X-Git-Url: https://de.git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fnavigation.qc;h=6aa6ea2a17f8a32b4f22df6d5c702df0ee591bd6;hb=1846e8f66dba1522a83fec1b79c02f1c0da570d6;hp=03a549439068b15d2d484f20e918af379686105f;hpb=74f87fc1a53f84b248b57660c105da0d84e2ca41;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/bot/navigation.qc b/qcsrc/server/bot/navigation.qc index 03a549439..6aa6ea2a1 100644 --- a/qcsrc/server/bot/navigation.qc +++ b/qcsrc/server/bot/navigation.qc @@ -4,15 +4,15 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode) { - local vector org; - local vector move; - local vector dir; - local float dist; - local float totaldist; - local float stepdist; - local float yaw; - local float ignorehazards; - local float swimming; + vector org; + vector move; + vector dir; + float dist; + float totaldist; + float stepdist; + float yaw; + float ignorehazards; + float swimming; if(autocvar_bot_debug_tracewalk) { @@ -133,36 +133,42 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float // hit something if (trace_fraction < 1) { - // check if we can walk over this obstacle + // check if we can walk over this obstacle, possibly by jumpstepping tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e); if (trace_fraction < 1 || trace_startsolid) { - 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") + tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e); + if (trace_fraction < 1 || trace_startsolid) { - local vector nextmove; - move = trace_endpos; - while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door") + 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") { - nextmove = move + (dir * stepdist); - traceline( move, nextmove, movemode, e); - move = nextmove; + vector nextmove; + move = trace_endpos; + while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door") + { + nextmove = move + (dir * stepdist); + traceline( move, nextmove, movemode, e); + move = nextmove; + } } - } - else - { - if(autocvar_bot_debug_tracewalk) - debugnodestatus(trace_endpos, DEBUG_NODE_FAIL); + else + { + if(autocvar_bot_debug_tracewalk) + debugnodestatus(trace_endpos, DEBUG_NODE_FAIL); - //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n"); - //te_explosion(trace_endpos); - //print(ftos(e.dphitcontentsmask), "\n"); - return FALSE; // failed + //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n"); + //te_explosion(trace_endpos); + //print(ftos(e.dphitcontentsmask), "\n"); + return FALSE; // failed + } } + else + move = trace_endpos; } else move = trace_endpos; @@ -179,7 +185,7 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float // moved successfully if(swimming) { - local float c; + float c; c = pointcontents(org + '0 0 1'); if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME) swimming = FALSE; @@ -198,7 +204,7 @@ float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float debugnodestatus(org, DEBUG_NODE_FAIL); return FALSE; -}; +} ///////////////////////////////////////////////////////////////////////////// // goal stack @@ -241,7 +247,7 @@ void navigation_clearroute() self.goalstack29 = world; self.goalstack30 = world; self.goalstack31 = world; -}; +} // add a new goal at the beginning of the stack // (in other words: add a new prerequisite before going to the later goals) @@ -284,7 +290,7 @@ void navigation_pushroute(entity e) self.goalstack02 = self.goalstack01; self.goalstack01 = self.goalcurrent; self.goalcurrent = e; -}; +} // remove first goal from stack // (in other words: remove a prerequisite for reaching the later goals) @@ -324,14 +330,14 @@ void navigation_poproute() self.goalstack29 = self.goalstack30; self.goalstack30 = self.goalstack31; self.goalstack31 = world; -}; +} // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon entity navigation_findnearestwaypoint(entity ent, float walkfromwp) { - local entity waylist, w, best; - local float dist, bestdist; - local vector v, org, pm1, pm2; + entity waylist, w, best; + float dist, bestdist; + vector v, org, pm1, pm2; pm1 = ent.origin + ent.mins; pm2 = ent.origin + ent.maxs; waylist = findchain(classname, "waypoint"); @@ -367,7 +373,7 @@ entity navigation_findnearestwaypoint(entity ent, float walkfromwp) { if (w.wpisbox) { - local vector wm1, wm2; + vector wm1, wm2; wm1 = w.origin + w.mins; wm2 = w.origin + w.maxs; v_x = bound(wm1_x, org_x, wm2_x); @@ -410,9 +416,9 @@ entity navigation_findnearestwaypoint(entity ent, float walkfromwp) // finds the waypoints near the bot initiating a navigation query float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist) { - local entity head; - local vector v, m1, m2, diff; - local float c; + entity head; + vector v, m1, m2, diff; + float c; // navigation_testtracewalk = TRUE; c = 0; head = waylist; @@ -455,9 +461,9 @@ float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist) // updates a path link if a spawnfunc_waypoint link is better than the current one void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p) { - local vector m1; - local vector m2; - local vector v; + vector m1; + vector m2; + vector v; if (wp.wpisbox) { m1 = wp.absmin; @@ -476,14 +482,14 @@ void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vecto wp.wpfire = 1; wp.wpnearestpoint = v; } -}; +} // queries the entire spawnfunc_waypoint network for pathes leading away from the bot void navigation_markroutes(entity fixed_source_waypoint) { - local entity w, wp, waylist; - local float searching, cost, cost2; - local vector p; + entity w, wp, waylist; + float searching, cost, cost2; + vector p; w = waylist = findchain(classname, "waypoint"); while (w) { @@ -507,7 +513,7 @@ void navigation_markroutes(entity fixed_source_waypoint) { // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found // as this search is expensive we will use lower values if the bot is on the air - local float i, increment, maxdistance; + float i, increment, maxdistance; if(self.flags & FL_ONGROUND) { increment = 750; @@ -572,14 +578,14 @@ void navigation_markroutes(entity fixed_source_waypoint) w = w.chain; } } -}; +} // queries the entire spawnfunc_waypoint network for pathes leading to the bot void navigation_markroutes_inverted(entity fixed_source_waypoint) { - local entity w, wp, waylist; - local float searching, cost, cost2; - local vector p; + entity w, wp, waylist; + float searching, cost, cost2; + vector p; w = waylist = findchain(classname, "waypoint"); while (w) { @@ -635,22 +641,28 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) w = w.chain; } } -}; +} // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item void navigation_routerating(entity e, float f, float rangebias) { entity nwp; + vector o; if (!e) return; + if(e.blacklisted) + return; + + o = (e.absmin + e.absmax) * 0.5; + //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n"); // Evaluate path using jetpack if(g_jetpack) if(self.items & IT_JETPACK) if(autocvar_bot_ai_navigation_jetpack) - if(vlen(self.origin - e.origin) > autocvar_bot_ai_navigation_jetpack_mindistance) + if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance) { vector pointa, pointb; @@ -661,7 +673,7 @@ void navigation_routerating(entity e, float f, float rangebias) pointa = trace_endpos - '0 0 1'; // Point B - traceline(e.origin, e.origin + '0 0 65535', MOVE_NORMAL, e); + traceline(o, o + '0 0 65535', MOVE_NORMAL, e); pointb = trace_endpos - '0 0 1'; // Can I see these two points from the sky? @@ -672,8 +684,8 @@ void navigation_routerating(entity e, float f, float rangebias) // dprint("jetpack ai: can bridge these two points\n"); // Lower the altitude of these points as much as possible - local float zdistance, xydistance, cost, t, fuel; - local vector down, npa, npb; + float zdistance, xydistance, cost, t, fuel; + vector down, npa, npb; down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10; @@ -745,14 +757,48 @@ void navigation_routerating(entity e, float f, float rangebias) } else { + float search; + + search = TRUE; + + if(e.flags & FL_ITEM) + { + if not(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(search) if (time > e.nearestwaypointtimeout) { nwp = navigation_findnearestwaypoint(e, TRUE); if(nwp) e.nearestwaypoint = nwp; else + { dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n"); + if(e.flags & FL_ITEM) + e.blacklisted = TRUE; + else if (e.flags & FL_WEAPON) + { + if(e.classname != "droppedweapon") + e.blacklisted = TRUE; + } + + if(e.blacklisted) + { + dprint("The entity '", e.classname, "' is going to be excluded from path finding during this match\n"); + return; + } + } + // TODO: Cleaner solution, probably handling this timeout from ctf.qc if(e.classname=="item_flag_team") e.nearestwaypointtimeout = time + 2; @@ -768,7 +814,7 @@ void navigation_routerating(entity e, float f, float rangebias) { //te_wizspike(nwp.wpnearestpoint); // dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = "); - f = f * rangebias / (rangebias + (nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))); + f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint))); //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n"); //dprint(ftos(f)); if (navigation_bestrating < f) @@ -779,7 +825,7 @@ void navigation_routerating(entity e, float f, float rangebias) } } //dprint("\n"); -}; +} // adds an item to the the goal stack with the path to a given item float navigation_routetogoal(entity e, vector startposition) @@ -801,7 +847,7 @@ float navigation_routetogoal(entity e, vector startposition) return TRUE; // if it can reach the goal there is nothing more to do - if (tracewalk(self, startposition, PL_MIN, PL_MAX, e.origin, bot_navigation_movemode)) + if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) return TRUE; // see if there are waypoints describing a path to the item @@ -824,13 +870,13 @@ float navigation_routetogoal(entity e, vector startposition) } return FALSE; -}; +} // removes any currently touching waypoints from the goal stack // (this is how bots detect if they reached a goal) void navigation_poptouchedgoals() { - local vector org, m1, m2; + vector org, m1, m2; org = self.origin; m1 = org + self.mins; m2 = org + self.maxs; @@ -851,8 +897,34 @@ void navigation_poptouchedgoals() } } + // If for some reason the bot is closer to the next goal, pop the current one + if(self.goalstack01) + if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin)) + if(checkpvs(self.origin + self.view_ofs, self.goalstack01)) + if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode)) + { + /// dprint("path optimized for ", self.netname, ", removed a goal from the queue\n"); + navigation_poproute(); + // TODO this may also be a nice idea to do "early" (e.g. by + // manipulating the vlen() comparisons) to shorten paths in + // general - this would make bots walk more "on rails" than + // "zigzagging" which they currently do with sufficiently + // random-like waypoints, and thus can make a nice bot + // personality property + } + + // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc) + // TODO: rate waypoints near the targetted player at that moment, instead of the player itself + if(self.goalcurrent.classname=="player") + navigation_poproute(); + + // aid for detecting jump pads better (distance based check fails sometimes) + if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 ) + navigation_poproute(); + // Loose goal touching check when running if(self.aistatus & AI_STATUS_RUNNING) + if(self.speed >= autocvar_sv_maxspeed) // if -really- running if(self.goalcurrent.classname=="waypoint") { if(vlen(self.origin - self.goalcurrent.origin)<150) @@ -899,7 +971,7 @@ void navigation_goalrating_start() navigation_clearroute(); navigation_bestgoal = world; navigation_markroutes(world); -}; +} // ends a goal selection session (updates goal stack to the best goal) void navigation_goalrating_end() @@ -922,13 +994,13 @@ void navigation_goalrating_end() self.navigation_hasgoals = FALSE; // Reset this value } -}; +} void botframe_updatedangerousobjects(float maxupdate) { - local entity head, bot_dodgelist; - local vector m1, m2, v; - local float c, d, danger; + entity head, bot_dodgelist; + vector m1, m2, v, o; + float c, d, danger; c = 0; bot_dodgelist = findchainfloat(bot_dodge, TRUE); botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint"); @@ -944,10 +1016,11 @@ void botframe_updatedangerousobjects(float maxupdate) v_x = bound(m1_x, v_x, m2_x); v_y = bound(m1_y, v_y, m2_y); v_z = bound(m1_z, v_z, m2_z); - d = head.bot_dodgerating - vlen(head.origin - v); + o = (head.absmin + head.absmax) * 0.5; + d = head.bot_dodgerating - vlen(o - v); if (d > 0) { - traceline(head.origin, v, TRUE, world); + traceline(o, v, TRUE, world); if (trace_fraction == 1) danger = danger + d; } @@ -959,7 +1032,7 @@ void botframe_updatedangerousobjects(float maxupdate) break; botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint"); } -}; +} void navigation_unstuck() { @@ -1027,7 +1100,7 @@ void navigation_unstuck() while(head) { if(head.classname=="waypoint") - if(!(head.wpflags & WAYPOINTFLAG_GENERATED)) + // if(!(head.wpflags & WAYPOINTFLAG_GENERATED)) { if(bot_waypoint_queue_goal) bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head; @@ -1103,8 +1176,8 @@ void debugnodestatus(vector position, float status) // Debug the goal stack visually void debuggoalstack() { - local entity goal; - local vector org; + entity goal; + vector org, go; if(self.goalcounter==0)goal=self.goalcurrent; else if(self.goalcounter==1)goal=self.goalstack01; @@ -1152,8 +1225,9 @@ void debuggoalstack() org = self.lastposition; - te_lightning2(world, org, goal.origin); - self.lastposition = goal.origin; + go = ( goal.absmin + goal.absmax ) * 0.5; + te_lightning2(world, org, go); + self.lastposition = go; self.goalcounter++; }