// hit something
if (trace_fraction < 1)
{
- // check if we can walk over this obstacle
+ // check if we can walk over this obstacle, possibly by jumpstepping
tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
if (trace_fraction < 1 || trace_startsolid)
{
- if(autocvar_bot_debug_tracewalk)
- debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
-
- // check for doors
- traceline( org, move, movemode, e);
- if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
+ tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
+ if (trace_fraction < 1 || trace_startsolid)
{
- local vector nextmove;
- move = trace_endpos;
- while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
+
+ // check for doors
+ traceline( org, move, movemode, e);
+ if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
{
- nextmove = move + (dir * stepdist);
- traceline( move, nextmove, movemode, e);
- move = nextmove;
+ local vector nextmove;
+ move = trace_endpos;
+ while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
+ {
+ nextmove = move + (dir * stepdist);
+ traceline( move, nextmove, movemode, e);
+ move = nextmove;
+ }
}
- }
- else
- {
- if(autocvar_bot_debug_tracewalk)
- debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
+ else
+ {
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
- //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
- //te_explosion(trace_endpos);
- //print(ftos(e.dphitcontentsmask), "\n");
- return FALSE; // failed
+ //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+ //te_explosion(trace_endpos);
+ //print(ftos(e.dphitcontentsmask), "\n");
+ return FALSE; // failed
+ }
}
+ else
+ move = trace_endpos;
}
else
move = trace_endpos;
void navigation_routerating(entity e, float f, float rangebias)
{
entity nwp;
+ vector o;
if (!e)
return;
+ if(e.blacklisted)
+ return;
+
+ o = (e.absmin + e.absmax) * 0.5;
+
//print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
// Evaluate path using jetpack
if(g_jetpack)
if(self.items & IT_JETPACK)
if(autocvar_bot_ai_navigation_jetpack)
- if(vlen(self.origin - e.origin) > autocvar_bot_ai_navigation_jetpack_mindistance)
+ if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
{
vector pointa, pointb;
pointa = trace_endpos - '0 0 1';
// Point B
- traceline(e.origin, e.origin + '0 0 65535', MOVE_NORMAL, e);
+ traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
pointb = trace_endpos - '0 0 1';
// Can I see these two points from the sky?
}
else
{
+ float search;
+
+ search = TRUE;
+
+ if(e.flags & FL_ITEM)
+ {
+ if not(e.flags & FL_WEAPON)
+ if(e.nearestwaypoint)
+ search = FALSE;
+ }
+ else if (e.flags & FL_WEAPON)
+ {
+ if(e.classname != "droppedweapon")
+ if(e.nearestwaypoint)
+ search = FALSE;
+ }
+
+ if(search)
if (time > e.nearestwaypointtimeout)
{
nwp = navigation_findnearestwaypoint(e, TRUE);
if(nwp)
e.nearestwaypoint = nwp;
else
+ {
dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n");
+ if(e.flags & FL_ITEM)
+ e.blacklisted = TRUE;
+ else if (e.flags & FL_WEAPON)
+ {
+ if(e.classname != "droppedweapon")
+ e.blacklisted = TRUE;
+ }
+
+ if(e.blacklisted)
+ {
+ dprint("The entity '", e.classname, "' is going to be excluded from path finding during this match\n");
+ return;
+ }
+ }
+
// TODO: Cleaner solution, probably handling this timeout from ctf.qc
if(e.classname=="item_flag_team")
e.nearestwaypointtimeout = time + 2;
{
//te_wizspike(nwp.wpnearestpoint);
// dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
- f = f * rangebias / (rangebias + (nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint)));
+ f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
//dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
//dprint(ftos(f));
if (navigation_bestrating < f)
return TRUE;
// if it can reach the goal there is nothing more to do
- if (tracewalk(self, startposition, PL_MIN, PL_MAX, e.origin, bot_navigation_movemode))
+ if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
return TRUE;
// see if there are waypoints describing a path to the item
}
}
+ // If for some reason the bot is closer to the next goal, pop the current one
+ if(self.goalstack01)
+ if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
+ if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
+ if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
+ {
+ /// dprint("path optimized for ", self.netname, ", removed a goal from the queue\n");
+ navigation_poproute();
+ // TODO this may also be a nice idea to do "early" (e.g. by
+ // manipulating the vlen() comparisons) to shorten paths in
+ // general - this would make bots walk more "on rails" than
+ // "zigzagging" which they currently do with sufficiently
+ // random-like waypoints, and thus can make a nice bot
+ // personality property
+ }
+
+ // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
+ // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
+ if(self.goalcurrent.classname=="player")
+ navigation_poproute();
+
+ // aid for detecting jump pads better (distance based check fails sometimes)
+ if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
+ navigation_poproute();
+
// Loose goal touching check when running
if(self.aistatus & AI_STATUS_RUNNING)
+ if(self.speed >= autocvar_sv_maxspeed) // if -really- running
if(self.goalcurrent.classname=="waypoint")
{
if(vlen(self.origin - self.goalcurrent.origin)<150)
// begin a goal selection session (queries spawnfunc_waypoint network)
void navigation_goalrating_start()
{
+ if(self.aistatus & AI_STATUS_STUCK)
+ return;
+
self.navigation_jetpack_goal = world;
navigation_bestrating = -1;
self.navigation_hasgoals = FALSE;
// ends a goal selection session (updates goal stack to the best goal)
void navigation_goalrating_end()
{
+ if(self.aistatus & AI_STATUS_STUCK)
+ return;
+
navigation_routetogoal(navigation_bestgoal, self.origin);
// dprint("best goal ", self.goalcurrent.classname , "\n");
- // Hack: if it can't walk to any goal just move blindly to the first visible waypoint
+ // If the bot got stuck then try to reach the farthest waypoint
if not (self.navigation_hasgoals)
if (autocvar_bot_wander_enable)
{
- if not(autocvar_g_campaign)
- dprint(self.netname, " can't walk to any goal, going to a near waypoint\n");
-
- entity head;
-
- RandomSelection_Init();
- head = findradius(self.origin,1000);
- while(head)
+ if not(self.aistatus & AI_STATUS_STUCK)
{
- if(head.classname=="waypoint")
- if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
- if(vlen(self.origin-head.origin)>100)
- if(checkpvs(self.view_ofs,head))
- RandomSelection_Add(head, 0, string_null, 1 + (vlen(self.origin-head.origin)<500), 0);
- head = head.chain;
+ dprint(self.netname, " cannot walk to any goal\n");
+ self.aistatus |= AI_STATUS_STUCK;
}
- if(RandomSelection_chosen_ent)
- navigation_routetogoal(RandomSelection_chosen_ent, self.origin);
self.navigation_hasgoals = FALSE; // Reset this value
}
void botframe_updatedangerousobjects(float maxupdate)
{
local entity head, bot_dodgelist;
- local vector m1, m2, v;
+ local vector m1, m2, v, o;
local float c, d, danger;
c = 0;
bot_dodgelist = findchainfloat(bot_dodge, TRUE);
v_x = bound(m1_x, v_x, m2_x);
v_y = bound(m1_y, v_y, m2_y);
v_z = bound(m1_z, v_z, m2_z);
- d = head.bot_dodgerating - vlen(head.origin - v);
+ o = (head.absmin + head.absmax) * 0.5;
+ d = head.bot_dodgerating - vlen(o - v);
if (d > 0)
{
- traceline(head.origin, v, TRUE, world);
+ traceline(o, v, TRUE, world);
if (trace_fraction == 1)
danger = danger + d;
}
}
};
+void navigation_unstuck()
+{
+ float search_radius = 1000;
+
+ if not(autocvar_bot_wander_enable)
+ return;
+
+ if not(bot_waypoint_queue_owner)
+ {
+ // dprint(self.netname, " sutck, taking over the waypoints queue\n");
+ bot_waypoint_queue_owner = self;
+ bot_waypoint_queue_bestgoal = world;
+ bot_waypoint_queue_bestgoalrating = 0;
+ }
+
+ if(bot_waypoint_queue_owner!=self)
+ return;
+
+ if (bot_waypoint_queue_goal)
+ {
+ // evaluate the next goal on the queue
+ float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
+ // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
+ if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
+ {
+ if( d > bot_waypoint_queue_bestgoalrating)
+ {
+ bot_waypoint_queue_bestgoalrating = d;
+ bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
+ }
+ }
+ bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
+
+ if not(bot_waypoint_queue_goal)
+ {
+ if (bot_waypoint_queue_bestgoal)
+ {
+ dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
+ navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
+ self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+ self.aistatus &~= AI_STATUS_STUCK;
+ }
+ else
+ {
+ dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
+ }
+
+ bot_waypoint_queue_owner = world;
+ }
+ }
+ else
+ {
+ if(bot_strategytoken!=self)
+ return;
+
+ // build a new queue
+ dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
+
+ entity head, first;
+
+ first = world;
+ head = findradius(self.origin, search_radius);
+
+ while(head)
+ {
+ if(head.classname=="waypoint")
+ // if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
+ {
+ if(bot_waypoint_queue_goal)
+ bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
+ else
+ first = head;
+
+ bot_waypoint_queue_goal = head;
+ bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
+ }
+
+ head = head.chain;
+ }
+
+ if (first)
+ bot_waypoint_queue_goal = first;
+ else
+ {
+ dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
+ bot_waypoint_queue_owner = world;
+ }
+ }
+}
+
// Support for debugging tracewalk visually
void debugresetnodes()
void debuggoalstack()
{
local entity goal;
- local vector org;
+ local vector org, go;
if(self.goalcounter==0)goal=self.goalcurrent;
else if(self.goalcounter==1)goal=self.goalstack01;
org = self.lastposition;
- te_lightning2(world, org, goal.origin);
- self.lastposition = goal.origin;
+ go = ( goal.absmin + goal.absmax ) * 0.5;
+ te_lightning2(world, org, go);
+ self.lastposition = go;
self.goalcounter++;
}
projects / xonotic / xonotic-data.pk3dir.git / blobdiff