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Bot AI: fix bots using waypoints to reach a player when they could go straight to...
[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / default / navigation.qh
1 #pragma once
2 /*
3  * Globals and Fields
4  */
5
6 float navigation_bestrating;
7 float bot_navigation_movemode;
8 float navigation_testtracewalk;
9
10 vector jumpstepheightvec;
11 vector stepheightvec;
12 vector jumpheight_vec;
13
14 entity navigation_bestgoal;
15
16 // stack of current goals (the last one of which may be an item or other
17 // desirable object, the rest are typically waypoints to reach it)
18 .entity goalcurrent, goalstack01, goalstack02, goalstack03;
19 .entity goalstack04, goalstack05, goalstack06, goalstack07;
20 .entity goalstack08, goalstack09, goalstack10, goalstack11;
21 .entity goalstack12, goalstack13, goalstack14, goalstack15;
22 .entity goalstack16, goalstack17, goalstack18, goalstack19;
23 .entity goalstack20, goalstack21, goalstack22, goalstack23;
24 .entity goalstack24, goalstack25, goalstack26, goalstack27;
25 .entity goalstack28, goalstack29, goalstack30, goalstack31;
26
27 .entity goalcurrent_prev;
28 .float goalcurrent_distance_z;
29 .float goalcurrent_distance_2d;
30 .float goalcurrent_distance_time;
31
32 .float goalentity_lock_timeout;
33
34 .entity nearestwaypoint;
35 .float nearestwaypointtimeout;
36
37 /*
38 // item it is linked from waypoint it.wpXX (INCOMING link)
39 // links are sorted by their cost (wpXXmincost)
40 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
41 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
42
43 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
44 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
45 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
46 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
47 */
48
49 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
50 #define navigation_item_addlink(from_wp, to_item) \
51         waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
52
53 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
54 #define SET_DESTCOORDS(ent, org, v) MACRO_BEGIN { \
55         if ((ent.classname != "waypoint") || ent.wpisbox) { \
56                 vector wm1 = ent.origin + ent.mins - eZ * (PL_MAX_CONST.z - 1); \
57                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
58                 v.x = bound(wm1.x, org.x, wm2.x); \
59                 v.y = bound(wm1.y, org.y, wm2.y); \
60                 v.z = bound(wm1.z, org.z, wm2.z); \
61         } else { \
62                 v = ent.origin; \
63         } \
64 } MACRO_END
65
66 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
67 // (but v.z is set to the lowest coord of ent), v_height is set to ent's height
68 // if destination ent is a player make so that destination point doesn't overlap with
69 // player bbox, otherwise tracebox always fails (if bot_navigation_ignoreplayers is false)
70 #define SET_TRACEWALK_DESTCOORDS(ent, org, v, v_height) MACRO_BEGIN { \
71         if ((ent.classname != "waypoint") || ent.wpisbox) { \
72                 vector wm1 = ent.origin + ent.mins - eZ * (PL_MAX_CONST.z - 1); \
73                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
74                 if (IS_PLAYER(ent) || IS_MONSTER(ent)) \
75                 { \
76                         wm1 += vec2(PL_MIN_CONST) + '-1 -1 0'; \
77                         wm2 += vec2(PL_MAX_CONST) + '1 1 0'; \
78                 } \
79                 v.x = bound(wm1.x, org.x, wm2.x); \
80                 v.y = bound(wm1.y, org.y, wm2.y); \
81                 v.z = wm1.z; \
82                 v_height = wm2.z - wm1.z; \
83         } else { \
84                 v = ent.origin; \
85                 v_height = 0; \
86         } \
87 } MACRO_END
88
89 // if ent is a box waypoint or an item v and v2 are set to coords of ent that are closer to org
90 // (but v2.z is set to the lowest coord of ent), v2_height is set to ent's height
91 #define SET_TRACEWALK_DESTCOORDS_2(ent, org, v, v2, v2_height) MACRO_BEGIN { \
92         if ((ent.classname != "waypoint") || ent.wpisbox) { \
93                 vector wm1 = ent.origin + ent.mins - eZ * (PL_MAX_CONST.z - 1); \
94                 vector wm2 = ent.origin + ent.maxs - eZ * (PL_MIN_CONST.z + 1); \
95                 v.x = bound(wm1.x, org.x, wm2.x); \
96                 v.y = bound(wm1.y, org.y, wm2.y); \
97                 v.z = bound(wm1.z, org.z, wm2.z); \
98                 v2.x = v.x; \
99                 v2.y = v.y; \
100                 v2.z = wm1.z; \
101                 v2_height = wm2.z - wm1.z; \
102         } else { \
103                 v = ent.origin; \
104                 v2 = v; \
105                 v2_height = 0; \
106         } \
107 } MACRO_END
108
109 .entity wp_goal_prev0;
110 .entity wp_goal_prev1;
111
112 .float lastteleporttime;
113
114 .float blacklisted;
115
116 .entity navigation_jetpack_goal;
117 .vector navigation_jetpack_point;
118
119 const float DEBUG_NODE_SUCCESS        = 1;
120 const float DEBUG_NODE_WARNING        = 2;
121 const float DEBUG_NODE_FAIL           = 3;
122 vector debuglastnode;
123
124 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
125 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
126 .entity bot_waypoint_queue_nextgoal;
127 entity bot_waypoint_queue_bestgoal;
128 float bot_waypoint_queue_bestgoalrating;
129
130 .entity bot_basewaypoint;
131 .bool navigation_dynamicgoal;
132 void navigation_dynamicgoal_init(entity this, bool initially_static);
133 void navigation_dynamicgoal_set(entity this);
134 void navigation_dynamicgoal_unset(entity this);
135
136 .int nav_submerged_state;
137 #define SUBMERGED_UNDEFINED 0
138 #define SUBMERGED_NO 1
139 #define SUBMERGED_YES 2
140 bool navigation_check_submerged_state(entity ent, vector pos);
141
142
143 /*
144  * Functions
145  */
146
147 void debugresetnodes();
148 void debugnode(entity this, vector node);
149 void debugnodestatus(vector position, float status);
150
151 void debuggoalstack(entity this);
152
153 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
154
155 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
156 float navigation_routetogoal(entity this, entity e, vector startposition);
157
158 void navigation_clearroute(entity this);
159 void navigation_pushroute(entity this, entity e);
160 void navigation_poproute(entity this);
161 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
162 void navigation_markroutes(entity this, entity fixed_source_waypoint);
163 void navigation_markroutes_inverted(entity fixed_source_waypoint);
164 void navigation_routerating(entity this, entity e, float f, float rangebias);
165 int navigation_poptouchedgoals(entity this);
166 void navigation_goalrating_start(entity this);
167 void navigation_goalrating_end(entity this);
168 void navigation_goalrating_timeout_set(entity this);
169 void navigation_goalrating_timeout_force(entity this);
170 bool navigation_goalrating_timeout(entity this);
171 void navigation_unstuck(entity this);
172
173 void botframe_updatedangerousobjects(float maxupdate);
174
175 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
176 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);