X-Git-Url: http://git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=da87445b8f31b42e6b4d245b720fe001d3fce8fa;hb=0d44cd70bafa39eabf636208941ae13e5fcb6211;hp=76ac3389cdac1e72961e48b23c64bc3ebb27d63b;hpb=af714c7aa2978049a30147cde6cf21198eab54cf;p=xonotic%2Fxonotic-data.pk3dir.git

diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc
index 76ac3389c..da87445b8 100644
--- a/qcsrc/server/bot/default/navigation.qc
+++ b/qcsrc/server/bot/default/navigation.qc
@@ -1,5 +1,7 @@
 #include "navigation.qh"
 
+#include <server/defs.qh>
+#include <server/miscfunctions.qh>
 #include "cvars.qh"
 
 #include "bot.qh"
@@ -37,48 +39,94 @@ void navigation_dynamicgoal_unset(entity this)
 	this.nearestwaypointtimeout = -1;
 }
 
-// rough simulation of walking from one point to another to test if a path
-// can be traveled, used for waypoint linking and havocbot
+bool navigation_check_submerged_state(entity ent, vector pos)
+{
+	bool submerged;
+	if(IS_PLAYER(ent))
+		submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
+	else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
+		submerged = (ent.nav_submerged_state == SUBMERGED_YES);
+	else
+	{
+		submerged = SUBMERGED(pos);
+		// NOTE: SUBMERGED check of box waypoint origin may fail even if origin
+		//  is actually submerged because often they are inside some solid.
+		//  That's why submerged state is saved now that we know current pos is
+		//  not stuck in solid (previous tracewalk call to this pos was successfully)
+		if(!ent.navigation_dynamicgoal)
+			ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
+	}
+	return submerged;
+}
 
-bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
+bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
 {
-	vector org;
-	vector move;
-	vector dir;
-	float dist;
-	float totaldist;
-	float stepdist;
-	float ignorehazards;
-	float swimming;
+	IL_EACH(g_ladders, it.classname == "func_ladder",
+	{
+		if(it.bot_pickup)
+		if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
+		if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
+		{
+			vector top = org;
+			top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
+			tracebox(org, m1, m2, top, movemode, e);
+			if(trace_fraction == 1)
+				return true;
+		}
+	});
+	return false;
+}
 
+vector resurface_limited(vector org, float lim, vector m1)
+{
+	if (WETFEET(org + eZ * (lim - org.z)))
+		org.z = lim;
+	else
+	{
+		float RES_min_h = org.z;
+		float RES_max_h = lim;
+		do {
+			org.z = 0.5 * (RES_min_h + RES_max_h);
+			if(WETFEET(org))
+				RES_min_h = org.z;
+			else
+				RES_max_h = org.z;
+		} while (RES_max_h - RES_min_h >= 1);
+		org.z = RES_min_h;
+	}
+	return org;
+}
+#define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
+
+#define NAV_WALK 0
+#define NAV_SWIM_ONWATER 1
+#define NAV_SWIM_UNDERWATER 2
+
+// 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]
+bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
+{
 	if(autocvar_bot_debug_tracewalk)
 	{
 		debugresetnodes();
 		debugnode(e, start);
 	}
 
-	move = end - start;
-	move.z = 0;
-	org = start;
-	dist = totaldist = vlen(move);
-	dir = normalize(move);
-	stepdist = 32;
-	ignorehazards = false;
-	swimming = false;
+	vector org = start;
+	vector flatdir = end - start;
+	flatdir.z = 0;
+	float flatdist = vlen(flatdir);
+	flatdir = normalize(flatdir);
+	float stepdist = 32;
+	bool ignorehazards = false;
+	int nav_action;
 
 	// Analyze starting point
 	traceline(start, start, MOVE_NORMAL, e);
 	if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 		ignorehazards = true;
-	else
-	{
-		traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
-		if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
-		{
-			ignorehazards = true;
-			swimming = true;
-		}
-	}
+
 	tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
 	if (trace_startsolid)
 	{
@@ -90,78 +138,309 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
 		return false;
 	}
 
+	vector end2 = end;
+	if(end_height)
+		end2.z += end_height;
+
+	vector fixed_end = end;
+	vector move;
+
+	if (flatdist > 0 && WETFEET(org))
+	{
+		if (SUBMERGED(org))
+			nav_action = NAV_SWIM_UNDERWATER;
+		else
+		{
+			// tracebox down by player's height
+			// useful to know if water level is so low that bot can still walk
+			tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
+			if (SUBMERGED(trace_endpos))
+			{
+				org = trace_endpos;
+				nav_action = NAV_SWIM_UNDERWATER;
+			}
+			else
+				nav_action = NAV_WALK;
+		}
+	}
+	else
+		nav_action =  NAV_WALK;
+
 	// Movement loop
-	move = end - org;
-	for (;;)
+	while (true)
 	{
-		if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
+		if (flatdist <= 0)
 		{
-			// Succeeded
-			if(autocvar_bot_debug_tracewalk)
-				debugnodestatus(org, DEBUG_NODE_SUCCESS);
+			bool success = true;
+			if (org.z > end2.z + 1)
+			{
+				tracebox(org, m1, m2, end2, movemode, e);
+				org = trace_endpos;
+				if (org.z > end2.z + 1)
+					success = false;
+			}
+			else if (org.z < end.z - 1)
+			{
+				tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
+				if (SUBMERGED(trace_endpos))
+				{
+					vector v = trace_endpos;
+					tracebox(v, m1, m2, end, movemode, e);
+					if(trace_endpos.z >= end.z - 1)
+					{
+						RESURFACE_LIMITED(v, trace_endpos.z);
+						trace_endpos = v;
+					}
+				}
+				else if (trace_endpos.z > org.z - jumpheight_vec.z)
+					tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
+				org = trace_endpos;
+				if (org.z < end.z - 1)
+					success = false;
+			}
+
+			if (success)
+			{
+				// Succeeded
+				if(autocvar_bot_debug_tracewalk)
+				{
+					debugnode(e, org);
+					debugnodestatus(org, DEBUG_NODE_SUCCESS);
+				}
 
-			//print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
-			return true;
+				//print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+				return true;
+			}
 		}
+
 		if(autocvar_bot_debug_tracewalk)
 			debugnode(e, org);
 
-		if (dist <= 0)
+		if (flatdist <= 0)
 			break;
-		if (stepdist > dist)
-			stepdist = dist;
-		dist = dist - stepdist;
-		traceline(org, org, MOVE_NORMAL, e);
-		if (!ignorehazards)
-		{
-			if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
-			{
-				// hazards blocking path
-				if(autocvar_bot_debug_tracewalk)
-					debugnodestatus(org, DEBUG_NODE_FAIL);
 
-				//print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
-				return false;
+		if (stepdist > flatdist)
+			stepdist = flatdist;
+		if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
+		{
+			// can't use movement direction here to calculate move because of
+			// precision errors especially when direction has a high enough z value
+			//water_dir = normalize(water_end - org);
+			//move = org + water_dir * stepdist;
+			fixed_end.z = bound(end.z, org.z, end2.z);
+			if (stepdist == flatdist) {
+				move = fixed_end;
+				flatdist = 0;
+			} else {
+				move = org + (fixed_end - org) * (stepdist / flatdist);
+				flatdist = vlen(vec2(fixed_end - move));
 			}
 		}
-		if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
+		else // horiz. direction
 		{
-			move = normalize(end - org);
-			tracebox(org, m1, m2, org + move * stepdist, movemode, e);
+			flatdist -= stepdist;
+			move = org + flatdir * stepdist;
+		}
 
-			if(autocvar_bot_debug_tracewalk)
-				debugnode(e, trace_endpos);
+		if(nav_action == NAV_SWIM_ONWATER)
+		{
+			tracebox(org, m1, m2, move, movemode, e); // swim
 
+			// hit something
 			if (trace_fraction < 1)
 			{
-				swimming = true;
-				org = trace_endpos + normalize(org - trace_endpos) * stepdist;
-				for (; org.z < end.z + e.maxs.z; org.z += stepdist)
+				// stepswim
+				tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+				if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
 				{
-					if(autocvar_bot_debug_tracewalk)
-						debugnode(e, org);
+					org = trace_endpos;
+					if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
+					{
+						if(autocvar_bot_debug_tracewalk)
+						{
+							debugnode(e, org);
+							debugnodestatus(org, DEBUG_NODE_SUCCESS);
+						}
 
-					if(pointcontents(org) == CONTENT_EMPTY)
-						break;
-				}
+						//print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+						return true;
+					}
 
-				if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
-				{
 					if(autocvar_bot_debug_tracewalk)
 						debugnodestatus(org, DEBUG_NODE_FAIL);
 
 					return false;
-					//print("tracewalk: ", vtos(start), " failed under water\n");
+					//print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 				}
-				continue;
 
+				//succesful stepswim
+
+				if (flatdist <= 0)
+				{
+					org = trace_endpos;
+					continue;
+				}
+
+				if (org.z <= move.z) // going horiz.
+				{
+					tracebox(trace_endpos, m1, m2, move, movemode, e);
+					org = trace_endpos;
+					nav_action = NAV_WALK;
+					continue;
+				}
 			}
-			else
+
+			if (org.z <= move.z) // going horiz.
+			{
+				org = trace_endpos;
+				nav_action = NAV_SWIM_ONWATER;
+			}
+			else // going down
+			{
 				org = trace_endpos;
+				if (SUBMERGED(org))
+					nav_action = NAV_SWIM_UNDERWATER;
+				else
+					nav_action = NAV_SWIM_ONWATER;
+			}
 		}
-		else
+		else if(nav_action == NAV_SWIM_UNDERWATER)
+		{
+			if (move.z >= org.z) // swimming upwards or horiz.
+			{
+				tracebox(org, m1, m2, move, movemode, e); // swim
+
+				bool stepswum = false;
+
+				// hit something
+				if (trace_fraction < 1)
+				{
+					// stepswim
+					vector stepswim_move = move + stepheightvec;
+					if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
+						stepswim_move.z = end2.z;
+
+					tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
+
+					// hit something
+					if (trace_startsolid)
+					{
+						if(autocvar_bot_debug_tracewalk)
+							debugnodestatus(org, DEBUG_NODE_FAIL);
+
+						//print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+						return false;
+					}
+
+					if (trace_fraction < 1)
+					{
+						float org_z_prev = org.z;
+						RESURFACE_LIMITED(org, end2.z);
+						if(org.z == org_z_prev)
+						{
+							if(autocvar_bot_debug_tracewalk)
+								debugnodestatus(org, DEBUG_NODE_FAIL);
+
+							//print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
+							return false;
+						}
+						if(SUBMERGED(org))
+							nav_action = NAV_SWIM_UNDERWATER;
+						else
+							nav_action = NAV_SWIM_ONWATER;
+
+						// we didn't advance horiz. in this step, flatdist decrease should be reverted
+						// but we can't do it properly right now... apply this workaround instead
+						if (flatdist <= 0)
+							flatdist = 1;
+
+						continue;
+					}
+
+					//succesful stepswim
+
+					if (flatdist <= 0)
+					{
+						org = trace_endpos;
+						continue;
+					}
+
+					stepswum = true;
+				}
+
+				if (!WETFEET(trace_endpos))
+				{
+					tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
+					// if stepswum we'll land on the obstacle, avoid the SUBMERGED check
+					if (!stepswum && SUBMERGED(trace_endpos))
+					{
+						RESURFACE_LIMITED(trace_endpos, end2.z);
+						org = trace_endpos;
+						nav_action = NAV_SWIM_ONWATER;
+						continue;
+					}
+
+					// not submerged
+					org = trace_endpos;
+					nav_action = NAV_WALK;
+					continue;
+				}
+
+				// wetfeet
+				org = trace_endpos;
+				nav_action = NAV_SWIM_UNDERWATER;
+				continue;
+			}
+			else //if (move.z < org.z) // swimming downwards
+			{
+				tracebox(org, m1, m2, move, movemode, e); // swim
+
+				// hit something
+				if (trace_fraction < 1)
+				{
+					// stepswim
+					tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+					// hit something
+					if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
+					{
+						if(autocvar_bot_debug_tracewalk)
+							debugnodestatus(move, DEBUG_NODE_FAIL);
+
+						//print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+						return false;
+					}
+
+					//succesful stepswim
+
+					if (flatdist <= 0)
+					{
+						org = trace_endpos;
+						continue;
+					}
+
+					if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
+					{
+						// stepswim caused upwards direction
+						tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
+						if (!SUBMERGED(trace_endpos))
+						{
+							org = trace_endpos;
+							nav_action = NAV_WALK;
+							continue;
+						}
+					}
+				}
+
+				org = trace_endpos;
+				nav_action = NAV_SWIM_UNDERWATER;
+				continue;
+			}
+		}
+		else if(nav_action == NAV_WALK)
 		{
-			move = dir * stepdist + org;
+			// walk
 			tracebox(org, m1, m2, move, movemode, e);
 
 			if(autocvar_bot_debug_tracewalk)
@@ -174,20 +453,34 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
 				tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 				if (trace_fraction < 1 || trace_startsolid)
 				{
-					tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
-					if (trace_fraction < 1 || trace_startsolid)
+					if (trace_startsolid) // hit ceiling above org
 					{
-						bool ladder_found = false;
-						FOREACH_ENTITY_CLASS("func_ladder", true,
+						// reduce stepwalk height
+						tracebox(org, m1, m2, org + stepheightvec, movemode, e);
+						tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
+					}
+					else //if (trace_fraction < 1)
+					{
+						tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
+						if (trace_startsolid) // hit ceiling above org
 						{
-							if(boxesoverlap(org + jumpheight_vec + m1 + '-1 -1 -1', org + jumpheight_vec + m2 + '1 1 1', it.absmin, it.absmax))
-							if(boxesoverlap(end, end, it.absmin + (m1 - eZ * m1.z - '1 1 0'), it.absmax + (m2 - eZ * m2.z + '1 1 0')))
-								ladder_found = true; // can't return here ("Loop mutex held by tracewalk" error)
-						});
-						if(ladder_found)
+							// reduce jumpstepwalk height
+							tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
+							tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
+						}
+					}
+
+					if (trace_fraction < 1)
+					{
+						vector v = trace_endpos;
+						v.z = org.z + jumpheight_vec.z;
+						if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
 						{
 							if(autocvar_bot_debug_tracewalk)
-								debugnodestatus(end, DEBUG_NODE_SUCCESS);
+							{
+								debugnode(e, v);
+								debugnodestatus(v, DEBUG_NODE_SUCCESS);
+							}
 
 							//print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
 							return true;
@@ -204,10 +497,11 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
 							move = trace_endpos;
 							while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 							{
-								nextmove = move + (dir * stepdist);
+								nextmove = move + (flatdir * stepdist);
 								traceline( move, nextmove, movemode, e);
 								move = nextmove;
 							}
+							flatdist = vlen(vec2(end - move));
 						}
 						else
 						{
@@ -235,18 +529,43 @@ bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float m
 			// (this is the same logic as the Quake walkmove function used)
 			tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 
-			// moved successfully
-			if(swimming)
+			org = trace_endpos;
+
+			if (!ignorehazards)
 			{
-				float c;
-				c = pointcontents(org + '0 0 1');
-				if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
-					swimming = false;
-				else
-					continue;
+				if (IN_LAVA(org))
+				{
+					if(autocvar_bot_debug_tracewalk)
+					{
+						debugnode(e, trace_endpos);
+						debugnodestatus(org, DEBUG_NODE_FAIL);
+					}
+
+					//print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
+					return false;
+				}
 			}
 
-			org = trace_endpos;
+			if (flatdist <= 0)
+			{
+				if(move.z >= end2.z && org.z < end2.z)
+					org.z = end2.z;
+				continue;
+			}
+
+			if(org.z > move.z - 1 || !SUBMERGED(org))
+			{
+				nav_action = NAV_WALK;
+				continue;
+			}
+
+			// ended up submerged while walking
+			if(autocvar_bot_debug_tracewalk)
+				debugnode(e, org);
+
+			RESURFACE_LIMITED(org, move.z);
+			nav_action = NAV_SWIM_ONWATER;
+			continue;
 		}
 	}
 
@@ -398,23 +717,24 @@ void navigation_poproute(entity this)
 	this.goalstack31 = NULL;
 }
 
-float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
+// walking to wp (walkfromwp == false) v2 and v2_height will be used as
+// waypoint destination coordinates instead of v (only useful for box waypoints)
+// for normal waypoints v2 == v and v2_height == 0
+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)
 {
-	float dist;
-	dist = vlen(v - org);
-	if (bestdist > dist)
+	if (vdist(v - org, <, bestdist))
 	{
 		traceline(v, org, true, ent);
 		if (trace_fraction == 1)
 		{
 			if (walkfromwp)
 			{
-				if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
+				if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 					return true;
 			}
 			else
 			{
-				if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
+				if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
 					return true;
 			}
 		}
@@ -425,6 +745,9 @@ float navigation_waypoint_will_link(vector v, vector org, entity ent, float walk
 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 {
+	if(ent.tag_entity)
+		ent = ent.tag_entity;
+
 	vector pm1 = ent.origin + ent.mins;
 	vector pm2 = ent.origin + ent.maxs;
 
@@ -435,33 +758,31 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom
 			return it;
 	});
 
-	vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
-	org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
-	// TODO possibly make other code have the same support for bboxes
-	if(ent.tag_entity)
-		org = org + ent.tag_entity.origin;
+	vector org = ent.origin;
 	if (navigation_testtracewalk)
 		te_plasmaburn(org);
 
 	entity best = NULL;
-	vector v;
+	vector v = '0 0 0', v2 = '0 0 0';
+	float v2_height = 0;
 
-	if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
+	if(ent.size && !IS_PLAYER(ent))
+	{
+		org += 0.5 * (ent.mins + ent.maxs);
+		org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
+	}
+
+	if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
 	{
 		waypoint_clearlinks(ent); // initialize wpXXmincost fields
 		IL_EACH(g_waypoints, it != ent,
 		{
-			if(it.wpisbox)
-			{
-				vector wm1 = it.absmin;
-				vector wm2 = it.absmax;
-				v.x = bound(wm1_x, org.x, wm2_x);
-				v.y = bound(wm1_y, org.y, wm2_y);
-				v.z = bound(wm1_z, org.z, wm2_z);
-			}
-			else
-				v = it.origin;
-			if(navigation_waypoint_will_link(v, org, ent, walkfromwp, 1050))
+			if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
+				continue;
+
+			SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
+			if(vdist(v2 - org, <, 1050))
+			if(tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
 				navigation_item_addlink(it, ent);
 		});
 	}
@@ -469,17 +790,14 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom
 	// box check failed, try walk
 	IL_EACH(g_waypoints, it != ent,
 	{
-		if(it.wpisbox)
-		{
-			vector wm1 = it.origin + it.mins;
-			vector wm2 = it.origin + it.maxs;
-			v.x = bound(wm1_x, org.x, wm2_x);
-			v.y = bound(wm1_y, org.y, wm2_y);
-			v.z = bound(wm1_z, org.z, wm2_z);
-		}
+		if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
+			continue;
+		v = it.origin;
+		if(walkfromwp)
+			SET_TRACEWALK_DESTCOORDS(ent, v, v2, v2_height);
 		else
-			v = it.origin;
-		if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
+			SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
+		if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, v2, v2_height, walkfromwp, bestdist))
 		{
 			bestdist = vlen(v - org);
 			best = it;
@@ -502,31 +820,23 @@ entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 // finds the waypoints near the bot initiating a navigation query
 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 {
-	vector v, m1, m2;
-//	navigation_testtracewalk = true;
+	vector v = '0 0 0';
+	//navigation_testtracewalk = true;
 	int c = 0;
+	float v_height = 0;
 	IL_EACH(g_waypoints, !it.wpconsidered,
 	{
-		if (it.wpisbox)
-		{
-			m1 = it.origin + it.mins;
-			m2 = it.origin + it.maxs;
-			v = this.origin;
-			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);
-		}
-		else
-			v = it.origin;
+		SET_TRACEWALK_DESTCOORDS(it, this.origin, v, v_height);
+
 		vector diff = v - this.origin;
 		diff.z = max(0, diff.z);
 		if(vdist(diff, <, maxdist))
 		{
 			it.wpconsidered = true;
-			if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
+			if (tracewalk(this, this.origin, this.mins, this.maxs, v, v_height, bot_navigation_movemode))
 			{
 				it.wpnearestpoint = v;
-				it.wpcost = waypoint_getdistancecost(this.origin, v) + it.dmg;
+				it.wpcost = waypoint_gettravelcost(this.origin, v, this, it) + it.dmg;
 				it.wpfire = 1;
 				it.enemy = NULL;
 				c = c + 1;
@@ -540,13 +850,12 @@ float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
 // updates a path link if a spawnfunc_waypoint link is better than the current one
 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
 {
-	vector m1;
-	vector m2;
+	vector m1, m2;
 	vector v;
 	if (wp.wpisbox)
 	{
-		m1 = wp.absmin;
-		m2 = wp.absmax;
+		m1 = wp.origin + wp.mins;
+		m2 = wp.origin + wp.maxs;
 		v.x = bound(m1_x, p.x, m2_x);
 		v.y = bound(m1_y, p.y, m2_y);
 		v.z = bound(m1_z, p.z, m2_z);
@@ -556,7 +865,7 @@ void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector
 	if (w.wpflags & WAYPOINTFLAG_TELEPORT)
 		cost += w.wp00mincost; // assuming teleport has exactly one destination
 	else
-		cost += waypoint_getdistancecost(p, v);
+		cost += waypoint_gettravelcost(p, v, w, wp);
 	if (wp.wpcost > cost)
 	{
 		wp.wpcost = cost;
@@ -714,8 +1023,8 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
 	if(e.blacklisted)
 		return;
 
-	rangebias = waypoint_getdistancecost_simple(rangebias);
-	f = waypoint_getdistancecost_simple(f);
+	rangebias = waypoint_getlinearcost(rangebias);
+	f = waypoint_getlinearcost(f);
 
 	if (IS_PLAYER(e))
 	{
@@ -917,7 +1226,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias)
 	if (nwp.wpcost < 10000000)
 	{
 		//te_wizspike(nwp.wpnearestpoint);
-		float cost = nwp.wpcost + waypoint_getdistancecost(nwp.wpnearestpoint, goal_org);
+		float cost = nwp.wpcost + waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
 		LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos(cost), "/", ftos(rangebias), ") = ");
 		f = f * rangebias / (rangebias + cost);
 		LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
@@ -937,19 +1246,25 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
 	if (!e)
 		return false;
 
+	entity teleport_goal = NULL;
+
+	this.goalentity = e;
+
 	if(e.wpflags & WAYPOINTFLAG_TELEPORT)
 	{
 		// force teleport destination as route destination
-		e.wp00.enemy = e;
-		e = e.wp00;
+		teleport_goal = e;
+		navigation_pushroute(this, e.wp00);
+		this.goalentity = e.wp00;
 	}
 
-	this.goalentity = e;
-
 	// put the entity on the goal stack
 	//print("routetogoal ", etos(e), "\n");
 	navigation_pushroute(this, e);
 
+	if(teleport_goal)
+		e = this.goalentity;
+
 	if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 	{
 		this.wp_goal_prev1 = this.wp_goal_prev0;
@@ -961,7 +1276,10 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
 		return true;
 
 	// if it can reach the goal there is nothing more to do
-	if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
+	vector dest = '0 0 0';
+	float dest_height = 0;
+	SET_TRACEWALK_DESTCOORDS(e, startposition, dest, dest_height);
+	if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
 		return true;
 
 	entity nearest_wp = NULL;
@@ -971,6 +1289,8 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
 		e = e.nearestwaypoint;
 		nearest_wp = e;
 	}
+	else if(teleport_goal)
+		e = teleport_goal;
 	else
 		e = e.enemy; // we already have added it, so...
 
@@ -980,10 +1300,20 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
 	if(nearest_wp && nearest_wp.enemy)
 	{
 		// often path can be optimized by not adding the nearest waypoint
-		if (this.goalentity.nearestwaypoint_dist < 8
-			|| (!this.goalentity.navigation_dynamicgoal && navigation_item_islinked(nearest_wp.enemy, this.goalentity))
-			|| (this.goalentity.navigation_dynamicgoal && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode)))
+		if (this.goalentity.nearestwaypoint_dist < 8)
 			e = nearest_wp.enemy;
+		else
+		{
+			if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
+			{
+				SET_TRACEWALK_DESTCOORDS(e, nearest_wp.enemy.origin, dest, dest_height);
+				if(vdist(dest - nearest_wp.enemy.origin, <, 1050))
+				if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
+					e = nearest_wp.enemy;
+			}
+			else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
+				e = nearest_wp.enemy;
+		}
 	}
 
 	for (;;)
@@ -1026,22 +1356,29 @@ void navigation_poptouchedgoals(entity this)
 	if(this.goalstack01 && !wasfreed(this.goalstack01))
 	if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
 	if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
-	if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 	{
-		LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
-		navigation_poproute(this);
-		// TODO this may also be a nice idea to do "early" (e.g. by
-		// manipulating the vlen() comparisons) to shorten paths in
-		// general - this would make bots walk more "on rails" than
-		// "zigzagging" which they currently do with sufficiently
-		// random-like waypoints, and thus can make a nice bot
-		// personality property
+		vector dest = '0 0 0';
+		float dest_height = 0;
+		SET_TRACEWALK_DESTCOORDS(this.goalstack01, this.origin, dest, dest_height);
+		if(tracewalk(this, this.origin, this.mins, this.maxs, dest, dest_height, bot_navigation_movemode))
+		{
+			LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
+			navigation_poproute(this);
+			if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+				return;
+			// TODO this may also be a nice idea to do "early" (e.g. by
+			// manipulating the vlen() comparisons) to shorten paths in
+			// general - this would make bots walk more "on rails" than
+			// "zigzagging" which they currently do with sufficiently
+			// random-like waypoints, and thus can make a nice bot
+			// personality property
+		}
 	}
 
 	// Loose goal touching check when running
 	if(this.aistatus & AI_STATUS_RUNNING)
 	if(this.goalcurrent.classname=="waypoint")
-	if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
+	if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
 	{
 		if(vdist(this.origin - this.goalcurrent.origin, <, 150))
 		{
@@ -1057,6 +1394,8 @@ void navigation_poptouchedgoals(entity this)
 				}
 
 				navigation_poproute(this);
+				if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+					return;
 			}
 		}
 	}
@@ -1082,7 +1421,44 @@ void navigation_poptouchedgoals(entity this)
 		}
 
 		navigation_poproute(this);
+		if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
+			return;
+	}
+}
+
+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)
@@ -1093,9 +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)
@@ -1123,11 +1500,13 @@ void botframe_updatedangerousobjects(float maxupdate)
 	vector m1, m2, v, o;
 	float c, d, danger;
 	c = 0;
+	entity wp_cur;
 	IL_EACH(g_waypoints, true,
 	{
 		danger = 0;
 		m1 = it.absmin;
 		m2 = it.absmax;
+		wp_cur = it;
 		IL_EACH(g_bot_dodge, it.bot_dodge,
 		{
 			v = it.origin;
@@ -1135,7 +1514,7 @@ void botframe_updatedangerousobjects(float maxupdate)
 			v.y = bound(m1_y, v.y, m2_y);
 			v.z = bound(m1_z, v.z, m2_z);
 			o = (it.absmin + it.absmax) * 0.5;
-			d = waypoint_getdistancecost_simple(it.bot_dodgerating) - waypoint_getdistancecost(o, v);
+			d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
 			if (d > 0)
 			{
 				traceline(o, v, true, NULL);
@@ -1173,7 +1552,10 @@ void navigation_unstuck(entity this)
 		// evaluate the next goal on the queue
 		float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
 		LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
-		if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
+		vector dest = '0 0 0';
+		float dest_height = 0;
+		SET_TRACEWALK_DESTCOORDS(bot_waypoint_queue_goal, this.origin, dest, dest_height);
+		if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
 		{
 			if( d > bot_waypoint_queue_bestgoalrating)
 			{