qcsrc/server/bot/navigation.qc

   1
   2 // rough simulation of walking from one point to another to test if a path
   3 // can be traveled, used for waypoint linking and havocbot
   4
   5 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
   6 {
   7         local vector org;
   8         local vector move;
   9         local vector dir;
  10         local float dist;
  11         local float totaldist;
  12         local float stepdist;
  13         local float yaw;
  14         local float ignorehazards;
  15         local float swimming;
  16
  17         if(autocvar_bot_debug_tracewalk)
  18         {
  19                 debugresetnodes();
  20                 debugnode(start);
  21         }
  22
  23         move = end - start;
  24         move_z = 0;
  25         org = start;
  26         dist = totaldist = vlen(move);
  27         dir = normalize(move);
  28         stepdist = 32;
  29         ignorehazards = FALSE;
  30
  31         // Analyze starting point
  32         traceline(start, start, MOVE_NORMAL, e);
  33         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  34                 ignorehazards = TRUE;
  35         else
  36         {
  37                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  38                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  39                 {
  40                         ignorehazards = TRUE;
  41                         swimming = TRUE;
  42                 }
  43         }
  44         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  45         if (trace_startsolid)
  46         {
  47                 // Bad start
  48                 if(autocvar_bot_debug_tracewalk)
  49                         debugnodestatus(start, DEBUG_NODE_FAIL);
  50
  51                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  52                 return FALSE;
  53         }
  54
  55         // Movement loop
  56         yaw = vectoyaw(move);
  57         move = end - org;
  58         for (;;)
  59         {
  60                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  61                 {
  62                         // Succeeded
  63                         if(autocvar_bot_debug_tracewalk)
  64                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  65
  66                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  67                         return TRUE;
  68                 }
  69                 if(autocvar_bot_debug_tracewalk)
  70                         debugnode(org);
  71
  72                 if (dist <= 0)
  73                         break;
  74                 if (stepdist > dist)
  75                         stepdist = dist;
  76                 dist = dist - stepdist;
  77                 traceline(org, org, MOVE_NORMAL, e);
  78                 if (!ignorehazards)
  79                 {
  80                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  81                         {
  82                                 // hazards blocking path
  83                                 if(autocvar_bot_debug_tracewalk)
  84                                         debugnodestatus(org, DEBUG_NODE_FAIL);
  85
  86                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
  87                                 return FALSE;
  88                         }
  89                 }
  90                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
  91                 {
  92                         move = normalize(end - org);
  93                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
  94
  95                         if(autocvar_bot_debug_tracewalk)
  96                                 debugnode(trace_endpos);
  97
  98                         if (trace_fraction < 1)
  99                         {
 100                                 swimming = TRUE;
 101                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
 102                                 for(; org_z < end_z + self.maxs_z; org_z += stepdist)
 103                                 {
 104                                                 if(autocvar_bot_debug_tracewalk)
 105                                                         debugnode(org);
 106
 107                                         if(pointcontents(org) == CONTENT_EMPTY)
 108                                                         break;
 109                                 }
 110
 111                                 if not (pointcontents(org + '0 0 1') == CONTENT_EMPTY)
 112                                 {
 113                                         if(autocvar_bot_debug_tracewalk)
 114                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 115
 116                                         return FALSE;
 117                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 118                                 }
 119                                 continue;
 120
 121                         }
 122                         else
 123                                 org = trace_endpos;
 124                 }
 125                 else
 126                 {
 127                         move = dir * stepdist + org;
 128                         tracebox(org, m1, m2, move, movemode, e);
 129
 130                         if(autocvar_bot_debug_tracewalk)
 131                                 debugnode(trace_endpos);
 132
 133                         // hit something
 134                         if (trace_fraction < 1)
 135                         {
 136                                 // check if we can walk over this obstacle, possibly by jumpstepping
 137                                 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 138                                 if (trace_fraction < 1 || trace_startsolid)
 139                                 {
 140                                         if(autocvar_bot_debug_tracewalk)
 141                                                 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 142
 143                                         // check for doors
 144                                         traceline( org, move, movemode, e);
 145                                         if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 146                                         {
 147                                                 local vector nextmove;
 148                                                 move = trace_endpos;
 149                                                 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 150                                                 {
 151                                                         nextmove = move + (dir * stepdist);
 152                                                         traceline( move, nextmove, movemode, e);
 153                                                         move = nextmove;
 154                                                 }
 155                                         }
 156                                         else
 157                                         {
 158                                                 if(autocvar_bot_debug_tracewalk)
 159                                                         debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 160
 161                                                 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 162                                                 //te_explosion(trace_endpos);
 163                                                 //print(ftos(e.dphitcontentsmask), "\n");
 164                                                 return FALSE; // failed
 165                                         }
 166                                 }
 167                                 else
 168                                         move = trace_endpos;
 169                         }
 170                         else
 171                                 move = trace_endpos;
 172
 173                         // trace down from stepheight as far as possible and move there,
 174                         // if this starts in solid we try again without the stepup, and
 175                         // if that also fails we assume it is a wall
 176                         // (this is the same logic as the Quake walkmove function used)
 177                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 178
 179                         // moved successfully
 180                         if(swimming)
 181                         {
 182                                 local float c;
 183                                 c = pointcontents(org + '0 0 1');
 184                                 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
 185                                         swimming = FALSE;
 186                                 else
 187                                         continue;
 188                         }
 189
 190                         org = trace_endpos;
 191                 }
 192         }
 193
 194         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 195
 196         // moved but didn't arrive at the intended destination
 197         if(autocvar_bot_debug_tracewalk)
 198                 debugnodestatus(org, DEBUG_NODE_FAIL);
 199
 200         return FALSE;
 201 };
 202
 203 /////////////////////////////////////////////////////////////////////////////
 204 // goal stack
 205 /////////////////////////////////////////////////////////////////////////////
 206
 207 // completely empty the goal stack, used when deciding where to go
 208 void navigation_clearroute()
 209 {
 210         //print("bot ", etos(self), " clear\n");
 211         self.navigation_hasgoals = FALSE;
 212         self.goalcurrent = world;
 213         self.goalstack01 = world;
 214         self.goalstack02 = world;
 215         self.goalstack03 = world;
 216         self.goalstack04 = world;
 217         self.goalstack05 = world;
 218         self.goalstack06 = world;
 219         self.goalstack07 = world;
 220         self.goalstack08 = world;
 221         self.goalstack09 = world;
 222         self.goalstack10 = world;
 223         self.goalstack11 = world;
 224         self.goalstack12 = world;
 225         self.goalstack13 = world;
 226         self.goalstack14 = world;
 227         self.goalstack15 = world;
 228         self.goalstack16 = world;
 229         self.goalstack17 = world;
 230         self.goalstack18 = world;
 231         self.goalstack19 = world;
 232         self.goalstack20 = world;
 233         self.goalstack21 = world;
 234         self.goalstack22 = world;
 235         self.goalstack23 = world;
 236         self.goalstack24 = world;
 237         self.goalstack25 = world;
 238         self.goalstack26 = world;
 239         self.goalstack27 = world;
 240         self.goalstack28 = world;
 241         self.goalstack29 = world;
 242         self.goalstack30 = world;
 243         self.goalstack31 = world;
 244 };
 245
 246 // add a new goal at the beginning of the stack
 247 // (in other words: add a new prerequisite before going to the later goals)
 248 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 249 // next-closest WP on the shortest path to the WP
 250 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 251 // steps to the goal, and then recalculate the path.
 252 void navigation_pushroute(entity e)
 253 {
 254         //print("bot ", etos(self), " push ", etos(e), "\n");
 255         self.goalstack31 = self.goalstack30;
 256         self.goalstack30 = self.goalstack29;
 257         self.goalstack29 = self.goalstack28;
 258         self.goalstack28 = self.goalstack27;
 259         self.goalstack27 = self.goalstack26;
 260         self.goalstack26 = self.goalstack25;
 261         self.goalstack25 = self.goalstack24;
 262         self.goalstack24 = self.goalstack23;
 263         self.goalstack23 = self.goalstack22;
 264         self.goalstack22 = self.goalstack21;
 265         self.goalstack21 = self.goalstack20;
 266         self.goalstack20 = self.goalstack19;
 267         self.goalstack19 = self.goalstack18;
 268         self.goalstack18 = self.goalstack17;
 269         self.goalstack17 = self.goalstack16;
 270         self.goalstack16 = self.goalstack15;
 271         self.goalstack15 = self.goalstack14;
 272         self.goalstack14 = self.goalstack13;
 273         self.goalstack13 = self.goalstack12;
 274         self.goalstack12 = self.goalstack11;
 275         self.goalstack11 = self.goalstack10;
 276         self.goalstack10 = self.goalstack09;
 277         self.goalstack09 = self.goalstack08;
 278         self.goalstack08 = self.goalstack07;
 279         self.goalstack07 = self.goalstack06;
 280         self.goalstack06 = self.goalstack05;
 281         self.goalstack05 = self.goalstack04;
 282         self.goalstack04 = self.goalstack03;
 283         self.goalstack03 = self.goalstack02;
 284         self.goalstack02 = self.goalstack01;
 285         self.goalstack01 = self.goalcurrent;
 286         self.goalcurrent = e;
 287 };
 288
 289 // remove first goal from stack
 290 // (in other words: remove a prerequisite for reaching the later goals)
 291 // (used when a spawnfunc_waypoint is reached)
 292 void navigation_poproute()
 293 {
 294         //print("bot ", etos(self), " pop\n");
 295         self.goalcurrent = self.goalstack01;
 296         self.goalstack01 = self.goalstack02;
 297         self.goalstack02 = self.goalstack03;
 298         self.goalstack03 = self.goalstack04;
 299         self.goalstack04 = self.goalstack05;
 300         self.goalstack05 = self.goalstack06;
 301         self.goalstack06 = self.goalstack07;
 302         self.goalstack07 = self.goalstack08;
 303         self.goalstack08 = self.goalstack09;
 304         self.goalstack09 = self.goalstack10;
 305         self.goalstack10 = self.goalstack11;
 306         self.goalstack11 = self.goalstack12;
 307         self.goalstack12 = self.goalstack13;
 308         self.goalstack13 = self.goalstack14;
 309         self.goalstack14 = self.goalstack15;
 310         self.goalstack15 = self.goalstack16;
 311         self.goalstack16 = self.goalstack17;
 312         self.goalstack17 = self.goalstack18;
 313         self.goalstack18 = self.goalstack19;
 314         self.goalstack19 = self.goalstack20;
 315         self.goalstack20 = self.goalstack21;
 316         self.goalstack21 = self.goalstack22;
 317         self.goalstack22 = self.goalstack23;
 318         self.goalstack23 = self.goalstack24;
 319         self.goalstack24 = self.goalstack25;
 320         self.goalstack25 = self.goalstack26;
 321         self.goalstack26 = self.goalstack27;
 322         self.goalstack27 = self.goalstack28;
 323         self.goalstack28 = self.goalstack29;
 324         self.goalstack29 = self.goalstack30;
 325         self.goalstack30 = self.goalstack31;
 326         self.goalstack31 = world;
 327 };
 328
 329 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 330 {
 331         float dist;
 332         dist = vlen(v - org);
 333         if (bestdist > dist)
 334         {
 335                 traceline(v, org, TRUE, ent);
 336                 if (trace_fraction == 1)
 337                 {
 338                         if (walkfromwp)
 339                         {
 340                                 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
 341                                         return TRUE;
 342                         }
 343                         else
 344                         {
 345                                 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
 346                                         return TRUE;
 347                         }
 348                 }
 349         }
 350         return FALSE;
 351 }
 352
 353 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 354 entity navigation_findnearestwaypoint_withdist(entity ent, float walkfromwp, float bestdist)
 355 {
 356         local entity waylist, w, best;
 357         local float dist;
 358         local vector v, org, pm1, pm2;
 359         pm1 = ent.origin + ent.mins;
 360         pm2 = ent.origin + ent.maxs;
 361         waylist = findchain(classname, "waypoint");
 362
 363         // do two scans, because box test is cheaper
 364         w = waylist;
 365         while (w)
 366         {
 367                 // if object is touching spawnfunc_waypoint
 368                 if(w != ent)
 369                         if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
 370                                 return w;
 371                 w = w.chain;
 372         }
 373
 374         org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 375         org_z = ent.origin_z + ent.mins_z - PL_MIN_z; // player height
 376         // TODO possibly make other code have the same support for bboxes
 377         if(ent.tag_entity)
 378                 org = org + ent.tag_entity.origin;
 379         if (navigation_testtracewalk)
 380                 te_plasmaburn(org);
 381
 382         best = world;
 383
 384         // box check failed, try walk
 385         w = waylist;
 386         while (w)
 387         {
 388                 // if object can walk from spawnfunc_waypoint
 389                 if(w != ent)
 390                 {
 391                         if (w.wpisbox)
 392                         {
 393                                 local vector wm1, wm2;
 394                                 wm1 = w.origin + w.mins;
 395                                 wm2 = w.origin + w.maxs;
 396                                 v_x = bound(wm1_x, org_x, wm2_x);
 397                                 v_y = bound(wm1_y, org_y, wm2_y);
 398                                 v_z = bound(wm1_z, org_z, wm2_z);
 399                         }
 400                         else
 401                                 v = w.origin;
 402                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 403                         {
 404                                 bestdist = dist;
 405                                 best = w;
 406                         }
 407                 }
 408                 w = w.chain;
 409         }
 410         return best;
 411 }
 412 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 413 {
 414         return navigation_findnearestwaypoint_withdist(ent, walkfromwp, 1050);
 415 }
 416
 417 // finds the waypoints near the bot initiating a navigation query
 418 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
 419 {
 420         local entity head;
 421         local vector v, m1, m2, diff;
 422         local float c;
 423 //      navigation_testtracewalk = TRUE;
 424         c = 0;
 425         head = waylist;
 426         while (head)
 427         {
 428                 if (!head.wpconsidered)
 429                 {
 430                         if (head.wpisbox)
 431                         {
 432                                 m1 = head.origin + head.mins;
 433                                 m2 = head.origin + head.maxs;
 434                                 v = self.origin;
 435                                 v_x = bound(m1_x, v_x, m2_x);
 436                                 v_y = bound(m1_y, v_y, m2_y);
 437                                 v_z = bound(m1_z, v_z, m2_z);
 438                         }
 439                         else
 440                                 v = head.origin;
 441                         diff = v - self.origin;
 442                         diff_z = max(0, diff_z);
 443                         if (vlen(diff) < maxdist)
 444                         {
 445                                 head.wpconsidered = TRUE;
 446                                 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
 447                                 {
 448                                         head.wpnearestpoint = v;
 449                                         head.wpcost = vlen(v - self.origin) + head.dmg;
 450                                         head.wpfire = 1;
 451                                         head.enemy = world;
 452                                         c = c + 1;
 453                                 }
 454                         }
 455                 }
 456                 head = head.chain;
 457         }
 458         //navigation_testtracewalk = FALSE;
 459         return c;
 460 }
 461
 462 // updates a path link if a spawnfunc_waypoint link is better than the current one
 463 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 464 {
 465         local vector m1;
 466         local vector m2;
 467         local vector v;
 468         if (wp.wpisbox)
 469         {
 470                 m1 = wp.absmin;
 471                 m2 = wp.absmax;
 472                 v_x = bound(m1_x, p_x, m2_x);
 473                 v_y = bound(m1_y, p_y, m2_y);
 474                 v_z = bound(m1_z, p_z, m2_z);
 475         }
 476         else
 477                 v = wp.origin;
 478         cost2 = cost2 + vlen(v - p);
 479         if (wp.wpcost > cost2)
 480         {
 481                 wp.wpcost = cost2;
 482                 wp.enemy = w;
 483                 wp.wpfire = 1;
 484                 wp.wpnearestpoint = v;
 485         }
 486 };
 487
 488 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 489 void navigation_markroutes(entity fixed_source_waypoint)
 490 {
 491         local entity w, wp, waylist;
 492         local float searching, cost, cost2;
 493         local vector p;
 494         w = waylist = findchain(classname, "waypoint");
 495         while (w)
 496         {
 497                 w.wpconsidered = FALSE;
 498                 w.wpnearestpoint = '0 0 0';
 499                 w.wpcost = 10000000;
 500                 w.wpfire = 0;
 501                 w.enemy = world;
 502                 w = w.chain;
 503         }
 504
 505         if(fixed_source_waypoint)
 506         {
 507                 fixed_source_waypoint.wpconsidered = TRUE;
 508                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 509                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 510                 fixed_source_waypoint.wpfire = 1;
 511                 fixed_source_waypoint.enemy = world;
 512         }
 513         else
 514         {
 515                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 516                 // as this search is expensive we will use lower values if the bot is on the air
 517                 local float i, increment, maxdistance;
 518                 if(self.flags & FL_ONGROUND)
 519                 {
 520                         increment = 750;
 521                         maxdistance = 50000;
 522                 }
 523                 else
 524                 {
 525                         increment = 500;
 526                         maxdistance = 1500;
 527                 }
 528
 529                 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
 530         }
 531
 532         searching = TRUE;
 533         while (searching)
 534         {
 535                 searching = FALSE;
 536                 w = waylist;
 537                 while (w)
 538                 {
 539                         if (w.wpfire)
 540                         {
 541                                 searching = TRUE;
 542                                 w.wpfire = 0;
 543                                 cost = w.wpcost;
 544                                 p = w.wpnearestpoint;
 545                                 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 546                                 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 547                                 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 548                                 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 549                                 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 550                                 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 551                                 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 552                                 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 553                                 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 554                                 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 555                                 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 556                                 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 557                                 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 558                                 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 559                                 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 560                                 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 561                                 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 562                                 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 563                                 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 564                                 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 565                                 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 566                                 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 567                                 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 568                                 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 569                                 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 570                                 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 571                                 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 572                                 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 573                                 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 574                                 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 575                                 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 576                                 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 577                                 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 578                         }
 579                         w = w.chain;
 580                 }
 581         }
 582 };
 583
 584 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 585 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 586 {
 587         local entity w, wp, waylist;
 588         local float searching, cost, cost2;
 589         local vector p;
 590         w = waylist = findchain(classname, "waypoint");
 591         while (w)
 592         {
 593                 w.wpconsidered = FALSE;
 594                 w.wpnearestpoint = '0 0 0';
 595                 w.wpcost = 10000000;
 596                 w.wpfire = 0;
 597                 w.enemy = world;
 598                 w = w.chain;
 599         }
 600
 601         if(fixed_source_waypoint)
 602         {
 603                 fixed_source_waypoint.wpconsidered = TRUE;
 604                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 605                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 606                 fixed_source_waypoint.wpfire = 1;
 607                 fixed_source_waypoint.enemy = world;
 608         }
 609         else
 610         {
 611                 error("need to start with a waypoint\n");
 612         }
 613
 614         searching = TRUE;
 615         while (searching)
 616         {
 617                 searching = FALSE;
 618                 w = waylist;
 619                 while (w)
 620                 {
 621                         if (w.wpfire)
 622                         {
 623                                 searching = TRUE;
 624                                 w.wpfire = 0;
 625                                 cost = w.wpcost; // cost to walk from w to home
 626                                 p = w.wpnearestpoint;
 627                                 for(wp = waylist; wp; wp = wp.chain)
 628                                 {
 629                                         if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
 630                                         if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
 631                                         if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
 632                                         if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
 633                                         if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
 634                                         if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
 635                                         if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
 636                                         if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
 637                                                 continue;
 638                                         cost2 = cost + wp.dmg;
 639                                         navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 640                                 }
 641                         }
 642                         w = w.chain;
 643                 }
 644         }
 645 };
 646
 647 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 648 void navigation_routerating(entity e, float f, float rangebias)
 649 {
 650         entity nwp;
 651         vector o;
 652         if (!e)
 653                 return;
 654
 655         if(e.blacklisted)
 656                 return;
 657
 658         o = (e.absmin + e.absmax) * 0.5;
 659
 660         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 661
 662         // Evaluate path using jetpack
 663         if(g_jetpack)
 664         if(self.items & IT_JETPACK)
 665         if(autocvar_bot_ai_navigation_jetpack)
 666         if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
 667         {
 668                 vector pointa, pointb;
 669
 670         //      dprint("jetpack ai: evaluating path for ", e.classname,"\n");
 671
 672                 // Point A
 673                 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
 674                 pointa = trace_endpos - '0 0 1';
 675
 676                 // Point B
 677                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 678                 pointb = trace_endpos - '0 0 1';
 679
 680                 // Can I see these two points from the sky?
 681                 traceline(pointa, pointb, MOVE_NORMAL, self);
 682
 683                 if(trace_fraction==1)
 684                 {
 685                 //      dprint("jetpack ai: can bridge these two points\n");
 686
 687                         // Lower the altitude of these points as much as possible
 688                         local float zdistance, xydistance, cost, t, fuel;
 689                         local vector down, npa, npb;
 690
 691                         down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
 692
 693                         do{
 694                                 npa = pointa + down;
 695                                 npb = pointb + down;
 696
 697                                 if(npa_z<=self.absmax_z)
 698                                         break;
 699
 700                                 if(npb_z<=e.absmax_z)
 701                                         break;
 702
 703                                 traceline(npa, npb, MOVE_NORMAL, self);
 704                                 if(trace_fraction==1)
 705                                 {
 706                                         pointa = npa;
 707                                         pointb = npb;
 708                                 }
 709                         }
 710                         while(trace_fraction == 1);
 711
 712
 713                         // Rough estimation of fuel consumption
 714                         // (ignores acceleration and current xyz velocity)
 715                         xydistance = vlen(pointa - pointb);
 716                         zdistance = fabs(pointa_z - self.origin_z);
 717
 718                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 719                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 720                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 721
 722                 //      dprint("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel),"\n");
 723
 724                         // enough fuel ?
 725                         if(self.ammo_fuel>fuel)
 726                         {
 727                                 // Estimate cost
 728                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 729                                 //  - between air and ground speeds)
 730
 731                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 732                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 733                                 cost *= 1.5;
 734
 735                                 // Compare against other goals
 736                                 f = f * rangebias / (rangebias + cost);
 737
 738                                 if (navigation_bestrating < f)
 739                                 {
 740                         //              dprint("jetpack path: added goal", e.classname, " (with rating ", ftos(f), ")\n");
 741                                         navigation_bestrating = f;
 742                                         navigation_bestgoal = e;
 743                                         self.navigation_jetpack_goal = e;
 744                                         self.navigation_jetpack_point = pointb;
 745                                 }
 746                                 return;
 747                         }
 748                 }
 749         }
 750
 751         //te_wizspike(e.origin);
 752         //bprint(etos(e));
 753         //bprint("\n");
 754         // update the cached spawnfunc_waypoint link on a dynamic item entity
 755         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 756         {
 757                 nwp = e;
 758         }
 759         else
 760         {
 761                 float search;
 762
 763                 search = TRUE;
 764
 765                 if(e.flags & FL_ITEM)
 766                 {
 767                         if not(e.flags & FL_WEAPON)
 768                         if(e.nearestwaypoint)
 769                                 search = FALSE;
 770                 }
 771                 else if (e.flags & FL_WEAPON)
 772                 {
 773                         if(e.classname != "droppedweapon")
 774                         if(e.nearestwaypoint)
 775                                 search = FALSE;
 776                 }
 777
 778                 if(search)
 779                 if (time > e.nearestwaypointtimeout)
 780                 {
 781                         nwp = navigation_findnearestwaypoint(e, TRUE);
 782                         if(nwp)
 783                                 e.nearestwaypoint = nwp;
 784                         else
 785                         {
 786                                 dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n");
 787
 788                                 if(e.flags & FL_ITEM)
 789                                         e.blacklisted = TRUE;
 790                                 else if (e.flags & FL_WEAPON)
 791                                 {
 792                                         if(e.classname != "droppedweapon")
 793                                                 e.blacklisted = TRUE;
 794                                 }
 795
 796                                 if(e.blacklisted)
 797                                 {
 798                                         dprint("The entity '", e.classname, "' is going to be excluded from path finding during this match\n");
 799                                         return;
 800                                 }
 801                         }
 802
 803                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 804                         if(e.classname=="item_flag_team")
 805                                 e.nearestwaypointtimeout = time + 2;
 806                         else
 807                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 808                 }
 809                 nwp = e.nearestwaypoint;
 810         }
 811
 812         //dprint("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n");
 813         if (nwp)
 814         if (nwp.wpcost < 10000000)
 815         {
 816                 //te_wizspike(nwp.wpnearestpoint);
 817         //      dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
 818                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 819                 //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
 820                 //dprint(ftos(f));
 821                 if (navigation_bestrating < f)
 822                 {
 823                 //      dprint("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n");
 824                         navigation_bestrating = f;
 825                         navigation_bestgoal = e;
 826                 }
 827         }
 828         //dprint("\n");
 829 };
 830
 831 // adds an item to the the goal stack with the path to a given item
 832 float navigation_routetogoal(entity e, vector startposition)
 833 {
 834         self.goalentity = e;
 835
 836         // if there is no goal, just exit
 837         if (!e)
 838                 return FALSE;
 839
 840         self.navigation_hasgoals = TRUE;
 841
 842         // put the entity on the goal stack
 843         //print("routetogoal ", etos(e), "\n");
 844         navigation_pushroute(e);
 845
 846         if(g_jetpack)
 847         if(e==self.navigation_jetpack_goal)
 848                 return TRUE;
 849
 850         // if it can reach the goal there is nothing more to do
 851         if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 852                 return TRUE;
 853
 854         // see if there are waypoints describing a path to the item
 855         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 856                 e = e.nearestwaypoint;
 857         else
 858                 e = e.enemy; // we already have added it, so...
 859
 860         if(e == world)
 861                 return FALSE;
 862
 863         for (;;)
 864         {
 865                 // add the spawnfunc_waypoint to the path
 866                 navigation_pushroute(e);
 867                 e = e.enemy;
 868
 869                 if(e==world)
 870                         break;
 871         }
 872
 873         return FALSE;
 874 };
 875
 876 // removes any currently touching waypoints from the goal stack
 877 // (this is how bots detect if they reached a goal)
 878 void navigation_poptouchedgoals()
 879 {
 880         local vector org, m1, m2;
 881         org = self.origin;
 882         m1 = org + self.mins;
 883         m2 = org + self.maxs;
 884
 885         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 886         {
 887                 if(self.lastteleporttime>0)
 888                 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
 889                 {
 890                         if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 891                         if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 892                         {
 893                                 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
 894                                 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 895                         }
 896                         navigation_poproute();
 897                         return;
 898                 }
 899         }
 900
 901         // If for some reason the bot is closer to the next goal, pop the current one
 902         if(self.goalstack01)
 903         if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
 904         if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
 905         if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 906         {
 907         ///     dprint("path optimized, removed a goal from the queue\n");
 908                 navigation_poproute();
 909                 // TODO this may also be a nice idea to do "early" (e.g. by
 910                 // manipulating the vlen() comparisons) to shorten paths in
 911                 // general - this would make bots walk more "on rails" than
 912                 // "zigzagging" which they currently do with sufficiently
 913                 // random-like waypoints, and thus can make a nice bot
 914                 // personality property
 915         }
 916
 917
 918         // Loose goal touching check when running
 919         if(self.aistatus & AI_STATUS_RUNNING)
 920         if(self.goalcurrent.classname=="waypoint")
 921         {
 922                 if(vlen(self.origin - self.goalcurrent.origin)<150)
 923                 {
 924                         traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
 925                         if(trace_fraction==1)
 926                         {
 927                                 // Detect personal waypoints
 928                                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 929                                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 930                                 {
 931                                         self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
 932                                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 933                                 }
 934
 935                                 navigation_poproute();
 936                         }
 937                 }
 938         }
 939
 940         while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
 941         {
 942                 // Detect personal waypoints
 943                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 944                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 945                 {
 946                         self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
 947                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 948                 }
 949
 950                 navigation_poproute();
 951         }
 952 }
 953
 954 // begin a goal selection session (queries spawnfunc_waypoint network)
 955 void navigation_goalrating_start()
 956 {
 957         if(self.aistatus & AI_STATUS_STUCK)
 958                 return;
 959
 960         self.navigation_jetpack_goal = world;
 961         navigation_bestrating = -1;
 962         self.navigation_hasgoals = FALSE;
 963         navigation_clearroute();
 964         navigation_bestgoal = world;
 965         navigation_markroutes(world);
 966 };
 967
 968 // ends a goal selection session (updates goal stack to the best goal)
 969 void navigation_goalrating_end()
 970 {
 971         if(self.aistatus & AI_STATUS_STUCK)
 972                 return;
 973
 974         navigation_routetogoal(navigation_bestgoal, self.origin);
 975 //      dprint("best goal ", self.goalcurrent.classname , "\n");
 976
 977         // If the bot got stuck then try to reach the farthest waypoint
 978         if not (self.navigation_hasgoals)
 979         if (autocvar_bot_wander_enable)
 980         {
 981                 if not(self.aistatus & AI_STATUS_STUCK)
 982                 {
 983                         dprint(self.netname, " cannot walk to any goal\n");
 984                         self.aistatus |= AI_STATUS_STUCK;
 985                 }
 986
 987                 self.navigation_hasgoals = FALSE; // Reset this value
 988         }
 989 };
 990
 991 void botframe_updatedangerousobjects(float maxupdate)
 992 {
 993         local entity head, bot_dodgelist;
 994         local vector m1, m2, v, o;
 995         local float c, d, danger;
 996         c = 0;
 997         bot_dodgelist = findchainfloat(bot_dodge, TRUE);
 998         botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
 999         while (botframe_dangerwaypoint != world)
1000         {
1001                 danger = 0;
1002                 m1 = botframe_dangerwaypoint.mins;
1003                 m2 = botframe_dangerwaypoint.maxs;
1004                 head = bot_dodgelist;
1005                 while (head)
1006                 {
1007                         v = head.origin;
1008                         v_x = bound(m1_x, v_x, m2_x);
1009                         v_y = bound(m1_y, v_y, m2_y);
1010                         v_z = bound(m1_z, v_z, m2_z);
1011                         o = (head.absmin + head.absmax) * 0.5;
1012                         d = head.bot_dodgerating - vlen(o - v);
1013                         if (d > 0)
1014                         {
1015                                 traceline(o, v, TRUE, world);
1016                                 if (trace_fraction == 1)
1017                                         danger = danger + d;
1018                         }
1019                         head = head.chain;
1020                 }
1021                 botframe_dangerwaypoint.dmg = danger;
1022                 c = c + 1;
1023                 if (c >= maxupdate)
1024                         break;
1025                 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1026         }
1027 };
1028
1029 void navigation_unstuck()
1030 {
1031         float search_radius = 1000;
1032
1033         if not(autocvar_bot_wander_enable)
1034                 return;
1035
1036         if not(bot_waypoint_queue_owner)
1037         {
1038         //      dprint(self.netname, " sutck, taking over the waypoints queue\n");
1039                 bot_waypoint_queue_owner = self;
1040                 bot_waypoint_queue_bestgoal = world;
1041                 bot_waypoint_queue_bestgoalrating = 0;
1042         }
1043
1044         if(bot_waypoint_queue_owner!=self)
1045                 return;
1046
1047         if (bot_waypoint_queue_goal)
1048         {
1049                 // evaluate the next goal on the queue
1050                 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1051                 // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
1052                 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1053                 {
1054                         if( d > bot_waypoint_queue_bestgoalrating)
1055                         {
1056                                 bot_waypoint_queue_bestgoalrating = d;
1057                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1058                         }
1059                 }
1060                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1061
1062                 if not(bot_waypoint_queue_goal)
1063                 {
1064                         if (bot_waypoint_queue_bestgoal)
1065                         {
1066                                 dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
1067                                 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1068                                 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1069                                 self.aistatus &~= AI_STATUS_STUCK;
1070                         }
1071                         else
1072                         {
1073                                 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1074                         }
1075
1076                         bot_waypoint_queue_owner = world;
1077                 }
1078         }
1079         else
1080         {
1081                 if(bot_strategytoken!=self)
1082                         return;
1083
1084                 // build a new queue
1085                 dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
1086
1087                 entity head, first;
1088
1089                 first = world;
1090                 head = findradius(self.origin, search_radius);
1091
1092                 while(head)
1093                 {
1094                         if(head.classname=="waypoint")
1095                 //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1096                         {
1097                                 if(bot_waypoint_queue_goal)
1098                                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1099                                 else
1100                                         first = head;
1101
1102                                 bot_waypoint_queue_goal = head;
1103                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1104                         }
1105
1106                         head = head.chain;
1107                 }
1108
1109                 if (first)
1110                         bot_waypoint_queue_goal = first;
1111                 else
1112                 {
1113                         dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1114                         bot_waypoint_queue_owner = world;
1115                 }
1116         }
1117 }
1118
1119 // Support for debugging tracewalk visually
1120
1121 void debugresetnodes()
1122 {
1123         debuglastnode = '0 0 0';
1124 }
1125
1126 void debugnode(vector node)
1127 {
1128         if not(self.classname=="player")
1129                 return;
1130
1131         if(debuglastnode=='0 0 0')
1132         {
1133                 debuglastnode = node;
1134                 return;
1135         }
1136
1137         te_lightning2(world, node, debuglastnode);
1138         debuglastnode = node;
1139 }
1140
1141 void debugnodestatus(vector position, float status)
1142 {
1143         vector c;
1144
1145         switch (status)
1146         {
1147                 case DEBUG_NODE_SUCCESS:
1148                         c = '0 15 0';
1149                         break;
1150                 case DEBUG_NODE_WARNING:
1151                         c = '15 15 0';
1152                         break;
1153                 case DEBUG_NODE_FAIL:
1154                         c = '15 0 0';
1155                         break;
1156                 default:
1157                         c = '15 15 15';
1158         }
1159
1160         te_customflash(position, 40,  2, c);
1161 }
1162
1163 // Support for debugging the goal stack visually
1164
1165 .float goalcounter;
1166 .vector lastposition;
1167
1168 // Debug the goal stack visually
1169 void debuggoalstack()
1170 {
1171         local entity goal;
1172         local vector org, go;
1173
1174         if(self.goalcounter==0)goal=self.goalcurrent;
1175         else if(self.goalcounter==1)goal=self.goalstack01;
1176         else if(self.goalcounter==2)goal=self.goalstack02;
1177         else if(self.goalcounter==3)goal=self.goalstack03;
1178         else if(self.goalcounter==4)goal=self.goalstack04;
1179         else if(self.goalcounter==5)goal=self.goalstack05;
1180         else if(self.goalcounter==6)goal=self.goalstack06;
1181         else if(self.goalcounter==7)goal=self.goalstack07;
1182         else if(self.goalcounter==8)goal=self.goalstack08;
1183         else if(self.goalcounter==9)goal=self.goalstack09;
1184         else if(self.goalcounter==10)goal=self.goalstack10;
1185         else if(self.goalcounter==11)goal=self.goalstack11;
1186         else if(self.goalcounter==12)goal=self.goalstack12;
1187         else if(self.goalcounter==13)goal=self.goalstack13;
1188         else if(self.goalcounter==14)goal=self.goalstack14;
1189         else if(self.goalcounter==15)goal=self.goalstack15;
1190         else if(self.goalcounter==16)goal=self.goalstack16;
1191         else if(self.goalcounter==17)goal=self.goalstack17;
1192         else if(self.goalcounter==18)goal=self.goalstack18;
1193         else if(self.goalcounter==19)goal=self.goalstack19;
1194         else if(self.goalcounter==20)goal=self.goalstack20;
1195         else if(self.goalcounter==21)goal=self.goalstack21;
1196         else if(self.goalcounter==22)goal=self.goalstack22;
1197         else if(self.goalcounter==23)goal=self.goalstack23;
1198         else if(self.goalcounter==24)goal=self.goalstack24;
1199         else if(self.goalcounter==25)goal=self.goalstack25;
1200         else if(self.goalcounter==26)goal=self.goalstack26;
1201         else if(self.goalcounter==27)goal=self.goalstack27;
1202         else if(self.goalcounter==28)goal=self.goalstack28;
1203         else if(self.goalcounter==29)goal=self.goalstack29;
1204         else if(self.goalcounter==30)goal=self.goalstack30;
1205         else if(self.goalcounter==31)goal=self.goalstack31;
1206
1207         if(goal==world)
1208         {
1209                 self.goalcounter = 0;
1210                 self.lastposition='0 0 0';
1211                 return;
1212         }
1213
1214         if(self.lastposition=='0 0 0')
1215                 org = self.origin;
1216         else
1217                 org = self.lastposition;
1218
1219
1220         go = ( goal.absmin + goal.absmax ) * 0.5;
1221         te_lightning2(world, org, go);
1222         self.lastposition = go;
1223
1224         self.goalcounter++;
1225 }