1 #include "navigation.qh"
3 #include <server/defs.qh>
4 #include <server/miscfunctions.qh>
8 #include "waypoints.qh"
10 #include <common/items.qh>
12 #include <common/items/_mod.qh>
14 #include <common/constants.qh>
15 #include <common/net_linked.qh>
16 #include <common/mapobjects/func/ladder.qh>
17 #include <common/mapobjects/trigger/jumppads.qh>
21 void navigation_goalrating_timeout_set(entity this)
23 if(IS_MOVABLE(this.goalentity))
24 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
26 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
29 // use this when current goal must be discarded immediately
30 void navigation_goalrating_timeout_force(entity this)
32 navigation_goalrating_timeout_expire(this, 0);
35 // use this when current goal can be kept for a short while to increase the chance
36 // of bot touching a waypoint, which helps to find a new goal more efficiently
37 void navigation_goalrating_timeout_expire(entity this, float seconds)
40 this.bot_strategytime = 0;
41 else if (this.bot_strategytime > time + seconds)
42 this.bot_strategytime = time + seconds;
45 bool navigation_goalrating_timeout(entity this)
47 return this.bot_strategytime < time;
51 void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds)
53 this.bot_strategytime = max(this.bot_strategytime, time + seconds);
56 #define MAX_CHASE_DISTANCE 700
57 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
59 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
60 if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
61 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
66 if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
68 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
70 this.ignoregoal = this.goalentity;
71 this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
78 void navigation_dynamicgoal_init(entity this, bool initially_static)
80 this.navigation_dynamicgoal = true;
81 this.bot_basewaypoint = this.nearestwaypoint;
83 this.nearestwaypointtimeout = -1;
85 this.nearestwaypointtimeout = time;
88 void navigation_dynamicgoal_set(entity this, entity dropper)
90 this.nearestwaypointtimeout = time;
91 if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
92 this.nearestwaypoint = dropper.nearestwaypoint;
93 if (this.nearestwaypoint)
94 this.nearestwaypointtimeout += 2;
97 void navigation_dynamicgoal_unset(entity this)
99 if(this.bot_basewaypoint)
100 this.nearestwaypoint = this.bot_basewaypoint;
101 this.nearestwaypointtimeout = -1;
104 // returns point of ent closer to org
105 vector get_closer_dest(entity ent, vector org)
107 vector dest = '0 0 0';
108 if ((ent.classname != "waypoint") || ent.wpisbox)
110 vector wm1 = ent.origin + ent.mins;
111 vector wm2 = ent.origin + ent.maxs;
112 dest.x = bound(wm1.x, org.x, wm2.x);
113 dest.y = bound(wm1.y, org.y, wm2.y);
114 dest.z = bound(wm1.z, org.z, wm2.z);
121 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
123 if ((ent.classname != "waypoint") || ent.wpisbox)
125 vector wm1 = ent.origin + ent.mins;
126 vector wm2 = ent.origin + ent.maxs;
127 if (IS_PLAYER(ent) || IS_MONSTER(ent))
129 // move destination point out of player bbox otherwise tracebox always fails
130 // (if bot_navigation_ignoreplayers is false)
131 wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
132 wm2 += vec2(PL_MAX_CONST) + '1 1 0';
134 // set destination point to x and y coords of ent that are closer to org
135 // z coord is set to ent's min height
136 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
137 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
138 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
139 && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
141 tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
142 tracewalk_dest_height = 0;
143 fix_player_dest = false;
147 tracewalk_dest.z = wm1.z;
148 tracewalk_dest_height = wm2.z - wm1.z;
153 tracewalk_dest = ent.origin;
154 tracewalk_dest_height = 0;
156 if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
158 // snap player to the ground
159 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
161 // bot is right under the player
162 tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
163 tracewalk_dest = trace_endpos;
164 tracewalk_dest_height = 0;
168 tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
169 if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
171 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
172 tracewalk_dest.z = trace_endpos.z;
178 // returns point of ent closer to org
179 vector set_tracewalk_dest_2(entity ent, vector org)
181 vector closer_dest = '0 0 0';
182 if ((ent.classname != "waypoint") || ent.wpisbox)
184 vector wm1 = ent.origin + ent.mins;
185 vector wm2 = ent.origin + ent.maxs;
186 closer_dest.x = bound(wm1.x, org.x, wm2.x);
187 closer_dest.y = bound(wm1.y, org.y, wm2.y);
188 closer_dest.z = bound(wm1.z, org.z, wm2.z);
189 // set destination point to x and y coords of ent that are closer to org
190 // z coord is set to ent's min height
191 tracewalk_dest.x = closer_dest.x;
192 tracewalk_dest.y = closer_dest.y;
193 tracewalk_dest.z = wm1.z;
194 tracewalk_dest_height = wm2.z - wm1.z; // destination height
198 closer_dest = ent.origin;
199 tracewalk_dest = closer_dest;
200 tracewalk_dest_height = 0;
205 bool navigation_check_submerged_state(entity ent, vector pos)
209 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
210 else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
211 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
214 submerged = SUBMERGED(pos);
215 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
216 // is actually submerged because often they are inside some solid.
217 // That's why submerged state is saved now that we know current pos is
218 // not stuck in solid (previous tracewalk call to this pos was successfully)
219 if(!ent.navigation_dynamicgoal)
220 ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
225 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
227 IL_EACH(g_ladders, it.classname == "func_ladder",
230 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
231 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
234 top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
235 tracebox(org, m1, m2, top, movemode, e);
236 if(trace_fraction == 1)
243 // Unfortuntely we can't use trace_inwater since it doesn't hold the fraction of the total
244 // distance that was traveled before impact as the description in the engine (collision.h) says.
245 // It would have helped to speed up tracewalk underwater
246 vector resurface_limited(vector org, float lim, vector m1)
248 if (WETFEET(org + eZ * (lim - org.z)))
252 float RES_min_h = org.z;
253 float RES_max_h = lim;
255 org.z = 0.5 * (RES_min_h + RES_max_h);
260 } while (RES_max_h - RES_min_h >= 1);
265 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
268 #define NAV_SWIM_ONWATER 1
269 #define NAV_SWIM_UNDERWATER 2
271 // rough simulation of walking from one point to another to test if a path
272 // can be traveled, used for waypoint linking and havocbot
273 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
274 // INFO: the command sv_cmd trace walk is useful to test this function in game
275 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
277 if(autocvar_bot_debug_tracewalk)
284 vector flatdir = end - start;
286 float flatdist = vlen(flatdir);
287 flatdir = normalize(flatdir);
289 bool ignorehazards = false;
292 // Analyze starting point
294 ignorehazards = true;
296 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
297 if (trace_startsolid)
300 if(autocvar_bot_debug_tracewalk)
301 debugnodestatus(start, DEBUG_NODE_FAIL);
303 //print("tracewalk: ", vtos(start), " is a bad start\n");
309 end2.z += end_height;
311 vector fixed_end = end;
314 if (flatdist > 0 && WETFEET(org))
317 nav_action = NAV_SWIM_UNDERWATER;
320 // tracebox down by player's height
321 // useful to know if water level is so low that bot can still walk
322 tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
323 if (SUBMERGED(trace_endpos))
326 nav_action = NAV_SWIM_UNDERWATER;
329 nav_action = NAV_WALK;
333 nav_action = NAV_WALK;
341 if (org.z > end2.z + 1)
343 tracebox(org, m1, m2, end2, movemode, e);
345 if (org.z > end2.z + 1)
348 else if (org.z < end.z - 1)
350 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
351 if (SUBMERGED(trace_endpos))
353 vector v = trace_endpos;
354 tracebox(v, m1, m2, end, movemode, e);
355 if(trace_endpos.z >= end.z - 1)
357 RESURFACE_LIMITED(v, trace_endpos.z);
361 else if (trace_endpos.z > org.z - jumpheight_vec.z)
362 tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
364 if (org.z < end.z - 1)
371 if(autocvar_bot_debug_tracewalk)
374 debugnodestatus(org, DEBUG_NODE_SUCCESS);
377 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
382 if(autocvar_bot_debug_tracewalk)
388 if (stepdist > flatdist)
390 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
392 // can't use movement direction here to calculate move because of
393 // precision errors especially when direction has a high enough z value
394 //water_dir = normalize(water_end - org);
395 //move = org + water_dir * stepdist;
396 fixed_end.z = bound(end.z, org.z, end2.z);
397 if (stepdist == flatdist) {
401 move = org + (fixed_end - org) * (stepdist / flatdist);
402 flatdist = vlen(vec2(fixed_end - move));
405 else // horiz. direction
407 flatdist -= stepdist;
408 move = org + flatdir * stepdist;
411 if(nav_action == NAV_SWIM_ONWATER)
413 tracebox(org, m1, m2, move, movemode, e); // swim
416 if (trace_fraction < 1)
419 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
421 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
424 if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
426 if(autocvar_bot_debug_tracewalk)
429 debugnodestatus(org, DEBUG_NODE_SUCCESS);
432 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
436 if(autocvar_bot_debug_tracewalk)
437 debugnodestatus(org, DEBUG_NODE_FAIL);
440 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
451 if (org.z <= move.z) // going horiz.
453 tracebox(trace_endpos, m1, m2, move, movemode, e);
455 nav_action = NAV_WALK;
460 if (org.z <= move.z) // going horiz.
463 nav_action = NAV_SWIM_ONWATER;
469 nav_action = NAV_SWIM_UNDERWATER;
471 nav_action = NAV_SWIM_ONWATER;
474 else if(nav_action == NAV_SWIM_UNDERWATER)
476 if (move.z >= org.z) // swimming upwards or horiz.
478 tracebox(org, m1, m2, move, movemode, e); // swim
480 bool stepswum = false;
483 if (trace_fraction < 1)
486 vector stepswim_move = move + stepheightvec;
487 if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
488 stepswim_move.z = end2.z;
490 tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
493 if (trace_startsolid)
495 if(autocvar_bot_debug_tracewalk)
496 debugnodestatus(org, DEBUG_NODE_FAIL);
498 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
502 if (trace_fraction < 1)
504 float org_z_prev = org.z;
505 RESURFACE_LIMITED(org, end2.z);
506 if(org.z == org_z_prev)
508 if(autocvar_bot_debug_tracewalk)
509 debugnodestatus(org, DEBUG_NODE_FAIL);
511 //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
515 nav_action = NAV_SWIM_UNDERWATER;
517 nav_action = NAV_SWIM_ONWATER;
519 // we didn't advance horiz. in this step, flatdist decrease should be reverted
520 // but we can't do it properly right now... apply this workaround instead
538 if (!WETFEET(trace_endpos))
540 tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
541 // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
542 if (!stepswum && SUBMERGED(trace_endpos))
544 RESURFACE_LIMITED(trace_endpos, end2.z);
546 nav_action = NAV_SWIM_ONWATER;
552 nav_action = NAV_WALK;
558 nav_action = NAV_SWIM_UNDERWATER;
561 else //if (move.z < org.z) // swimming downwards
563 tracebox(org, m1, m2, move, movemode, e); // swim
566 if (trace_fraction < 1)
569 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
572 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
574 if(autocvar_bot_debug_tracewalk)
575 debugnodestatus(move, DEBUG_NODE_FAIL);
577 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
589 if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
591 // stepswim caused upwards direction
592 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
593 if (!SUBMERGED(trace_endpos))
596 nav_action = NAV_WALK;
603 nav_action = NAV_SWIM_UNDERWATER;
607 else if(nav_action == NAV_WALK)
610 tracebox(org, m1, m2, move, movemode, e);
612 if(autocvar_bot_debug_tracewalk)
613 debugnode(e, trace_endpos);
616 if (trace_fraction < 1)
618 // check if we can walk over this obstacle, possibly by jumpstepping
619 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
620 if (trace_fraction < 1 || trace_startsolid)
622 if (trace_startsolid) // hit ceiling above org
624 // reduce stepwalk height
625 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
626 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
628 else //if (trace_fraction < 1)
630 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
631 if (trace_startsolid) // hit ceiling above org
633 // reduce jumpstepwalk height
634 tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
635 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
639 if (trace_fraction < 1)
641 vector v = trace_endpos;
642 v.z = org.z + jumpheight_vec.z;
643 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
645 if(autocvar_bot_debug_tracewalk)
648 debugnodestatus(v, DEBUG_NODE_SUCCESS);
651 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
655 if(autocvar_bot_debug_tracewalk)
656 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
658 traceline( org, move, movemode, e);
660 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
664 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
666 nextmove = move + (flatdir * stepdist);
667 traceline( move, nextmove, movemode, e);
670 flatdist = vlen(vec2(end - move));
674 if(autocvar_bot_debug_tracewalk)
675 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
677 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
678 //te_explosion(trace_endpos);
679 //print(ftos(e.dphitcontentsmask), "\n");
680 return false; // failed
692 // trace down from stepheight as far as possible and move there,
693 // if this starts in solid we try again without the stepup, and
694 // if that also fails we assume it is a wall
695 // (this is the same logic as the Quake walkmove function used)
696 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
704 if(autocvar_bot_debug_tracewalk)
706 debugnode(e, trace_endpos);
707 debugnodestatus(org, DEBUG_NODE_FAIL);
710 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
717 if(move.z >= end2.z && org.z < end2.z)
722 if(org.z > move.z - 1 || !SUBMERGED(org))
724 nav_action = NAV_WALK;
728 // ended up submerged while walking
729 if(autocvar_bot_debug_tracewalk)
732 RESURFACE_LIMITED(org, move.z);
733 nav_action = NAV_SWIM_ONWATER;
738 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
740 // moved but didn't arrive at the intended destination
741 if(autocvar_bot_debug_tracewalk)
742 debugnodestatus(org, DEBUG_NODE_FAIL);
747 /////////////////////////////////////////////////////////////////////////////
749 /////////////////////////////////////////////////////////////////////////////
751 // completely empty the goal stack, used when deciding where to go
752 void navigation_clearroute(entity this)
754 this.lastteleporttime = 0;
755 this.goalcurrent_prev = this.goalcurrent;
756 this.goalcurrent_distance_2d = FLOAT_MAX;
757 this.goalcurrent_distance_z = FLOAT_MAX;
758 this.goalcurrent_distance_time = 0;
759 this.goalentity_lock_timeout = 0;
760 this.goalentity_shouldbefrozen = false;
761 this.goalentity = NULL;
762 this.goalcurrent = NULL;
763 this.goalstack01 = NULL;
764 this.goalstack02 = NULL;
765 this.goalstack03 = NULL;
766 this.goalstack04 = NULL;
767 this.goalstack05 = NULL;
768 this.goalstack06 = NULL;
769 this.goalstack07 = NULL;
770 this.goalstack08 = NULL;
771 this.goalstack09 = NULL;
772 this.goalstack10 = NULL;
773 this.goalstack11 = NULL;
774 this.goalstack12 = NULL;
775 this.goalstack13 = NULL;
776 this.goalstack14 = NULL;
777 this.goalstack15 = NULL;
778 this.goalstack16 = NULL;
779 this.goalstack17 = NULL;
780 this.goalstack18 = NULL;
781 this.goalstack19 = NULL;
782 this.goalstack20 = NULL;
783 this.goalstack21 = NULL;
784 this.goalstack22 = NULL;
785 this.goalstack23 = NULL;
786 this.goalstack24 = NULL;
787 this.goalstack25 = NULL;
788 this.goalstack26 = NULL;
789 this.goalstack27 = NULL;
790 this.goalstack28 = NULL;
791 this.goalstack29 = NULL;
792 this.goalstack30 = NULL;
793 this.goalstack31 = NULL;
796 // add a new goal at the beginning of the stack
797 // (in other words: add a new prerequisite before going to the later goals)
798 // NOTE: when a waypoint is added, the WP gets pushed first, then the
799 // next-closest WP on the shortest path to the WP
800 // That means, if the stack overflows, the bot will know how to do the FIRST 32
801 // steps to the goal, and then recalculate the path.
802 void navigation_pushroute(entity this, entity e)
804 this.goalcurrent_prev = this.goalcurrent;
805 this.goalcurrent_distance_2d = FLOAT_MAX;
806 this.goalcurrent_distance_z = FLOAT_MAX;
807 this.goalcurrent_distance_time = 0;
808 //print("bot ", etos(this), " push ", etos(e), "\n");
809 if(this.goalstack31 == this.goalentity)
810 this.goalentity = NULL;
811 this.goalstack31 = this.goalstack30;
812 this.goalstack30 = this.goalstack29;
813 this.goalstack29 = this.goalstack28;
814 this.goalstack28 = this.goalstack27;
815 this.goalstack27 = this.goalstack26;
816 this.goalstack26 = this.goalstack25;
817 this.goalstack25 = this.goalstack24;
818 this.goalstack24 = this.goalstack23;
819 this.goalstack23 = this.goalstack22;
820 this.goalstack22 = this.goalstack21;
821 this.goalstack21 = this.goalstack20;
822 this.goalstack20 = this.goalstack19;
823 this.goalstack19 = this.goalstack18;
824 this.goalstack18 = this.goalstack17;
825 this.goalstack17 = this.goalstack16;
826 this.goalstack16 = this.goalstack15;
827 this.goalstack15 = this.goalstack14;
828 this.goalstack14 = this.goalstack13;
829 this.goalstack13 = this.goalstack12;
830 this.goalstack12 = this.goalstack11;
831 this.goalstack11 = this.goalstack10;
832 this.goalstack10 = this.goalstack09;
833 this.goalstack09 = this.goalstack08;
834 this.goalstack08 = this.goalstack07;
835 this.goalstack07 = this.goalstack06;
836 this.goalstack06 = this.goalstack05;
837 this.goalstack05 = this.goalstack04;
838 this.goalstack04 = this.goalstack03;
839 this.goalstack03 = this.goalstack02;
840 this.goalstack02 = this.goalstack01;
841 this.goalstack01 = this.goalcurrent;
842 this.goalcurrent = e;
845 // remove first goal from stack
846 // (in other words: remove a prerequisite for reaching the later goals)
847 // (used when a spawnfunc_waypoint is reached)
848 void navigation_poproute(entity this)
850 this.goalcurrent_prev = this.goalcurrent;
851 this.goalcurrent_distance_2d = FLOAT_MAX;
852 this.goalcurrent_distance_z = FLOAT_MAX;
853 this.goalcurrent_distance_time = 0;
854 //print("bot ", etos(this), " pop\n");
855 if(this.goalcurrent == this.goalentity)
857 this.goalentity = NULL;
858 this.goalentity_lock_timeout = 0;
860 this.goalcurrent = this.goalstack01;
861 this.goalstack01 = this.goalstack02;
862 this.goalstack02 = this.goalstack03;
863 this.goalstack03 = this.goalstack04;
864 this.goalstack04 = this.goalstack05;
865 this.goalstack05 = this.goalstack06;
866 this.goalstack06 = this.goalstack07;
867 this.goalstack07 = this.goalstack08;
868 this.goalstack08 = this.goalstack09;
869 this.goalstack09 = this.goalstack10;
870 this.goalstack10 = this.goalstack11;
871 this.goalstack11 = this.goalstack12;
872 this.goalstack12 = this.goalstack13;
873 this.goalstack13 = this.goalstack14;
874 this.goalstack14 = this.goalstack15;
875 this.goalstack15 = this.goalstack16;
876 this.goalstack16 = this.goalstack17;
877 this.goalstack17 = this.goalstack18;
878 this.goalstack18 = this.goalstack19;
879 this.goalstack19 = this.goalstack20;
880 this.goalstack20 = this.goalstack21;
881 this.goalstack21 = this.goalstack22;
882 this.goalstack22 = this.goalstack23;
883 this.goalstack23 = this.goalstack24;
884 this.goalstack24 = this.goalstack25;
885 this.goalstack25 = this.goalstack26;
886 this.goalstack26 = this.goalstack27;
887 this.goalstack27 = this.goalstack28;
888 this.goalstack28 = this.goalstack29;
889 this.goalstack29 = this.goalstack30;
890 this.goalstack30 = this.goalstack31;
891 this.goalstack31 = NULL;
894 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
895 // waypoint destination coordinates instead of v (only useful for box waypoints)
896 // for normal waypoints v2 == v and v2_height == 0
897 float navigation_waypoint_will_link(vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
899 if (vdist(v - org, <, bestdist))
901 traceline(v, org, true, ent);
902 if (trace_fraction == 1)
906 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
911 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
919 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
920 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
923 ent = ent.tag_entity;
925 vector pm1 = ent.origin + ent.mins;
926 vector pm2 = ent.origin + ent.maxs;
928 if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent))
930 // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links
931 // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu)
932 // isn't detected as the nearest waypoint
933 IL_EACH(g_waypoints, it != ent && it != except,
935 if (boxesoverlap(pm1, pm2, it.absmin, it.absmax))
941 // do two scans, because box test is cheaper
942 IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
944 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
946 if(walkfromwp && !ent.navigation_dynamicgoal)
947 waypoint_clearlinks(ent); // initialize wpXXmincost fields
953 vector org = ent.origin;
954 if (navigation_testtracewalk)
960 if(ent.size && !IS_PLAYER(ent))
962 org += 0.5 * (ent.mins + ent.maxs);
963 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
966 // box check failed, try walk
967 IL_EACH(g_waypoints, it != ent,
969 if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK))
975 set_tracewalk_dest(ent, v, true);
976 if (trace_ent == ent)
984 set_tracewalk_dest(it, org, false);
986 if (navigation_waypoint_will_link(v, org, ent,
987 tracewalk_dest, tracewalk_dest_height,
988 tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
991 bestdist = vlen(tracewalk_dest - v);
993 bestdist = vlen(v - org);
997 if(!best && !ent.navigation_dynamicgoal)
999 int solid_save = ent.solid;
1000 ent.solid = SOLID_BSP;
1001 IL_EACH(g_jumppads, true,
1003 if(trigger_push_test(it, ent))
1005 best = it.nearestwaypoint;
1009 ent.solid = solid_save;
1013 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1015 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1016 if (autocvar_g_waypointeditor_auto)
1018 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1020 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1025 // finds the waypoints near the bot initiating a navigation query
1026 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1028 //navigation_testtracewalk = true;
1030 IL_EACH(g_waypoints, !it.wpconsidered,
1032 set_tracewalk_dest(it, this.origin, false);
1034 vector diff = tracewalk_dest - this.origin;
1035 diff.z = max(0, diff.z);
1036 if(vdist(diff, <, maxdist))
1038 it.wpconsidered = true;
1039 if (tracewalk(this, this.origin, this.mins, this.maxs,
1040 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1042 it.wpnearestpoint = tracewalk_dest;
1043 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1050 //navigation_testtracewalk = false;
1054 // updates a path link if a spawnfunc_waypoint link is better than the current one
1055 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1061 m1 = wp.origin + wp.mins;
1062 m2 = wp.origin + wp.maxs;
1063 v.x = bound(m1_x, p.x, m2_x);
1064 v.y = bound(m1_y, p.y, m2_y);
1065 v.z = bound(m1_z, p.z, m2_z);
1069 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1070 cost += w.wp00mincost; // assuming teleport has exactly one destination
1072 cost += waypoint_gettravelcost(p, v, w, wp);
1073 if (wp.wpcost > cost)
1078 wp.wpnearestpoint = v;
1082 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1083 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1088 IL_EACH(g_waypoints, true,
1090 it.wpconsidered = false;
1091 it.wpnearestpoint = '0 0 0';
1092 it.wpcost = 10000000;
1097 if(fixed_source_waypoint)
1099 fixed_source_waypoint.wpconsidered = true;
1100 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1101 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1102 fixed_source_waypoint.wpfire = 1;
1103 fixed_source_waypoint.enemy = NULL;
1107 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1108 // as this search is expensive we will use lower values if the bot is on the air
1109 float increment, maxdistance;
1110 if(IS_ONGROUND(this))
1113 maxdistance = 50000;
1121 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1124 bool searching = true;
1128 IL_EACH(g_waypoints, it.wpfire,
1133 p = it.wpnearestpoint;
1135 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1136 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1137 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1138 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1139 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1140 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1141 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1142 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1143 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1144 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1145 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1146 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1147 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1148 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1149 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1150 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1151 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1152 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1162 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1163 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1164 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1165 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1166 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1167 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1172 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1173 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1177 IL_EACH(g_waypoints, true,
1179 it.wpconsidered = false;
1180 it.wpnearestpoint = '0 0 0';
1181 it.wpcost = 10000000;
1186 if(fixed_source_waypoint)
1188 fixed_source_waypoint.wpconsidered = true;
1189 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1190 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1191 fixed_source_waypoint.wpfire = 1;
1192 fixed_source_waypoint.enemy = NULL;
1196 error("need to start with a waypoint\n");
1199 bool searching = true;
1203 IL_EACH(g_waypoints, it.wpfire,
1207 cost = it.wpcost; // cost to walk from it to home
1208 p = it.wpnearestpoint;
1210 IL_EACH(g_waypoints, it != wp,
1212 if(!waypoint_islinked(it, wp))
1214 cost2 = cost + it.dmg;
1215 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1221 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1222 void navigation_routerating(entity this, entity e, float f, float rangebias)
1224 if (!e || e.blacklisted) { return; }
1226 rangebias = waypoint_getlinearcost(rangebias);
1227 f = waypoint_getlinearcost(f);
1231 bool rate_wps = false;
1232 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1233 || (e.flags & FL_PARTIALGROUND))
1240 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1241 int t = pointcontents(trace_endpos + '0 0 1');
1242 if(t != CONTENT_SOLID )
1244 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1246 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1253 entity theEnemy = e;
1254 entity best_wp = NULL;
1255 float best_dist = FLOAT_MAX;
1256 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1257 && vdist(it.origin - theEnemy.origin, <, 500)
1258 && vdist(it.origin - this.origin, >, 100)
1259 && vdist(it.origin - this.origin, <, 10000),
1261 float dist = vlen2(it.origin - theEnemy.origin);
1262 if (dist < best_dist)
1274 vector goal_org = (e.absmin + e.absmax) * 0.5;
1276 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1278 // Evaluate path using jetpack
1279 if(this.items & IT_JETPACK)
1280 if(autocvar_bot_ai_navigation_jetpack)
1281 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1283 vector pointa, pointb;
1285 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1288 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1289 pointa = trace_endpos - '0 0 1';
1292 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1293 pointb = trace_endpos - '0 0 1';
1295 // Can I see these two points from the sky?
1296 traceline(pointa, pointb, MOVE_NORMAL, this);
1298 if(trace_fraction==1)
1300 LOG_DEBUG("jetpack ai: can bridge these two points");
1302 // Lower the altitude of these points as much as possible
1303 float zdistance, xydistance, cost, t, fuel;
1304 vector down, npa, npb;
1306 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1309 npa = pointa + down;
1310 npb = pointb + down;
1312 if(npa.z<=this.absmax.z)
1315 if(npb.z<=e.absmax.z)
1318 traceline(npa, npb, MOVE_NORMAL, this);
1319 if(trace_fraction==1)
1325 while(trace_fraction == 1);
1328 // Rough estimation of fuel consumption
1329 // (ignores acceleration and current xyz velocity)
1330 xydistance = vlen(pointa - pointb);
1331 zdistance = fabs(pointa.z - this.origin.z);
1333 t = zdistance / autocvar_g_jetpack_maxspeed_up;
1334 t += xydistance / autocvar_g_jetpack_maxspeed_side;
1335 fuel = t * autocvar_g_jetpack_fuel * 0.8;
1337 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
1340 if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO))
1343 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1344 // - between air and ground speeds)
1346 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1347 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1350 // Compare against other goals
1351 f = f * rangebias / (rangebias + cost);
1353 if (navigation_bestrating < f)
1355 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1356 navigation_bestrating = f;
1357 navigation_bestgoal = e;
1358 this.navigation_jetpack_goal = e;
1359 this.navigation_jetpack_point = pointb;
1367 //te_wizspike(e.origin);
1370 // update the cached spawnfunc_waypoint link on a dynamic item entity
1371 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1377 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1378 e.nearestwaypoint = NULL;
1380 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1381 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1383 if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1384 e.nearestwaypoint = nwp = e.goalcurrent;
1386 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1389 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1391 if(!e.navigation_dynamicgoal)
1392 e.blacklisted = true;
1396 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1401 if(e.navigation_dynamicgoal)
1402 e.nearestwaypointtimeout = time + 2;
1403 else if(autocvar_g_waypointeditor)
1404 e.nearestwaypointtimeout = time + 3 + random() * 2;
1406 nwp = e.nearestwaypoint;
1409 if (nwp && nwp.wpcost < 10000000)
1411 //te_wizspike(nwp.wpnearestpoint);
1412 float nwptoitem_cost = 0;
1413 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1414 nwptoitem_cost = nwp.wp00mincost;
1416 nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1417 float cost = nwp.wpcost + nwptoitem_cost;
1418 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1419 f = f * rangebias / (rangebias + cost);
1420 LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1421 if (navigation_bestrating < f)
1423 LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1424 navigation_bestrating = f;
1425 navigation_bestgoal = e;
1430 // adds an item to the the goal stack with the path to a given item
1431 bool navigation_routetogoal(entity this, entity e, vector startposition)
1433 // if there is no goal, just exit
1437 entity teleport_goal = NULL;
1439 this.goalentity = e;
1441 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1443 // force teleport destination as route destination
1445 navigation_pushroute(this, e.wp00);
1446 this.goalentity = e.wp00;
1449 // put the entity on the goal stack
1450 //print("routetogoal ", etos(e), "\n");
1451 navigation_pushroute(this, e);
1454 e = this.goalentity;
1456 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1458 this.wp_goal_prev1 = this.wp_goal_prev0;
1459 this.wp_goal_prev0 = e;
1463 if(e==this.navigation_jetpack_goal)
1466 // if it can reach the goal there is nothing more to do
1467 set_tracewalk_dest(e, startposition, true);
1468 if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1469 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1470 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1475 entity nearest_wp = NULL;
1476 // see if there are waypoints describing a path to the item
1477 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1479 e = e.nearestwaypoint;
1482 else if(teleport_goal)
1485 e = e.enemy; // we already have added it, so...
1490 if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK))
1492 // often path can be optimized by not adding the nearest waypoint
1493 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1495 if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1497 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1498 e = nearest_wp.enemy;
1501 set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1502 if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1503 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1504 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1505 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1507 e = nearest_wp.enemy;
1514 // NOTE unlike waypoints, items hold incoming links
1515 navigation_item_initlinks_ifneeded(this.goalentity);
1516 int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy);
1519 if (navigation_item_iswalkablelink(this.goalentity, link_num))
1520 e = nearest_wp.enemy;
1522 else // untested link
1524 entity wp = nearest_wp.enemy;
1525 entity goal = this.goalentity;
1526 bool walkable = false;
1527 if (checkpvs(wp.origin, goal))
1529 set_tracewalk_dest(goal, wp.origin, false);
1530 if (vdist(tracewalk_dest - wp.origin, <, 1050)
1531 && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST,
1532 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1535 e = nearest_wp.enemy;
1538 navigation_item_add_link(wp, goal, walkable);
1545 // add the spawnfunc_waypoint to the path
1546 navigation_pushroute(this, e);
1556 // shorten path by removing intermediate goals
1557 bool navigation_shortenpath(entity this)
1559 if (!this.goalstack01 || wasfreed(this.goalstack01))
1561 if (this.bot_tracewalk_time > time)
1563 this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1565 bool cut_allowed = false;
1566 entity next = this.goalentity;
1567 // evaluate whether bot can discard current route and chase directly a player, trying to
1568 // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1569 if (IS_MOVABLE(next))
1571 set_tracewalk_dest(next, this.origin, true);
1572 if (vdist(this.origin - tracewalk_dest, <, 200))
1574 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1575 && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1576 && vdist(this.origin - this.goalcurrent.origin, >, 100)
1577 && checkpvs(this.origin + this.view_ofs, next))
1579 if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1583 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1584 while (deviation.y < -180) deviation.y += 360;
1585 while (deviation.y > 180) deviation.y -= 360;
1586 if (fabs(deviation.y) > 25)
1592 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1593 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1595 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1598 navigation_poproute(this);
1600 while (this.goalcurrent != next);
1607 next = this.goalstack01;
1608 // if for some reason the bot is closer to the next goal, pop the current one
1609 if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP))
1610 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1611 && checkpvs(this.origin + this.view_ofs, next))
1613 set_tracewalk_dest(next, this.origin, true);
1619 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1620 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1622 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1623 navigation_poproute(this);
1630 // removes any currently touching waypoints from the goal stack
1631 // (this is how bots detect if they reached a goal)
1632 int navigation_poptouchedgoals(entity this)
1634 int removed_goals = 0;
1636 if(!this.goalcurrent)
1637 return removed_goals;
1639 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1641 if (!this.goalcurrent.wpisbox // warpzone
1642 && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
1644 // immediately remove origin and destination waypoints
1645 navigation_poproute(this);
1647 navigation_poproute(this);
1649 this.lastteleporttime = 0;
1652 // make sure jumppad is really hit, don't rely on distance based checks
1653 // as they may report a touch even if it didn't really happen
1654 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1656 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1657 if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1659 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1660 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1662 if(this.jumppadcount)
1664 // remove jumppad waypoint after a random delay to prevent bots getting
1665 // stuck on certain jumppads that require an extra initial horizontal speed
1666 float max_delay = 0.1;
1667 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1669 if (time - this.lastteleporttime < random() * max_delay)
1670 return removed_goals;
1672 else if (this.goalcurrent.wpisbox) // teleport
1674 // immediately remove origin and destination waypoints
1675 navigation_poproute(this);
1678 navigation_poproute(this);
1679 this.lastteleporttime = 0;
1682 return removed_goals;
1684 else if (this.lastteleporttime > 0)
1686 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1687 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1688 // if so immediately fix bot path by removing skipped goals
1689 entity tele_ent = NULL;
1690 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1691 tele_ent = this.goalstack01;
1692 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1693 tele_ent = this.goalstack02;
1694 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1695 tele_ent = this.goalstack03;
1696 if (tele_ent && TELEPORT_USED(this, tele_ent))
1698 if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1699 if ((tele_ent.wpflags & WAYPOINTFLAG_PERSONAL) && tele_ent.owner == this)
1701 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1702 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1704 while (this.goalcurrent != tele_ent)
1706 navigation_poproute(this);
1709 navigation_poproute(this);
1710 this.lastteleporttime = 0;
1712 return removed_goals;
1714 // reset of lastteleporttime can be overriden by a jumppad when it's set
1715 // in more than one frame: make sure it's reset
1716 this.lastteleporttime = 0;
1719 // Loose goal touching check when running
1720 // check goalstack01 to make sure waypoint isn't the final goal
1721 if((this.aistatus & AI_STATUS_RUNNING) && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP)
1722 && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed))
1724 vector gco = this.goalcurrent.origin;
1725 float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE;
1726 // also detect waypoints when bot is way above them but with a narrower horizontal range
1727 // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding)
1728 if(vdist(this.origin - gco, <, min_dist)
1729 || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist)))
1731 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1732 if(trace_fraction==1)
1734 // Detect personal waypoints
1735 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1736 if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1738 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1739 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1742 navigation_poproute(this);
1744 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1745 return removed_goals;
1750 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1752 vector gc_min = this.goalcurrent.absmin;
1753 vector gc_max = this.goalcurrent.absmax;
1754 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1756 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1757 gc_max = this.goalcurrent.origin + '1 1 1' * 12 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z);
1759 if (this.ladder_entity)
1761 if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
1766 if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1770 // Detect personal waypoints
1771 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1772 if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
1774 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1775 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1778 navigation_poproute(this);
1780 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1781 return removed_goals;
1783 return removed_goals;
1786 entity navigation_get_really_close_waypoint(entity this)
1788 entity wp = this.goalcurrent;
1790 wp = this.goalcurrent_prev;
1793 float min_dist = ((this.aistatus & AI_STATUS_RUNNING) ? BOT_BUNNYHOP_WP_DETECTION_RANGE : 50);
1794 if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, min_dist))
1796 wp = this.goalcurrent_prev;
1800 if(wp.classname != "waypoint")
1802 wp = wp.nearestwaypoint;
1806 if(vdist(wp.origin - this.origin, >, min_dist))
1809 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
1811 if(vdist(it.origin - this.origin, <, min_dist))
1820 if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1823 set_tracewalk_dest(wp, this.origin, false);
1824 if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1825 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1832 // begin a goal selection session (queries spawnfunc_waypoint network)
1833 void navigation_goalrating_start(entity this)
1835 if(this.aistatus & AI_STATUS_STUCK)
1838 this.navigation_jetpack_goal = NULL;
1839 navigation_bestrating = -1;
1840 entity wp = navigation_get_really_close_waypoint(this);
1841 navigation_clearroute(this);
1842 navigation_bestgoal = NULL;
1843 navigation_markroutes(this, wp);
1844 this.goalstack31 = wp; // temporarly save the really close waypoint
1847 // ends a goal selection session (updates goal stack to the best goal)
1848 void navigation_goalrating_end(entity this)
1850 if(this.aistatus & AI_STATUS_STUCK)
1853 entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
1854 this.goalstack31 = NULL;
1856 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1857 LOG_DEBUG("best goal ", navigation_bestgoal.classname);
1859 if (wp && this.goalcurrent == wp)
1860 navigation_poproute(this);
1862 // If the bot got stuck then try to reach the farthest waypoint
1863 if (!this.goalentity)
1865 if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
1867 LOG_DEBUG(this.netname, " cannot walk to any goal");
1868 this.aistatus |= AI_STATUS_STUCK;
1870 this.goalentity_shouldbefrozen = false;
1873 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1876 void botframe_updatedangerousobjects(float maxupdate)
1878 vector m1, m2, v, o;
1882 IL_EACH(g_waypoints, true,
1888 IL_EACH(g_bot_dodge, it.bot_dodge,
1891 v.x = bound(m1_x, v.x, m2_x);
1892 v.y = bound(m1_y, v.y, m2_y);
1893 v.z = bound(m1_z, v.z, m2_z);
1894 o = (it.absmin + it.absmax) * 0.5;
1895 d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1898 traceline(o, v, true, NULL);
1899 if (trace_fraction == 1)
1900 danger = danger + d;
1910 void navigation_unstuck(entity this)
1912 if (!autocvar_bot_wander_enable)
1915 bool has_user_waypoints = false;
1916 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1918 has_user_waypoints = true;
1921 if (!has_user_waypoints)
1924 float search_radius = 1000;
1926 if (!bot_waypoint_queue_owner)
1928 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1929 bot_waypoint_queue_owner = this;
1930 bot_waypoint_queue_bestgoal = NULL;
1931 bot_waypoint_queue_bestgoalrating = 0;
1934 if(bot_waypoint_queue_owner!=this)
1937 if (bot_waypoint_queue_goal)
1939 // evaluate the next goal on the queue
1940 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1941 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d));
1942 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1943 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1944 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1946 if( d > bot_waypoint_queue_bestgoalrating)
1948 bot_waypoint_queue_bestgoalrating = d;
1949 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1953 // move to a random waypoint while bot is searching for a walkable path;
1954 // this is usually sufficient to unstuck bots from bad spots or when other
1955 // bots of the same team block all their ways
1956 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1958 navigation_clearroute(this);
1959 navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1960 navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1963 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1965 if (!bot_waypoint_queue_goal)
1967 if (bot_waypoint_queue_bestgoal)
1969 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1970 navigation_clearroute(this);
1971 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1972 navigation_goalrating_timeout_set(this);
1973 this.aistatus &= ~AI_STATUS_STUCK;
1977 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1980 bot_waypoint_queue_owner = NULL;
1985 if(bot_strategytoken!=this)
1988 // build a new queue
1989 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1991 entity first = NULL;
1993 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1995 if(bot_waypoint_queue_goal)
1996 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
2000 bot_waypoint_queue_goal = it;
2001 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
2005 bot_waypoint_queue_goal = first;
2008 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
2009 bot_waypoint_queue_owner = NULL;
2014 // Support for debugging tracewalk visually
2016 void debugresetnodes()
2018 debuglastnode = '0 0 0';
2021 void debugnode(entity this, vector node)
2023 if (!IS_PLAYER(this))
2026 if(debuglastnode=='0 0 0')
2028 debuglastnode = node;
2032 te_lightning2(NULL, node, debuglastnode);
2033 debuglastnode = node;
2036 void debugnodestatus(vector position, float status)
2042 case DEBUG_NODE_SUCCESS:
2045 case DEBUG_NODE_WARNING:
2048 case DEBUG_NODE_FAIL:
2055 te_customflash(position, 40, 2, c);
2058 // Support for debugging the goal stack visually
2061 .vector lastposition;
2063 // Debug the goal stack visually
2064 void debuggoalstack(entity this)
2069 if(this.goalcounter==0)goal=this.goalcurrent;
2070 else if(this.goalcounter==1)goal=this.goalstack01;
2071 else if(this.goalcounter==2)goal=this.goalstack02;
2072 else if(this.goalcounter==3)goal=this.goalstack03;
2073 else if(this.goalcounter==4)goal=this.goalstack04;
2074 else if(this.goalcounter==5)goal=this.goalstack05;
2075 else if(this.goalcounter==6)goal=this.goalstack06;
2076 else if(this.goalcounter==7)goal=this.goalstack07;
2077 else if(this.goalcounter==8)goal=this.goalstack08;
2078 else if(this.goalcounter==9)goal=this.goalstack09;
2079 else if(this.goalcounter==10)goal=this.goalstack10;
2080 else if(this.goalcounter==11)goal=this.goalstack11;
2081 else if(this.goalcounter==12)goal=this.goalstack12;
2082 else if(this.goalcounter==13)goal=this.goalstack13;
2083 else if(this.goalcounter==14)goal=this.goalstack14;
2084 else if(this.goalcounter==15)goal=this.goalstack15;
2085 else if(this.goalcounter==16)goal=this.goalstack16;
2086 else if(this.goalcounter==17)goal=this.goalstack17;
2087 else if(this.goalcounter==18)goal=this.goalstack18;
2088 else if(this.goalcounter==19)goal=this.goalstack19;
2089 else if(this.goalcounter==20)goal=this.goalstack20;
2090 else if(this.goalcounter==21)goal=this.goalstack21;
2091 else if(this.goalcounter==22)goal=this.goalstack22;
2092 else if(this.goalcounter==23)goal=this.goalstack23;
2093 else if(this.goalcounter==24)goal=this.goalstack24;
2094 else if(this.goalcounter==25)goal=this.goalstack25;
2095 else if(this.goalcounter==26)goal=this.goalstack26;
2096 else if(this.goalcounter==27)goal=this.goalstack27;
2097 else if(this.goalcounter==28)goal=this.goalstack28;
2098 else if(this.goalcounter==29)goal=this.goalstack29;
2099 else if(this.goalcounter==30)goal=this.goalstack30;
2100 else if(this.goalcounter==31)goal=this.goalstack31;
2105 this.goalcounter = 0;
2106 this.lastposition='0 0 0';
2110 if(this.lastposition=='0 0 0')
2113 org = this.lastposition;
2116 go = ( goal.absmin + goal.absmax ) * 0.5;
2117 te_lightning2(NULL, org, go);
2118 this.lastposition = go;