qcsrc/server/bot/default/navigation.qc

   1 #include "navigation.qh"
   2
   3 #include <server/defs.qh>
   4 #include <server/miscfunctions.qh>
   5 #include "cvars.qh"
   6
   7 #include "bot.qh"
   8 #include "waypoints.qh"
   9
  10 #include <common/t_items.qh>
  11
  12 #include <common/items/_mod.qh>
  13
  14 #include <common/constants.qh>
  15 #include <common/net_linked.qh>
  16 #include <common/triggers/trigger/jumppads.qh>
  17
  18 .float speed;
  19
  20 void navigation_goalrating_timeout_set(entity this)
  21 {
  22         if(IS_MOVABLE(this.goalentity))
  23                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
  24         else
  25                 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
  26 }
  27
  28 void navigation_goalrating_timeout_force(entity this)
  29 {
  30         this.bot_strategytime = 0;
  31 }
  32
  33 bool navigation_goalrating_timeout(entity this)
  34 {
  35         return this.bot_strategytime < time;
  36 }
  37
  38 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
  39 {
  40         if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
  41                 return true;
  42
  43         if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
  44         {
  45                 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
  46                 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
  47                 {
  48                         this.ignoregoal = this.goalentity;
  49                         this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
  50                         return true;
  51                 }
  52         }
  53         return false;
  54 }
  55
  56 void navigation_dynamicgoal_init(entity this, bool initially_static)
  57 {
  58         this.navigation_dynamicgoal = true;
  59         this.bot_basewaypoint = this.nearestwaypoint;
  60         if(initially_static)
  61                 this.nearestwaypointtimeout = -1;
  62         else
  63                 this.nearestwaypointtimeout = time;
  64 }
  65
  66 void navigation_dynamicgoal_set(entity this)
  67 {
  68         this.nearestwaypointtimeout = time;
  69 }
  70
  71 void navigation_dynamicgoal_unset(entity this)
  72 {
  73         if(this.bot_basewaypoint)
  74                 this.nearestwaypoint = this.bot_basewaypoint;
  75         this.nearestwaypointtimeout = -1;
  76 }
  77
  78 bool navigation_check_submerged_state(entity ent, vector pos)
  79 {
  80         bool submerged;
  81         if(IS_PLAYER(ent))
  82                 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
  83         else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
  84                 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
  85         else
  86         {
  87                 submerged = SUBMERGED(pos);
  88                 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
  89                 //  is actually submerged because often they are inside some solid.
  90                 //  That's why submerged state is saved now that we know current pos is
  91                 //  not stuck in solid (previous tracewalk call to this pos was successfully)
  92                 if(!ent.navigation_dynamicgoal)
  93                         ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
  94         }
  95         return submerged;
  96 }
  97
  98 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
  99 {
 100         IL_EACH(g_ladders, it.classname == "func_ladder",
 101         {
 102                 if(it.bot_pickup)
 103                 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
 104                 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
 105                 {
 106                         vector top = org;
 107                         top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
 108                         tracebox(org, m1, m2, top, movemode, e);
 109                         if(trace_fraction == 1)
 110                                 return true;
 111                 }
 112         });
 113         return false;
 114 }
 115
 116 vector resurface_limited(vector org, float lim, vector m1)
 117 {
 118         if (WETFEET(org + eZ * (lim - org.z)))
 119                 org.z = lim;
 120         else
 121         {
 122                 float RES_min_h = org.z;
 123                 float RES_max_h = lim;
 124                 do {
 125                         org.z = 0.5 * (RES_min_h + RES_max_h);
 126                         if(WETFEET(org))
 127                                 RES_min_h = org.z;
 128                         else
 129                                 RES_max_h = org.z;
 130                 } while (RES_max_h - RES_min_h >= 1);
 131                 org.z = RES_min_h;
 132         }
 133         return org;
 134 }
 135 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
 136
 137 #define NAV_WALK 0
 138 #define NAV_SWIM_ONWATER 1
 139 #define NAV_SWIM_UNDERWATER 2
 140
 141 // rough simulation of walking from one point to another to test if a path
 142 // can be traveled, used for waypoint linking and havocbot
 143 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
 144 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
 145 {
 146         if(autocvar_bot_debug_tracewalk)
 147         {
 148                 debugresetnodes();
 149                 debugnode(e, start);
 150         }
 151
 152         vector org = start;
 153         vector flatdir = end - start;
 154         flatdir.z = 0;
 155         float flatdist = vlen(flatdir);
 156         flatdir = normalize(flatdir);
 157         float stepdist = 32;
 158         bool ignorehazards = false;
 159         int nav_action;
 160
 161         // Analyze starting point
 162         traceline(start, start, MOVE_NORMAL, e);
 163         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 164                 ignorehazards = true;
 165
 166         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 167         if (trace_startsolid)
 168         {
 169                 // Bad start
 170                 if(autocvar_bot_debug_tracewalk)
 171                         debugnodestatus(start, DEBUG_NODE_FAIL);
 172
 173                 //print("tracewalk: ", vtos(start), " is a bad start\n");
 174                 return false;
 175         }
 176
 177         vector end2 = end;
 178         if(end_height)
 179                 end2.z += end_height;
 180
 181         vector fixed_end = end;
 182         vector move;
 183
 184         if (flatdist > 0 && WETFEET(org))
 185         {
 186                 if (SUBMERGED(org))
 187                         nav_action = NAV_SWIM_UNDERWATER;
 188                 else
 189                 {
 190                         // tracebox down by player's height
 191                         // useful to know if water level is so low that bot can still walk
 192                         tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
 193                         if (SUBMERGED(trace_endpos))
 194                         {
 195                                 org = trace_endpos;
 196                                 nav_action = NAV_SWIM_UNDERWATER;
 197                         }
 198                         else
 199                                 nav_action = NAV_WALK;
 200                 }
 201         }
 202         else
 203                 nav_action =  NAV_WALK;
 204
 205         // Movement loop
 206         while (true)
 207         {
 208                 if (flatdist <= 0)
 209                 {
 210                         bool success = true;
 211                         if (org.z > end2.z + 1)
 212                         {
 213                                 tracebox(org, m1, m2, end2, movemode, e);
 214                                 org = trace_endpos;
 215                                 if (org.z > end2.z + 1)
 216                                         success = false;
 217                         }
 218                         else if (org.z < end.z - 1)
 219                         {
 220                                 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
 221                                 if (SUBMERGED(trace_endpos))
 222                                 {
 223                                         vector v = trace_endpos;
 224                                         tracebox(v, m1, m2, end, movemode, e);
 225                                         if(trace_endpos.z >= end.z - 1)
 226                                         {
 227                                                 RESURFACE_LIMITED(v, trace_endpos.z);
 228                                                 trace_endpos = v;
 229                                         }
 230                                 }
 231                                 else if (trace_endpos.z > org.z - jumpheight_vec.z)
 232                                         tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
 233                                 org = trace_endpos;
 234                                 if (org.z < end.z - 1)
 235                                         success = false;
 236                         }
 237
 238                         if (success)
 239                         {
 240                                 // Succeeded
 241                                 if(autocvar_bot_debug_tracewalk)
 242                                 {
 243                                         debugnode(e, org);
 244                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 245                                 }
 246
 247                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 248                                 return true;
 249                         }
 250                 }
 251
 252                 if(autocvar_bot_debug_tracewalk)
 253                         debugnode(e, org);
 254
 255                 if (flatdist <= 0)
 256                         break;
 257
 258                 if (stepdist > flatdist)
 259                         stepdist = flatdist;
 260                 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
 261                 {
 262                         // can't use movement direction here to calculate move because of
 263                         // precision errors especially when direction has a high enough z value
 264                         //water_dir = normalize(water_end - org);
 265                         //move = org + water_dir * stepdist;
 266                         fixed_end.z = bound(end.z, org.z, end2.z);
 267                         if (stepdist == flatdist) {
 268                                 move = fixed_end;
 269                                 flatdist = 0;
 270                         } else {
 271                                 move = org + (fixed_end - org) * (stepdist / flatdist);
 272                                 flatdist = vlen(vec2(fixed_end - move));
 273                         }
 274                 }
 275                 else // horiz. direction
 276                 {
 277                         flatdist -= stepdist;
 278                         move = org + flatdir * stepdist;
 279                 }
 280
 281                 if(nav_action == NAV_SWIM_ONWATER)
 282                 {
 283                         tracebox(org, m1, m2, move, movemode, e); // swim
 284
 285                         // hit something
 286                         if (trace_fraction < 1)
 287                         {
 288                                 // stepswim
 289                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 290
 291                                 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 292                                 {
 293                                         org = trace_endpos;
 294                                         if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
 295                                         {
 296                                                 if(autocvar_bot_debug_tracewalk)
 297                                                 {
 298                                                         debugnode(e, org);
 299                                                         debugnodestatus(org, DEBUG_NODE_SUCCESS);
 300                                                 }
 301
 302                                                 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 303                                                 return true;
 304                                         }
 305
 306                                         if(autocvar_bot_debug_tracewalk)
 307                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 308
 309                                         return false;
 310                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 311                                 }
 312
 313                                 //succesful stepswim
 314
 315                                 if (flatdist <= 0)
 316                                 {
 317                                         org = trace_endpos;
 318                                         continue;
 319                                 }
 320
 321                                 if (org.z <= move.z) // going horiz.
 322                                 {
 323                                         tracebox(trace_endpos, m1, m2, move, movemode, e);
 324                                         org = trace_endpos;
 325                                         nav_action = NAV_WALK;
 326                                         continue;
 327                                 }
 328                         }
 329
 330                         if (org.z <= move.z) // going horiz.
 331                         {
 332                                 org = trace_endpos;
 333                                 nav_action = NAV_SWIM_ONWATER;
 334                         }
 335                         else // going down
 336                         {
 337                                 org = trace_endpos;
 338                                 if (SUBMERGED(org))
 339                                         nav_action = NAV_SWIM_UNDERWATER;
 340                                 else
 341                                         nav_action = NAV_SWIM_ONWATER;
 342                         }
 343                 }
 344                 else if(nav_action == NAV_SWIM_UNDERWATER)
 345                 {
 346                         if (move.z >= org.z) // swimming upwards or horiz.
 347                         {
 348                                 tracebox(org, m1, m2, move, movemode, e); // swim
 349
 350                                 bool stepswum = false;
 351
 352                                 // hit something
 353                                 if (trace_fraction < 1)
 354                                 {
 355                                         // stepswim
 356                                         vector stepswim_move = move + stepheightvec;
 357                                         if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
 358                                                 stepswim_move.z = end2.z;
 359
 360                                         tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
 361
 362                                         // hit something
 363                                         if (trace_startsolid)
 364                                         {
 365                                                 if(autocvar_bot_debug_tracewalk)
 366                                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 367
 368                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 369                                                 return false;
 370                                         }
 371
 372                                         if (trace_fraction < 1)
 373                                         {
 374                                                 float org_z_prev = org.z;
 375                                                 RESURFACE_LIMITED(org, end2.z);
 376                                                 if(org.z == org_z_prev)
 377                                                 {
 378                                                         if(autocvar_bot_debug_tracewalk)
 379                                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 380
 381                                                         //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
 382                                                         return false;
 383                                                 }
 384                                                 if(SUBMERGED(org))
 385                                                         nav_action = NAV_SWIM_UNDERWATER;
 386                                                 else
 387                                                         nav_action = NAV_SWIM_ONWATER;
 388
 389                                                 // we didn't advance horiz. in this step, flatdist decrease should be reverted
 390                                                 // but we can't do it properly right now... apply this workaround instead
 391                                                 if (flatdist <= 0)
 392                                                         flatdist = 1;
 393
 394                                                 continue;
 395                                         }
 396
 397                                         //succesful stepswim
 398
 399                                         if (flatdist <= 0)
 400                                         {
 401                                                 org = trace_endpos;
 402                                                 continue;
 403                                         }
 404
 405                                         stepswum = true;
 406                                 }
 407
 408                                 if (!WETFEET(trace_endpos))
 409                                 {
 410                                         tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
 411                                         // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
 412                                         if (!stepswum && SUBMERGED(trace_endpos))
 413                                         {
 414                                                 RESURFACE_LIMITED(trace_endpos, end2.z);
 415                                                 org = trace_endpos;
 416                                                 nav_action = NAV_SWIM_ONWATER;
 417                                                 continue;
 418                                         }
 419
 420                                         // not submerged
 421                                         org = trace_endpos;
 422                                         nav_action = NAV_WALK;
 423                                         continue;
 424                                 }
 425
 426                                 // wetfeet
 427                                 org = trace_endpos;
 428                                 nav_action = NAV_SWIM_UNDERWATER;
 429                                 continue;
 430                         }
 431                         else //if (move.z < org.z) // swimming downwards
 432                         {
 433                                 tracebox(org, m1, m2, move, movemode, e); // swim
 434
 435                                 // hit something
 436                                 if (trace_fraction < 1)
 437                                 {
 438                                         // stepswim
 439                                         tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 440
 441                                         // hit something
 442                                         if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 443                                         {
 444                                                 if(autocvar_bot_debug_tracewalk)
 445                                                         debugnodestatus(move, DEBUG_NODE_FAIL);
 446
 447                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 448                                                 return false;
 449                                         }
 450
 451                                         //succesful stepswim
 452
 453                                         if (flatdist <= 0)
 454                                         {
 455                                                 org = trace_endpos;
 456                                                 continue;
 457                                         }
 458
 459                                         if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
 460                                         {
 461                                                 // stepswim caused upwards direction
 462                                                 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
 463                                                 if (!SUBMERGED(trace_endpos))
 464                                                 {
 465                                                         org = trace_endpos;
 466                                                         nav_action = NAV_WALK;
 467                                                         continue;
 468                                                 }
 469                                         }
 470                                 }
 471
 472                                 org = trace_endpos;
 473                                 nav_action = NAV_SWIM_UNDERWATER;
 474                                 continue;
 475                         }
 476                 }
 477                 else if(nav_action == NAV_WALK)
 478                 {
 479                         // walk
 480                         tracebox(org, m1, m2, move, movemode, e);
 481
 482                         if(autocvar_bot_debug_tracewalk)
 483                                 debugnode(e, trace_endpos);
 484
 485                         // hit something
 486                         if (trace_fraction < 1)
 487                         {
 488                                 // check if we can walk over this obstacle, possibly by jumpstepping
 489                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 490                                 if (trace_fraction < 1 || trace_startsolid)
 491                                 {
 492                                         if (trace_startsolid) // hit ceiling above org
 493                                         {
 494                                                 // reduce stepwalk height
 495                                                 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
 496                                                 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 497                                         }
 498                                         else //if (trace_fraction < 1)
 499                                         {
 500                                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 501                                                 if (trace_startsolid) // hit ceiling above org
 502                                                 {
 503                                                         // reduce jumpstepwalk height
 504                                                         tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
 505                                                         tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
 506                                                 }
 507                                         }
 508
 509                                         if (trace_fraction < 1)
 510                                         {
 511                                                 vector v = trace_endpos;
 512                                                 v.z = org.z + jumpheight_vec.z;
 513                                                 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 514                                                 {
 515                                                         if(autocvar_bot_debug_tracewalk)
 516                                                         {
 517                                                                 debugnode(e, v);
 518                                                                 debugnodestatus(v, DEBUG_NODE_SUCCESS);
 519                                                         }
 520
 521                                                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 522                                                         return true;
 523                                                 }
 524
 525                                                 if(autocvar_bot_debug_tracewalk)
 526                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 527
 528                                                 traceline( org, move, movemode, e);
 529
 530                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 531                                                 {
 532                                                         vector nextmove;
 533                                                         move = trace_endpos;
 534                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 535                                                         {
 536                                                                 nextmove = move + (flatdir * stepdist);
 537                                                                 traceline( move, nextmove, movemode, e);
 538                                                                 move = nextmove;
 539                                                         }
 540                                                         flatdist = vlen(vec2(end - move));
 541                                                 }
 542                                                 else
 543                                                 {
 544                                                         if(autocvar_bot_debug_tracewalk)
 545                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 546
 547                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 548                                                         //te_explosion(trace_endpos);
 549                                                         //print(ftos(e.dphitcontentsmask), "\n");
 550                                                         return false; // failed
 551                                                 }
 552                                         }
 553                                         else
 554                                                 move = trace_endpos;
 555                                 }
 556                                 else
 557                                         move = trace_endpos;
 558                         }
 559                         else
 560                                 move = trace_endpos;
 561
 562                         // trace down from stepheight as far as possible and move there,
 563                         // if this starts in solid we try again without the stepup, and
 564                         // if that also fails we assume it is a wall
 565                         // (this is the same logic as the Quake walkmove function used)
 566                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 567
 568                         org = trace_endpos;
 569
 570                         if (!ignorehazards)
 571                         {
 572                                 if (IN_LAVA(org))
 573                                 {
 574                                         if(autocvar_bot_debug_tracewalk)
 575                                         {
 576                                                 debugnode(e, trace_endpos);
 577                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 578                                         }
 579
 580                                         //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 581                                         return false;
 582                                 }
 583                         }
 584
 585                         if (flatdist <= 0)
 586                         {
 587                                 if(move.z >= end2.z && org.z < end2.z)
 588                                         org.z = end2.z;
 589                                 continue;
 590                         }
 591
 592                         if(org.z > move.z - 1 || !SUBMERGED(org))
 593                         {
 594                                 nav_action = NAV_WALK;
 595                                 continue;
 596                         }
 597
 598                         // ended up submerged while walking
 599                         if(autocvar_bot_debug_tracewalk)
 600                                 debugnode(e, org);
 601
 602                         RESURFACE_LIMITED(org, move.z);
 603                         nav_action = NAV_SWIM_ONWATER;
 604                         continue;
 605                 }
 606         }
 607
 608         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 609
 610         // moved but didn't arrive at the intended destination
 611         if(autocvar_bot_debug_tracewalk)
 612                 debugnodestatus(org, DEBUG_NODE_FAIL);
 613
 614         return false;
 615 }
 616
 617 /////////////////////////////////////////////////////////////////////////////
 618 // goal stack
 619 /////////////////////////////////////////////////////////////////////////////
 620
 621 // completely empty the goal stack, used when deciding where to go
 622 void navigation_clearroute(entity this)
 623 {
 624         this.goalcurrent_prev = this.goalcurrent;
 625         this.goalcurrent_distance_2d = FLOAT_MAX;
 626         this.goalcurrent_distance_z = FLOAT_MAX;
 627         this.goalcurrent_distance_time = 0;
 628         //print("bot ", etos(this), " clear\n");
 629         this.goalentity = NULL;
 630         this.goalcurrent = NULL;
 631         this.goalstack01 = NULL;
 632         this.goalstack02 = NULL;
 633         this.goalstack03 = NULL;
 634         this.goalstack04 = NULL;
 635         this.goalstack05 = NULL;
 636         this.goalstack06 = NULL;
 637         this.goalstack07 = NULL;
 638         this.goalstack08 = NULL;
 639         this.goalstack09 = NULL;
 640         this.goalstack10 = NULL;
 641         this.goalstack11 = NULL;
 642         this.goalstack12 = NULL;
 643         this.goalstack13 = NULL;
 644         this.goalstack14 = NULL;
 645         this.goalstack15 = NULL;
 646         this.goalstack16 = NULL;
 647         this.goalstack17 = NULL;
 648         this.goalstack18 = NULL;
 649         this.goalstack19 = NULL;
 650         this.goalstack20 = NULL;
 651         this.goalstack21 = NULL;
 652         this.goalstack22 = NULL;
 653         this.goalstack23 = NULL;
 654         this.goalstack24 = NULL;
 655         this.goalstack25 = NULL;
 656         this.goalstack26 = NULL;
 657         this.goalstack27 = NULL;
 658         this.goalstack28 = NULL;
 659         this.goalstack29 = NULL;
 660         this.goalstack30 = NULL;
 661         this.goalstack31 = NULL;
 662 }
 663
 664 // add a new goal at the beginning of the stack
 665 // (in other words: add a new prerequisite before going to the later goals)
 666 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 667 // next-closest WP on the shortest path to the WP
 668 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 669 // steps to the goal, and then recalculate the path.
 670 void navigation_pushroute(entity this, entity e)
 671 {
 672         this.goalcurrent_prev = this.goalcurrent;
 673         this.goalcurrent_distance_2d = FLOAT_MAX;
 674         this.goalcurrent_distance_z = FLOAT_MAX;
 675         this.goalcurrent_distance_time = 0;
 676         //print("bot ", etos(this), " push ", etos(e), "\n");
 677         if(this.goalstack31 == this.goalentity)
 678                 this.goalentity = NULL;
 679         this.goalstack31 = this.goalstack30;
 680         this.goalstack30 = this.goalstack29;
 681         this.goalstack29 = this.goalstack28;
 682         this.goalstack28 = this.goalstack27;
 683         this.goalstack27 = this.goalstack26;
 684         this.goalstack26 = this.goalstack25;
 685         this.goalstack25 = this.goalstack24;
 686         this.goalstack24 = this.goalstack23;
 687         this.goalstack23 = this.goalstack22;
 688         this.goalstack22 = this.goalstack21;
 689         this.goalstack21 = this.goalstack20;
 690         this.goalstack20 = this.goalstack19;
 691         this.goalstack19 = this.goalstack18;
 692         this.goalstack18 = this.goalstack17;
 693         this.goalstack17 = this.goalstack16;
 694         this.goalstack16 = this.goalstack15;
 695         this.goalstack15 = this.goalstack14;
 696         this.goalstack14 = this.goalstack13;
 697         this.goalstack13 = this.goalstack12;
 698         this.goalstack12 = this.goalstack11;
 699         this.goalstack11 = this.goalstack10;
 700         this.goalstack10 = this.goalstack09;
 701         this.goalstack09 = this.goalstack08;
 702         this.goalstack08 = this.goalstack07;
 703         this.goalstack07 = this.goalstack06;
 704         this.goalstack06 = this.goalstack05;
 705         this.goalstack05 = this.goalstack04;
 706         this.goalstack04 = this.goalstack03;
 707         this.goalstack03 = this.goalstack02;
 708         this.goalstack02 = this.goalstack01;
 709         this.goalstack01 = this.goalcurrent;
 710         this.goalcurrent = e;
 711 }
 712
 713 // remove first goal from stack
 714 // (in other words: remove a prerequisite for reaching the later goals)
 715 // (used when a spawnfunc_waypoint is reached)
 716 void navigation_poproute(entity this)
 717 {
 718         this.goalcurrent_prev = this.goalcurrent;
 719         this.goalcurrent_distance_2d = FLOAT_MAX;
 720         this.goalcurrent_distance_z = FLOAT_MAX;
 721         this.goalcurrent_distance_time = 0;
 722         //print("bot ", etos(this), " pop\n");
 723         if(this.goalcurrent == this.goalentity)
 724                 this.goalentity = NULL;
 725         this.goalcurrent = this.goalstack01;
 726         this.goalstack01 = this.goalstack02;
 727         this.goalstack02 = this.goalstack03;
 728         this.goalstack03 = this.goalstack04;
 729         this.goalstack04 = this.goalstack05;
 730         this.goalstack05 = this.goalstack06;
 731         this.goalstack06 = this.goalstack07;
 732         this.goalstack07 = this.goalstack08;
 733         this.goalstack08 = this.goalstack09;
 734         this.goalstack09 = this.goalstack10;
 735         this.goalstack10 = this.goalstack11;
 736         this.goalstack11 = this.goalstack12;
 737         this.goalstack12 = this.goalstack13;
 738         this.goalstack13 = this.goalstack14;
 739         this.goalstack14 = this.goalstack15;
 740         this.goalstack15 = this.goalstack16;
 741         this.goalstack16 = this.goalstack17;
 742         this.goalstack17 = this.goalstack18;
 743         this.goalstack18 = this.goalstack19;
 744         this.goalstack19 = this.goalstack20;
 745         this.goalstack20 = this.goalstack21;
 746         this.goalstack21 = this.goalstack22;
 747         this.goalstack22 = this.goalstack23;
 748         this.goalstack23 = this.goalstack24;
 749         this.goalstack24 = this.goalstack25;
 750         this.goalstack25 = this.goalstack26;
 751         this.goalstack26 = this.goalstack27;
 752         this.goalstack27 = this.goalstack28;
 753         this.goalstack28 = this.goalstack29;
 754         this.goalstack29 = this.goalstack30;
 755         this.goalstack30 = this.goalstack31;
 756         this.goalstack31 = NULL;
 757 }
 758
 759 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
 760 // waypoint destination coordinates instead of v (only useful for box waypoints)
 761 // for normal waypoints v2 == v and v2_height == 0
 762 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
 763 {
 764         if (vdist(v - org, <, bestdist))
 765         {
 766                 traceline(v, org, true, ent);
 767                 if (trace_fraction == 1)
 768                 {
 769                         if (walkfromwp)
 770                         {
 771                                 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 772                                         return true;
 773                         }
 774                         else
 775                         {
 776                                 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 777                                         return true;
 778                         }
 779                 }
 780         }
 781         return false;
 782 }
 783
 784 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 785 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 786 {
 787         if(ent.tag_entity)
 788                 ent = ent.tag_entity;
 789
 790         vector pm1 = ent.origin + ent.mins;
 791         vector pm2 = ent.origin + ent.maxs;
 792
 793         // do two scans, because box test is cheaper
 794         IL_EACH(g_waypoints, it != ent && it != except,
 795         {
 796                 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
 797                 {
 798                         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 799                         {
 800                                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 801                                 navigation_item_addlink(it, ent);
 802                         }
 803                         return it;
 804                 }
 805         });
 806
 807         vector org = ent.origin;
 808         if (navigation_testtracewalk)
 809                 te_plasmaburn(org);
 810
 811         entity best = NULL;
 812         vector v = '0 0 0', v2 = '0 0 0';
 813         float v2_height = 0;
 814
 815         if(ent.size && !IS_PLAYER(ent))
 816         {
 817                 org += 0.5 * (ent.mins + ent.maxs);
 818                 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
 819         }
 820
 821         if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 822         {
 823                 waypoint_clearlinks(ent); // initialize wpXXmincost fields
 824                 IL_EACH(g_waypoints, it != ent,
 825                 {
 826                         if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 827                                 continue;
 828
 829                         SET_TRACEWALK_DESTCOORDS(ent, it.origin, v2, v2_height);
 830                         if(vdist(v2 - it.origin, <, 1050))
 831                         if(tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 832                                 navigation_item_addlink(it, ent);
 833                 });
 834         }
 835
 836         // box check failed, try walk
 837         IL_EACH(g_waypoints, it != ent,
 838         {
 839                 if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
 840                         continue;
 841                 v = it.origin;
 842                 if(walkfromwp)
 843                         SET_TRACEWALK_DESTCOORDS(ent, v, v2, v2_height);
 844                 else
 845                         SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
 846                 if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, v2, v2_height, walkfromwp, bestdist))
 847                 {
 848                         bestdist = vlen(v - org);
 849                         best = it;
 850                 }
 851         });
 852         if(!best && !ent.navigation_dynamicgoal)
 853         {
 854                 int solid_save = ent.solid;
 855                 ent.solid = SOLID_BSP;
 856                 IL_EACH(g_jumppads, true,
 857                 {
 858                         if(trigger_push_test(it, ent))
 859                         {
 860                                 best = it.nearestwaypoint;
 861                                 break;
 862                         }
 863                 });
 864                 ent.solid = solid_save;
 865         }
 866         return best;
 867 }
 868 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 869 {
 870         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
 871         if (autocvar_g_waypointeditor_auto)
 872         {
 873                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 874                 if (wp && !wp2)
 875                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 876         }
 877         return wp;
 878 }
 879
 880 // finds the waypoints near the bot initiating a navigation query
 881 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 882 {
 883         vector v = '0 0 0';
 884         //navigation_testtracewalk = true;
 885         int c = 0;
 886         float v_height = 0;
 887         IL_EACH(g_waypoints, !it.wpconsidered,
 888         {
 889                 SET_TRACEWALK_DESTCOORDS(it, this.origin, v, v_height);
 890
 891                 vector diff = v - this.origin;
 892                 diff.z = max(0, diff.z);
 893                 if(vdist(diff, <, maxdist))
 894                 {
 895                         it.wpconsidered = true;
 896                         if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 897                         {
 898                                 it.wpnearestpoint = v;
 899                                 it.wpcost = waypoint_gettravelcost(this.origin, v, this, it) + it.dmg;
 900                                 it.wpfire = 1;
 901                                 it.enemy = NULL;
 902                                 c = c + 1;
 903                         }
 904                 }
 905         });
 906         //navigation_testtracewalk = false;
 907         return c;
 908 }
 909
 910 // updates a path link if a spawnfunc_waypoint link is better than the current one
 911 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 912 {
 913         vector m1, m2;
 914         vector v;
 915         if (wp.wpisbox)
 916         {
 917                 m1 = wp.origin + wp.mins;
 918                 m2 = wp.origin + wp.maxs;
 919                 v.x = bound(m1_x, p.x, m2_x);
 920                 v.y = bound(m1_y, p.y, m2_y);
 921                 v.z = bound(m1_z, p.z, m2_z);
 922         }
 923         else
 924                 v = wp.origin;
 925         if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 926                 cost += w.wp00mincost; // assuming teleport has exactly one destination
 927         else
 928                 cost += waypoint_gettravelcost(p, v, w, wp);
 929         if (wp.wpcost > cost)
 930         {
 931                 wp.wpcost = cost;
 932                 wp.enemy = w;
 933                 wp.wpfire = 1;
 934                 wp.wpnearestpoint = v;
 935         }
 936 }
 937
 938 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 939 void navigation_markroutes(entity this, entity fixed_source_waypoint)
 940 {
 941         float cost, cost2;
 942         vector p;
 943
 944         IL_EACH(g_waypoints, true,
 945         {
 946                 it.wpconsidered = false;
 947                 it.wpnearestpoint = '0 0 0';
 948                 it.wpcost = 10000000;
 949                 it.wpfire = 0;
 950                 it.enemy = NULL;
 951         });
 952
 953         if(fixed_source_waypoint)
 954         {
 955                 fixed_source_waypoint.wpconsidered = true;
 956                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 957                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 958                 fixed_source_waypoint.wpfire = 1;
 959                 fixed_source_waypoint.enemy = NULL;
 960         }
 961         else
 962         {
 963                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 964                 // as this search is expensive we will use lower values if the bot is on the air
 965                 float increment, maxdistance;
 966                 if(IS_ONGROUND(this))
 967                 {
 968                         increment = 750;
 969                         maxdistance = 50000;
 970                 }
 971                 else
 972                 {
 973                         increment = 500;
 974                         maxdistance = 1500;
 975                 }
 976
 977                 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
 978         }
 979
 980         bool searching = true;
 981         while (searching)
 982         {
 983                 searching = false;
 984                 IL_EACH(g_waypoints, it.wpfire,
 985                 {
 986                         searching = true;
 987                         it.wpfire = 0;
 988                         cost = it.wpcost;
 989                         p = it.wpnearestpoint;
 990                         entity wp;
 991                         wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 992                         wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 993                         wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 994                         wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 995                         wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 996                         wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 997                         wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 998                         wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
 999                         wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1000                         wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1001                         wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1002                         wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1003                         wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1004                         wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1005                         wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1006                         wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1007                         wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1008                         wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1009                         wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1010                         wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1011                         wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1012                         wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1013                         wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1014                         wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1015                         wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1016                         wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1017                         wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1018                         wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1019                         wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1020                         wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1021                         wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1022                         wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1023                         }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1024                 });
1025         }
1026 }
1027
1028 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1029 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1030 {
1031         float cost, cost2;
1032         vector p;
1033         IL_EACH(g_waypoints, true,
1034         {
1035                 it.wpconsidered = false;
1036                 it.wpnearestpoint = '0 0 0';
1037                 it.wpcost = 10000000;
1038                 it.wpfire = 0;
1039                 it.enemy = NULL;
1040         });
1041
1042         if(fixed_source_waypoint)
1043         {
1044                 fixed_source_waypoint.wpconsidered = true;
1045                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1046                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1047                 fixed_source_waypoint.wpfire = 1;
1048                 fixed_source_waypoint.enemy = NULL;
1049         }
1050         else
1051         {
1052                 error("need to start with a waypoint\n");
1053         }
1054
1055         bool searching = true;
1056         while (searching)
1057         {
1058                 searching = false;
1059                 IL_EACH(g_waypoints, it.wpfire,
1060                 {
1061                         searching = true;
1062                         it.wpfire = 0;
1063                         cost = it.wpcost; // cost to walk from it to home
1064                         p = it.wpnearestpoint;
1065                         entity wp = it;
1066                         IL_EACH(g_waypoints, it != wp,
1067                         {
1068                                 if(!waypoint_islinked(it, wp))
1069                                         continue;
1070                                 cost2 = cost + it.dmg;
1071                                 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1072                         });
1073                 });
1074         }
1075 }
1076
1077 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1078 void navigation_routerating(entity this, entity e, float f, float rangebias)
1079 {
1080         if (!e)
1081                 return;
1082
1083         if(e.blacklisted)
1084                 return;
1085
1086         rangebias = waypoint_getlinearcost(rangebias);
1087         f = waypoint_getlinearcost(f);
1088
1089         if (IS_PLAYER(e))
1090         {
1091                 bool rate_wps = false;
1092                 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
1093                         rate_wps = true;
1094
1095                 if(!IS_ONGROUND(e))
1096                 {
1097                         traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1098                         int t = pointcontents(trace_endpos + '0 0 1');
1099                         if(t != CONTENT_SOLID )
1100                         {
1101                                 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1102                                         rate_wps = true;
1103                                 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1104                                         return;
1105                         }
1106                 }
1107
1108                 if(rate_wps)
1109                 {
1110                         entity theEnemy = e;
1111                         entity best_wp = NULL;
1112                         float best_dist = 10000;
1113                         IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
1114                                 && vdist(it.origin - this.origin, >, 100)
1115                                 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1116                         {
1117                                 float dist = vlen(it.origin - theEnemy.origin);
1118                                 if (dist < best_dist)
1119                                 {
1120                                         best_wp = it;
1121                                         best_dist = dist;
1122                                 }
1123                         });
1124                         if (!best_wp)
1125                                 return;
1126                         e = best_wp;
1127                 }
1128         }
1129
1130         vector goal_org = (e.absmin + e.absmax) * 0.5;
1131
1132         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1133
1134         // Evaluate path using jetpack
1135         if(g_jetpack)
1136         if(this.items & IT_JETPACK)
1137         if(autocvar_bot_ai_navigation_jetpack)
1138         if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1139         {
1140                 vector pointa, pointb;
1141
1142                 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1143
1144                 // Point A
1145                 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1146                 pointa = trace_endpos - '0 0 1';
1147
1148                 // Point B
1149                 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1150                 pointb = trace_endpos - '0 0 1';
1151
1152                 // Can I see these two points from the sky?
1153                 traceline(pointa, pointb, MOVE_NORMAL, this);
1154
1155                 if(trace_fraction==1)
1156                 {
1157                         LOG_DEBUG("jetpack ai: can bridge these two points");
1158
1159                         // Lower the altitude of these points as much as possible
1160                         float zdistance, xydistance, cost, t, fuel;
1161                         vector down, npa, npb;
1162
1163                         down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1164
1165                         do{
1166                                 npa = pointa + down;
1167                                 npb = pointb + down;
1168
1169                                 if(npa.z<=this.absmax.z)
1170                                         break;
1171
1172                                 if(npb.z<=e.absmax.z)
1173                                         break;
1174
1175                                 traceline(npa, npb, MOVE_NORMAL, this);
1176                                 if(trace_fraction==1)
1177                                 {
1178                                         pointa = npa;
1179                                         pointb = npb;
1180                                 }
1181                         }
1182                         while(trace_fraction == 1);
1183
1184
1185                         // Rough estimation of fuel consumption
1186                         // (ignores acceleration and current xyz velocity)
1187                         xydistance = vlen(pointa - pointb);
1188                         zdistance = fabs(pointa.z - this.origin.z);
1189
1190                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
1191                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
1192                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
1193
1194                         LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
1195
1196                         // enough fuel ?
1197                         if(this.ammo_fuel>fuel)
1198                         {
1199                                 // Estimate cost
1200                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1201                                 //  - between air and ground speeds)
1202
1203                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1204                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1205                                 cost *= 1.5;
1206
1207                                 // Compare against other goals
1208                                 f = f * rangebias / (rangebias + cost);
1209
1210                                 if (navigation_bestrating < f)
1211                                 {
1212                                         LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1213                                         navigation_bestrating = f;
1214                                         navigation_bestgoal = e;
1215                                         this.navigation_jetpack_goal = e;
1216                                         this.navigation_jetpack_point = pointb;
1217                                 }
1218                                 return;
1219                         }
1220                 }
1221         }
1222
1223         entity nwp;
1224         //te_wizspike(e.origin);
1225         //bprint(etos(e));
1226         //bprint("\n");
1227         // update the cached spawnfunc_waypoint link on a dynamic item entity
1228         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1229         {
1230                 nwp = e;
1231         }
1232         else
1233         {
1234                 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1235                         e.nearestwaypoint = NULL;
1236
1237                 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1238                         && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1239                 {
1240                         e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1241                         if(!nwp)
1242                         {
1243                                 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1244
1245                                 if(!e.navigation_dynamicgoal)
1246                                         e.blacklisted = true;
1247
1248                                 if(e.blacklisted)
1249                                 {
1250                                         LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1251                                         return;
1252                                 }
1253                         }
1254
1255                         if(e.navigation_dynamicgoal)
1256                                 e.nearestwaypointtimeout = time + 2;
1257                         else if(autocvar_g_waypointeditor)
1258                                 e.nearestwaypointtimeout = time + 3 + random() * 2;
1259                 }
1260                 nwp = e.nearestwaypoint;
1261         }
1262
1263         LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
1264         if (nwp)
1265         if (nwp.wpcost < 10000000)
1266         {
1267                 //te_wizspike(nwp.wpnearestpoint);
1268                 float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1269                 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
1270                 f = f * rangebias / (rangebias + cost);
1271                 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
1272                 if (navigation_bestrating < f)
1273                 {
1274                         LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1275                         navigation_bestrating = f;
1276                         navigation_bestgoal = e;
1277                 }
1278         }
1279 }
1280
1281 // adds an item to the the goal stack with the path to a given item
1282 bool navigation_routetogoal(entity this, entity e, vector startposition)
1283 {
1284         // if there is no goal, just exit
1285         if (!e)
1286                 return false;
1287
1288         entity teleport_goal = NULL;
1289
1290         this.goalentity = e;
1291
1292         if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1293         {
1294                 // force teleport destination as route destination
1295                 teleport_goal = e;
1296                 navigation_pushroute(this, e.wp00);
1297                 this.goalentity = e.wp00;
1298         }
1299
1300         // put the entity on the goal stack
1301         //print("routetogoal ", etos(e), "\n");
1302         navigation_pushroute(this, e);
1303
1304         if(teleport_goal)
1305                 e = this.goalentity;
1306
1307         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1308         {
1309                 this.wp_goal_prev1 = this.wp_goal_prev0;
1310                 this.wp_goal_prev0 = e;
1311         }
1312
1313         if(g_jetpack)
1314         if(e==this.navigation_jetpack_goal)
1315                 return true;
1316
1317         // if it can reach the goal there is nothing more to do
1318         vector dest = '0 0 0';
1319         float dest_height = 0;
1320         SET_TRACEWALK_DESTCOORDS(e, startposition, dest, dest_height);
1321         if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1322                 return true;
1323
1324         entity nearest_wp = NULL;
1325         // see if there are waypoints describing a path to the item
1326         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1327         {
1328                 e = e.nearestwaypoint;
1329                 nearest_wp = e;
1330         }
1331         else if(teleport_goal)
1332                 e = teleport_goal;
1333         else
1334                 e = e.enemy; // we already have added it, so...
1335
1336         if(e == NULL)
1337                 return false;
1338
1339         if(nearest_wp && nearest_wp.enemy)
1340         {
1341                 // often path can be optimized by not adding the nearest waypoint
1342                 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1343                 {
1344                         SET_TRACEWALK_DESTCOORDS(this.goalentity, nearest_wp.enemy.origin, dest, dest_height);
1345                         if(vdist(dest - nearest_wp.enemy.origin, <, 1050))
1346                         if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1347                                 e = nearest_wp.enemy;
1348                 }
1349                 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1350                         e = nearest_wp.enemy;
1351         }
1352
1353         for (;;)
1354         {
1355                 // add the spawnfunc_waypoint to the path
1356                 navigation_pushroute(this, e);
1357                 e = e.enemy;
1358
1359                 if(e==NULL)
1360                         break;
1361         }
1362
1363         return false;
1364 }
1365
1366 // removes any currently touching waypoints from the goal stack
1367 // (this is how bots detect if they reached a goal)
1368 int navigation_poptouchedgoals(entity this)
1369 {
1370         int removed_goals = 0;
1371
1372         if(IS_PLAYER(this.goalcurrent) && IS_DEAD(this.goalcurrent) && checkpvs(this.origin + this.view_ofs, this.goalcurrent))
1373         {
1374                 navigation_poproute(this);
1375                 ++removed_goals;
1376         }
1377
1378         if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1379         {
1380                 // make sure jumppad is really hit, don't rely on distance based checks
1381                 // as they may report a touch even if it didn't really happen
1382                 if(this.lastteleporttime > 0
1383                         && time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
1384                 {
1385                         if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1386                         if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1387                         {
1388                                 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1389                                 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1390                         }
1391                         navigation_poproute(this);
1392                         this.lastteleporttime = 0;
1393                         ++removed_goals;
1394                 }
1395                 else
1396                         return removed_goals;
1397         }
1398
1399         // If for some reason the bot is closer to the next goal, pop the current one
1400         if(this.goalstack01 && !wasfreed(this.goalstack01))
1401         if(random() < 0.7) // randomness should help on certain hard paths with climbs and tight corners
1402         if(vlen2(this.goalcurrent.origin - this.goalstack01.origin) > vlen2(this.goalstack01.origin - this.origin))
1403         if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
1404         {
1405                 vector dest = '0 0 0';
1406                 float dest_height = 0;
1407                 SET_TRACEWALK_DESTCOORDS(this.goalstack01, this.origin, dest, dest_height);
1408                 if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
1409                 {
1410                         LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1411                         navigation_poproute(this);
1412                         ++removed_goals;
1413                         if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1414                                 return removed_goals;
1415                         // TODO this may also be a nice idea to do "early" (e.g. by
1416                         // manipulating the vlen() comparisons) to shorten paths in
1417                         // general - this would make bots walk more "on rails" than
1418                         // "zigzagging" which they currently do with sufficiently
1419                         // random-like waypoints, and thus can make a nice bot
1420                         // personality property
1421                 }
1422         }
1423
1424         // Loose goal touching check when running
1425         if(this.aistatus & AI_STATUS_RUNNING)
1426         if(this.goalcurrent.classname=="waypoint")
1427         if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1428         {
1429                 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1430                 {
1431                         traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1432                         if(trace_fraction==1)
1433                         {
1434                                 // Detect personal waypoints
1435                                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1436                                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1437                                 {
1438                                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1439                                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1440                                 }
1441
1442                                 navigation_poproute(this);
1443                                 ++removed_goals;
1444                                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1445                                         return removed_goals;
1446                         }
1447                 }
1448         }
1449
1450         while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1451         {
1452                 vector gc_min = this.goalcurrent.absmin;
1453                 vector gc_max = this.goalcurrent.absmax;
1454                 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1455                 {
1456                         gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1457                         gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1458                 }
1459                 if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1460                         break;
1461
1462                 // Detect personal waypoints
1463                 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1464                 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1465                 {
1466                         this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1467                         this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1468                 }
1469
1470                 navigation_poproute(this);
1471                 ++removed_goals;
1472                 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1473                         return removed_goals;
1474         }
1475         return removed_goals;
1476 }
1477
1478 entity navigation_get_really_close_waypoint(entity this)
1479 {
1480         entity wp = this.goalcurrent;
1481         if(!wp || vdist(wp.origin - this.origin, >, 50))
1482                 wp = this.goalcurrent_prev;
1483         if(!wp)
1484                 return NULL;
1485         if(wp.classname != "waypoint")
1486         {
1487                 wp = wp.nearestwaypoint;
1488                 if(!wp)
1489                         return NULL;
1490         }
1491         if(vdist(wp.origin - this.origin, >, 50))
1492         {
1493                 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
1494                 {
1495                         if(vdist(it.origin - this.origin, <, 50))
1496                         {
1497                                 wp = it;
1498                                 break;
1499                         }
1500                 });
1501         }
1502         if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1503                 return NULL;
1504
1505         vector dest = '0 0 0';
1506         float dest_height = 0;
1507         SET_TRACEWALK_DESTCOORDS(wp, this.origin, dest, dest_height);
1508         if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1509                 return NULL;
1510         return wp;
1511 }
1512
1513 // begin a goal selection session (queries spawnfunc_waypoint network)
1514 void navigation_goalrating_start(entity this)
1515 {
1516         if(this.aistatus & AI_STATUS_STUCK)
1517                 return;
1518
1519         this.navigation_jetpack_goal = NULL;
1520         navigation_bestrating = -1;
1521         entity wp = navigation_get_really_close_waypoint(this);
1522         navigation_clearroute(this);
1523         navigation_bestgoal = NULL;
1524         navigation_markroutes(this, wp);
1525 }
1526
1527 // ends a goal selection session (updates goal stack to the best goal)
1528 void navigation_goalrating_end(entity this)
1529 {
1530         if(this.aistatus & AI_STATUS_STUCK)
1531                 return;
1532
1533         navigation_routetogoal(this, navigation_bestgoal, this.origin);
1534         LOG_DEBUG("best goal ", this.goalcurrent.classname);
1535
1536         // If the bot got stuck then try to reach the farthest waypoint
1537         if (!this.goalentity && autocvar_bot_wander_enable)
1538         {
1539                 if (!(this.aistatus & AI_STATUS_STUCK))
1540                 {
1541                         LOG_DEBUG(this.netname, " cannot walk to any goal");
1542                         this.aistatus |= AI_STATUS_STUCK;
1543                 }
1544         }
1545 }
1546
1547 void botframe_updatedangerousobjects(float maxupdate)
1548 {
1549         vector m1, m2, v, o;
1550         float c, d, danger;
1551         c = 0;
1552         entity wp_cur;
1553         IL_EACH(g_waypoints, true,
1554         {
1555                 danger = 0;
1556                 m1 = it.absmin;
1557                 m2 = it.absmax;
1558                 wp_cur = it;
1559                 IL_EACH(g_bot_dodge, it.bot_dodge,
1560                 {
1561                         v = it.origin;
1562                         v.x = bound(m1_x, v.x, m2_x);
1563                         v.y = bound(m1_y, v.y, m2_y);
1564                         v.z = bound(m1_z, v.z, m2_z);
1565                         o = (it.absmin + it.absmax) * 0.5;
1566                         d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1567                         if (d > 0)
1568                         {
1569                                 traceline(o, v, true, NULL);
1570                                 if (trace_fraction == 1)
1571                                         danger = danger + d;
1572                         }
1573                 });
1574                 it.dmg = danger;
1575                 c = c + 1;
1576                 if (c >= maxupdate)
1577                         break;
1578         });
1579 }
1580
1581 void navigation_unstuck(entity this)
1582 {
1583         float search_radius = 1000;
1584
1585         if (!autocvar_bot_wander_enable)
1586                 return;
1587
1588         if (!bot_waypoint_queue_owner)
1589         {
1590                 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1591                 bot_waypoint_queue_owner = this;
1592                 bot_waypoint_queue_bestgoal = NULL;
1593                 bot_waypoint_queue_bestgoalrating = 0;
1594         }
1595
1596         if(bot_waypoint_queue_owner!=this)
1597                 return;
1598
1599         if (bot_waypoint_queue_goal)
1600         {
1601                 // evaluate the next goal on the queue
1602                 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1603                 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1604                 vector dest = '0 0 0';
1605                 float dest_height = 0;
1606                 SET_TRACEWALK_DESTCOORDS(bot_waypoint_queue_goal, this.origin, dest, dest_height);
1607                 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
1608                 {
1609                         if( d > bot_waypoint_queue_bestgoalrating)
1610                         {
1611                                 bot_waypoint_queue_bestgoalrating = d;
1612                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1613                         }
1614                 }
1615                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1616
1617                 if (!bot_waypoint_queue_goal)
1618                 {
1619                         if (bot_waypoint_queue_bestgoal)
1620                         {
1621                                 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1622                                 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1623                                 navigation_goalrating_timeout_set(this);
1624                                 this.aistatus &= ~AI_STATUS_STUCK;
1625                         }
1626                         else
1627                         {
1628                                 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1629                         }
1630
1631                         bot_waypoint_queue_owner = NULL;
1632                 }
1633         }
1634         else
1635         {
1636                 if(bot_strategytoken!=this)
1637                         return;
1638
1639                 // build a new queue
1640                 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1641
1642                 entity first = NULL;
1643
1644                 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1645                 {
1646                         if(bot_waypoint_queue_goal)
1647                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1648                         else
1649                                 first = it;
1650
1651                         bot_waypoint_queue_goal = it;
1652                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1653                 });
1654
1655                 if (first)
1656                         bot_waypoint_queue_goal = first;
1657                 else
1658                 {
1659                         LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1660                         bot_waypoint_queue_owner = NULL;
1661                 }
1662         }
1663 }
1664
1665 // Support for debugging tracewalk visually
1666
1667 void debugresetnodes()
1668 {
1669         debuglastnode = '0 0 0';
1670 }
1671
1672 void debugnode(entity this, vector node)
1673 {
1674         if (!IS_PLAYER(this))
1675                 return;
1676
1677         if(debuglastnode=='0 0 0')
1678         {
1679                 debuglastnode = node;
1680                 return;
1681         }
1682
1683         te_lightning2(NULL, node, debuglastnode);
1684         debuglastnode = node;
1685 }
1686
1687 void debugnodestatus(vector position, float status)
1688 {
1689         vector c;
1690
1691         switch (status)
1692         {
1693                 case DEBUG_NODE_SUCCESS:
1694                         c = '0 15 0';
1695                         break;
1696                 case DEBUG_NODE_WARNING:
1697                         c = '15 15 0';
1698                         break;
1699                 case DEBUG_NODE_FAIL:
1700                         c = '15 0 0';
1701                         break;
1702                 default:
1703                         c = '15 15 15';
1704         }
1705
1706         te_customflash(position, 40,  2, c);
1707 }
1708
1709 // Support for debugging the goal stack visually
1710
1711 .float goalcounter;
1712 .vector lastposition;
1713
1714 // Debug the goal stack visually
1715 void debuggoalstack(entity this)
1716 {
1717         entity goal;
1718         vector org, go;
1719
1720         if(this.goalcounter==0)goal=this.goalcurrent;
1721         else if(this.goalcounter==1)goal=this.goalstack01;
1722         else if(this.goalcounter==2)goal=this.goalstack02;
1723         else if(this.goalcounter==3)goal=this.goalstack03;
1724         else if(this.goalcounter==4)goal=this.goalstack04;
1725         else if(this.goalcounter==5)goal=this.goalstack05;
1726         else if(this.goalcounter==6)goal=this.goalstack06;
1727         else if(this.goalcounter==7)goal=this.goalstack07;
1728         else if(this.goalcounter==8)goal=this.goalstack08;
1729         else if(this.goalcounter==9)goal=this.goalstack09;
1730         else if(this.goalcounter==10)goal=this.goalstack10;
1731         else if(this.goalcounter==11)goal=this.goalstack11;
1732         else if(this.goalcounter==12)goal=this.goalstack12;
1733         else if(this.goalcounter==13)goal=this.goalstack13;
1734         else if(this.goalcounter==14)goal=this.goalstack14;
1735         else if(this.goalcounter==15)goal=this.goalstack15;
1736         else if(this.goalcounter==16)goal=this.goalstack16;
1737         else if(this.goalcounter==17)goal=this.goalstack17;
1738         else if(this.goalcounter==18)goal=this.goalstack18;
1739         else if(this.goalcounter==19)goal=this.goalstack19;
1740         else if(this.goalcounter==20)goal=this.goalstack20;
1741         else if(this.goalcounter==21)goal=this.goalstack21;
1742         else if(this.goalcounter==22)goal=this.goalstack22;
1743         else if(this.goalcounter==23)goal=this.goalstack23;
1744         else if(this.goalcounter==24)goal=this.goalstack24;
1745         else if(this.goalcounter==25)goal=this.goalstack25;
1746         else if(this.goalcounter==26)goal=this.goalstack26;
1747         else if(this.goalcounter==27)goal=this.goalstack27;
1748         else if(this.goalcounter==28)goal=this.goalstack28;
1749         else if(this.goalcounter==29)goal=this.goalstack29;
1750         else if(this.goalcounter==30)goal=this.goalstack30;
1751         else if(this.goalcounter==31)goal=this.goalstack31;
1752         else goal=NULL;
1753
1754         if(goal==NULL)
1755         {
1756                 this.goalcounter = 0;
1757                 this.lastposition='0 0 0';
1758                 return;
1759         }
1760
1761         if(this.lastposition=='0 0 0')
1762                 org = this.origin;
1763         else
1764                 org = this.lastposition;
1765
1766
1767         go = ( goal.absmin + goal.absmax ) * 0.5;
1768         te_lightning2(NULL, org, go);
1769         this.lastposition = go;
1770
1771         this.goalcounter++;
1772 }