6 float navigation_bestrating;
7 float bot_navigation_movemode;
8 float navigation_testtracewalk;
10 vector jumpstepheightvec;
12 vector jumpheight_vec;
14 entity navigation_bestgoal;
16 // stack of current goals (the last one of which may be an item or other
17 // desirable object, the rest are typically waypoints to reach it)
18 .entity goalcurrent, goalstack01, goalstack02, goalstack03;
19 .entity goalstack04, goalstack05, goalstack06, goalstack07;
20 .entity goalstack08, goalstack09, goalstack10, goalstack11;
21 .entity goalstack12, goalstack13, goalstack14, goalstack15;
22 .entity goalstack16, goalstack17, goalstack18, goalstack19;
23 .entity goalstack20, goalstack21, goalstack22, goalstack23;
24 .entity goalstack24, goalstack25, goalstack26, goalstack27;
25 .entity goalstack28, goalstack29, goalstack30, goalstack31;
27 .entity goalcurrent_prev;
28 .float goalcurrent_distance;
29 .float goalcurrent_distance_2d;
30 .float goalcurrent_distance_time;
32 .entity nearestwaypoint;
33 .float nearestwaypoint_dist;
34 .float nearestwaypointtimeout;
37 // item it is linked from waypoint it.wpXX (INCOMING link)
38 // links are sorted by their cost (wpXXmincost)
39 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
40 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
42 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
43 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
44 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
45 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
48 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
49 #define navigation_item_addlink(from_wp, to_item) \
50 waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
52 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
53 #define SET_DESTCOORDS(ent, org, v) MACRO_BEGIN { \
54 if ((ent.classname != "waypoint") || ent.wpisbox) { \
55 vector wm1 = ent.origin + ent.mins; \
56 vector wm2 = ent.origin + ent.maxs; \
57 v.x = bound(wm1.x, org.x, wm2.x); \
58 v.y = bound(wm1.y, org.y, wm2.y); \
59 v.z = bound(wm1.z, org.z, wm2.z); \
65 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
66 // (but v.z is set to the lowest coord of ent), v_height is set to ent's height
67 #define SET_TRACEWALK_DESTCOORDS(ent, org, v, v_height) MACRO_BEGIN { \
68 if ((ent.classname != "waypoint") || ent.wpisbox) { \
69 vector wm1 = ent.origin + ent.mins; \
70 vector wm2 = ent.origin + ent.maxs; \
71 v.x = bound(wm1.x, org.x, wm2.x); \
72 v.y = bound(wm1.y, org.y, wm2.y); \
74 v_height = wm2.z - wm1.z; \
81 // if ent is a box waypoint or an item v and v2 are set to coords of ent that are closer to org
82 // (but v2.z is set to the lowest coord of ent), v2_height is set to ent's height
83 #define SET_TRACEWALK_DESTCOORDS_2(ent, org, v, v2, v2_height) MACRO_BEGIN { \
84 if ((ent.classname != "waypoint") || ent.wpisbox) { \
85 vector wm1 = ent.origin + ent.mins; \
86 vector wm2 = ent.origin + ent.maxs; \
87 v.x = bound(wm1.x, org.x, wm2.x); \
88 v.y = bound(wm1.y, org.y, wm2.y); \
89 v.z = bound(wm1.z, org.z, wm2.z); \
93 v2_height = wm2.z - wm1.z; \
101 .entity wp_goal_prev0;
102 .entity wp_goal_prev1;
104 .float lastteleporttime;
108 .entity navigation_jetpack_goal;
109 .vector navigation_jetpack_point;
111 const float DEBUG_NODE_SUCCESS = 1;
112 const float DEBUG_NODE_WARNING = 2;
113 const float DEBUG_NODE_FAIL = 3;
114 vector debuglastnode;
116 entity bot_waypoint_queue_owner; // Owner of the temporary list of goals
117 entity bot_waypoint_queue_goal; // Head of the temporary list of goals
118 .entity bot_waypoint_queue_nextgoal;
119 entity bot_waypoint_queue_bestgoal;
120 float bot_waypoint_queue_bestgoalrating;
122 .entity bot_basewaypoint;
123 .bool navigation_dynamicgoal;
124 void navigation_dynamicgoal_init(entity this, bool initially_static);
125 void navigation_dynamicgoal_set(entity this);
126 void navigation_dynamicgoal_unset(entity this);
128 .int nav_submerged_state;
129 #define SUBMERGED_UNDEFINED 0
130 #define SUBMERGED_NO 1
131 #define SUBMERGED_YES 2
132 bool navigation_check_submerged_state(entity ent, vector pos);
139 void debugresetnodes();
140 void debugnode(entity this, vector node);
141 void debugnodestatus(vector position, float status);
143 void debuggoalstack(entity this);
145 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
147 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
148 float navigation_routetogoal(entity this, entity e, vector startposition);
150 void navigation_clearroute(entity this);
151 void navigation_pushroute(entity this, entity e);
152 void navigation_poproute(entity this);
153 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
154 void navigation_markroutes(entity this, entity fixed_source_waypoint);
155 void navigation_markroutes_inverted(entity fixed_source_waypoint);
156 void navigation_routerating(entity this, entity e, float f, float rangebias);
157 int navigation_poptouchedgoals(entity this);
158 void navigation_goalrating_start(entity this);
159 void navigation_goalrating_end(entity this);
160 void navigation_goalrating_timeout_set(entity this);
161 void navigation_goalrating_timeout_force(entity this);
162 bool navigation_goalrating_timeout(entity this);
163 void navigation_unstuck(entity this);
165 void botframe_updatedangerousobjects(float maxupdate);
167 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
168 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);