.float speed;
+void navigation_dynamicgoal_init(entity this, bool initially_static)
+{
+ this.navigation_dynamicgoal = true;
+ this.bot_basewaypoint = this.nearestwaypoint;
+ if(initially_static)
+ this.nearestwaypointtimeout = -1;
+ else
+ this.nearestwaypointtimeout = time;
+}
+
+void navigation_dynamicgoal_set(entity this)
+{
+ this.nearestwaypointtimeout = time;
+}
+
+void navigation_dynamicgoal_unset(entity this)
+{
+ if(this.bot_basewaypoint)
+ this.nearestwaypoint = this.bot_basewaypoint;
+ this.nearestwaypointtimeout = -1;
+}
+
// rough simulation of walking from one point to another to test if a path
// can be traveled, used for waypoint linking and havocbot
float dist;
float totaldist;
float stepdist;
- float yaw;
float ignorehazards;
float swimming;
}
// Movement loop
- yaw = vectoyaw(move);
move = end - org;
for (;;)
{
if (trace_fraction < 1)
{
swimming = true;
- org = trace_endpos - normalize(org - trace_endpos) * stepdist;
+ org = trace_endpos + normalize(org - trace_endpos) * stepdist;
for (; org.z < end.z + e.maxs.z; org.z += stepdist)
{
- if(autocvar_bot_debug_tracewalk)
- debugnode(e, org);
+ if(autocvar_bot_debug_tracewalk)
+ debugnode(e, org);
- if(pointcontents(org) == CONTENT_EMPTY)
- break;
+ if(pointcontents(org) == CONTENT_EMPTY)
+ break;
}
if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
if (trace_fraction < 1 || trace_startsolid)
{
+ bool ladder_found = false;
+ FOREACH_ENTITY_CLASS("func_ladder", boxesoverlap(trace_endpos + m1 + '-1 -1 -1', trace_endpos + m2 + '1 1 1', it.absmin, it.absmax),
+ {
+ if(boxesoverlap(end, end, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
+ ladder_found = true; // can't return here ("Loop mutex held by tracewalk" error)
+ });
+ if(ladder_found)
+ {
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(org, DEBUG_NODE_SUCCESS);
+
+ //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+ return true;
+ }
+
if(autocvar_bot_debug_tracewalk)
debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
- // check for doors
traceline( org, move, movemode, e);
+
if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
{
vector nextmove;
void navigation_clearroute(entity this)
{
//print("bot ", etos(this), " clear\n");
- this.navigation_hasgoals = false;
+ this.goalentity = NULL;
this.goalcurrent = NULL;
this.goalstack01 = NULL;
this.goalstack02 = NULL;
void navigation_pushroute(entity this, entity e)
{
//print("bot ", etos(this), " push ", etos(e), "\n");
+ if(this.goalstack31 == this.goalentity)
+ this.goalentity = NULL;
this.goalstack31 = this.goalstack30;
this.goalstack30 = this.goalstack29;
this.goalstack29 = this.goalstack28;
void navigation_poproute(entity this)
{
//print("bot ", etos(this), " pop\n");
+ if(this.goalcurrent == this.goalentity)
+ this.goalentity = NULL;
this.goalcurrent = this.goalstack01;
this.goalstack01 = this.goalstack02;
this.goalstack02 = this.goalstack03;
if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
{
it.wpnearestpoint = v;
- it.wpcost = vlen(v - this.origin) + it.dmg;
+ it.wpcost = waypoint_getdistancecost(this.origin, v) + it.dmg;
it.wpfire = 1;
it.enemy = NULL;
c = c + 1;
}
else
v = wp.origin;
- cost2 = cost2 + vlen(v - p);
+ cost2 += waypoint_getdistancecost(p, v);
if (wp.wpcost > cost2)
{
wp.wpcost = cost2;
if(e.blacklisted)
return;
+ rangebias = waypoint_getdistancecost_simple(rangebias);
+ f = waypoint_getdistancecost_simple(f);
+
if (IS_PLAYER(e))
{
bool rate_wps = false;
entity theEnemy = e;
entity best_wp = NULL;
float best_dist = 10000;
- IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) && vdist(it.origin - this.origin, >, 100),
+ IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
+ && vdist(it.origin - this.origin, >, 100)
+ && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
{
float dist = vlen(it.origin - theEnemy.origin);
if (dist < best_dist)
}
else
{
- float search;
-
- search = true;
-
- if(e.flags & FL_ITEM)
- {
- if (!(e.flags & FL_WEAPON))
- if(e.nearestwaypoint)
- search = false;
- }
- else if (e.flags & FL_WEAPON)
- {
- if(e.classname != "droppedweapon")
- if(e.nearestwaypoint)
- search = false;
- }
+ if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
+ e.nearestwaypoint = NULL;
- if(search)
- if (time > e.nearestwaypointtimeout)
+ if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
+ && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
{
nwp = navigation_findnearestwaypoint(e, true);
if(nwp)
{
LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
- if(e.flags & FL_ITEM)
+ if(!e.navigation_dynamicgoal)
e.blacklisted = true;
- else if (e.flags & FL_WEAPON)
- {
- if(e.classname != "droppedweapon")
- e.blacklisted = true;
- }
if(e.blacklisted)
{
}
}
- // TODO: Cleaner solution, probably handling this timeout from ctf.qc
- if(e.classname=="item_flag_team")
+ if(e.navigation_dynamicgoal)
e.nearestwaypointtimeout = time + 2;
- else
- e.nearestwaypointtimeout = time + random() * 3 + 5;
+ else if(autocvar_g_waypointeditor)
+ e.nearestwaypointtimeout = time + 3 + random() * 2;
}
nwp = e.nearestwaypoint;
}
// adds an item to the the goal stack with the path to a given item
bool navigation_routetogoal(entity this, entity e, vector startposition)
{
- this.goalentity = e;
-
// if there is no goal, just exit
if (!e)
return false;
- this.navigation_hasgoals = true;
+ this.goalentity = e;
// put the entity on the goal stack
//print("routetogoal ", etos(e), "\n");
navigation_pushroute(this, e);
+ if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
+ {
+ this.wp_goal_prev1 = this.wp_goal_prev0;
+ this.wp_goal_prev0 = e;
+ }
+
if(g_jetpack)
if(e==this.navigation_jetpack_goal)
return true;
if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
return true;
+ entity nearest_wp = NULL;
// see if there are waypoints describing a path to the item
if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
+ {
e = e.nearestwaypoint;
+ nearest_wp = e;
+ }
else
e = e.enemy; // we already have added it, so...
if(e == NULL)
return false;
+ if(nearest_wp && nearest_wp.enemy)
+ {
+ // often path can be optimized by not adding the nearest waypoint
+ if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode))
+ e = nearest_wp.enemy;
+ }
+
for (;;)
{
// add the spawnfunc_waypoint to the path
m1 = org + this.mins;
m2 = org + this.maxs;
- while(this.goalcurrent && wasfreed(this.goalcurrent))
- navigation_poproute(this);
-
if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
{
// make sure jumppad is really hit, don't rely on distance based checks
}
}
- if(this.goalcurrent.bot_pickup_respawning)
- {
- if(!this.goalcurrent.solid)
- return;
- this.goalcurrent.bot_pickup_respawning = false;
- }
-
// If for some reason the bot is closer to the next goal, pop the current one
if(this.goalstack01 && !wasfreed(this.goalstack01))
if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
// Loose goal touching check when running
if(this.aistatus & AI_STATUS_RUNNING)
- if(this.speed >= autocvar_sv_maxspeed) // if -really- running
if(this.goalcurrent.classname=="waypoint")
if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
+ if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
{
if(vdist(this.origin - this.goalcurrent.origin, <, 150))
{
}
}
- while (this.goalcurrent && !IS_PLAYER(this.goalcurrent) && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax))
+ while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
{
+ vector gc_min = this.goalcurrent.absmin;
+ vector gc_max = this.goalcurrent.absmax;
+ if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
+ {
+ gc_min = this.goalcurrent.origin - '1 1 1' * 12;
+ gc_max = this.goalcurrent.origin + '1 1 1' * 12;
+ }
+ if(!boxesoverlap(m1, m2, gc_min, gc_max))
+ break;
+
if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
break;
this.navigation_jetpack_goal = NULL;
navigation_bestrating = -1;
- this.navigation_hasgoals = false;
navigation_clearroute(this);
navigation_bestgoal = NULL;
navigation_markroutes(this, NULL);
LOG_DEBUG("best goal ", this.goalcurrent.classname);
// If the bot got stuck then try to reach the farthest waypoint
- if (!this.navigation_hasgoals)
- if (autocvar_bot_wander_enable)
+ if (!this.goalentity && autocvar_bot_wander_enable)
{
if (!(this.aistatus & AI_STATUS_STUCK))
{
LOG_DEBUG(this.netname, " cannot walk to any goal");
this.aistatus |= AI_STATUS_STUCK;
}
-
- this.navigation_hasgoals = false; // Reset this value
}
}
v.y = bound(m1_y, v.y, m2_y);
v.z = bound(m1_z, v.z, m2_z);
o = (it.absmin + it.absmax) * 0.5;
- d = it.bot_dodgerating - vlen(o - v);
+ d = waypoint_getdistancecost_simple(it.bot_dodgerating) - waypoint_getdistancecost(o, v);
if (d > 0)
{
traceline(o, v, true, NULL);
projects / xonotic / xonotic-data.pk3dir.git / blobdiff