Merge remote-tracking branch 'origin/terencehill/better_dom_hud_stats'

[xonotic/xonotic-data.pk3dir.git] / qcsrc / server / bot / navigation.qc

diff --git a/qcsrc/server/bot/navigation.qc b/qcsrc/server/bot/navigation.qc
index 4c4044f108b481b5f14f128f1e8d55fbbc38a0c5..ebaf210b3c493855e071ee409de9efdf34d7c233 100644 (file)
--- a/qcsrc/server/bot/navigation.qc
+++ b/qcsrc/server/bot/navigation.qc
@@ -641,16 +641,18 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint)
 void navigation_routerating(entity e, float f, float rangebias)
 {
        entity nwp;
+       vector o;
        if (!e)
                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;
 
@@ -661,7 +663,7 @@ void navigation_routerating(entity e, float f, float rangebias)
                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?
@@ -768,7 +770,7 @@ void navigation_routerating(entity e, float f, float rangebias)
        {
                //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)
@@ -801,7 +803,7 @@ float navigation_routetogoal(entity e, vector startposition)
                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
@@ -927,7 +929,7 @@ void navigation_goalrating_end()
 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);
@@ -944,10 +946,11 @@ void botframe_updatedangerousobjects(float maxupdate)
                        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;
                        }
@@ -963,12 +966,14 @@ void botframe_updatedangerousobjects(float maxupdate)
 
 void navigation_unstuck()
 {
+       float search_radius = 1000;
+
        if not(autocvar_bot_wander_enable)
                return;
 
        if not(bot_waypoint_queue_owner)
        {
-               dprint(self.netname, " taking over the waypoints queue\n");
+       //      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;
@@ -996,13 +1001,14 @@ void navigation_unstuck()
                {
                        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, " got BADLY stuck, giving up.\n");
+                               dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
                        }
 
                        bot_waypoint_queue_owner = world;
@@ -1014,28 +1020,25 @@ void navigation_unstuck()
                        return;
 
                // build a new queue
-               dprint(self.netname, " building a new wayoints queue\n");
+               dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
+
+               entity head, first;
 
-               entity first, head, prev;
-               head = findradius(self.origin, 1000);
+               first = world;
+               head = findradius(self.origin, search_radius);
 
                while(head)
                {
                        if(head.classname=="waypoint")
-                       if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
+               //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
                        {
-                               if (first==world)
-                               {
-                                       first = head;
-                                       bot_waypoint_queue_goal = head;
-                               }
+                               if(bot_waypoint_queue_goal)
+                                       bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
                                else
-                               {
-                                       prev = bot_waypoint_queue_goal;
-                                       bot_waypoint_queue_goal = head;
-                                       prev.bot_waypoint_queue_nextgoal = head;
-                                       bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
-                               }
+                                       first = head;
+
+                               bot_waypoint_queue_goal = head;
+                               bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
                        }
 
                        head = head.chain;
@@ -1045,7 +1048,8 @@ void navigation_unstuck()
                        bot_waypoint_queue_goal = first;
                else
                {
-                       dprint(self.netname, " got BADLY stuck, giving up.\n");
+                       dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
+                       bot_waypoint_queue_owner = world;
                }
        }
 }
@@ -1103,7 +1107,7 @@ void debugnodestatus(vector position, float status)
 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;
@@ -1151,8 +1155,9 @@ void debuggoalstack()
                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++;
 }