X-Git-Url: https://de.git.xonotic.org/?p=xonotic%2Fxonotic-data.pk3dir.git;a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=250b7cb09c639e45680e699514958d769b97a686;hp=36f25d79f3a51eabf15fa28ca6495ab06822b0e3;hb=5de12ffb837da41082e80015a3dca1f46c68eed4;hpb=cd31c0a69e9e4e4a03fcdaf6e86f93c0f7c49d47 diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 36f25d79f..250b7cb09 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -13,7 +13,8 @@ #include #include -#include +#include +#include .float speed; @@ -49,12 +50,15 @@ bool navigation_goalrating_timeout(entity this) #define MAX_CHASE_DISTANCE 700 bool navigation_goalrating_timeout_can_be_anticipated(entity this) { - if(time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2)) + vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5; + if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5) + && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2)) + { return true; + } if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5) { - vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5; if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco)) { this.ignoregoal = this.goalentity; @@ -75,9 +79,11 @@ void navigation_dynamicgoal_init(entity this, bool initially_static) this.nearestwaypointtimeout = time; } -void navigation_dynamicgoal_set(entity this) +void navigation_dynamicgoal_set(entity this, entity dropper) { this.nearestwaypointtimeout = time; + if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2) + this.nearestwaypoint = dropper.nearestwaypoint; if (this.nearestwaypoint) this.nearestwaypointtimeout += 2; } @@ -123,8 +129,18 @@ void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest) // z coord is set to ent's min height tracewalk_dest.x = bound(wm1.x, org.x, wm2.x); tracewalk_dest.y = bound(wm1.y, org.y, wm2.y); - tracewalk_dest.z = wm1.z; - tracewalk_dest_height = wm2.z - wm1.z; // destination height + if ((IS_PLAYER(ent) || IS_MONSTER(ent)) + && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z) + { + tracewalk_dest.z = wm2.z - PL_MIN_CONST.z; + tracewalk_dest_height = 0; + fix_player_dest = false; + } + else + { + tracewalk_dest.z = wm1.z; + tracewalk_dest_height = wm2.z - wm1.z; + } } else { @@ -246,6 +262,7 @@ vector resurface_limited(vector org, float lim, vector m1) // rough simulation of walking from one point to another to test if a path // can be traveled, used for waypoint linking and havocbot // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ] +// INFO: the command sv_cmd trace walk is useful to test this function in game bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode) { if(autocvar_bot_debug_tracewalk) @@ -264,8 +281,7 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float e int nav_action; // Analyze starting point - traceline(start, start, MOVE_NORMAL, e); - if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA)) + if (IN_LAVA(start)) ignorehazards = true; tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e); @@ -731,6 +747,7 @@ void navigation_clearroute(entity this) this.goalcurrent_distance_z = FLOAT_MAX; this.goalcurrent_distance_time = 0; this.goalentity_lock_timeout = 0; + this.goalentity_shouldbefrozen = false; this.goalentity = NULL; this.goalcurrent = NULL; this.goalstack01 = NULL; @@ -899,7 +916,7 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom vector pm2 = ent.origin + ent.maxs; // do two scans, because box test is cheaper - IL_EACH(g_waypoints, it != ent && it != except, + IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & WAYPOINTFLAG_TELEPORT), { if(boxesoverlap(pm1, pm2, it.absmin, it.absmax)) { @@ -1201,11 +1218,7 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item void navigation_routerating(entity this, entity e, float f, float rangebias) { - if (!e) - return; - - if(e.blacklisted) - return; + if (!e || e.blacklisted) { return; } rangebias = waypoint_getlinearcost(rangebias); f = waypoint_getlinearcost(f); @@ -1213,8 +1226,11 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) if (IS_PLAYER(e)) { bool rate_wps = false; - if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND)) + if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e)) + || (e.flags & FL_PARTIALGROUND)) + { rate_wps = true; + } if(!IS_ONGROUND(e)) { @@ -1233,12 +1249,13 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) { entity theEnemy = e; entity best_wp = NULL; - float best_dist = 10000; - IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) + float best_dist = FLOAT_MAX; + IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT) + && vdist(it.origin - theEnemy.origin, <, 500) && vdist(it.origin - this.origin, >, 100) - && !(it.wpflags & WAYPOINTFLAG_TELEPORT), + && vdist(it.origin - this.origin, <, 10000), { - float dist = vlen(it.origin - theEnemy.origin); + float dist = vlen2(it.origin - theEnemy.origin); if (dist < best_dist) { best_wp = it; @@ -1314,10 +1331,10 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) t += xydistance / autocvar_g_jetpack_maxspeed_side; fuel = t * autocvar_g_jetpack_fuel * 0.8; - LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel)); + LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResourceAmount(this, RESOURCE_FUEL))); // enough fuel ? - if(this.ammo_fuel>fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO)) + if(GetResourceAmount(this, RESOURCE_FUEL) > fuel || (this.items & IT_UNLIMITED_WEAPON_AMMO)) { // Estimate cost // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship @@ -1386,7 +1403,6 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) nwp = e.nearestwaypoint; } - LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")"); if (nwp && nwp.wpcost < 10000000) { //te_wizspike(nwp.wpnearestpoint); @@ -1396,12 +1412,12 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) else nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e); float cost = nwp.wpcost + nwptoitem_cost; - LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = "); + LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias)); f = f * rangebias / (rangebias + cost); - LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")"); + LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f)); if (navigation_bestrating < f) { - LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")"); + LOG_DEBUG(" ground path: ^3added goal ^5", e.classname); navigation_bestrating = f; navigation_bestgoal = e; } @@ -1508,12 +1524,12 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) } // shorten path by removing intermediate goals -void navigation_shortenpath(entity this) +bool navigation_shortenpath(entity this) { if (!this.goalstack01 || wasfreed(this.goalstack01)) - return; + return false; if (this.bot_tracewalk_time > time) - return; + return false; this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25; bool cut_allowed = false; @@ -1552,8 +1568,9 @@ void navigation_shortenpath(entity this) navigation_poproute(this); } while (this.goalcurrent != next); + return true; } - return; + return false; } } @@ -1574,8 +1591,10 @@ void navigation_shortenpath(entity this) { LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue"); navigation_poproute(this); + return true; } } + return false; } // removes any currently touching waypoints from the goal stack @@ -1599,6 +1618,16 @@ int navigation_poptouchedgoals(entity this) this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING; this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED; } + if(this.jumppadcount) + { + // remove jumppad waypoint after a random delay to prevent bots getting + // stuck on certain jumppads that require an extra initial horizontal speed + float max_delay = 0.1; + if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed)) + max_delay = 0.05; + if (time - this.lastteleporttime < random() * max_delay) + return removed_goals; + } navigation_poproute(this); this.lastteleporttime = 0; ++removed_goals; @@ -1673,8 +1702,16 @@ int navigation_poptouchedgoals(entity this) gc_min = this.goalcurrent.origin - '1 1 1' * 12; gc_max = this.goalcurrent.origin + '1 1 1' * 12; } - if(!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max)) - break; + if (time < this.ladder_time) + { + if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max)) + break; + } + else + { + if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max)) + break; + } // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) @@ -1769,6 +1806,7 @@ void navigation_goalrating_end(entity this) this.aistatus |= AI_STATUS_STUCK; } } + this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity)); } void botframe_updatedangerousobjects(float maxupdate) @@ -1838,7 +1876,7 @@ void navigation_unstuck(entity this) float d = vlen2(this.origin - bot_waypoint_queue_goal.origin); LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d)); set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false); - if (tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), + if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)) { if( d > bot_waypoint_queue_bestgoalrating) @@ -1847,6 +1885,17 @@ void navigation_unstuck(entity this) bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal; } } + + // move to a random waypoint while bot is searching for a walkable path; + // this is usually sufficient to unstuck bots from bad spots or when other + // bots of the same team block all their ways + if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1)) + { + navigation_clearroute(this); + navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin); + navigation_goalrating_timeout_expire(this, 1 + random() * 2); + } + bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal; if (!bot_waypoint_queue_goal) @@ -1854,6 +1903,7 @@ void navigation_unstuck(entity this) if (bot_waypoint_queue_bestgoal) { LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it"); + navigation_clearroute(this); navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin); navigation_goalrating_timeout_set(this); this.aistatus &= ~AI_STATUS_STUCK;