1 #include "navigation.qh"
3 #include <server/defs.qh>
4 #include <server/miscfunctions.qh>
8 #include "waypoints.qh"
10 #include <common/t_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;
50 void navigation_goalrating_timeout_extend_if_needed(entity this, float seconds)
52 this.bot_strategytime = max(this.bot_strategytime, time + seconds);
55 #define MAX_CHASE_DISTANCE 700
56 bool navigation_goalrating_timeout_can_be_anticipated(entity this)
58 vector gco = (this.goalentity.absmin + this.goalentity.absmax) * 0.5;
59 if (vdist(gco - this.origin, >, autocvar_sv_maxspeed * 1.5)
60 && time > this.bot_strategytime - (IS_MOVABLE(this.goalentity) ? 3 : 2))
65 if (this.goalentity.bot_pickup && time > this.bot_strategytime - 5)
67 if(!havocbot_goalrating_item_pickable_check_players(this, this.origin, this.goalentity, gco))
69 this.ignoregoal = this.goalentity;
70 this.ignoregoaltime = time + autocvar_bot_ai_ignoregoal_timeout;
77 void navigation_dynamicgoal_init(entity this, bool initially_static)
79 this.navigation_dynamicgoal = true;
80 this.bot_basewaypoint = this.nearestwaypoint;
82 this.nearestwaypointtimeout = -1;
84 this.nearestwaypointtimeout = time;
87 void navigation_dynamicgoal_set(entity this, entity dropper)
89 this.nearestwaypointtimeout = time;
90 if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
91 this.nearestwaypoint = dropper.nearestwaypoint;
92 if (this.nearestwaypoint)
93 this.nearestwaypointtimeout += 2;
96 void navigation_dynamicgoal_unset(entity this)
98 if(this.bot_basewaypoint)
99 this.nearestwaypoint = this.bot_basewaypoint;
100 this.nearestwaypointtimeout = -1;
103 // returns point of ent closer to org
104 vector get_closer_dest(entity ent, vector org)
106 vector dest = '0 0 0';
107 if ((ent.classname != "waypoint") || ent.wpisbox)
109 vector wm1 = ent.origin + ent.mins;
110 vector wm2 = ent.origin + ent.maxs;
111 dest.x = bound(wm1.x, org.x, wm2.x);
112 dest.y = bound(wm1.y, org.y, wm2.y);
113 dest.z = bound(wm1.z, org.z, wm2.z);
120 void set_tracewalk_dest(entity ent, vector org, bool fix_player_dest)
122 if ((ent.classname != "waypoint") || ent.wpisbox)
124 vector wm1 = ent.origin + ent.mins;
125 vector wm2 = ent.origin + ent.maxs;
126 if (IS_PLAYER(ent) || IS_MONSTER(ent))
128 // move destination point out of player bbox otherwise tracebox always fails
129 // (if bot_navigation_ignoreplayers is false)
130 wm1 += vec2(PL_MIN_CONST) + '-1 -1 0';
131 wm2 += vec2(PL_MAX_CONST) + '1 1 0';
133 // set destination point to x and y coords of ent that are closer to org
134 // z coord is set to ent's min height
135 tracewalk_dest.x = bound(wm1.x, org.x, wm2.x);
136 tracewalk_dest.y = bound(wm1.y, org.y, wm2.y);
137 if ((IS_PLAYER(ent) || IS_MONSTER(ent))
138 && org.x == tracewalk_dest.x && org.y == tracewalk_dest.y && org.z > tracewalk_dest.z)
140 tracewalk_dest.z = wm2.z - PL_MIN_CONST.z;
141 tracewalk_dest_height = 0;
142 fix_player_dest = false;
146 tracewalk_dest.z = wm1.z;
147 tracewalk_dest_height = wm2.z - wm1.z;
152 tracewalk_dest = ent.origin;
153 tracewalk_dest_height = 0;
155 if (fix_player_dest && IS_PLAYER(ent) && !IS_ONGROUND(ent))
157 // snap player to the ground
158 if (org.x == tracewalk_dest.x && org.y == tracewalk_dest.y)
160 // bot is right under the player
161 tracebox(ent.origin, ent.mins, ent.maxs, ent.origin - '0 0 700', MOVE_NORMAL, ent);
162 tracewalk_dest = trace_endpos;
163 tracewalk_dest_height = 0;
167 tracebox(tracewalk_dest, ent.mins, ent.maxs, tracewalk_dest - '0 0 700', MOVE_NORMAL, ent);
168 if (!trace_startsolid && tracewalk_dest.z - trace_endpos.z > 0)
170 tracewalk_dest_height = tracewalk_dest.z - trace_endpos.z;
171 tracewalk_dest.z = trace_endpos.z;
177 // returns point of ent closer to org
178 vector set_tracewalk_dest_2(entity ent, vector org)
180 vector closer_dest = '0 0 0';
181 if ((ent.classname != "waypoint") || ent.wpisbox)
183 vector wm1 = ent.origin + ent.mins;
184 vector wm2 = ent.origin + ent.maxs;
185 closer_dest.x = bound(wm1.x, org.x, wm2.x);
186 closer_dest.y = bound(wm1.y, org.y, wm2.y);
187 closer_dest.z = bound(wm1.z, org.z, wm2.z);
188 // set destination point to x and y coords of ent that are closer to org
189 // z coord is set to ent's min height
190 tracewalk_dest.x = closer_dest.x;
191 tracewalk_dest.y = closer_dest.y;
192 tracewalk_dest.z = wm1.z;
193 tracewalk_dest_height = wm2.z - wm1.z; // destination height
197 closer_dest = ent.origin;
198 tracewalk_dest = closer_dest;
199 tracewalk_dest_height = 0;
204 bool navigation_check_submerged_state(entity ent, vector pos)
208 submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
209 else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
210 submerged = (ent.nav_submerged_state == SUBMERGED_YES);
213 submerged = SUBMERGED(pos);
214 // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
215 // is actually submerged because often they are inside some solid.
216 // That's why submerged state is saved now that we know current pos is
217 // not stuck in solid (previous tracewalk call to this pos was successfully)
218 if(!ent.navigation_dynamicgoal)
219 ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
224 bool navigation_checkladders(entity e, vector org, vector m1, vector m2, vector end, vector end2, int movemode)
226 IL_EACH(g_ladders, it.classname == "func_ladder",
229 if(boxesoverlap(org + m1 + '-1 -1 -1', org + m2 + '1 1 1', it.absmin, it.absmax))
230 if(boxesoverlap(end, end2, it.absmin + vec2(m1) + '-1 -1 0', it.absmax + vec2(m2) + '1 1 0'))
233 top.z = it.absmax.z + (PL_MAX_CONST.z - PL_MIN_CONST.z);
234 tracebox(org, m1, m2, top, movemode, e);
235 if(trace_fraction == 1)
242 vector resurface_limited(vector org, float lim, vector m1)
244 if (WETFEET(org + eZ * (lim - org.z)))
248 float RES_min_h = org.z;
249 float RES_max_h = lim;
251 org.z = 0.5 * (RES_min_h + RES_max_h);
256 } while (RES_max_h - RES_min_h >= 1);
261 #define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
264 #define NAV_SWIM_ONWATER 1
265 #define NAV_SWIM_UNDERWATER 2
267 // rough simulation of walking from one point to another to test if a path
268 // can be traveled, used for waypoint linking and havocbot
269 // if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
270 // INFO: the command sv_cmd trace walk is useful to test this function in game
271 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)
273 if(autocvar_bot_debug_tracewalk)
280 vector flatdir = end - start;
282 float flatdist = vlen(flatdir);
283 flatdir = normalize(flatdir);
285 bool ignorehazards = false;
288 // Analyze starting point
290 ignorehazards = true;
292 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
293 if (trace_startsolid)
296 if(autocvar_bot_debug_tracewalk)
297 debugnodestatus(start, DEBUG_NODE_FAIL);
299 //print("tracewalk: ", vtos(start), " is a bad start\n");
305 end2.z += end_height;
307 vector fixed_end = end;
310 if (flatdist > 0 && WETFEET(org))
313 nav_action = NAV_SWIM_UNDERWATER;
316 // tracebox down by player's height
317 // useful to know if water level is so low that bot can still walk
318 tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
319 if (SUBMERGED(trace_endpos))
322 nav_action = NAV_SWIM_UNDERWATER;
325 nav_action = NAV_WALK;
329 nav_action = NAV_WALK;
337 if (org.z > end2.z + 1)
339 tracebox(org, m1, m2, end2, movemode, e);
341 if (org.z > end2.z + 1)
344 else if (org.z < end.z - 1)
346 tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
347 if (SUBMERGED(trace_endpos))
349 vector v = trace_endpos;
350 tracebox(v, m1, m2, end, movemode, e);
351 if(trace_endpos.z >= end.z - 1)
353 RESURFACE_LIMITED(v, trace_endpos.z);
357 else if (trace_endpos.z > org.z - jumpheight_vec.z)
358 tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
360 if (org.z < end.z - 1)
367 if(autocvar_bot_debug_tracewalk)
370 debugnodestatus(org, DEBUG_NODE_SUCCESS);
373 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
378 if(autocvar_bot_debug_tracewalk)
384 if (stepdist > flatdist)
386 if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
388 // can't use movement direction here to calculate move because of
389 // precision errors especially when direction has a high enough z value
390 //water_dir = normalize(water_end - org);
391 //move = org + water_dir * stepdist;
392 fixed_end.z = bound(end.z, org.z, end2.z);
393 if (stepdist == flatdist) {
397 move = org + (fixed_end - org) * (stepdist / flatdist);
398 flatdist = vlen(vec2(fixed_end - move));
401 else // horiz. direction
403 flatdist -= stepdist;
404 move = org + flatdir * stepdist;
407 if(nav_action == NAV_SWIM_ONWATER)
409 tracebox(org, m1, m2, move, movemode, e); // swim
412 if (trace_fraction < 1)
415 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
417 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
420 if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
422 if(autocvar_bot_debug_tracewalk)
425 debugnodestatus(org, DEBUG_NODE_SUCCESS);
428 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
432 if(autocvar_bot_debug_tracewalk)
433 debugnodestatus(org, DEBUG_NODE_FAIL);
436 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
447 if (org.z <= move.z) // going horiz.
449 tracebox(trace_endpos, m1, m2, move, movemode, e);
451 nav_action = NAV_WALK;
456 if (org.z <= move.z) // going horiz.
459 nav_action = NAV_SWIM_ONWATER;
465 nav_action = NAV_SWIM_UNDERWATER;
467 nav_action = NAV_SWIM_ONWATER;
470 else if(nav_action == NAV_SWIM_UNDERWATER)
472 if (move.z >= org.z) // swimming upwards or horiz.
474 tracebox(org, m1, m2, move, movemode, e); // swim
476 bool stepswum = false;
479 if (trace_fraction < 1)
482 vector stepswim_move = move + stepheightvec;
483 if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
484 stepswim_move.z = end2.z;
486 tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
489 if (trace_startsolid)
491 if(autocvar_bot_debug_tracewalk)
492 debugnodestatus(org, DEBUG_NODE_FAIL);
494 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
498 if (trace_fraction < 1)
500 float org_z_prev = org.z;
501 RESURFACE_LIMITED(org, end2.z);
502 if(org.z == org_z_prev)
504 if(autocvar_bot_debug_tracewalk)
505 debugnodestatus(org, DEBUG_NODE_FAIL);
507 //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
511 nav_action = NAV_SWIM_UNDERWATER;
513 nav_action = NAV_SWIM_ONWATER;
515 // we didn't advance horiz. in this step, flatdist decrease should be reverted
516 // but we can't do it properly right now... apply this workaround instead
534 if (!WETFEET(trace_endpos))
536 tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
537 // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
538 if (!stepswum && SUBMERGED(trace_endpos))
540 RESURFACE_LIMITED(trace_endpos, end2.z);
542 nav_action = NAV_SWIM_ONWATER;
548 nav_action = NAV_WALK;
554 nav_action = NAV_SWIM_UNDERWATER;
557 else //if (move.z < org.z) // swimming downwards
559 tracebox(org, m1, m2, move, movemode, e); // swim
562 if (trace_fraction < 1)
565 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
568 if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
570 if(autocvar_bot_debug_tracewalk)
571 debugnodestatus(move, DEBUG_NODE_FAIL);
573 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
585 if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
587 // stepswim caused upwards direction
588 tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
589 if (!SUBMERGED(trace_endpos))
592 nav_action = NAV_WALK;
599 nav_action = NAV_SWIM_UNDERWATER;
603 else if(nav_action == NAV_WALK)
606 tracebox(org, m1, m2, move, movemode, e);
608 if(autocvar_bot_debug_tracewalk)
609 debugnode(e, trace_endpos);
612 if (trace_fraction < 1)
614 // check if we can walk over this obstacle, possibly by jumpstepping
615 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
616 if (trace_fraction < 1 || trace_startsolid)
618 if (trace_startsolid) // hit ceiling above org
620 // reduce stepwalk height
621 tracebox(org, m1, m2, org + stepheightvec, movemode, e);
622 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
624 else //if (trace_fraction < 1)
626 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
627 if (trace_startsolid) // hit ceiling above org
629 // reduce jumpstepwalk height
630 tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
631 tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
635 if (trace_fraction < 1)
637 vector v = trace_endpos;
638 v.z = org.z + jumpheight_vec.z;
639 if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
641 if(autocvar_bot_debug_tracewalk)
644 debugnodestatus(v, DEBUG_NODE_SUCCESS);
647 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
651 if(autocvar_bot_debug_tracewalk)
652 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
654 traceline( org, move, movemode, e);
656 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
660 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
662 nextmove = move + (flatdir * stepdist);
663 traceline( move, nextmove, movemode, e);
666 flatdist = vlen(vec2(end - move));
670 if(autocvar_bot_debug_tracewalk)
671 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
673 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
674 //te_explosion(trace_endpos);
675 //print(ftos(e.dphitcontentsmask), "\n");
676 return false; // failed
688 // trace down from stepheight as far as possible and move there,
689 // if this starts in solid we try again without the stepup, and
690 // if that also fails we assume it is a wall
691 // (this is the same logic as the Quake walkmove function used)
692 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
700 if(autocvar_bot_debug_tracewalk)
702 debugnode(e, trace_endpos);
703 debugnodestatus(org, DEBUG_NODE_FAIL);
706 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
713 if(move.z >= end2.z && org.z < end2.z)
718 if(org.z > move.z - 1 || !SUBMERGED(org))
720 nav_action = NAV_WALK;
724 // ended up submerged while walking
725 if(autocvar_bot_debug_tracewalk)
728 RESURFACE_LIMITED(org, move.z);
729 nav_action = NAV_SWIM_ONWATER;
734 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
736 // moved but didn't arrive at the intended destination
737 if(autocvar_bot_debug_tracewalk)
738 debugnodestatus(org, DEBUG_NODE_FAIL);
743 /////////////////////////////////////////////////////////////////////////////
745 /////////////////////////////////////////////////////////////////////////////
747 // completely empty the goal stack, used when deciding where to go
748 void navigation_clearroute(entity this)
750 this.lastteleporttime = 0;
751 this.goalcurrent_prev = this.goalcurrent;
752 this.goalcurrent_distance_2d = FLOAT_MAX;
753 this.goalcurrent_distance_z = FLOAT_MAX;
754 this.goalcurrent_distance_time = 0;
755 this.goalentity_lock_timeout = 0;
756 this.goalentity_shouldbefrozen = false;
757 this.goalentity = NULL;
758 this.goalcurrent = NULL;
759 this.goalstack01 = NULL;
760 this.goalstack02 = NULL;
761 this.goalstack03 = NULL;
762 this.goalstack04 = NULL;
763 this.goalstack05 = NULL;
764 this.goalstack06 = NULL;
765 this.goalstack07 = NULL;
766 this.goalstack08 = NULL;
767 this.goalstack09 = NULL;
768 this.goalstack10 = NULL;
769 this.goalstack11 = NULL;
770 this.goalstack12 = NULL;
771 this.goalstack13 = NULL;
772 this.goalstack14 = NULL;
773 this.goalstack15 = NULL;
774 this.goalstack16 = NULL;
775 this.goalstack17 = NULL;
776 this.goalstack18 = NULL;
777 this.goalstack19 = NULL;
778 this.goalstack20 = NULL;
779 this.goalstack21 = NULL;
780 this.goalstack22 = NULL;
781 this.goalstack23 = NULL;
782 this.goalstack24 = NULL;
783 this.goalstack25 = NULL;
784 this.goalstack26 = NULL;
785 this.goalstack27 = NULL;
786 this.goalstack28 = NULL;
787 this.goalstack29 = NULL;
788 this.goalstack30 = NULL;
789 this.goalstack31 = NULL;
792 // add a new goal at the beginning of the stack
793 // (in other words: add a new prerequisite before going to the later goals)
794 // NOTE: when a waypoint is added, the WP gets pushed first, then the
795 // next-closest WP on the shortest path to the WP
796 // That means, if the stack overflows, the bot will know how to do the FIRST 32
797 // steps to the goal, and then recalculate the path.
798 void navigation_pushroute(entity this, entity e)
800 this.goalcurrent_prev = this.goalcurrent;
801 this.goalcurrent_distance_2d = FLOAT_MAX;
802 this.goalcurrent_distance_z = FLOAT_MAX;
803 this.goalcurrent_distance_time = 0;
804 //print("bot ", etos(this), " push ", etos(e), "\n");
805 if(this.goalstack31 == this.goalentity)
806 this.goalentity = NULL;
807 this.goalstack31 = this.goalstack30;
808 this.goalstack30 = this.goalstack29;
809 this.goalstack29 = this.goalstack28;
810 this.goalstack28 = this.goalstack27;
811 this.goalstack27 = this.goalstack26;
812 this.goalstack26 = this.goalstack25;
813 this.goalstack25 = this.goalstack24;
814 this.goalstack24 = this.goalstack23;
815 this.goalstack23 = this.goalstack22;
816 this.goalstack22 = this.goalstack21;
817 this.goalstack21 = this.goalstack20;
818 this.goalstack20 = this.goalstack19;
819 this.goalstack19 = this.goalstack18;
820 this.goalstack18 = this.goalstack17;
821 this.goalstack17 = this.goalstack16;
822 this.goalstack16 = this.goalstack15;
823 this.goalstack15 = this.goalstack14;
824 this.goalstack14 = this.goalstack13;
825 this.goalstack13 = this.goalstack12;
826 this.goalstack12 = this.goalstack11;
827 this.goalstack11 = this.goalstack10;
828 this.goalstack10 = this.goalstack09;
829 this.goalstack09 = this.goalstack08;
830 this.goalstack08 = this.goalstack07;
831 this.goalstack07 = this.goalstack06;
832 this.goalstack06 = this.goalstack05;
833 this.goalstack05 = this.goalstack04;
834 this.goalstack04 = this.goalstack03;
835 this.goalstack03 = this.goalstack02;
836 this.goalstack02 = this.goalstack01;
837 this.goalstack01 = this.goalcurrent;
838 this.goalcurrent = e;
841 // remove first goal from stack
842 // (in other words: remove a prerequisite for reaching the later goals)
843 // (used when a spawnfunc_waypoint is reached)
844 void navigation_poproute(entity this)
846 this.goalcurrent_prev = this.goalcurrent;
847 this.goalcurrent_distance_2d = FLOAT_MAX;
848 this.goalcurrent_distance_z = FLOAT_MAX;
849 this.goalcurrent_distance_time = 0;
850 //print("bot ", etos(this), " pop\n");
851 if(this.goalcurrent == this.goalentity)
853 this.goalentity = NULL;
854 this.goalentity_lock_timeout = 0;
856 this.goalcurrent = this.goalstack01;
857 this.goalstack01 = this.goalstack02;
858 this.goalstack02 = this.goalstack03;
859 this.goalstack03 = this.goalstack04;
860 this.goalstack04 = this.goalstack05;
861 this.goalstack05 = this.goalstack06;
862 this.goalstack06 = this.goalstack07;
863 this.goalstack07 = this.goalstack08;
864 this.goalstack08 = this.goalstack09;
865 this.goalstack09 = this.goalstack10;
866 this.goalstack10 = this.goalstack11;
867 this.goalstack11 = this.goalstack12;
868 this.goalstack12 = this.goalstack13;
869 this.goalstack13 = this.goalstack14;
870 this.goalstack14 = this.goalstack15;
871 this.goalstack15 = this.goalstack16;
872 this.goalstack16 = this.goalstack17;
873 this.goalstack17 = this.goalstack18;
874 this.goalstack18 = this.goalstack19;
875 this.goalstack19 = this.goalstack20;
876 this.goalstack20 = this.goalstack21;
877 this.goalstack21 = this.goalstack22;
878 this.goalstack22 = this.goalstack23;
879 this.goalstack23 = this.goalstack24;
880 this.goalstack24 = this.goalstack25;
881 this.goalstack25 = this.goalstack26;
882 this.goalstack26 = this.goalstack27;
883 this.goalstack27 = this.goalstack28;
884 this.goalstack28 = this.goalstack29;
885 this.goalstack29 = this.goalstack30;
886 this.goalstack30 = this.goalstack31;
887 this.goalstack31 = NULL;
890 // walking to wp (walkfromwp == false) v2 and v2_height will be used as
891 // waypoint destination coordinates instead of v (only useful for box waypoints)
892 // for normal waypoints v2 == v and v2_height == 0
893 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)
895 if (vdist(v - org, <, bestdist))
897 traceline(v, org, true, ent);
898 if (trace_fraction == 1)
902 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
907 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
915 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
916 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
919 ent = ent.tag_entity;
921 vector pm1 = ent.origin + ent.mins;
922 vector pm2 = ent.origin + ent.maxs;
924 if (autocvar_g_waypointeditor && !IS_BOT_CLIENT(ent))
926 // this code allows removing waypoints in the air and seeing jumppad/telepport waypoint links
927 // FIXME it causes a bug where a waypoint spawned really close to another one (max 16 qu)
928 // isn't detected as the nearest waypoint
929 IL_EACH(g_waypoints, it != ent && it != except,
931 if (boxesoverlap(pm1, pm2, it.absmin, it.absmax))
937 // do two scans, because box test is cheaper
938 IL_EACH(g_waypoints, it != ent && it != except && !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
940 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
942 if(walkfromwp && !ent.navigation_dynamicgoal)
944 waypoint_clearlinks(ent); // initialize wpXXmincost fields
945 navigation_item_addlink(it, ent);
952 vector org = ent.origin;
953 if (navigation_testtracewalk)
959 if(ent.size && !IS_PLAYER(ent))
961 org += 0.5 * (ent.mins + ent.maxs);
962 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
965 if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
967 waypoint_clearlinks(ent); // initialize wpXXmincost fields
968 IL_EACH(g_waypoints, it != ent,
970 if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK))
973 set_tracewalk_dest(ent, it.origin, false);
974 if (vdist(tracewalk_dest - it.origin, <, 1050)
975 && tracewalk(ent, it.origin, PL_MIN_CONST, PL_MAX_CONST,
976 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
978 navigation_item_addlink(it, ent);
983 // box check failed, try walk
984 IL_EACH(g_waypoints, it != ent,
986 if (walkfromwp && (it.wpflags & WPFLAGMASK_NORELINK))
992 set_tracewalk_dest(ent, v, true);
993 if (trace_ent == ent)
1001 set_tracewalk_dest(it, org, false);
1003 if (navigation_waypoint_will_link(v, org, ent,
1004 tracewalk_dest, tracewalk_dest_height,
1005 tracewalk_dest, tracewalk_dest_height, walkfromwp, bestdist))
1008 bestdist = vlen(tracewalk_dest - v);
1010 bestdist = vlen(v - org);
1014 if(!best && !ent.navigation_dynamicgoal)
1016 int solid_save = ent.solid;
1017 ent.solid = SOLID_BSP;
1018 IL_EACH(g_jumppads, true,
1020 if(trigger_push_test(it, ent))
1022 best = it.nearestwaypoint;
1026 ent.solid = solid_save;
1030 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
1032 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
1033 if (autocvar_g_waypointeditor_auto)
1035 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
1037 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
1042 // finds the waypoints near the bot initiating a navigation query
1043 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
1045 //navigation_testtracewalk = true;
1047 IL_EACH(g_waypoints, !it.wpconsidered,
1049 set_tracewalk_dest(it, this.origin, false);
1051 vector diff = tracewalk_dest - this.origin;
1052 diff.z = max(0, diff.z);
1053 if(vdist(diff, <, maxdist))
1055 it.wpconsidered = true;
1056 if (tracewalk(this, this.origin, this.mins, this.maxs,
1057 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1059 it.wpnearestpoint = tracewalk_dest;
1060 it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
1067 //navigation_testtracewalk = false;
1071 // updates a path link if a spawnfunc_waypoint link is better than the current one
1072 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost, vector p)
1078 m1 = wp.origin + wp.mins;
1079 m2 = wp.origin + wp.maxs;
1080 v.x = bound(m1_x, p.x, m2_x);
1081 v.y = bound(m1_y, p.y, m2_y);
1082 v.z = bound(m1_z, p.z, m2_z);
1086 if (w.wpflags & WAYPOINTFLAG_TELEPORT)
1087 cost += w.wp00mincost; // assuming teleport has exactly one destination
1089 cost += waypoint_gettravelcost(p, v, w, wp);
1090 if (wp.wpcost > cost)
1095 wp.wpnearestpoint = v;
1099 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
1100 void navigation_markroutes(entity this, entity fixed_source_waypoint)
1105 IL_EACH(g_waypoints, true,
1107 it.wpconsidered = false;
1108 it.wpnearestpoint = '0 0 0';
1109 it.wpcost = 10000000;
1114 if(fixed_source_waypoint)
1116 fixed_source_waypoint.wpconsidered = true;
1117 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1118 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
1119 fixed_source_waypoint.wpfire = 1;
1120 fixed_source_waypoint.enemy = NULL;
1124 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
1125 // as this search is expensive we will use lower values if the bot is on the air
1126 float increment, maxdistance;
1127 if(IS_ONGROUND(this))
1130 maxdistance = 50000;
1138 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
1141 bool searching = true;
1145 IL_EACH(g_waypoints, it.wpfire,
1150 p = it.wpnearestpoint;
1152 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1153 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1154 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1155 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1156 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1157 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1158 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1159 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1160 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1161 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1162 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1163 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1164 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1165 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1166 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1167 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1168 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1169 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1170 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1171 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1172 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1173 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1174 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1175 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1176 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1177 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1178 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1179 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1180 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1181 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1182 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1183 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
1184 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
1189 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
1190 void navigation_markroutes_inverted(entity fixed_source_waypoint)
1194 IL_EACH(g_waypoints, true,
1196 it.wpconsidered = false;
1197 it.wpnearestpoint = '0 0 0';
1198 it.wpcost = 10000000;
1203 if(fixed_source_waypoint)
1205 fixed_source_waypoint.wpconsidered = true;
1206 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
1207 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
1208 fixed_source_waypoint.wpfire = 1;
1209 fixed_source_waypoint.enemy = NULL;
1213 error("need to start with a waypoint\n");
1216 bool searching = true;
1220 IL_EACH(g_waypoints, it.wpfire,
1224 cost = it.wpcost; // cost to walk from it to home
1225 p = it.wpnearestpoint;
1227 IL_EACH(g_waypoints, it != wp,
1229 if(!waypoint_islinked(it, wp))
1231 cost2 = cost + it.dmg;
1232 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
1238 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
1239 void navigation_routerating(entity this, entity e, float f, float rangebias)
1241 if (!e || e.blacklisted) { return; }
1243 rangebias = waypoint_getlinearcost(rangebias);
1244 f = waypoint_getlinearcost(f);
1248 bool rate_wps = false;
1249 if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
1250 || (e.flags & FL_PARTIALGROUND))
1257 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
1258 int t = pointcontents(trace_endpos + '0 0 1');
1259 if(t != CONTENT_SOLID )
1261 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
1263 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
1270 entity theEnemy = e;
1271 entity best_wp = NULL;
1272 float best_dist = FLOAT_MAX;
1273 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
1274 && vdist(it.origin - theEnemy.origin, <, 500)
1275 && vdist(it.origin - this.origin, >, 100)
1276 && vdist(it.origin - this.origin, <, 10000),
1278 float dist = vlen2(it.origin - theEnemy.origin);
1279 if (dist < best_dist)
1291 vector goal_org = (e.absmin + e.absmax) * 0.5;
1293 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
1295 // Evaluate path using jetpack
1296 if(this.items & IT_JETPACK)
1297 if(autocvar_bot_ai_navigation_jetpack)
1298 if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
1300 vector pointa, pointb;
1302 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
1305 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
1306 pointa = trace_endpos - '0 0 1';
1309 traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
1310 pointb = trace_endpos - '0 0 1';
1312 // Can I see these two points from the sky?
1313 traceline(pointa, pointb, MOVE_NORMAL, this);
1315 if(trace_fraction==1)
1317 LOG_DEBUG("jetpack ai: can bridge these two points");
1319 // Lower the altitude of these points as much as possible
1320 float zdistance, xydistance, cost, t, fuel;
1321 vector down, npa, npb;
1323 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
1326 npa = pointa + down;
1327 npb = pointb + down;
1329 if(npa.z<=this.absmax.z)
1332 if(npb.z<=e.absmax.z)
1335 traceline(npa, npb, MOVE_NORMAL, this);
1336 if(trace_fraction==1)
1342 while(trace_fraction == 1);
1345 // Rough estimation of fuel consumption
1346 // (ignores acceleration and current xyz velocity)
1347 xydistance = vlen(pointa - pointb);
1348 zdistance = fabs(pointa.z - this.origin.z);
1350 t = zdistance / autocvar_g_jetpack_maxspeed_up;
1351 t += xydistance / autocvar_g_jetpack_maxspeed_side;
1352 fuel = t * autocvar_g_jetpack_fuel * 0.8;
1354 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));
1357 if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO))
1360 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
1361 // - between air and ground speeds)
1363 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
1364 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
1367 // Compare against other goals
1368 f = f * rangebias / (rangebias + cost);
1370 if (navigation_bestrating < f)
1372 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
1373 navigation_bestrating = f;
1374 navigation_bestgoal = e;
1375 this.navigation_jetpack_goal = e;
1376 this.navigation_jetpack_point = pointb;
1384 //te_wizspike(e.origin);
1387 // update the cached spawnfunc_waypoint link on a dynamic item entity
1388 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1394 if(autocvar_g_waypointeditor && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1395 e.nearestwaypoint = NULL;
1397 if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
1398 && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
1400 if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
1401 e.nearestwaypoint = nwp = e.goalcurrent;
1403 e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
1406 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
1408 if(!e.navigation_dynamicgoal)
1409 e.blacklisted = true;
1413 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
1418 if(e.navigation_dynamicgoal)
1419 e.nearestwaypointtimeout = time + 2;
1420 else if(autocvar_g_waypointeditor)
1421 e.nearestwaypointtimeout = time + 3 + random() * 2;
1423 nwp = e.nearestwaypoint;
1426 if (nwp && nwp.wpcost < 10000000)
1428 //te_wizspike(nwp.wpnearestpoint);
1429 float nwptoitem_cost = 0;
1430 if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
1431 nwptoitem_cost = nwp.wp00mincost;
1433 nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
1434 float cost = nwp.wpcost + nwptoitem_cost;
1435 LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
1436 f = f * rangebias / (rangebias + cost);
1437 LOG_DEBUG(" ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
1438 if (navigation_bestrating < f)
1440 LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
1441 navigation_bestrating = f;
1442 navigation_bestgoal = e;
1447 // adds an item to the the goal stack with the path to a given item
1448 bool navigation_routetogoal(entity this, entity e, vector startposition)
1450 // if there is no goal, just exit
1454 entity teleport_goal = NULL;
1456 this.goalentity = e;
1458 if(e.wpflags & WAYPOINTFLAG_TELEPORT)
1460 // force teleport destination as route destination
1462 navigation_pushroute(this, e.wp00);
1463 this.goalentity = e.wp00;
1466 // put the entity on the goal stack
1467 //print("routetogoal ", etos(e), "\n");
1468 navigation_pushroute(this, e);
1471 e = this.goalentity;
1473 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
1475 this.wp_goal_prev1 = this.wp_goal_prev0;
1476 this.wp_goal_prev0 = e;
1480 if(e==this.navigation_jetpack_goal)
1483 // if it can reach the goal there is nothing more to do
1484 set_tracewalk_dest(e, startposition, true);
1485 if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
1486 && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
1487 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1492 entity nearest_wp = NULL;
1493 // see if there are waypoints describing a path to the item
1494 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
1496 e = e.nearestwaypoint;
1499 else if(teleport_goal)
1502 e = e.enemy; // we already have added it, so...
1507 if(nearest_wp && nearest_wp.enemy)
1509 // often path can be optimized by not adding the nearest waypoint
1510 if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
1512 if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
1514 if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
1515 e = nearest_wp.enemy;
1518 set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
1519 if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
1520 && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
1521 && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1522 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
1524 e = nearest_wp.enemy;
1529 else if(navigation_item_islinked(nearest_wp.enemy, this.goalentity))
1530 e = nearest_wp.enemy;
1535 // add the spawnfunc_waypoint to the path
1536 navigation_pushroute(this, e);
1546 // shorten path by removing intermediate goals
1547 bool navigation_shortenpath(entity this)
1549 if (!this.goalstack01 || wasfreed(this.goalstack01))
1551 if (this.bot_tracewalk_time > time)
1553 this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;
1555 bool cut_allowed = false;
1556 entity next = this.goalentity;
1557 // evaluate whether bot can discard current route and chase directly a player, trying to
1558 // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
1559 if (IS_MOVABLE(next))
1561 set_tracewalk_dest(next, this.origin, true);
1562 if (vdist(this.origin - tracewalk_dest, <, 200))
1564 else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
1565 && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
1566 && vdist(this.origin - this.goalcurrent.origin, >, 100)
1567 && checkpvs(this.origin + this.view_ofs, next))
1569 if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
1573 vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
1574 while (deviation.y < -180) deviation.y += 360;
1575 while (deviation.y > 180) deviation.y -= 360;
1576 if (fabs(deviation.y) > 25)
1582 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1583 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1585 LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
1588 navigation_poproute(this);
1590 while (this.goalcurrent != next);
1597 next = this.goalstack01;
1598 // if for some reason the bot is closer to the next goal, pop the current one
1599 if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP))
1600 && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
1601 && checkpvs(this.origin + this.view_ofs, next))
1603 set_tracewalk_dest(next, this.origin, true);
1609 if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
1610 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1612 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
1613 navigation_poproute(this);
1620 // removes any currently touching waypoints from the goal stack
1621 // (this is how bots detect if they reached a goal)
1622 int navigation_poptouchedgoals(entity this)
1624 int removed_goals = 0;
1626 if(!this.goalcurrent)
1627 return removed_goals;
1629 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1631 if (!this.goalcurrent.wpisbox // warpzone
1632 && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
1634 // immediately remove origin and destination waypoints
1635 navigation_poproute(this);
1637 navigation_poproute(this);
1639 this.lastteleporttime = 0;
1642 // make sure jumppad is really hit, don't rely on distance based checks
1643 // as they may report a touch even if it didn't really happen
1644 if(this.lastteleporttime > 0 && TELEPORT_USED(this, this.goalcurrent))
1646 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1647 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1649 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1650 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1652 if(this.jumppadcount)
1654 // remove jumppad waypoint after a random delay to prevent bots getting
1655 // stuck on certain jumppads that require an extra initial horizontal speed
1656 float max_delay = 0.1;
1657 if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
1659 if (time - this.lastteleporttime < random() * max_delay)
1660 return removed_goals;
1662 else if (this.goalcurrent.wpisbox) // teleport
1664 // immediately remove origin and destination waypoints
1665 navigation_poproute(this);
1668 navigation_poproute(this);
1669 this.lastteleporttime = 0;
1672 return removed_goals;
1674 else if (this.lastteleporttime > 0)
1676 // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
1677 // teleport / jumppad / warpzone present in its path skipping check of one or more goals
1678 // if so immediately fix bot path by removing skipped goals
1679 entity tele_ent = NULL;
1680 if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
1681 tele_ent = this.goalstack01;
1682 else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
1683 tele_ent = this.goalstack02;
1684 else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
1685 tele_ent = this.goalstack03;
1686 if (tele_ent && TELEPORT_USED(this, tele_ent))
1688 if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1689 if (tele_ent.wpflags & WAYPOINTFLAG_PERSONAL && tele_ent.owner == this)
1691 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1692 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1694 while (this.goalcurrent != tele_ent)
1696 navigation_poproute(this);
1699 navigation_poproute(this);
1700 this.lastteleporttime = 0;
1702 return removed_goals;
1704 // reset of lastteleporttime can be overriden by a jumppad when it's set
1705 // in more than one frame: make sure it's reset
1706 this.lastteleporttime = 0;
1709 // Loose goal touching check when running
1710 if(this.aistatus & AI_STATUS_RUNNING)
1711 if(this.goalcurrent.classname=="waypoint")
1712 if(vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed)) // if -really- running
1714 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
1716 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
1717 if(trace_fraction==1)
1719 // Detect personal waypoints
1720 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1721 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1723 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1724 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1727 navigation_poproute(this);
1729 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1730 return removed_goals;
1735 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
1737 vector gc_min = this.goalcurrent.absmin;
1738 vector gc_max = this.goalcurrent.absmax;
1739 if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox)
1741 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
1742 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
1744 if (time < this.ladder_time)
1746 if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
1751 if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
1755 // Detect personal waypoints
1756 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1757 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1759 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1760 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1763 navigation_poproute(this);
1765 if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
1766 return removed_goals;
1768 return removed_goals;
1771 entity navigation_get_really_close_waypoint(entity this)
1773 entity wp = this.goalcurrent;
1775 wp = this.goalcurrent_prev;
1778 if(wp != this.goalcurrent_prev && vdist(wp.origin - this.origin, >, 50))
1780 wp = this.goalcurrent_prev;
1784 if(wp.classname != "waypoint")
1786 wp = wp.nearestwaypoint;
1790 if(vdist(wp.origin - this.origin, >, 50))
1793 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP)),
1795 if(vdist(it.origin - this.origin, <, 50))
1804 if(wp.wpflags & WAYPOINTFLAG_TELEPORT)
1807 set_tracewalk_dest(wp, this.origin, false);
1808 if (!tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1809 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1816 // begin a goal selection session (queries spawnfunc_waypoint network)
1817 void navigation_goalrating_start(entity this)
1819 if(this.aistatus & AI_STATUS_STUCK)
1822 this.navigation_jetpack_goal = NULL;
1823 navigation_bestrating = -1;
1824 entity wp = navigation_get_really_close_waypoint(this);
1825 navigation_clearroute(this);
1826 navigation_bestgoal = NULL;
1827 navigation_markroutes(this, wp);
1828 this.goalstack31 = wp; // temporarly save the really close waypoint
1831 // ends a goal selection session (updates goal stack to the best goal)
1832 void navigation_goalrating_end(entity this)
1834 if(this.aistatus & AI_STATUS_STUCK)
1837 entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
1838 this.goalstack31 = NULL;
1840 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1841 LOG_DEBUG("best goal ", navigation_bestgoal.classname);
1843 if (wp && this.goalcurrent == wp)
1844 navigation_poproute(this);
1846 // If the bot got stuck then try to reach the farthest waypoint
1847 if (!this.goalentity)
1849 if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
1851 LOG_DEBUG(this.netname, " cannot walk to any goal");
1852 this.aistatus |= AI_STATUS_STUCK;
1854 this.goalentity_shouldbefrozen = false;
1857 this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
1860 void botframe_updatedangerousobjects(float maxupdate)
1862 vector m1, m2, v, o;
1866 IL_EACH(g_waypoints, true,
1872 IL_EACH(g_bot_dodge, it.bot_dodge,
1875 v.x = bound(m1_x, v.x, m2_x);
1876 v.y = bound(m1_y, v.y, m2_y);
1877 v.z = bound(m1_z, v.z, m2_z);
1878 o = (it.absmin + it.absmax) * 0.5;
1879 d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
1882 traceline(o, v, true, NULL);
1883 if (trace_fraction == 1)
1884 danger = danger + d;
1894 void navigation_unstuck(entity this)
1896 if (!autocvar_bot_wander_enable)
1899 bool has_user_waypoints = false;
1900 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
1902 has_user_waypoints = true;
1905 if (!has_user_waypoints)
1908 float search_radius = 1000;
1910 if (!bot_waypoint_queue_owner)
1912 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1913 bot_waypoint_queue_owner = this;
1914 bot_waypoint_queue_bestgoal = NULL;
1915 bot_waypoint_queue_bestgoalrating = 0;
1918 if(bot_waypoint_queue_owner!=this)
1921 if (bot_waypoint_queue_goal)
1923 // evaluate the next goal on the queue
1924 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1925 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with squared distance ", ftos(d));
1926 set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
1927 if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
1928 tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
1930 if( d > bot_waypoint_queue_bestgoalrating)
1932 bot_waypoint_queue_bestgoalrating = d;
1933 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1937 // move to a random waypoint while bot is searching for a walkable path;
1938 // this is usually sufficient to unstuck bots from bad spots or when other
1939 // bots of the same team block all their ways
1940 if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
1942 navigation_clearroute(this);
1943 navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
1944 navigation_goalrating_timeout_expire(this, 1 + random() * 2);
1947 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1949 if (!bot_waypoint_queue_goal)
1951 if (bot_waypoint_queue_bestgoal)
1953 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1954 navigation_clearroute(this);
1955 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1956 navigation_goalrating_timeout_set(this);
1957 this.aistatus &= ~AI_STATUS_STUCK;
1961 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1964 bot_waypoint_queue_owner = NULL;
1969 if(bot_strategytoken!=this)
1972 // build a new queue
1973 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1975 entity first = NULL;
1977 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1979 if(bot_waypoint_queue_goal)
1980 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1984 bot_waypoint_queue_goal = it;
1985 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1989 bot_waypoint_queue_goal = first;
1992 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1993 bot_waypoint_queue_owner = NULL;
1998 // Support for debugging tracewalk visually
2000 void debugresetnodes()
2002 debuglastnode = '0 0 0';
2005 void debugnode(entity this, vector node)
2007 if (!IS_PLAYER(this))
2010 if(debuglastnode=='0 0 0')
2012 debuglastnode = node;
2016 te_lightning2(NULL, node, debuglastnode);
2017 debuglastnode = node;
2020 void debugnodestatus(vector position, float status)
2026 case DEBUG_NODE_SUCCESS:
2029 case DEBUG_NODE_WARNING:
2032 case DEBUG_NODE_FAIL:
2039 te_customflash(position, 40, 2, c);
2042 // Support for debugging the goal stack visually
2045 .vector lastposition;
2047 // Debug the goal stack visually
2048 void debuggoalstack(entity this)
2053 if(this.goalcounter==0)goal=this.goalcurrent;
2054 else if(this.goalcounter==1)goal=this.goalstack01;
2055 else if(this.goalcounter==2)goal=this.goalstack02;
2056 else if(this.goalcounter==3)goal=this.goalstack03;
2057 else if(this.goalcounter==4)goal=this.goalstack04;
2058 else if(this.goalcounter==5)goal=this.goalstack05;
2059 else if(this.goalcounter==6)goal=this.goalstack06;
2060 else if(this.goalcounter==7)goal=this.goalstack07;
2061 else if(this.goalcounter==8)goal=this.goalstack08;
2062 else if(this.goalcounter==9)goal=this.goalstack09;
2063 else if(this.goalcounter==10)goal=this.goalstack10;
2064 else if(this.goalcounter==11)goal=this.goalstack11;
2065 else if(this.goalcounter==12)goal=this.goalstack12;
2066 else if(this.goalcounter==13)goal=this.goalstack13;
2067 else if(this.goalcounter==14)goal=this.goalstack14;
2068 else if(this.goalcounter==15)goal=this.goalstack15;
2069 else if(this.goalcounter==16)goal=this.goalstack16;
2070 else if(this.goalcounter==17)goal=this.goalstack17;
2071 else if(this.goalcounter==18)goal=this.goalstack18;
2072 else if(this.goalcounter==19)goal=this.goalstack19;
2073 else if(this.goalcounter==20)goal=this.goalstack20;
2074 else if(this.goalcounter==21)goal=this.goalstack21;
2075 else if(this.goalcounter==22)goal=this.goalstack22;
2076 else if(this.goalcounter==23)goal=this.goalstack23;
2077 else if(this.goalcounter==24)goal=this.goalstack24;
2078 else if(this.goalcounter==25)goal=this.goalstack25;
2079 else if(this.goalcounter==26)goal=this.goalstack26;
2080 else if(this.goalcounter==27)goal=this.goalstack27;
2081 else if(this.goalcounter==28)goal=this.goalstack28;
2082 else if(this.goalcounter==29)goal=this.goalstack29;
2083 else if(this.goalcounter==30)goal=this.goalstack30;
2084 else if(this.goalcounter==31)goal=this.goalstack31;
2089 this.goalcounter = 0;
2090 this.lastposition='0 0 0';
2094 if(this.lastposition=='0 0 0')
2097 org = this.lastposition;
2100 go = ( goal.absmin + goal.absmax ) * 0.5;
2101 te_lightning2(NULL, org, go);
2102 this.lastposition = go;