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;
  29 .float goalcurrent_distance_time;
  30
  31 .entity nearestwaypoint;
  32 .float nearestwaypoint_dist;
  33 .float nearestwaypointtimeout;
  34
  35 /*
  36 // item it is linked from waypoint it.wpXX (INCOMING link)
  37 // links are sorted by their cost (wpXXmincost)
  38 .entity wp00, wp01, wp02, wp03, wp04, wp05, wp06, wp07, wp08, wp09, wp10, wp11, wp12, wp13, wp14, wp15;
  39 .entity wp16, wp17, wp18, wp19, wp20, wp21, wp22, wp23, wp24, wp25, wp26, wp27, wp28, wp29, wp30, wp31;
  40
  41 .float wp00mincost, wp01mincost, wp02mincost, wp03mincost, wp04mincost, wp05mincost, wp06mincost, wp07mincost;
  42 .float wp08mincost, wp09mincost, wp10mincost, wp11mincost, wp12mincost, wp13mincost, wp14mincost, wp15mincost;
  43 .float wp16mincost, wp17mincost, wp18mincost, wp19mincost, wp20mincost, wp21mincost, wp22mincost, wp23mincost;
  44 .float wp24mincost, wp25mincost, wp26mincost, wp27mincost, wp28mincost, wp29mincost, wp30mincost, wp31mincost;
  45 */
  46
  47 #define navigation_item_islinked(from_wp, to_item) waypoint_islinked(to_item, from_wp)
  48 #define navigation_item_addlink(from_wp, to_item) \
  49         waypoint_addlink_customcost(to_item, from_wp, waypoint_getlinkcost(from_wp, to_item))
  50
  51 // if ent is a box waypoint or an item v is set to coords of ent that are closer to org
  52 // (but v.z is set to the lowest coord of ent), v_height is set to ent's height
  53 #define SET_TRACEWALK_DESTCOORDS(ent, org, v, v_height) MACRO_BEGIN { \
  54         if ((ent.classname != "waypoint") || ent.wpisbox) { \
  55                 vector wm1 = ent.origin + ent.mins; \
  56                 vector wm2 = ent.origin + ent.maxs; \
  57                 v.x = bound(wm1.x, org.x, wm2.x); \
  58                 v.y = bound(wm1.y, org.y, wm2.y); \
  59                 v.z = wm1.z; \
  60                 v_height = wm2.z - wm1.z; \
  61         } else { \
  62                 v = ent.origin; \
  63                 v_height = 0; \
  64         } \
  65 } MACRO_END
  66
  67 // if ent is a box waypoint or an item v and v2 are set to coords of ent that are closer to org
  68 // (but v2.z is set to the lowest coord of ent), v2_height is set to ent's height
  69 #define SET_TRACEWALK_DESTCOORDS_2(ent, org, v, v2, v2_height) MACRO_BEGIN { \
  70         if ((ent.classname != "waypoint") || ent.wpisbox) { \
  71                 vector wm1 = ent.origin + ent.mins; \
  72                 vector wm2 = ent.origin + ent.maxs; \
  73                 v.x = bound(wm1.x, org.x, wm2.x); \
  74                 v.y = bound(wm1.y, org.y, wm2.y); \
  75                 v.z = bound(wm1.z, org.z, wm2.z); \
  76                 v2.x = v.x; \
  77                 v2.y = v.y; \
  78                 v2.z = wm1.z; \
  79                 v2_height = wm2.z - wm1.z; \
  80         } else { \
  81                 v = ent.origin; \
  82                 v2 = v; \
  83                 v2_height = 0; \
  84         } \
  85 } MACRO_END
  86
  87 .entity wp_goal_prev0;
  88 .entity wp_goal_prev1;
  89
  90 .float lastteleporttime;
  91
  92 .float blacklisted;
  93
  94 .entity navigation_jetpack_goal;
  95 .vector navigation_jetpack_point;
  96
  97 const float DEBUG_NODE_SUCCESS        = 1;
  98 const float DEBUG_NODE_WARNING        = 2;
  99 const float DEBUG_NODE_FAIL           = 3;
 100 vector debuglastnode;
 101
 102 entity bot_waypoint_queue_owner;        // Owner of the temporary list of goals
 103 entity bot_waypoint_queue_goal;         // Head of the temporary list of goals
 104 .entity bot_waypoint_queue_nextgoal;
 105 entity bot_waypoint_queue_bestgoal;
 106 float bot_waypoint_queue_bestgoalrating;
 107
 108 .entity bot_basewaypoint;
 109 .bool navigation_dynamicgoal;
 110 void navigation_dynamicgoal_init(entity this, bool initially_static);
 111 void navigation_dynamicgoal_set(entity this);
 112 void navigation_dynamicgoal_unset(entity this);
 113
 114
 115 /*
 116  * Functions
 117  */
 118
 119 void debugresetnodes();
 120 void debugnode(entity this, vector node);
 121 void debugnodestatus(vector position, float status);
 122
 123 void debuggoalstack(entity this);
 124
 125 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode);
 126
 127 float navigation_markroutes_nearestwaypoints(entity this, float maxdist);
 128 float navigation_routetogoal(entity this, entity e, vector startposition);
 129
 130 void navigation_clearroute(entity this);
 131 void navigation_pushroute(entity this, entity e);
 132 void navigation_poproute(entity this);
 133 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p);
 134 void navigation_markroutes(entity this, entity fixed_source_waypoint);
 135 void navigation_markroutes_inverted(entity fixed_source_waypoint);
 136 void navigation_routerating(entity this, entity e, float f, float rangebias);
 137 void navigation_poptouchedgoals(entity this);
 138 void navigation_goalrating_start(entity this);
 139 void navigation_goalrating_end(entity this);
 140 void navigation_unstuck(entity this);
 141
 142 void botframe_updatedangerousobjects(float maxupdate);
 143
 144 entity navigation_findnearestwaypoint(entity ent, float walkfromwp);
 145 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, float walkfromwp, float bestdist);