Bot AI: optimize path finding by avoiding searching and testing with tracewalk all...

diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc
index 64e960ff760f975a3ac36a9c7204ac6648978a82..f999d47fb6ecb1cde95cb61a4dcd40ed089a939d 100644 (file)
--- a/qcsrc/server/bot/default/navigation.qc
+++ b/qcsrc/server/bot/default/navigation.qc
@@ -1426,6 +1426,41 @@ void navigation_poptouchedgoals(entity this)
        }
 }
 
+entity navigation_get_really_close_waypoint(entity this)
+{
+       entity wp = this.goalcurrent;
+       if(!wp || vdist(wp.origin - this.origin, >, 50))
+               wp = this.goalcurrent_prev;
+       if(!wp)
+               return NULL;
+       if(wp.classname != "waypoint")
+       {
+               wp = wp.nearestwaypoint;
+               if(!wp)
+                       return NULL;
+       }
+       if(vdist(wp.origin - this.origin, >, 50))
+       {
+               IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
+               {
+                       if(vdist(it.origin - this.origin, <, 50))
+                       {
+                               wp = it;
+                               break;
+                       }
+               });
+       }
+       if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
+               return NULL;
+
+       vector dest = '0 0 0';
+       float dest_height = 0;
+       SET_TRACEWALK_DESTCOORDS(wp, this.origin, dest, dest_height);
+       if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
+               return NULL;
+       return wp;
+}
+
 // begin a goal selection session (queries spawnfunc_waypoint network)
 void navigation_goalrating_start(entity this)
 {
@@ -1434,9 +1469,10 @@ void navigation_goalrating_start(entity this)
 
        this.navigation_jetpack_goal = NULL;
        navigation_bestrating = -1;
+       entity wp = navigation_get_really_close_waypoint(this);
        navigation_clearroute(this);
        navigation_bestgoal = NULL;
-       navigation_markroutes(this, NULL);
+       navigation_markroutes(this, wp);
 }
 
 // ends a goal selection session (updates goal stack to the best goal)