self.goalstack31 = world;
};
+float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
+{
+ float dist;
+ dist = vlen(v - org);
+ if (bestdist > dist)
+ {
+ traceline(v, org, TRUE, ent);
+ if (trace_fraction == 1)
+ {
+ if (walkfromwp)
+ {
+ if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
+ return TRUE;
+ }
+ else
+ {
+ if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
+ return TRUE;
+ }
+ }
+ }
+ return FALSE;
+}
+
// find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
-entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
+entity navigation_findnearestwaypoint_withdist(entity ent, float walkfromwp, float bestdist)
{
local entity waylist, w, best;
- local float dist, bestdist;
+ local float dist;
local vector v, org, pm1, pm2;
pm1 = ent.origin + ent.mins;
pm2 = ent.origin + ent.maxs;
te_plasmaburn(org);
best = world;
- bestdist = 1050;
// box check failed, try walk
w = waylist;
}
else
v = w.origin;
- dist = vlen(v - org);
- if (bestdist > dist)
+ if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
{
- traceline(v, org, TRUE, ent);
- if (trace_fraction == 1)
- {
- if (walkfromwp)
- {
- //print("^1can I reach ", vtos(org), " from ", vtos(v), "?\n");
- if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
- {
- bestdist = dist;
- best = w;
- }
- }
- else
- {
- if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
- {
- bestdist = dist;
- best = w;
- }
- }
- }
+ bestdist = dist;
+ best = w;
}
}
w = w.chain;
}
return best;
}
+entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
+{
+ return navigation_findnearestwaypoint_withdist(ent, walkfromwp, 1050);
+}
// finds the waypoints near the bot initiating a navigation query
float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
}
};
-// automatically create missing waypoints
-.float lastwaypointtime0;
-.float lastwaypointtime1;
-void botframe_autowaypoints_fix(entity p, float walkfromwp, .float last)
+float botframe_autowaypoints_fixdown(vector v)
+{
+ tracebox(v, PL_MIN, PL_MAX, v + '0 0 -64', MOVE_NOMONSTERS, world);
+ if(trace_fraction >= 1)
+ return 0;
+ return 1;
+}
+
+// return value:
+// 1 = WP created
+// 0 = no action needed
+// -1 = temp fail, try from world too
+// -2 = permanent fail, do not retry
+float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
{
- float t;
- entity wp;
+ // make it possible to go from p to wp, if we can
+ // if wp is world, nearest is chosen
+
+ entity w;
+ vector porg;
+ float t, tmin, tmax;
vector o;
- float tmin, tmax;
vector save;
-
- wp = navigation_findnearestwaypoint(p, walkfromwp);
+
+ if(!botframe_autowaypoints_fixdown(p.origin))
+ return -2;
+ porg = trace_endpos;
+
if(wp)
- return;
+ {
+ // if nearest WP from here is linked to wp, everything is fine
+ w = navigation_findnearestwaypoint(p, walkfromwp);
+ if(w != wp)
+ {
+ if(navigation_waypoint_will_link(w.origin, wp.origin, p, walkfromwp, 1050))
+ {
+ print("update chain from ", etos(p.fld), " to new nearest WP ", etos(w), "\n");
+ p.fld = w;
+ return 0;
+ }
+ }
+ if(navigation_waypoint_will_link(p.origin, wp.origin, p, walkfromwp, 1050))
+ {
+ p.fld = wp;
+ return 0;
+ }
+ }
+ else
+ {
+ w = navigation_findnearestwaypoint(p, walkfromwp);
+ if(w)
+ {
+ p.fld = w;
+ return 0;
+ }
+ }
tmin = 0;
tmax = 1;
for(;;)
{
+ if(tmax - tmin < 0.001)
+ {
+ // did not get a good candidate
+ return -1;
+ }
+
t = (tmin + tmax) * 0.5;
o = antilag_takebackorigin(p, time - t);
- save = p.origin;
- setorigin(p, o);
- wp = navigation_findnearestwaypoint(p, walkfromwp);
- setorigin(p, save);
+ if(!botframe_autowaypoints_fixdown(o))
+ return -1;
+ o = trace_endpos;
+
if(wp)
{
- if(walkfromwp)
- {
- if(tracewalk(p, o, PL_MIN, PL_MAX, p.origin, bot_navigation_movemode))
- break;
- }
- else
+ if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
{
- if(tracewalk(p, p.origin, PL_MIN, PL_MAX, o, bot_navigation_movemode))
- break;
+ // we cannot walk from wp.origin to o
+ // get closer to tmax
+ tmin = t;
+ continue;
}
- // if we get here: o has a nearest waypoint, but can't reach us
- // i.e. move towards current location
- tmax = t;
}
else
{
- // if we get here: o has no nearest waypoint
- // i.e. move closer to to the past
- tmin = t;
- }
- if(tmax - tmin < 0.01)
- {
- print("Cannot link waypoints - didn't find a good new WP position\n");
- return;
+ save = p.origin;
+ setorigin(p, o);
+ w = navigation_findnearestwaypoint(p, walkfromwp);
+ setorigin(p, save);
+ if(!w)
+ {
+ // we cannot walk from any WP to o
+ // get closer to tmax
+ tmin = t;
+ continue;
+ }
}
+
+ // if we get here, o is valid regarding waypoints
+ // check if o is connected right to the player
+ // we break if it succeeds, as that means o is a good waypoint location
+ if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
+ break;
+
+ // o is no good, we need to get closer to the player
+ tmax = t;
}
- waypoint_schedulerelink(waypoint_spawn(o, o, 0));
- p.last = max(1, time - t);
+ print("spawning a waypoint for connecting to ", etos(wp), "\n");
+ waypoint_schedulerelink(p.fld = waypoint_spawn(o, o, 0));
+ print("new waypoint is ", etos(p.fld), "\n");
+ return 1;
+}
+
+// automatically create missing waypoints
+.entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
+void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
+{
+ float r;
+ r = botframe_autowaypoints_fix_from(p, walkfromwp, p.fld, fld);
+ if(r != -1)
+ return;
+ r = botframe_autowaypoints_fix_from(p, walkfromwp, world, fld);
+ if(r != -1)
+ return;
+
+ print("emergency: got no good nearby WP to build a link from, starting a new chain\n");
+ if(!botframe_autowaypoints_fixdown(p.origin))
+ return; // shouldn't happen, caught above
+ waypoint_schedulerelink(p.fld = waypoint_spawn(trace_endpos, trace_endpos, 0));
}
void botframe_autowaypoints()
{
entity wp0, wp1;
FOR_EACH_REALPLAYER(p)
{
- botframe_autowaypoints_fix(p, FALSE, lastwaypointtime0);
- botframe_autowaypoints_fix(p, TRUE, lastwaypointtime1);
+ if(p.deadflag)
+ continue;
+ if(!(p.flags & FL_ONGROUND))
+ continue;
+ botframe_autowaypoints_fix(p, FALSE, botframe_autowaypoints_lastwp0);
+ botframe_autowaypoints_fix(p, TRUE, botframe_autowaypoints_lastwp1);
}
}
projects / xonotic / xonotic-data.pk3dir.git / commitdiff