qcsrc/server/bot/default/waypoints.qc

   1 #include "waypoints.qh"
   2
   3 #include "cvars.qh"
   4
   5 #include "bot.qh"
   6 #include "navigation.qh"
   7
   8 #include <common/state.qh>
   9
  10 #include "../../antilag.qh"
  11
  12 #include <common/constants.qh>
  13 #include <common/net_linked.qh>
  14 #include <common/physics/player.qh>
  15
  16 #include <lib/warpzone/common.qh>
  17 #include <lib/warpzone/util_server.qh>
  18
  19 .entity spawnpointmodel;
  20 void waypoint_unreachable(entity pl)
  21 {
  22         IL_EACH(g_waypoints, true,
  23         {
  24                 it.colormod = '0.5 0.5 0.5';
  25                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
  26         });
  27
  28         entity e2 = navigation_findnearestwaypoint(pl, false);
  29         if(!e2)
  30         {
  31                 LOG_INFOF("Can't find any waypoint nearby\n");
  32                 return;
  33         }
  34
  35         navigation_markroutes(pl, e2);
  36
  37         int j = 0;
  38         int m = 0;
  39         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  40         {
  41                 LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
  42                 it.colormod_z = 8;
  43                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
  44                 j++;
  45                 m++;
  46         });
  47         if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
  48         navigation_markroutes_inverted(e2);
  49
  50         j = 0;
  51         IL_EACH(g_waypoints, it.wpcost >= 10000000,
  52         {
  53                 LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
  54                 it.colormod_x = 8;
  55                 if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
  56                         m++;
  57                 it.effects |= EF_NODEPTHTEST | EF_RED;
  58                 j++;
  59         });
  60         if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
  61         if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
  62
  63         j = 0;
  64         IL_EACH(g_spawnpoints, true,
  65         {
  66                 if (navigation_findnearestwaypoint(it, false))
  67                 {
  68                         if(it.spawnpointmodel)
  69                         {
  70                                 delete(it.spawnpointmodel);
  71                                 it.spawnpointmodel = NULL;
  72                         }
  73                 }
  74                 else
  75                 {
  76                         if(!it.spawnpointmodel)
  77                         {
  78                                 tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
  79                                 entity e = new(spawnpointmodel);
  80                                 vector org = trace_endpos + eZ;
  81                                 setorigin(e, org);
  82                                 e.solid = SOLID_TRIGGER;
  83                                 it.spawnpointmodel = e;
  84                         }
  85                         LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
  86                         it.spawnpointmodel.effects |= EF_NODEPTHTEST;
  87                         _setmodel(it.spawnpointmodel, pl.model);
  88                         it.spawnpointmodel.frame = pl.frame;
  89                         it.spawnpointmodel.skin = pl.skin;
  90                         it.spawnpointmodel.colormap = pl.colormap;
  91                         it.spawnpointmodel.colormod = pl.colormod;
  92                         it.spawnpointmodel.glowmod = pl.glowmod;
  93                         setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
  94                         j++;
  95                 }
  96         });
  97         if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
  98
  99         j = 0;
 100         IL_EACH(g_items, true,
 101         {
 102                 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
 103                 it.colormod = '0.5 0.5 0.5';
 104         });
 105         IL_EACH(g_items, true,
 106         {
 107                 if (navigation_findnearestwaypoint(it, false))
 108                         continue;
 109                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 110                 it.effects |= EF_NODEPTHTEST | EF_RED;
 111                 it.colormod_x = 8;
 112                 j++;
 113         });
 114         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
 115
 116         j = 0;
 117         IL_EACH(g_items, true,
 118         {
 119                 if (navigation_findnearestwaypoint(it, true))
 120                         continue;
 121                 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
 122                 it.effects |= EF_NODEPTHTEST | EF_BLUE;
 123                 it.colormod_z = 8;
 124                 j++;
 125         });
 126         if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
 127 }
 128
 129 vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
 130 {
 131         vector new_org = org;
 132         if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
 133         {
 134                 vector map_center = havocbot_middlepoint;
 135                 if (autocvar_g_waypointeditor_symmetrical == -1)
 136                         map_center = autocvar_g_waypointeditor_symmetrical_origin;
 137
 138                 new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
 139         }
 140         else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
 141         {
 142                 float m = havocbot_symmetryaxis_equation.x;
 143                 float q = havocbot_symmetryaxis_equation.y;
 144                 if (autocvar_g_waypointeditor_symmetrical == -2)
 145                 {
 146                         m = autocvar_g_waypointeditor_symmetrical_axis.x;
 147                         q = autocvar_g_waypointeditor_symmetrical_axis.y;
 148                 }
 149
 150                 new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
 151                 new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
 152         }
 153         new_org.z = org.z;
 154         return new_org;
 155 }
 156
 157 void waypoint_setupmodel(entity wp)
 158 {
 159         if (autocvar_g_waypointeditor)
 160         {
 161                 // TODO: add some sort of visible box in edit mode for box waypoints
 162                 vector m1 = wp.mins;
 163                 vector m2 = wp.maxs;
 164                 setmodel(wp, MDL_WAYPOINT);
 165                 setsize(wp, m1, m2);
 166                 wp.effects = EF_LOWPRECISION;
 167                 if (wp.wpflags & WAYPOINTFLAG_ITEM)
 168                         wp.colormod = '1 0 0';
 169                 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
 170                         wp.colormod = '1 1 0';
 171                 else if (wp.wphardwired)
 172                         wp.colormod = '0.5 0 1';
 173                 else
 174                         wp.colormod = '1 1 1';
 175         }
 176         else
 177                 wp.model = "";
 178 }
 179
 180 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
 181 // them back to it as well
 182 // (suitable for spawnfunc_waypoint editor)
 183 entity waypoint_spawn(vector m1, vector m2, float f)
 184 {
 185         if(!(f & WAYPOINTFLAG_PERSONAL))
 186         {
 187                 vector em1 = m1, em2 = m2;
 188                 if (!(f & WAYPOINTFLAG_GENERATED) && m1 == m2)
 189                 {
 190                         em1 = m1 - '8 8 8';
 191                         em2 = m2 + '8 8 8';
 192                 }
 193                 IL_EACH(g_waypoints, boxesoverlap(em1, em2, it.absmin, it.absmax),
 194                 {
 195                         return it;
 196                 });
 197         }
 198
 199         entity w = new(waypoint);
 200         IL_PUSH(g_waypoints, w);
 201         w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
 202         w.wpflags = f;
 203         w.solid = SOLID_TRIGGER;
 204         setorigin(w, (m1 + m2) * 0.5);
 205         setsize(w, m1 - w.origin, m2 - w.origin);
 206         if (w.size)
 207                 w.wpisbox = true;
 208
 209         if(!w.wpisbox)
 210         {
 211                 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
 212                 if(!move_out_of_solid(w))
 213                 {
 214                         if(!(f & WAYPOINTFLAG_GENERATED))
 215                         {
 216                                 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
 217                                 delete(w);
 218                                 return NULL;
 219                         }
 220                         else
 221                         {
 222                                 if(autocvar_developer)
 223                                 {
 224                                         LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
 225                                         backtrace("Waypoint stuck");
 226                                 }
 227                         }
 228                 }
 229                 setsize(w, '0 0 0', '0 0 0');
 230         }
 231
 232         waypoint_clearlinks(w);
 233         //waypoint_schedulerelink(w);
 234
 235         waypoint_setupmodel(w);
 236
 237         return w;
 238 }
 239
 240 void waypoint_spawn_fromeditor(entity pl)
 241 {
 242         entity e;
 243         vector org = pl.origin;
 244         int ctf_flags = havocbot_symmetryaxis_equation.z;
 245         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
 246                    || (autocvar_g_waypointeditor_symmetrical < 0));
 247         int order = ctf_flags;
 248         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
 249         {
 250                 order = autocvar_g_waypointeditor_symmetrical_order;
 251                 ctf_flags = order;
 252         }
 253
 254         if(!PHYS_INPUT_BUTTON_CROUCH(pl))
 255         {
 256                 // snap waypoint to item's origin if close enough
 257                 IL_EACH(g_items, true,
 258                 {
 259                         vector item_org = (it.absmin + it.absmax) * 0.5;
 260                         item_org.z = it.absmin.z - PL_MIN_CONST.z;
 261                         if(vlen(item_org - org) < 30)
 262                         {
 263                                 org = item_org;
 264                                 break;
 265                         }
 266                 });
 267         }
 268
 269         LABEL(add_wp);
 270         e = waypoint_spawn(org, org, 0);
 271         waypoint_schedulerelink(e);
 272         bprint(strcat("Waypoint spawned at ", vtos(e.origin), "\n"));
 273         if(sym)
 274         {
 275                 org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
 276                 if (vdist(org - pl.origin, >, 32))
 277                 {
 278                         if(order > 2)
 279                                 order--;
 280                         else
 281                                 sym = false;
 282                         goto add_wp;
 283                 }
 284         }
 285 }
 286
 287 void waypoint_remove(entity wp)
 288 {
 289         // tell all waypoints linked to wp that they need to relink
 290         IL_EACH(g_waypoints, it != wp,
 291         {
 292                 if (waypoint_islinked(it, wp))
 293                         waypoint_removelink(it, wp);
 294         });
 295         delete(wp);
 296 }
 297
 298 void waypoint_remove_fromeditor(entity pl)
 299 {
 300         entity e = navigation_findnearestwaypoint(pl, false);
 301
 302         int ctf_flags = havocbot_symmetryaxis_equation.z;
 303         bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
 304                    || (autocvar_g_waypointeditor_symmetrical < 0));
 305         int order = ctf_flags;
 306         if(autocvar_g_waypointeditor_symmetrical_order >= 2)
 307         {
 308                 order = autocvar_g_waypointeditor_symmetrical_order;
 309                 ctf_flags = order;
 310         }
 311
 312         LABEL(remove_wp);
 313         if (!e) return;
 314         if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
 315
 316         if (e.wphardwired)
 317         {
 318                 LOG_INFO("^1Warning: ^7Removal of hardwired waypoints is not allowed in the editor. Please remove links from/to this waypoint (", vtos(e.origin), ") by hand from maps/", mapname, ".waypoints.hardwired\n");
 319                 return;
 320         }
 321
 322         entity wp_sym = NULL;
 323         if (sym)
 324         {
 325                 vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
 326                 FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
 327                         if(vdist(org - it.origin, <, 3))
 328                         {
 329                                 wp_sym = it;
 330                                 break;
 331                         }
 332                 });
 333         }
 334
 335         bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
 336         waypoint_remove(e);
 337
 338         if (sym && wp_sym)
 339         {
 340                 e = wp_sym;
 341                 if(order > 2)
 342                         order--;
 343                 else
 344                         sym = false;
 345                 goto remove_wp;
 346         }
 347 }
 348
 349 void waypoint_removelink(entity from, entity to)
 350 {
 351         if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
 352                 return;
 353
 354         bool found = false;
 355         if (!found && from.wp00 == to) found = true; if (found) {from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;}
 356         if (!found && from.wp01 == to) found = true; if (found) {from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;}
 357         if (!found && from.wp02 == to) found = true; if (found) {from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;}
 358         if (!found && from.wp03 == to) found = true; if (found) {from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;}
 359         if (!found && from.wp04 == to) found = true; if (found) {from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;}
 360         if (!found && from.wp05 == to) found = true; if (found) {from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;}
 361         if (!found && from.wp06 == to) found = true; if (found) {from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;}
 362         if (!found && from.wp07 == to) found = true; if (found) {from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;}
 363         if (!found && from.wp08 == to) found = true; if (found) {from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;}
 364         if (!found && from.wp09 == to) found = true; if (found) {from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;}
 365         if (!found && from.wp10 == to) found = true; if (found) {from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;}
 366         if (!found && from.wp11 == to) found = true; if (found) {from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;}
 367         if (!found && from.wp12 == to) found = true; if (found) {from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;}
 368         if (!found && from.wp13 == to) found = true; if (found) {from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;}
 369         if (!found && from.wp14 == to) found = true; if (found) {from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;}
 370         if (!found && from.wp15 == to) found = true; if (found) {from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;}
 371         if (!found && from.wp16 == to) found = true; if (found) {from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;}
 372         if (!found && from.wp17 == to) found = true; if (found) {from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;}
 373         if (!found && from.wp18 == to) found = true; if (found) {from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;}
 374         if (!found && from.wp19 == to) found = true; if (found) {from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;}
 375         if (!found && from.wp20 == to) found = true; if (found) {from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;}
 376         if (!found && from.wp21 == to) found = true; if (found) {from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;}
 377         if (!found && from.wp22 == to) found = true; if (found) {from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;}
 378         if (!found && from.wp23 == to) found = true; if (found) {from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;}
 379         if (!found && from.wp24 == to) found = true; if (found) {from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;}
 380         if (!found && from.wp25 == to) found = true; if (found) {from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;}
 381         if (!found && from.wp26 == to) found = true; if (found) {from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;}
 382         if (!found && from.wp27 == to) found = true; if (found) {from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;}
 383         if (!found && from.wp28 == to) found = true; if (found) {from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;}
 384         if (!found && from.wp29 == to) found = true; if (found) {from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;}
 385         if (!found && from.wp30 == to) found = true; if (found) {from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;}
 386         if (found) {from.wp31 = NULL; from.wp31mincost = 10000000;}
 387 }
 388
 389 bool waypoint_islinked(entity from, entity to)
 390 {
 391         if (from.wp00 == to) return true;if (from.wp01 == to) return true;if (from.wp02 == to) return true;if (from.wp03 == to) return true;
 392         if (from.wp04 == to) return true;if (from.wp05 == to) return true;if (from.wp06 == to) return true;if (from.wp07 == to) return true;
 393         if (from.wp08 == to) return true;if (from.wp09 == to) return true;if (from.wp10 == to) return true;if (from.wp11 == to) return true;
 394         if (from.wp12 == to) return true;if (from.wp13 == to) return true;if (from.wp14 == to) return true;if (from.wp15 == to) return true;
 395         if (from.wp16 == to) return true;if (from.wp17 == to) return true;if (from.wp18 == to) return true;if (from.wp19 == to) return true;
 396         if (from.wp20 == to) return true;if (from.wp21 == to) return true;if (from.wp22 == to) return true;if (from.wp23 == to) return true;
 397         if (from.wp24 == to) return true;if (from.wp25 == to) return true;if (from.wp26 == to) return true;if (from.wp27 == to) return true;
 398         if (from.wp28 == to) return true;if (from.wp29 == to) return true;if (from.wp30 == to) return true;if (from.wp31 == to) return true;
 399         return false;
 400 }
 401
 402 void waypoint_updatecost_foralllinks()
 403 {
 404         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
 405         {
 406                 if(it.wp00) it.wp00mincost = waypoint_getlinkcost(it, it.wp00);
 407                 if(it.wp01) it.wp01mincost = waypoint_getlinkcost(it, it.wp01);
 408                 if(it.wp02) it.wp02mincost = waypoint_getlinkcost(it, it.wp02);
 409                 if(it.wp03) it.wp03mincost = waypoint_getlinkcost(it, it.wp03);
 410                 if(it.wp04) it.wp04mincost = waypoint_getlinkcost(it, it.wp04);
 411                 if(it.wp05) it.wp05mincost = waypoint_getlinkcost(it, it.wp05);
 412                 if(it.wp06) it.wp06mincost = waypoint_getlinkcost(it, it.wp06);
 413                 if(it.wp07) it.wp07mincost = waypoint_getlinkcost(it, it.wp07);
 414                 if(it.wp08) it.wp08mincost = waypoint_getlinkcost(it, it.wp08);
 415                 if(it.wp09) it.wp09mincost = waypoint_getlinkcost(it, it.wp09);
 416                 if(it.wp10) it.wp10mincost = waypoint_getlinkcost(it, it.wp10);
 417                 if(it.wp11) it.wp11mincost = waypoint_getlinkcost(it, it.wp11);
 418                 if(it.wp12) it.wp12mincost = waypoint_getlinkcost(it, it.wp12);
 419                 if(it.wp13) it.wp13mincost = waypoint_getlinkcost(it, it.wp13);
 420                 if(it.wp14) it.wp14mincost = waypoint_getlinkcost(it, it.wp14);
 421                 if(it.wp15) it.wp15mincost = waypoint_getlinkcost(it, it.wp15);
 422                 if(it.wp16) it.wp16mincost = waypoint_getlinkcost(it, it.wp16);
 423                 if(it.wp17) it.wp17mincost = waypoint_getlinkcost(it, it.wp17);
 424                 if(it.wp18) it.wp18mincost = waypoint_getlinkcost(it, it.wp18);
 425                 if(it.wp19) it.wp19mincost = waypoint_getlinkcost(it, it.wp19);
 426                 if(it.wp20) it.wp20mincost = waypoint_getlinkcost(it, it.wp20);
 427                 if(it.wp21) it.wp21mincost = waypoint_getlinkcost(it, it.wp21);
 428                 if(it.wp22) it.wp22mincost = waypoint_getlinkcost(it, it.wp22);
 429                 if(it.wp23) it.wp23mincost = waypoint_getlinkcost(it, it.wp23);
 430                 if(it.wp24) it.wp24mincost = waypoint_getlinkcost(it, it.wp24);
 431                 if(it.wp25) it.wp25mincost = waypoint_getlinkcost(it, it.wp25);
 432                 if(it.wp26) it.wp26mincost = waypoint_getlinkcost(it, it.wp26);
 433                 if(it.wp27) it.wp27mincost = waypoint_getlinkcost(it, it.wp27);
 434                 if(it.wp28) it.wp28mincost = waypoint_getlinkcost(it, it.wp28);
 435                 if(it.wp29) it.wp29mincost = waypoint_getlinkcost(it, it.wp29);
 436                 if(it.wp30) it.wp30mincost = waypoint_getlinkcost(it, it.wp30);
 437                 if(it.wp31) it.wp31mincost = waypoint_getlinkcost(it, it.wp31);
 438         });
 439 }
 440
 441 float waypoint_getlinearcost(float dist)
 442 {
 443         if(skill >= autocvar_bot_ai_bunnyhop_skilloffset)
 444                 return dist / (autocvar_sv_maxspeed * 1.25);
 445         return dist / autocvar_sv_maxspeed;
 446 }
 447 float waypoint_getlinearcost_underwater(float dist)
 448 {
 449         // NOTE: this value is hardcoded on the engine too, see SV_WaterMove
 450         return dist / (autocvar_sv_maxspeed * 0.7);
 451 }
 452
 453 float waypoint_gettravelcost(vector from, vector to, entity from_ent, entity to_ent)
 454 {
 455         bool submerged_from = navigation_check_submerged_state(from_ent, from);
 456         bool submerged_to = navigation_check_submerged_state(to_ent, to);
 457
 458         if (submerged_from && submerged_to)
 459                 return waypoint_getlinearcost_underwater(vlen(to - from));
 460
 461         float c = waypoint_getlinearcost(vlen(to - from));
 462
 463         float height = from.z - to.z;
 464         if(height > jumpheight_vec.z && autocvar_sv_gravity > 0)
 465         {
 466                 float height_cost = sqrt(height / (autocvar_sv_gravity / 2));
 467                 c = waypoint_getlinearcost(vlen(vec2(to - from))); // xy distance cost
 468                 if(height_cost > c)
 469                         c = height_cost;
 470         }
 471
 472         if (submerged_from || submerged_to)
 473                 return (c + waypoint_getlinearcost_underwater(vlen(to - from))) / 2;
 474         return c;
 475 }
 476
 477 float waypoint_getlinkcost(entity from, entity to)
 478 {
 479         vector v1 = from.origin;
 480         vector v2 = to.origin;
 481         if (from.wpisbox)
 482         {
 483                 vector m1 = from.absmin, m2 = from.absmax;
 484                 v1.x = bound(m1.x, v2.x, m2.x);
 485                 v1.y = bound(m1.y, v2.y, m2.y);
 486                 v1.z = bound(m1.z, v2.z, m2.z);
 487         }
 488         if (to.wpisbox)
 489         {
 490                 vector m1 = to.absmin, m2 = to.absmax;
 491                 v2.x = bound(m1.x, v1.x, m2.x);
 492                 v2.y = bound(m1.y, v1.y, m2.y);
 493                 v2.z = bound(m1.z, v1.z, m2.z);
 494         }
 495         return waypoint_gettravelcost(v1, v2, from, to);
 496 }
 497
 498 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
 499 // if c == -1 automatically determine cost of the link
 500 void waypoint_addlink_customcost(entity from, entity to, float c)
 501 {
 502         if (from == to || waypoint_islinked(from, to))
 503                 return;
 504         if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
 505                 return;
 506
 507         if(c == -1)
 508                 c = waypoint_getlinkcost(from, to);
 509
 510         if (from.wp31mincost < c) return;
 511         if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
 512         if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
 513         if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
 514         if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
 515         if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
 516         if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
 517         if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
 518         if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
 519         if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
 520         if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
 521         if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
 522         if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
 523         if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
 524         if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
 525         if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
 526         if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
 527         if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
 528         if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
 529         if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
 530         if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
 531         if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
 532         if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
 533         if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
 534         if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
 535         if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
 536         if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
 537         if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
 538         if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
 539         if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
 540         if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
 541         if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
 542         from.wp00 = to;from.wp00mincost = c;return;
 543 }
 544
 545 void waypoint_addlink(entity from, entity to)
 546 {
 547         waypoint_addlink_customcost(from, to, -1);
 548 }
 549
 550 // relink this spawnfunc_waypoint
 551 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
 552 // (SLOW!)
 553 void waypoint_think(entity this)
 554 {
 555         vector sv, sv2, ev, ev2, dv;
 556         float sv2_height, ev2_height;
 557
 558         bot_calculate_stepheightvec();
 559
 560         bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
 561
 562         //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
 563         IL_EACH(g_waypoints, this != it,
 564         {
 565                 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
 566                 {
 567                         waypoint_addlink(this, it);
 568                         waypoint_addlink(it, this);
 569                 }
 570                 else
 571                 {
 572                         ++relink_total;
 573                         if(!checkpvs(this.origin, it))
 574                         {
 575                                 ++relink_pvsculled;
 576                                 continue;
 577                         }
 578
 579                         SET_TRACEWALK_DESTCOORDS_2(this, it.origin, sv, sv2, sv2_height);
 580                         SET_TRACEWALK_DESTCOORDS_2(it, this.origin, ev, ev2, ev2_height);
 581
 582                         dv = ev - sv;
 583                         dv.z = 0;
 584                         if(vdist(dv, >=, 1050)) // max search distance in XY
 585                         {
 586                                 ++relink_lengthculled;
 587                                 continue;
 588                         }
 589
 590                         navigation_testtracewalk = 0;
 591
 592                         //traceline(this.origin, it.origin, false, NULL);
 593                         //if (trace_fraction == 1)
 594                         if (this.wpisbox)
 595                                 relink_walkculled += 0.5;
 596                         else
 597                         {
 598                                 if (tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev2, ev2_height, MOVE_NOMONSTERS))
 599                                         waypoint_addlink(this, it);
 600                                 else
 601                                         relink_walkculled += 0.5;
 602                         }
 603
 604                         if (it.wpisbox)
 605                                 relink_walkculled += 0.5;
 606                         else
 607                         {
 608                                 if (tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv2, sv2_height, MOVE_NOMONSTERS))
 609                                         waypoint_addlink(it, this);
 610                                 else
 611                                         relink_walkculled += 0.5;
 612                         }
 613                 }
 614         });
 615         navigation_testtracewalk = 0;
 616         this.wplinked = true;
 617 }
 618
 619 void waypoint_clearlinks(entity wp)
 620 {
 621         // clear links to other waypoints
 622         float f = 10000000;
 623         wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
 624         wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
 625         wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
 626         wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
 627
 628         wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
 629         wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
 630         wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
 631         wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
 632
 633         wp.wplinked = false;
 634 }
 635
 636 // tell a spawnfunc_waypoint to relink
 637 void waypoint_schedulerelink(entity wp)
 638 {
 639         if (wp == NULL)
 640                 return;
 641
 642         waypoint_setupmodel(wp);
 643         wp.wpisbox = vdist(wp.size, >, 0);
 644         wp.enemy = NULL;
 645         if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
 646                 wp.owner = NULL;
 647         if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
 648                 waypoint_clearlinks(wp);
 649         // schedule an actual relink on next frame
 650         setthink(wp, waypoint_think);
 651         wp.nextthink = time;
 652         wp.effects = EF_LOWPRECISION;
 653 }
 654
 655 // spawnfunc_waypoint map entity
 656 spawnfunc(waypoint)
 657 {
 658         IL_PUSH(g_waypoints, this);
 659
 660         setorigin(this, this.origin);
 661         // schedule a relink after other waypoints have had a chance to spawn
 662         waypoint_clearlinks(this);
 663         //waypoint_schedulerelink(this);
 664 }
 665
 666 // tell all waypoints to relink
 667 // actually this is useful only to update relink_* stats
 668 void waypoint_schedulerelinkall()
 669 {
 670         relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
 671         IL_EACH(g_waypoints, true,
 672         {
 673                 waypoint_schedulerelink(it);
 674         });
 675         waypoint_load_links_hardwired();
 676 }
 677
 678 // Load waypoint links from file
 679 bool waypoint_load_links()
 680 {
 681         string filename, s;
 682         float file, tokens, c = 0, found;
 683         entity wp_from = NULL, wp_to;
 684         vector wp_to_pos, wp_from_pos;
 685         filename = strcat("maps/", mapname);
 686         filename = strcat(filename, ".waypoints.cache");
 687         file = fopen(filename, FILE_READ);
 688
 689         if (file < 0)
 690         {
 691                 LOG_TRACE("waypoint links load from ");
 692                 LOG_TRACE(filename);
 693                 LOG_TRACE(" failed");
 694                 return false;
 695         }
 696
 697         while ((s = fgets(file)))
 698         {
 699                 tokens = tokenizebyseparator(s, "*");
 700
 701                 if (tokens!=2)
 702                 {
 703                         // bad file format
 704                         fclose(file);
 705                         return false;
 706                 }
 707
 708                 wp_from_pos     = stov(argv(0));
 709                 wp_to_pos       = stov(argv(1));
 710
 711                 // Search "from" waypoint
 712                 if(!wp_from || wp_from.origin!=wp_from_pos)
 713                 {
 714                         wp_from = findradius(wp_from_pos, 1);
 715                         found = false;
 716                         while(wp_from)
 717                         {
 718                                 if(vdist(wp_from.origin - wp_from_pos, <, 1))
 719                                 if(wp_from.classname == "waypoint")
 720                                 {
 721                                         found = true;
 722                                         break;
 723                                 }
 724                                 wp_from = wp_from.chain;
 725                         }
 726
 727                         if(!found)
 728                         {
 729                                 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
 730                                 continue;
 731                         }
 732
 733                 }
 734
 735                 // Search "to" waypoint
 736                 wp_to = findradius(wp_to_pos, 1);
 737                 found = false;
 738                 while(wp_to)
 739                 {
 740                         if(vdist(wp_to.origin - wp_to_pos, <, 1))
 741                         if(wp_to.classname == "waypoint")
 742                         {
 743                                 found = true;
 744                                 break;
 745                         }
 746                         wp_to = wp_to.chain;
 747                 }
 748
 749                 if(!found)
 750                 {
 751                         LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
 752                         continue;
 753                 }
 754
 755                 ++c;
 756                 waypoint_addlink(wp_from, wp_to);
 757         }
 758
 759         fclose(file);
 760
 761         LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
 762
 763         botframe_cachedwaypointlinks = true;
 764         return true;
 765 }
 766
 767 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
 768 {
 769         string filename, s;
 770         float file, tokens, c = 0, found;
 771         entity wp_from = NULL, wp_to;
 772         vector wp_to_pos, wp_from_pos;
 773         filename = strcat("maps/", mapname);
 774         filename = strcat(filename, ".waypoints.hardwired");
 775         file = fopen(filename, FILE_READ);
 776
 777         botframe_loadedforcedlinks = true;
 778
 779         if (file < 0)
 780         {
 781                 if(!removal_mode)
 782                         LOG_TRACE("waypoint links load from ", filename, " failed");
 783                 return;
 784         }
 785
 786         while ((s = fgets(file)))
 787         {
 788                 if(substring(s, 0, 2)=="//")
 789                         continue;
 790
 791                 if(substring(s, 0, 1)=="#")
 792                         continue;
 793
 794                 tokens = tokenizebyseparator(s, "*");
 795
 796                 if (tokens!=2)
 797                         continue;
 798
 799                 wp_from_pos     = stov(argv(0));
 800                 wp_to_pos       = stov(argv(1));
 801
 802                 // Search "from" waypoint
 803                 if(!wp_from || wp_from.origin!=wp_from_pos)
 804                 {
 805                         wp_from = findradius(wp_from_pos, 5);
 806                         found = false;
 807                         while(wp_from)
 808                         {
 809                                 if(vdist(wp_from.origin - wp_from_pos, <, 5))
 810                                 if(wp_from.classname == "waypoint")
 811                                 {
 812                                         found = true;
 813                                         break;
 814                                 }
 815                                 wp_from = wp_from.chain;
 816                         }
 817
 818                         if(!found)
 819                         {
 820                                 if(!removal_mode)
 821                                         LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
 822                                 continue;
 823                         }
 824                 }
 825
 826                 // Search "to" waypoint
 827                 wp_to = findradius(wp_to_pos, 5);
 828                 found = false;
 829                 while(wp_to)
 830                 {
 831                         if(vdist(wp_to.origin - wp_to_pos, <, 5))
 832                         if(wp_to.classname == "waypoint")
 833                         {
 834                                 found = true;
 835                                 break;
 836                         }
 837                         wp_to = wp_to.chain;
 838                 }
 839
 840                 if(!found)
 841                 {
 842                         if(!removal_mode)
 843                                 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
 844                         continue;
 845                 }
 846
 847                 ++c;
 848                 if(removal_mode)
 849                 {
 850                         waypoint_removelink(wp_from, wp_to);
 851                         continue;
 852                 }
 853
 854                 waypoint_addlink(wp_from, wp_to);
 855                 wp_from.wphardwired = true;
 856                 wp_to.wphardwired = true;
 857         }
 858
 859         fclose(file);
 860
 861         if(!removal_mode)
 862                 LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
 863 }
 864
 865 void waypoint_load_links_hardwired() { waypoint_load_or_remove_links_hardwired(false); }
 866 void waypoint_remove_links_hardwired() { waypoint_load_or_remove_links_hardwired(true); }
 867
 868 entity waypoint_get_link(entity w, float i)
 869 {
 870         switch(i)
 871         {
 872                 case  0:return w.wp00;
 873                 case  1:return w.wp01;
 874                 case  2:return w.wp02;
 875                 case  3:return w.wp03;
 876                 case  4:return w.wp04;
 877                 case  5:return w.wp05;
 878                 case  6:return w.wp06;
 879                 case  7:return w.wp07;
 880                 case  8:return w.wp08;
 881                 case  9:return w.wp09;
 882                 case 10:return w.wp10;
 883                 case 11:return w.wp11;
 884                 case 12:return w.wp12;
 885                 case 13:return w.wp13;
 886                 case 14:return w.wp14;
 887                 case 15:return w.wp15;
 888                 case 16:return w.wp16;
 889                 case 17:return w.wp17;
 890                 case 18:return w.wp18;
 891                 case 19:return w.wp19;
 892                 case 20:return w.wp20;
 893                 case 21:return w.wp21;
 894                 case 22:return w.wp22;
 895                 case 23:return w.wp23;
 896                 case 24:return w.wp24;
 897                 case 25:return w.wp25;
 898                 case 26:return w.wp26;
 899                 case 27:return w.wp27;
 900                 case 28:return w.wp28;
 901                 case 29:return w.wp29;
 902                 case 30:return w.wp30;
 903                 case 31:return w.wp31;
 904                 default:return NULL;
 905         }
 906 }
 907
 908 // Save all waypoint links to a file
 909 void waypoint_save_links()
 910 {
 911         // temporarily remove hardwired links so they don't get saved among normal links
 912         waypoint_remove_links_hardwired();
 913
 914         string filename = sprintf("maps/%s.waypoints.cache", mapname);
 915         int file = fopen(filename, FILE_WRITE);
 916         if (file < 0)
 917         {
 918                 LOG_INFOF("waypoint link save to %s failed\n", filename);
 919                 return;
 920         }
 921
 922         int c = 0;
 923         IL_EACH(g_waypoints, true,
 924         {
 925                 for(int j = 0; j < 32; ++j)
 926                 {
 927                         entity link = waypoint_get_link(it, j);
 928                         if(link)
 929                         {
 930                                 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
 931                                 fputs(file, s);
 932                                 ++c;
 933                         }
 934                 }
 935         });
 936         fclose(file);
 937         botframe_cachedwaypointlinks = true;
 938
 939         LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
 940
 941         waypoint_load_links_hardwired();
 942 }
 943
 944 // save waypoints to gamedir/data/maps/mapname.waypoints
 945 void waypoint_saveall()
 946 {
 947         string filename = sprintf("maps/%s.waypoints", mapname);
 948         int file = fopen(filename, FILE_WRITE);
 949         if (file < 0)
 950         {
 951                 waypoint_save_links(); // save anyway?
 952                 botframe_loadedforcedlinks = false;
 953
 954                 LOG_INFOF("waypoint links: save to %s failed\n", filename);
 955                 return;
 956         }
 957
 958         int c = 0;
 959         IL_EACH(g_waypoints, true,
 960         {
 961                 if(it.wpflags & WAYPOINTFLAG_GENERATED)
 962                         continue;
 963
 964                 string s;
 965                 s = strcat(vtos(it.origin + it.mins), "\n");
 966                 s = strcat(s, vtos(it.origin + it.maxs));
 967                 s = strcat(s, "\n");
 968                 s = strcat(s, ftos(it.wpflags));
 969                 s = strcat(s, "\n");
 970                 fputs(file, s);
 971                 c++;
 972         });
 973         fclose(file);
 974         waypoint_save_links();
 975         botframe_loadedforcedlinks = false;
 976
 977         LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
 978 }
 979
 980 // load waypoints from file
 981 float waypoint_loadall()
 982 {
 983         string filename, s;
 984         float file, cwp, cwb, fl;
 985         vector m1, m2;
 986         cwp = 0;
 987         cwb = 0;
 988         filename = strcat("maps/", mapname);
 989         filename = strcat(filename, ".waypoints");
 990         file = fopen(filename, FILE_READ);
 991         if (file >= 0)
 992         {
 993                 while ((s = fgets(file)))
 994                 {
 995                         m1 = stov(s);
 996                         s = fgets(file);
 997                         if (!s)
 998                                 break;
 999                         m2 = stov(s);
1000                         s = fgets(file);
1001                         if (!s)
1002                                 break;
1003                         fl = stof(s);
1004                         waypoint_spawn(m1, m2, fl);
1005                         if (m1 == m2)
1006                                 cwp = cwp + 1;
1007                         else
1008                                 cwb = cwb + 1;
1009                 }
1010                 fclose(file);
1011                 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
1012         }
1013         else
1014         {
1015                 LOG_TRACE("waypoint load from ", filename, " failed");
1016         }
1017         return cwp + cwb;
1018 }
1019
1020 vector waypoint_fixorigin(vector position)
1021 {
1022         tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
1023         if(trace_fraction < 1)
1024                 position = trace_endpos;
1025         //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
1026         //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
1027         return position;
1028 }
1029
1030 void waypoint_spawnforitem_force(entity e, vector org)
1031 {
1032         // Fix the waypoint altitude if necessary
1033         org = waypoint_fixorigin(org);
1034
1035         // don't spawn an item spawnfunc_waypoint if it already exists
1036         IL_EACH(g_waypoints, true,
1037         {
1038                 if(it.wpisbox)
1039                 {
1040                         if(boxesoverlap(org, org, it.absmin, it.absmax))
1041                         {
1042                                 e.nearestwaypoint = it;
1043                                 return;
1044                         }
1045                 }
1046                 else
1047                 {
1048                         if(vdist(it.origin - org, <, 16))
1049                         {
1050                                 e.nearestwaypoint = it;
1051                                 return;
1052                         }
1053                 }
1054         });
1055
1056         e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
1057 }
1058
1059 void waypoint_spawnforitem(entity e)
1060 {
1061         if(!bot_waypoints_for_items)
1062                 return;
1063
1064         waypoint_spawnforitem_force(e, e.origin);
1065 }
1066
1067 void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
1068 {
1069         entity w;
1070         entity dw;
1071         w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
1072         dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
1073         // one way link to the destination
1074         w.wp00 = dw;
1075         w.wp00mincost = timetaken; // this is just for jump pads
1076         // the teleporter's nearest spawnfunc_waypoint is this one
1077         // (teleporters are not goals, so this is probably useless)
1078         e.nearestwaypoint = w;
1079         e.nearestwaypointtimeout = -1;
1080 }
1081
1082 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
1083 {
1084         org = waypoint_fixorigin(org);
1085         destination = waypoint_fixorigin(destination);
1086         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
1087 }
1088
1089 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
1090 {
1091         destination = waypoint_fixorigin(destination);
1092         waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin - PL_MAX_CONST + '1 1 1', e.absmax - PL_MIN_CONST + '-1 -1 -1', destination, destination, timetaken);
1093 }
1094
1095 entity waypoint_spawnpersonal(entity this, vector position)
1096 {
1097         entity w;
1098
1099         // drop the waypoint to a proper location:
1100         //   first move it up by a player height
1101         //   then move it down to hit the floor with player bbox size
1102         position = waypoint_fixorigin(position);
1103
1104         w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
1105         w.nearestwaypoint = NULL;
1106         w.nearestwaypointtimeout = 0;
1107         w.owner = this;
1108
1109         waypoint_schedulerelink(w);
1110
1111         return w;
1112 }
1113
1114 void waypoint_showlink(entity wp1, entity wp2, int display_type)
1115 {
1116         if (!(wp1 && wp2))
1117                 return;
1118
1119         if (wp1.wphardwired && wp2.wphardwired)
1120                 te_beam(NULL, wp1.origin, wp2.origin);
1121         else if (display_type == 1)
1122                 te_lightning2(NULL, wp1.origin, wp2.origin);
1123 }
1124
1125 void waypoint_showlinks_to(entity wp, int display_type)
1126 {
1127         IL_EACH(g_waypoints, it != wp,
1128         {
1129                 if (waypoint_islinked(it, wp))
1130                         waypoint_showlink(it, wp, display_type);
1131         });
1132 }
1133
1134 void waypoint_showlinks_from(entity wp, int display_type)
1135 {
1136         waypoint_showlink(wp.wp00, wp, display_type); waypoint_showlink(wp.wp16, wp, display_type);
1137         waypoint_showlink(wp.wp01, wp, display_type); waypoint_showlink(wp.wp17, wp, display_type);
1138         waypoint_showlink(wp.wp02, wp, display_type); waypoint_showlink(wp.wp18, wp, display_type);
1139         waypoint_showlink(wp.wp03, wp, display_type); waypoint_showlink(wp.wp19, wp, display_type);
1140         waypoint_showlink(wp.wp04, wp, display_type); waypoint_showlink(wp.wp20, wp, display_type);
1141         waypoint_showlink(wp.wp05, wp, display_type); waypoint_showlink(wp.wp21, wp, display_type);
1142         waypoint_showlink(wp.wp06, wp, display_type); waypoint_showlink(wp.wp22, wp, display_type);
1143         waypoint_showlink(wp.wp07, wp, display_type); waypoint_showlink(wp.wp23, wp, display_type);
1144         waypoint_showlink(wp.wp08, wp, display_type); waypoint_showlink(wp.wp24, wp, display_type);
1145         waypoint_showlink(wp.wp09, wp, display_type); waypoint_showlink(wp.wp25, wp, display_type);
1146         waypoint_showlink(wp.wp10, wp, display_type); waypoint_showlink(wp.wp26, wp, display_type);
1147         waypoint_showlink(wp.wp11, wp, display_type); waypoint_showlink(wp.wp27, wp, display_type);
1148         waypoint_showlink(wp.wp12, wp, display_type); waypoint_showlink(wp.wp28, wp, display_type);
1149         waypoint_showlink(wp.wp13, wp, display_type); waypoint_showlink(wp.wp29, wp, display_type);
1150         waypoint_showlink(wp.wp14, wp, display_type); waypoint_showlink(wp.wp30, wp, display_type);
1151         waypoint_showlink(wp.wp15, wp, display_type); waypoint_showlink(wp.wp31, wp, display_type);
1152 }
1153
1154 void botframe_showwaypointlinks()
1155 {
1156         if (time < botframe_waypointeditorlightningtime)
1157                 return;
1158         botframe_waypointeditorlightningtime = time + 0.5;
1159         FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
1160         {
1161                 int display_type = 0;
1162                 entity head = navigation_findnearestwaypoint(it, false);
1163                 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
1164                         display_type = 1; // default
1165                 else if(head && (head.wphardwired))
1166                         display_type = 2; // only hardwired
1167
1168                 if (display_type)
1169                 {
1170                         //navigation_testtracewalk = true;
1171                         //print("currently selected WP is ", etos(head), "\n");
1172                         //navigation_testtracewalk = false;
1173                         if (head)
1174                         {
1175                                 te_lightning2(NULL, head.origin, it.origin);
1176                                 if(PHYS_INPUT_BUTTON_CROUCH(it))
1177                                         waypoint_showlinks_to(head, display_type);
1178                                 else
1179                                         waypoint_showlinks_from(head, display_type);
1180                         }
1181                 }
1182         });
1183 }
1184
1185 float botframe_autowaypoints_fixdown(vector v)
1186 {
1187         tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
1188         if(trace_fraction >= 1)
1189                 return 0;
1190         return 1;
1191 }
1192
1193 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
1194 {
1195         IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
1196         {
1197                 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
1198                 return 0;
1199         });
1200
1201         waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
1202         return 1;
1203 }
1204
1205 // return value:
1206 //    1 = WP created
1207 //    0 = no action needed
1208 //   -1 = temp fail, try from world too
1209 //   -2 = permanent fail, do not retry
1210 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
1211 {
1212         // make it possible to go from p to wp, if we can
1213         // if wp is NULL, nearest is chosen
1214
1215         entity w;
1216         vector porg;
1217         float t, tmin, tmax;
1218         vector o;
1219         vector save;
1220
1221         if(!botframe_autowaypoints_fixdown(p.origin))
1222                 return -2;
1223         porg = trace_endpos;
1224
1225         if(wp)
1226         {
1227                 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
1228
1229                 // if wp -> porg, then OK
1230                 float maxdist;
1231                 if(navigation_waypoint_will_link(wp.origin, porg, p, wp.origin, 0, walkfromwp, 1050))
1232                 {
1233                         // we may find a better one
1234                         maxdist = vlen(wp.origin - porg);
1235                 }
1236                 else
1237                 {
1238                         // accept any "good"
1239                         maxdist = 2100;
1240                 }
1241
1242                 float bestdist = maxdist;
1243                 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
1244                 {
1245                         float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
1246                         if(d < bestdist)
1247                         if(navigation_waypoint_will_link(wp.origin, it.origin, p, wp.origin, 0, walkfromwp, 1050))
1248                         if(navigation_waypoint_will_link(it.origin, porg, p, it.origin, 0, walkfromwp, 1050))
1249                         {
1250                                 bestdist = d;
1251                                 p.(fld) = it;
1252                         }
1253                 });
1254                 if(bestdist < maxdist)
1255                 {
1256                         LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
1257                         return 0;
1258                 }
1259
1260                 if(bestdist < 2100)
1261                 {
1262                         // we know maxdist < 2100
1263                         // so wp -> porg is still valid
1264                         // all is good
1265                         p.(fld) = wp;
1266                         return 0;
1267                 }
1268
1269                 // otherwise, no existing WP can fix our issues
1270         }
1271         else
1272         {
1273                 save = p.origin;
1274                 setorigin(p, porg);
1275                 w = navigation_findnearestwaypoint(p, walkfromwp);
1276                 setorigin(p, save);
1277                 if(w)
1278                 {
1279                         p.(fld) = w;
1280                         return 0;
1281                 }
1282         }
1283
1284         tmin = 0;
1285         tmax = 1;
1286         for (;;)
1287         {
1288                 if(tmax - tmin < 0.001)
1289                 {
1290                         // did not get a good candidate
1291                         return -1;
1292                 }
1293
1294                 t = (tmin + tmax) * 0.5;
1295                 o = antilag_takebackorigin(p, CS(p), time - t);
1296                 if(!botframe_autowaypoints_fixdown(o))
1297                         return -2;
1298                 o = trace_endpos;
1299
1300                 if(wp)
1301                 {
1302                         if(!navigation_waypoint_will_link(wp.origin, o, p, wp.origin, 0, walkfromwp, 1050))
1303                         {
1304                                 // we cannot walk from wp.origin to o
1305                                 // get closer to tmax
1306                                 tmin = t;
1307                                 continue;
1308                         }
1309                 }
1310                 else
1311                 {
1312                         save = p.origin;
1313                         setorigin(p, o);
1314                         w = navigation_findnearestwaypoint(p, walkfromwp);
1315                         setorigin(p, save);
1316                         if(!w)
1317                         {
1318                                 // we cannot walk from any WP to o
1319                                 // get closer to tmax
1320                                 tmin = t;
1321                                 continue;
1322                         }
1323                 }
1324
1325                 // if we get here, o is valid regarding waypoints
1326                 // check if o is connected right to the player
1327                 // we break if it succeeds, as that means o is a good waypoint location
1328                 if(navigation_waypoint_will_link(o, porg, p, o, 0, walkfromwp, 1050))
1329                         break;
1330
1331                 // o is no good, we need to get closer to the player
1332                 tmax = t;
1333         }
1334
1335         LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1336         botframe_autowaypoints_createwp(o, p, fld, 0);
1337         return 1;
1338 }
1339
1340 // automatically create missing waypoints
1341 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1342 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1343 {
1344         float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1345         if(r != -1)
1346                 return;
1347         r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1348         if(r != -1)
1349                 return;
1350
1351         LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1352         if(!botframe_autowaypoints_fixdown(p.origin))
1353                 return; // shouldn't happen, caught above
1354         botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1355 }
1356
1357 void botframe_deleteuselesswaypoints()
1358 {
1359         IL_EACH(g_items, it.bot_pickup,
1360         {
1361                 // NOTE: this protects waypoints if they're the ONLY nearest
1362                 // waypoint. That's the intention.
1363                 navigation_findnearestwaypoint(it, false);  // Walk TO item.
1364                 navigation_findnearestwaypoint(it, true);  // Walk FROM item.
1365         });
1366         IL_EACH(g_waypoints, true,
1367         {
1368                 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1369                 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1370                 // WP is useful if:
1371                 if (it.wpflags & WAYPOINTFLAG_ITEM)
1372                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1373                 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1374                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1375                 if (it.wpflags & WAYPOINTFLAG_LADDER)
1376                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1377                 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1378                         it.wpflags |= WAYPOINTFLAG_USEFUL;
1379                 // b) WP is closest WP for an item/spawnpoint/other entity
1380                 //    This has been done above by protecting these WPs.
1381         });
1382         // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1383         IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1384         {
1385                 for (int m = 0; m < 32; ++m)
1386                 {
1387                         entity w = waypoint_get_link(it, m);
1388                         if (!w)
1389                                 break;
1390                         if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1391                                 continue;
1392                         if (w.wpflags & WAYPOINTFLAG_USEFUL)
1393                                 continue;
1394                         for (int j = 0; j < 32; ++j)
1395                         {
1396                                 entity w2 = waypoint_get_link(w, j);
1397                                 if (!w2)
1398                                         break;
1399                                 if (it == w2)
1400                                         continue;
1401                                 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1402                                         continue;
1403                                 // If we got here, it != w2 exist with it -> w
1404                                 // and w -> w2. That means the waypoint is not
1405                                 // a dead end.
1406                                 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1407                                 for (int k = 0; k < 32; ++k)
1408                                 {
1409                                         if (waypoint_get_link(it, k) == w2)
1410                                                 continue;
1411                                         // IF WE GET HERE, w is proven useful
1412                                         // to get from it to w2!
1413                                         w.wpflags |= WAYPOINTFLAG_USEFUL;
1414                                         goto next;
1415                                 }
1416                         }
1417 LABEL(next)
1418                 }
1419         });
1420         // d) The waypoint is a dead end. Dead end waypoints must be kept as
1421         //     they are needed to complete routes while autowaypointing.
1422
1423         IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1424         {
1425                 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1426                 te_explosion(it.origin);
1427                 waypoint_remove(it);
1428                 break;
1429         });
1430
1431         IL_EACH(g_waypoints, true,
1432         {
1433                 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1434         });
1435 }
1436
1437 void botframe_autowaypoints()
1438 {
1439         FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1440                 // going back is broken, so only fix waypoints to walk TO the player
1441                 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1442                 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1443                 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1444         ));
1445
1446         if (autocvar_g_waypointeditor_auto >= 2) {
1447                 botframe_deleteuselesswaypoints();
1448         }
1449 }
1450