X-Git-Url: https://de.git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=250b7cb09c639e45680e699514958d769b97a686;hb=92ed00b08d16fb73df84c6aaf5e24cf4fe71d7c5;hp=36f25d79f3a51eabf15fa28ca6495ab06822b0e3;hpb=073cc17f87486bec59ac2b6f9c26bf1155dbd7d8;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 36f25d79f..ebc18a687 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -13,7 +13,8 @@ #include #include -#include +#include +#include .float speed; @@ -46,15 +47,24 @@ bool navigation_goalrating_timeout(entity this) return this.bot_strategytime < time; } +ERASEABLE +void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds) +{ + this.bot_strategytime = max(this.bot_strategytime, time + seconds); +} + #define MAX_CHASE_DISTANCE 700 bool navigation_goalrating_timeout_can_be_anticipated(entity this) { - if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2)) + vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5; + if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5) + && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2)) + { return true; + } if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5) { - vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5; if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco)) { this.ignoregoal = this.goalentity; @@ -75,9 +85,11 @@ void navigation_dynamicgoal_init(entity this, bool initially_static) this.nearestwaypointtimeout = time; } -void navigation_dynamicgoal_set(entity this) +void navigation_dynamicgoal_set(entity this, entity dropper) { this.nearestwaypointtimeout = time; + if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2) + this.nearestwaypoint = dropper.nearestwaypoint; if (this.nearestwaypoint) this.nearestwaypointtimeout += 2; } @@ -123,8 +135,18 @@ void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest) // z coord is set to ent's min height tracewalk_dest.x = bound(wm1.x, org.x, wm2.x); tracewalk_dest.y = bound(wm1.y, org.y, wm2.y); - tracewalk_dest.z = wm1.z; - tracewalk_dest_height = wm2.z - wm1.z; // destination height + if ((IS_PLAYER(ent) || IS_MONSTER(ent)) + && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z) + { + tracewalk_dest.z = wm2.z - PL_MIN_CONST.z; + tracewalk_dest_height = 0; + fix_player_dest = false; + } + else + { + tracewalk_dest.z = wm1.z; + tracewalk_dest_height = wm2.z - wm1.z; + } } else { @@ -218,6 +240,9 @@ bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector return false; } +// Unfortuntely we can't use trace_inwater since it doesn't hold the fraction of the total +// distance that was traveled before impact as the description in the engine (collision.h) says. +// It would have helped to speed up tracewalk underwater vector resurface_limited(vector org, float lim, vector m1) { if (WETFEET(org + eZ * (lim - org.z))) @@ -246,6 +271,7 @@ vector resurface_limited(vector org, float lim, vector m1) // rough simulation of walking from one point to another to test if a path // can be traveled, used for waypoint linking and havocbot // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ] +// INFO: the command sv_cmd trace walk is useful to test this function in game bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode) { if(autocvar_bot_debug_tracewalk) @@ -264,8 +290,7 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float e int nav_action; // Analyze starting point - traceline(start, start, MOVE_NORMAL, e); - if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA)) + if (IN_LAVA(start)) ignorehazards = true; tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e); @@ -726,11 +751,13 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float e // completely empty the goal stack, used when deciding where to go void navigation_clearroute(entity this) { + this.lastteleporttime = 0; this.goalcurrent_prev = this.goalcurrent; this.goalcurrent_distance_2d = FLOAT_MAX; this.goalcurrent_distance_z = FLOAT_MAX; this.goalcurrent_distance_time = 0; this.goalentity_lock_timeout = 0; + this.goalentity_shouldbefrozen = false; this.goalentity = NULL; this.goalcurrent = NULL; this.goalstack01 = NULL; @@ -898,19 +925,30 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom vector pm1 = ent.origin + ent.mins; vector pm2 = ent.origin + ent.maxs; - // do two scans, because box test is cheaper - IL_EACH(g_waypoints, it != ent && it != except, + if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent)) + { + // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links + // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu) + // isn't detected as the nearest waypoint + IL_EACH(g_waypoints, it != ent && it != except, + { + if (boxesoverlap(pm1, pm2, it.absmin, it.absmax)) + return it; + }); + } + else { - if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) + // do two scans, because box test is cheaper + IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)), { - if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal) + if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) { - waypoint_clearlinks(ent); // initialize wpXXmincost fields - navigation_item_addlink(it, ent); + if(walkfromwp && !ent.navigation_dynamicgoal) + waypoint_clearlinks(ent); // initialize wpXXmincost fields + return it; } - return it; - } - }); + }); + } vector org = ent.origin; if (navigation_testtracewalk) @@ -925,28 +963,10 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height } - if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal) - { - waypoint_clearlinks(ent); // initialize wpXXmincost fields - IL_EACH(g_waypoints, it != ent, - { - if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK)) - continue; - - set_tracewalk_dest(ent, it.origin, false); - if (vdist(tracewalk_dest - it.origin, <, 1050) - && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST, - tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) - { - navigation_item_addlink(it, ent); - } - }); - } - // box check failed, try walk IL_EACH(g_waypoints, it != ent, { - if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK)) + if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK)) continue; v = it.origin; @@ -1201,11 +1221,7 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item void navigation_routerating(entity this, entity e, float f, float rangebias) { - if (!e) - return; - - if(e.blacklisted) - return; + if (!e || e.blacklisted) { return; } rangebias = waypoint_getlinearcost(rangebias); f = waypoint_getlinearcost(f); @@ -1213,8 +1229,11 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) if (IS_PLAYER(e)) { bool rate_wps = false; - if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND)) + if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e)) + || (e.flags & FL_PARTIALGROUND)) + { rate_wps = true; + } if(!IS_ONGROUND(e)) { @@ -1233,12 +1252,13 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) { entity theEnemy = e; entity best_wp = NULL; - float best_dist = 10000; - IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) + float best_dist = FLOAT_MAX; + IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT) + && vdist(it.origin - theEnemy.origin, <, 500) && vdist(it.origin - this.origin, >, 100) - && !(it.wpflags & WAYPOINTFLAG_TELEPORT), + && vdist(it.origin - this.origin, <, 10000), { - float dist = vlen(it.origin - theEnemy.origin); + float dist = vlen2(it.origin - theEnemy.origin); if (dist < best_dist) { best_wp = it; @@ -1314,10 +1334,10 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) t += xydistance / autocvar_g_jetpack_maxspeed_side; fuel = t * autocvar_g_jetpack_fuel * 0.8; - LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel)); + LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL))); // enough fuel ? - if(this.ammo_fuel>fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO)) + if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO)) { // Estimate cost // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship @@ -1386,7 +1406,6 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) nwp = e.nearestwaypoint; } - LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")"); if (nwp && nwp.wpcost < 10000000) { //te_wizspike(nwp.wpnearestpoint); @@ -1396,12 +1415,12 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) else nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e); float cost = nwp.wpcost + nwptoitem_cost; - LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = "); + LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias)); f = f * rangebias / (rangebias + cost); - LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")"); + LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f)); if (navigation_bestrating < f) { - LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")"); + LOG_DEBUG(" ground path: ^3added goal ^5", e.classname); navigation_bestrating = f; navigation_bestgoal = e; } @@ -1468,7 +1487,7 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) if(e == NULL) return false; - if(nearest_wp && nearest_wp.enemy) + if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK)) { // often path can be optimized by not adding the nearest waypoint if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor) @@ -1490,8 +1509,35 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) } } } - else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity)) - e = nearest_wp.enemy; + else + { + // NOTE unlike waypoints, items hold incoming links + navigation_item_initlinks_ifneeded(this.goalentity); + int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy); + if (link_num >= 0) + { + if (navigation_item_iswalkablelink(this.goalentity, link_num)) + e = nearest_wp.enemy; + } + else // untested link + { + entity wp = nearest_wp.enemy; + entity goal = this.goalentity; + bool walkable = false; + if (checkpvs(wp.origin, goal)) + { + set_tracewalk_dest(goal, wp.origin, false); + if (vdist(tracewalk_dest - wp.origin, <, 1050) + && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST, + tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) + { + walkable = true; + e = nearest_wp.enemy; + } + } + navigation_item_add_link(wp, goal, walkable); + } + } } for (;;) @@ -1508,12 +1554,12 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) } // shorten path by removing intermediate goals -void navigation_shortenpath(entity this) +bool navigation_shortenpath(entity this) { if (!this.goalstack01 || wasfreed(this.goalstack01)) - return; + return false; if (this.bot_tracewalk_time > time) - return; + return false; this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25; bool cut_allowed = false; @@ -1552,14 +1598,15 @@ void navigation_shortenpath(entity this) navigation_poproute(this); } while (this.goalcurrent != next); + return true; } - return; + return false; } } next = this.goalstack01; // if for some reason the bot is closer to the next goal, pop the current one - if (!IS_MOVABLE(next) // already checked in the previous case + if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)) && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin) && checkpvs(this.origin + this.view_ofs, next)) { @@ -1574,8 +1621,10 @@ void navigation_shortenpath(entity this) { LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue"); navigation_poproute(this); + return true; } } + return false; } // removes any currently touching waypoints from the goal stack @@ -1589,22 +1638,48 @@ int navigation_poptouchedgoals(entity this) if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) { + if (!this.goalcurrent.wpisbox // warpzone + && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin)) + { + // immediately remove origin and destination waypoints + navigation_poproute(this); + ++removed_goals; + navigation_poproute(this); + ++removed_goals; + this.lastteleporttime = 0; + } + // make sure jumppad is really hit, don't rely on distance based checks // as they may report a touch even if it didn't really happen if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent)) { if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; } + if(this.jumppadcount) + { + // remove jumppad waypoint after a random delay to prevent bots getting + // stuck on certain jumppads that require an extra initial horizontal speed + float max_delay = 0.1; + if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed)) + max_delay = 0.05; + if (time - this.lastteleporttime < random() * max_delay) + return removed_goals; + } + else if (this.goalcurrent.wpisbox) // teleport + { + // immediately remove origin and destination waypoints + navigation_poproute(this); + ++removed_goals; + } navigation_poproute(this); this.lastteleporttime = 0; ++removed_goals; } - else - return removed_goals; + return removed_goals; } else if (this.lastteleporttime > 0) { @@ -1621,7 +1696,7 @@ int navigation_poptouchedgoals(entity this) if (tele_ent && TELEPORT_USED(this, tele_ent)) { if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this) + if ((tele_ent.wpflags & WAYPOINTFLAG_PERSONAL) && tele_ent.owner == this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1636,21 +1711,29 @@ int navigation_poptouchedgoals(entity this) ++removed_goals; return removed_goals; } + // reset of lastteleporttime can be overriden by a jumppad when it's set + // in more than one frame: make sure it's reset + this.lastteleporttime = 0; } // Loose goal touching check when running - if(this.aistatus & AI_STATUS_RUNNING) - if(this.goalcurrent.classname=="waypoint") - if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running - { - if(vdist(this.origin - this.goalcurrent.origin, <, 150)) + // check goalstack01 to make sure waypoint isn't the final goal + if((this.aistatus & AI_STATUS_RUNNING) && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP) + && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) + { + vector gco = this.goalcurrent.origin; + float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE; + // also detect waypoints when bot is way above them but with a narrower horizontal range + // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding) + if(vdist(this.origin - gco, <, min_dist) + || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist))) { traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL); if(trace_fraction==1) { // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1671,14 +1754,22 @@ int navigation_poptouchedgoals(entity this) 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; + gc_max = this.goalcurrent.origin + '1 1 1' * 12 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z); + } + if (time < this.ladder_time) + { + if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max)) + break; + } + else + { + if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max)) + break; } - if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max)) - break; // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) + if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this) { this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; @@ -1699,7 +1790,8 @@ entity navigation_get_really_close_waypoint(entity this) wp = this.goalcurrent_prev; if(!wp) return NULL; - if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50)) + float min_dist = ((this.aistatus & AI_STATUS_RUNNING) ? BOT_BUNNYHOP_WP_DETECTION_RANGE : 50); + if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, min_dist)) { wp = this.goalcurrent_prev; if(!wp) @@ -1711,12 +1803,12 @@ entity navigation_get_really_close_waypoint(entity this) if(!wp) return NULL; } - if(vdist(wp.origin - this.origin, >, 50)) + if(vdist(wp.origin - this.origin, >, min_dist)) { wp = NULL; - IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT), + IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)), { - if(vdist(it.origin - this.origin, <, 50)) + if(vdist(it.origin - this.origin, <, min_dist)) { wp = it; break; @@ -1749,6 +1841,7 @@ void navigation_goalrating_start(entity this) navigation_clearroute(this); navigation_bestgoal = NULL; navigation_markroutes(this, wp); + this.goalstack31 = wp; // temporarly save the really close waypoint } // ends a goal selection session (updates goal stack to the best goal) @@ -1757,18 +1850,27 @@ void navigation_goalrating_end(entity this) if(this.aistatus & AI_STATUS_STUCK) return; + entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal + this.goalstack31 = NULL; + navigation_routetogoal(this, navigation_bestgoal, this.origin); - LOG_DEBUG("best goal ", this.goalcurrent.classname); + LOG_DEBUG("best goal ", navigation_bestgoal.classname); + + if (wp && this.goalcurrent == wp) + navigation_poproute(this); // If the bot got stuck then try to reach the farthest waypoint - if (!this.goalentity && autocvar_bot_wander_enable) + if (!this.goalentity) { - if (!(this.aistatus & AI_STATUS_STUCK)) + if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK)) { LOG_DEBUG(this.netname, " cannot walk to any goal"); this.aistatus |= AI_STATUS_STUCK; } + this.goalentity_shouldbefrozen = false; } + else + this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity)); } void botframe_updatedangerousobjects(float maxupdate) @@ -1836,9 +1938,9 @@ void navigation_unstuck(entity this) { // evaluate the next goal on the queue float d = vlen2(this.origin - bot_waypoint_queue_goal.origin); - LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d)); + LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d)); set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false); - if (tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), + if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) { if( d > bot_waypoint_queue_bestgoalrating) @@ -1847,6 +1949,17 @@ void navigation_unstuck(entity this) bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal; } } + + // move to a random waypoint while bot is searching for a walkable path; + // this is usually sufficient to unstuck bots from bad spots or when other + // bots of the same team block all their ways + if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1)) + { + navigation_clearroute(this); + navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin); + navigation_goalrating_timeout_expire(this, 1 + random() * 2); + } + bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal; if (!bot_waypoint_queue_goal) @@ -1854,6 +1967,7 @@ void navigation_unstuck(entity this) if (bot_waypoint_queue_bestgoal) { LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it"); + navigation_clearroute(this); navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin); navigation_goalrating_timeout_set(this); this.aistatus &= ~AI_STATUS_STUCK;