /////////////////////////////////////////////////////////////////////////////
739 // completely empty the goal stack, used when deciding where to go
740 void navigation_clearroute(entity this)
742 this.goalcurrent_prev = this.goalcurrent;
743 this.goalcurrent_distance_2d = FLOAT_MAX;
744 this.goalcurrent_distance_z = FLOAT_MAX;
745 this.goalcurrent_distance_time = 0;
746 this.goalentity_lock_timeout = 0;
747 this.goalentity_shouldbefrozen = false;
748 this.goalentity = NULL;
749 this.goalcurrent = NULL;
750 this.goalstack01 = NULL;
751 this.goalstack02 = NULL;
752 this.goalstack03 = NULL;
753 this.goalstack04 = NULL;
754 this.goalstack05 = NULL;
755 this.goalstack06 = NULL;
756 this.goalstack07 = NULL;
757 this.goalstack08 = NULL;
758 this.goalstack09 = NULL;
759 this.goalstack10 = NULL;
760 this.goalstack11 = NULL;
761 this.goalstack12 = NULL;
762 this.goalstack13 = NULL;
763 this.goalstack14 = NULL;
764 this.goalstack15 = NULL;
765 this.goalstack16 = NULL;
766 this.goalstack17 = NULL;
767 this.goalstack18 = NULL;
768 this.goalstack19 = NULL;
769 this.goalstack20 = NULL;
770 this.goalstack21 = NULL;
771 this.goalstack22 = NULL;
772 this.goalstack23 = NULL;
773 this.goalstack24 = NULL;
774 this.goalstack25 = NULL;
775 this.goalstack26 = NULL;
776 this.goalstack27 = NULL;
777 this.goalstack28 = NULL;
778 this.goalstack29 = NULL;
779 this.goalstack30 = NULL;
780 this.goalstack31 = NULL;
783 // add a new goal at the beginning of the stack
784 // (in other words: add a new prerequisite before going to the later goals)
785 // NOTE: when a waypoint is added, the WP gets pushed first, then the
786 // next-closest WP on the shortest path to the WP
787 // That means, if the stack overflows, the bot will know how to do the FIRST 32
788 // steps to the goal, and then recalculate the path.
789 void navigation_pushroute(entity this, entity e)
791 this.goalcurrent_prev = this.goalcurrent;
792 this.goalcurrent_distance_2d = FLOAT_MAX;
793 this.goalcurrent_distance_z = FLOAT_MAX;
794 this.goalcurrent_distance_time = 0;
795 //print("bot ", etos(this), " push ", etos(e), "\n");
796 if(this.goalstack31 == this.goalentity)
797 this.goalentity = NULL;
798 this.goalstack31 = this.goalstack30;
799 this.goalstack30 = this.goalstack29;
800 this.goalstack29 = this.goalstack28;
801 this.goalstack28 = this.goalstack27;
802 this.goalstack27 = this.goalstack26;
803 this.goalstack26 = this.goalstack25;
804 this.goalstack25 = this.goalstack24;
805 this.goalstack24 = this.goalstack23;
806 this.goalstack23 = this.goalstack22;
807 this.goalstack22 = this.goalstack21;
808 this.goalstack21 = this.goalstack20;
809 this.goalstack20 = this.goalstack19;
810 this.goalstack19 = this.goalstack18;
811 this.goalstack18 = this.goalstack17;
812 this.goalstack17 = this.goalstack16;
813 this.goalstack16 = this.goalstack15;
814 this.goalstack15 = this.goalstack14;
815 this.goalstack14 = this.goalstack13;
816 this.goalstack13 = this.goalstack12;
817 this.goalstack12 = this.goalstack11;
818 this.goalstack11 = this.goalstack10;
819 this.goalstack10 = this.goalstack09;
820 this.goalstack09 = this.goalstack08;
821 this.goalstack08 = this.goalstack07;
822 this.goalstack07 = this.goalstack06;
823 this.goalstack06 = this.goalstack05;
824 this.goalstack05 = this.goalstack04;
825 this.goalstack04 = this.goalstack03;
826 this.goalstack03 = this.goalstack02;
827 this.goalstack02 = this.goalstack01;
828 this.goalstack01 = this.goalcurrent;
829 this.goalcurrent = e;
832 // remove first goal from stack
833 // (in other words: remove a prerequisite for reaching the later goals)
834 // (used when a spawnfunc_waypoint is reached)
835 void navigation_poproute(entity this)
837 this.goalcurrent_prev = this.goalcurrent;
838 this.goalcurrent_distance_2d = FLOAT_MAX;
839 this.goalcurrent_distance_z = FLOAT_MAX;
840 this.goalcurrent_distance_time = 0;
841 //print("bot ", etos(this), " pop\n");
842 if(this.goalcurrent == this.goalentity)
844 this.goalentity = NULL;
845 this.goalentity_lock_timeout = 0;
847 this.goalcurrent = this.goalstack01;
848 this.goalstack01 = this.goalstack02;
849 this.goalstack02 = this.goalstack03;
850 this.goalstack03 = this.goalstack04;
851 this.goalstack04 = this.goalstack05;
852 this.goalstack05 = this.goalstack06;
853 this.goalstack06 = this.goalstack07;
854 this.goalstack07 = this.goalstack08;
855 this.goalstack08 = this.goalstack09;
856 this.goalstack09 = this.goalstack10;
857 this.goalstack10 = this.goalstack11;
858 this.goalstack11 = this.goalstack12;
859 this.goalstack12 = this.goalstack13;
860 this.goalstack13 = this.goalstack14;
861 this.goalstack14 = this.goalstack15;
862 this.goalstack15 = this.goalstack16;
863 this.goalstack16 = this.goalstack17;
864 this.goalstack17 = this.goalstack18;
865 this.goalstack18 = this.goalstack19;
866 this.goalstack19 = this.goalstack20;
867 this.goalstack20 = this.goalstack21;
868 this.goalstack21 = this.goalstack22;
869 this.goalstack22 = this.goalstack23;
870 this.goalstack23 = this.goalstack24;
871 this.goalstack24 = this.goalstack25;
872 this.goalstack25 = this.goalstack26;
873 this.goalstack26 = this.goalstack27;
874 this.goalstack27 = this.goalstack28;
875 this.goalstack28 = this.goalstack29;
876 this.goalstack29 = this.goalstack30;
877 this.goalstack30 = this.goalstack31;
878 this.goalstack31 = NULL;
881 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
882 // waypoint destination coordinates instead of v (only useful for box waypoints)
883 // for normal waypoints v2 == v and v2_height == 0
884 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
886 if (vdist(v - org, <, bestdist))
888 traceline(v, org, true, ent);
889 if (trace_fraction == 1)
893 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
898 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
906 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
907 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
910 ent = ent.tag_entity;
912 vector pm1 = ent.origin + ent.mins;
913 vector pm2 = ent.origin + ent.maxs;
915 // do two scans, because box test is cheaper
916 IL_EACH(g_waypoints, it != ent && it != except,
918 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
920 if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
922 waypoint_clearlinks(ent); // initialize wpXXmincost fields
923 navigation_item_addlink(it, ent);
929 vector org = ent.origin;
930 if (navigation_testtracewalk)
936 if(ent.size && !IS_PLAYER(ent))
938 org += 0.5 * (ent.mins + ent.maxs);
939 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
942 if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
944 waypoint_clearlinks(ent); // initialize wpXXmincost fields
945 IL_EACH(g_waypoints, it != ent,
947 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
950 set_tracewalk_dest(ent, it.origin, false);
951 if (vdist(tracewalk_dest - it.origin, <, 1050)
952 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
953 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
955 navigation_item_addlink(it, ent);
960 // box check failed, try walk
961 IL_EACH(g_waypoints, it != ent,
963 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
969 set_tracewalk_dest(ent, v, true);
970 if (trace_ent == ent)
978 set_tracewalk_dest(it, org, false);
980 if (navigation_waypoint_will_link(v, org, ent,
981 tracewalk_dest, tracewalk_dest_height,
982 tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
985 bestdist = vlen(tracewalk_dest - v);
987 bestdist = vlen(v - org);
991 if(!best && !ent.navigation_dynamicgoal)
993 int solid_save = ent.solid;
994 ent.solid = SOLID_BSP;
995 IL_EACH(g_jumppads, true,
997 if(trigger_push_test(it, ent))
999 best = it.nearestwaypoint;
1003 ent.solid = solid_save;
1007 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1009 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1010 if (autocvar_g_waypointeditor_auto)
1012 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1014 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1019 // finds the waypoints near the bot initiating a navigation query
1020 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1022 //navigation_testtracewalk = true;
1024 IL_EACH(g_waypoints, !it.wpconsidered,
1026 set_tracewalk_dest(it, this.origin, false);
1028 vector diff = tracewalk_dest - this.origin;
1029 diff.z = max(0, diff.z);
1030 if(vdist(diff, <, maxdist))
1032 it.wpconsidered = true;
1033 if (tracewalk(this, this.origin, this.mins, this.maxs,
1034 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1036 it.wpnearestpoint = tracewalk_dest;
1037 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1044 //navigation_testtracewalk = false;
1048 // updates a path link if a spawnfunc_waypoint link is better than the current one
1049 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1055 m1 = wp.origin + wp.mins;
1056 m2 = wp.origin + wp.maxs;
1057 v.x = bound(m1_x, p.x, m2_x);
1058 v.y = bound(m1_y, p.y, m2_y);
1059 v.z = bound(m1_z, p.z, m2_z);
1063 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1064 cost += w.wp00mincost; // assuming teleport has exactly one destination
1066 cost += waypoint_gettravelcost(p, v, w, wp);
1067 if (wp.wpcost > cost)
1072 wp.wpnearestpoint = v;
1076 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1077 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1082 IL_EACH(g_waypoints, true,
1084 it.wpconsidered = false;
1085 it.wpnearestpoint = '0 0 0';
1086 it.wpcost = 10000000;
1091 if(fixed_source_waypoint)
1093 fixed_source_waypoint.wpconsidered = true;
1094 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1095 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1096 fixed_source_waypoint.wpfire = 1;
1097 fixed_source_waypoint.enemy = NULL;
1101 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1102 // as this search is expensive we will use lower values if the bot is on the air
1103 float increment, maxdistance;
1104 if(IS_ONGROUND(this))
1107 maxdistance = 50000;
1115 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1118 bool searching = true;
1122 IL_EACH(g_waypoints, it.wpfire,
1127 p = it.wpnearestpoint;
1129 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1130 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1131 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1132 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1133 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1134 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1135 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1166 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1167 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1171 IL_EACH(g_waypoints, true,
1173 it.wpconsidered = false;
1174 it.wpnearestpoint = '0 0 0';
1175 it.wpcost = 10000000;
1180 if(fixed_source_waypoint)
1182 fixed_source_waypoint.wpconsidered = true;
1183 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1184 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1185 fixed_source_waypoint.wpfire = 1;
1186 fixed_source_waypoint.enemy = NULL;
1190 error("need to start with a waypoint\n");
1193 bool searching = true;
1197 IL_EACH(g_waypoints, it.wpfire,
1201 cost = it.wpcost; // cost to walk from it to home
1202 p = it.wpnearestpoint;
1204 IL_EACH(g_waypoints, it != wp,
1206 if(!waypoint_islinked(it, wp))
1208 cost2 = cost + it.dmg;
1209 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1215 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1216 void navigation_routerating(entity this, entity e, float f, float rangebias)
1224 rangebias = waypoint_getlinearcost(rangebias);
1225 f = waypoint_getlinearcost(f);
1229 bool rate_wps = false;
1230 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1231 || (e.flags & FL_PARTIALGROUND))
1238 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1239 int t = pointcontents(trace_endpos + '0 0 1');
1240 if(t != CONTENT_SOLID )
1242 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1244 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1251 entity theEnemy = e;
1252 entity best_wp = NULL;
1253 float best_dist = FLOAT_MAX;
1254 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1255 && vdist(it.origin - theEnemy.origin, <, 500)
1256 && vdist(it.origin - this.origin, >, 100)
1257 && vdist(it.origin - this.origin, <, 10000),
1259 float dist = vlen2(it.origin - theEnemy.origin);
1260 if (dist < best_dist)
1272 vector goal_org = (e.absmin + e.absmax) * 0.5;
1274 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1276 // Evaluate path using jetpack
1277 if(this.items & IT_JETPACK)
1278 if(autocvar_bot_ai_navigation_jetpack)
1279 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1281 vector pointa, pointb;
1283 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1286 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1287 pointa = trace_endpos - '0 0 1';
1290 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1291 pointb = trace_endpos - '0 0 1';
1293 // Can I see these two points from the sky?
1294 traceline(pointa, pointb, MOVE_NORMAL, this);
1296 if(trace_fraction==1)
1298 LOG_DEBUG("jetpack ai: can bridge these two points");
1300 // Lower the altitude of these points as much as possible
1301 float zdistance, xydistance, cost, t, fuel;
1302 vector down, npa, npb;
1304 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1307 npa = pointa + down;
1308 npb = pointb + down;
1310 if(npa.z<=this.absmax.z)
1313 if(npb.z<=e.absmax.z)
1316 traceline(npa, npb, MOVE_NORMAL, this);
1317 if(trace_fraction==1)
1323 while(trace_fraction == 1);
1326 // Rough estimation of fuel consumption
1327 // (ignores acceleration and current xyz velocity)
1328 xydistance = vlen(pointa - pointb);
1329 zdistance = fabs(pointa.z - this.origin.z);
1331 t = zdistance / autocvar_g_jetpack_maxspeed_up;
1332 t += xydistance / autocvar_g_jetpack_maxspeed_side;
1333 fuel = t * autocvar_g_jetpack_fuel * 0.8;
1335 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResourceAmount(this, RESOURCE_FUEL)));
1338 if(GetResourceAmount(this, RESOURCE_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO))
1341 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1342 // - between air and ground speeds)
1344 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1345 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1348 // Compare against other goals
1349 f = f * rangebias / (rangebias + cost);
1351 if (navigation_bestrating < f)
1353 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1354 navigation_bestrating = f;
1355 navigation_bestgoal = e;
1356 this.navigation_jetpack_goal = e;
1357 this.navigation_jetpack_point = pointb;
1365 //te_wizspike(e.origin);
1368 // update the cached spawnfunc_waypoint link on a dynamic item entity
1369 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1375 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1376 e.nearestwaypoint = NULL;
1378 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1379 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1381 if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1382 e.nearestwaypoint = nwp = e.goalcurrent;
1384 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1387 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1389 if(!e.navigation_dynamicgoal)
1390 e.blacklisted = true;
1394 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1399 if(e.navigation_dynamicgoal)
1400 e.nearestwaypointtimeout = time + 2;
1401 else if(autocvar_g_waypointeditor)
1402 e.nearestwaypointtimeout = time + 3 + random() * 2;
1404 nwp = e.nearestwaypoint;
1407 if (nwp && nwp.wpcost < 10000000)
1409 //te_wizspike(nwp.wpnearestpoint);
1410 float nwptoitem_cost = 0;
1411 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1412 nwptoitem_cost = nwp.wp00mincost;
1414 nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1415 float cost = nwp.wpcost + nwptoitem_cost;
1416 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1417 f = f * rangebias / (rangebias + cost);
1418 LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1419 if (navigation_bestrating < f)
1421 LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1422 navigation_bestrating = f;
1423 navigation_bestgoal = e;
1428 // adds an item to the the goal stack with the path to a given item
1429 bool navigation_routetogoal(entity this, entity e, vector startposition)
1431 // if there is no goal, just exit
1435 entity teleport_goal = NULL;
1437 this.goalentity = e;
1439 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1441 // force teleport destination as route destination
1443 navigation_pushroute(this, e.wp00);
1444 this.goalentity = e.wp00;
1447 // put the entity on the goal stack
1448 //print("routetogoal ", etos(e), "\n");
1449 navigation_pushroute(this, e);
1452 e = this.goalentity;
1454 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1456 this.wp_goal_prev1 = this.wp_goal_prev0;
1457 this.wp_goal_prev0 = e;
1461 if(e==this.navigation_jetpack_goal)
1464 // if it can reach the goal there is nothing more to do
1465 set_tracewalk_dest(e, startposition, true);
1466 if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1467 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1468 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1473 entity nearest_wp = NULL;
1474 // see if there are waypoints describing a path to the item
1475 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1477 e = e.nearestwaypoint;
1480 else if(teleport_goal)
1483 e = e.enemy; // we already have added it, so...
1488 if(nearest_wp && nearest_wp.enemy)
1490 // often path can be optimized by not adding the nearest waypoint
1491 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1493 if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1495 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1496 e = nearest_wp.enemy;
1499 set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1500 if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1501 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1502 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1503 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1505 e = nearest_wp.enemy;
1510 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1511 e = nearest_wp.enemy;
1516 // add the spawnfunc_waypoint to the path
1517 navigation_pushroute(this, e);
1527 // shorten path by removing intermediate goals
1528 bool navigation_shortenpath(entity this)
1530 if (!this.goalstack01 || wasfreed(this.goalstack01))
1532 if (this.bot_tracewalk_time > time)
1534 this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1536 bool cut_allowed = false;
1537 entity next = this.goalentity;
1538 // evaluate whether bot can discard current route and chase directly a player, trying to
1539 // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1540 if (IS_MOVABLE(next))
1542 set_tracewalk_dest(next, this.origin, true);
1543 if (vdist(this.origin - tracewalk_dest, <, 200))
1545 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1546 && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1547 && vdist(this.origin - this.goalcurrent.origin, >, 100)
1548 && checkpvs(this.origin + this.view_ofs, next))
1550 if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1554 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1555 while (deviation.y < -180) deviation.y += 360;
1556 while (deviation.y > 180) deviation.y -= 360;
1557 if (fabs(deviation.y) > 25)
1563 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1564 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1566 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1569 navigation_poproute(this);
1571 while (this.goalcurrent != next);
1578 next = this.goalstack01;
1579 // if for some reason the bot is closer to the next goal, pop the current one
1580 if (!IS_MOVABLE(next) // already checked in the previous case
1581 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1582 && checkpvs(this.origin + this.view_ofs, next))
1584 set_tracewalk_dest(next, this.origin, true);
1590 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1591 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1593 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1594 navigation_poproute(this);
1601 // removes any currently touching waypoints from the goal stack
1602 // (this is how bots detect if they reached a goal)
1603 int navigation_poptouchedgoals(entity this)
1605 int removed_goals = 0;
1607 if(!this.goalcurrent)
1608 return removed_goals;
1610 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1612 // make sure jumppad is really hit, don't rely on distance based checks
1613 // as they may report a touch even if it didn't really happen
1614 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1616 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1617 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1619 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1620 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1622 if(this.jumppadcount)
1624 // remove jumppad waypoint after a random delay to prevent bots getting
1625 // stuck on certain jumppads that require an extra initial horizontal speed
1626 float max_delay = 0.1;
1627 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1629 if (time - this.lastteleporttime < random() * max_delay)
1630 return removed_goals;
1632 navigation_poproute(this);
1633 this.lastteleporttime = 0;
1637 return removed_goals;
1639 else if (this.lastteleporttime > 0)
1641 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1642 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1643 // if so immediately fix bot path by removing skipped goals
1644 entity tele_ent = NULL;
1645 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1646 tele_ent = this.goalstack01;
1647 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1648 tele_ent = this.goalstack02;
1649 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1650 tele_ent = this.goalstack03;
1651 if (tele_ent && TELEPORT_USED(this, tele_ent))
1653 if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1654 if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1656 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1657 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1659 while (this.goalcurrent != tele_ent)
1661 navigation_poproute(this);
1664 navigation_poproute(this);
1665 this.lastteleporttime = 0;
1667 return removed_goals;
1671 // Loose goal touching check when running
1672 if(this.aistatus & AI_STATUS_RUNNING)
1673 if(this.goalcurrent.classname=="waypoint")
1674 if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1676 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1678 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1679 if(trace_fraction==1)
1681 // Detect personal waypoints
1682 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1683 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1685 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1686 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1689 navigation_poproute(this);
1691 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1692 return removed_goals;
1697 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1699 vector gc_min = this.goalcurrent.absmin;
1700 vector gc_max = this.goalcurrent.absmax;
1701 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1703 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1704 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1706 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1709 // Detect personal waypoints
1710 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1711 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1713 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1714 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1717 navigation_poproute(this);
1719 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1720 return removed_goals;
1722 return removed_goals;
1725 entity navigation_get_really_close_waypoint(entity this)
1727 entity wp = this.goalcurrent;
1729 wp = this.goalcurrent_prev;
1732 if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1734 wp = this.goalcurrent_prev;
1738 if(wp.classname != "waypoint")
1740 wp = wp.nearestwaypoint;
1744 if(vdist(wp.origin - this.origin, >, 50))
1747 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1749 if(vdist(it.origin - this.origin, <, 50))
1758 if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1761 set_tracewalk_dest(wp, this.origin, false);
1762 if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1763 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1770 // begin a goal selection session (queries spawnfunc_waypoint network)
1771 void navigation_goalrating_start(entity this)
1773 if(this.aistatus & AI_STATUS_STUCK)
1776 this.navigation_jetpack_goal = NULL;
1777 navigation_bestrating = -1;
1778 entity wp = navigation_get_really_close_waypoint(this);
1779 navigation_clearroute(this);
1780 navigation_bestgoal = NULL;
1781 navigation_markroutes(this, wp);
1784 // ends a goal selection session (updates goal stack to the best goal)
1785 void navigation_goalrating_end(entity this)
1787 if(this.aistatus & AI_STATUS_STUCK)
1790 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1791 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1793 // If the bot got stuck then try to reach the farthest waypoint
1794 if (!this.goalentity && autocvar_bot_wander_enable)
1796 if (!(this.aistatus & AI_STATUS_STUCK))
1798 LOG_DEBUG(this.netname, " cannot walk to any goal");
1799 this.aistatus |= AI_STATUS_STUCK;
1802 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1805 void botframe_updatedangerousobjects(float maxupdate)
1807 vector m1, m2, v, o;
1811 IL_EACH(g_waypoints, true,
1817 IL_EACH(g_bot_dodge, it.bot_dodge,
1820 v.x = bound(m1_x, v.x, m2_x);
1821 v.y = bound(m1_y, v.y, m2_y);
1822 v.z = bound(m1_z, v.z, m2_z);
1823 o = (it.absmin + it.absmax) * 0.5;
1824 d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1827 traceline(o, v, true, NULL);
1828 if (trace_fraction == 1)
1829 danger = danger + d;
1839 void navigation_unstuck(entity this)
1841 if (!autocvar_bot_wander_enable)
1844 bool has_user_waypoints = false;
1845 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1847 has_user_waypoints = true;
1850 if (!has_user_waypoints)
1853 float search_radius = 1000;
1855 if (!bot_waypoint_queue_owner)
1857 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1858 bot_waypoint_queue_owner = this;
1859 bot_waypoint_queue_bestgoal = NULL;
1860 bot_waypoint_queue_bestgoalrating = 0;
1863 if(bot_waypoint_queue_owner!=this)
1866 if (bot_waypoint_queue_goal)
1868 // evaluate the next goal on the queue
1869 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1870 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1871 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1872 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1873 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1875 if( d > bot_waypoint_queue_bestgoalrating)
1877 bot_waypoint_queue_bestgoalrating = d;
1878 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1882 // move to a random waypoint while bot is searching for a walkable path;
1883 // this is usually sufficient to unstuck bots from bad spots or when other
1884 // bots of the same team block all their ways
1885 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1887 navigation_clearroute(this);
1888 navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1889 navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1892 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1894 if (!bot_waypoint_queue_goal)
1896 if (bot_waypoint_queue_bestgoal)
1898 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1899 navigation_clearroute(this);
1900 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1901 navigation_goalrating_timeout_set(this);
1902 this.aistatus &= ~AI_STATUS_STUCK;
1906 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1909 bot_waypoint_queue_owner = NULL;
1914 if(bot_strategytoken!=this)
1917 // build a new queue
1918 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1920 entity first = NULL;
1922 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1924 if(bot_waypoint_queue_goal)
1925 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1929 bot_waypoint_queue_goal = it;
1930 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1934 bot_waypoint_queue_goal = first;
1937 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1938 bot_waypoint_queue_owner = NULL;
1943 // Support for debugging tracewalk visually
1945 void debugresetnodes()
1947 debuglastnode = '0 0 0';
1950 void debugnode(entity this, vector node)
1952 if (!IS_PLAYER(this))
1955 if(debuglastnode=='0 0 0')
1957 debuglastnode = node;
1961 te_lightning2(NULL, node, debuglastnode);
1962 debuglastnode = node;
1965 void debugnodestatus(vector position, float status)
1971 case DEBUG_NODE_SUCCESS:
1974 case DEBUG_NODE_WARNING:
1977 case DEBUG_NODE_FAIL:
1984 te_customflash(position, 40, 2, c);
1987 // Support for debugging the goal stack visually
1990 .vector lastposition;
1992 // Debug the goal stack visually
1993 void debuggoalstack(entity this)
1998 if(this.goalcounter==0)goal=this.goalcurrent;
1999 else if(this.goalcounter==1)goal=this.goalstack01;
2000 else if(this.goalcounter==2)goal=this.goalstack02;
2001 else if(this.goalcounter==3)goal=this.goalstack03;
2002 else if(this.goalcounter==4)goal=this.goalstack04;
2003 else if(this.goalcounter==5)goal=this.goalstack05;
2004 else if(this.goalcounter==6)goal=this.goalstack06;
2005 else if(this.goalcounter==7)goal=this.goalstack07;
2006 else if(this.goalcounter==8)goal=this.goalstack08;
2007 else if(this.goalcounter==9)goal=this.goalstack09;
2008 else if(this.goalcounter==10)goal=this.goalstack10;
2009 else if(this.goalcounter==11)goal=this.goalstack11;
2010 else if(this.goalcounter==12)goal=this.goalstack12;
2011 else if(this.goalcounter==13)goal=this.goalstack13;
2012 else if(this.goalcounter==14)goal=this.goalstack14;
2013 else if(this.goalcounter==15)goal=this.goalstack15;
2014 else if(this.goalcounter==16)goal=this.goalstack16;
2015 else if(this.goalcounter==17)goal=this.goalstack17;
2016 else if(this.goalcounter==18)goal=this.goalstack18;
2017 else if(this.goalcounter==19)goal=this.goalstack19;
2018 else if(this.goalcounter==20)goal=this.goalstack20;
2019 else if(this.goalcounter==21)goal=this.goalstack21;
2020 else if(this.goalcounter==22)goal=this.goalstack22;
2021 else if(this.goalcounter==23)goal=this.goalstack23;
2022 else if(this.goalcounter==24)goal=this.goalstack24;
2023 else if(this.goalcounter==25)goal=this.goalstack25;
2024 else if(this.goalcounter==26)goal=this.goalstack26;
2025 else if(this.goalcounter==27)goal=this.goalstack27;
2026 else if(this.goalcounter==28)goal=this.goalstack28;
2027 else if(this.goalcounter==29)goal=this.goalstack29;
2028 else if(this.goalcounter==30)goal=this.goalstack30;
2029 else if(this.goalcounter==31)goal=this.goalstack31;
2034 this.goalcounter = 0;
2035 this.lastposition='0 0 0';
2039 if(this.lastposition=='0 0 0')
2042 org = this.lastposition;
2045 go = ( goal.absmin + goal.absmax ) * 0.5;
2046 te_lightning2(NULL, org, go);
2047 this.lastposition = go;