qcsrc/server/bot/navigation.qc

   1 #include "navigation.qh"
   2 #include "../_.qh"
   3
   4 #include "bot.qh"
   5 #include "waypoints.qh"
   6
   7 #include "../t_items.qh"
   8
   9 #include "../../common/constants.qh"
  10
  11 void bot_debug(string input)
  12 {
  13         switch(autocvar_bot_debug)
  14         {
  15                 case 1: dprint(input); break;
  16                 case 2: print(input); break;
  17         }
  18 }
  19
  20 // rough simulation of walking from one point to another to test if a path
  21 // can be traveled, used for waypoint linking and havocbot
  22
  23 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
  24 {
  25         vector org;
  26         vector move;
  27         vector dir;
  28         float dist;
  29         float totaldist;
  30         float stepdist;
  31         float yaw;
  32         float ignorehazards;
  33         float swimming;
  34
  35         if(autocvar_bot_debug_tracewalk)
  36         {
  37                 debugresetnodes();
  38                 debugnode(start);
  39         }
  40
  41         move = end - start;
  42         move.z = 0;
  43         org = start;
  44         dist = totaldist = vlen(move);
  45         dir = normalize(move);
  46         stepdist = 32;
  47         ignorehazards = false;
  48         swimming = false;
  49
  50         // Analyze starting point
  51         traceline(start, start, MOVE_NORMAL, e);
  52         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  53                 ignorehazards = true;
  54         else
  55         {
  56                 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
  57                 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
  58                 {
  59                         ignorehazards = true;
  60                         swimming = true;
  61                 }
  62         }
  63         tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
  64         if (trace_startsolid)
  65         {
  66                 // Bad start
  67                 if(autocvar_bot_debug_tracewalk)
  68                         debugnodestatus(start, DEBUG_NODE_FAIL);
  69
  70                 //print("tracewalk: ", vtos(start), " is a bad start\n");
  71                 return false;
  72         }
  73
  74         // Movement loop
  75         yaw = vectoyaw(move);
  76         move = end - org;
  77         for (;;)
  78         {
  79                 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
  80                 {
  81                         // Succeeded
  82                         if(autocvar_bot_debug_tracewalk)
  83                                 debugnodestatus(org, DEBUG_NODE_SUCCESS);
  84
  85                         //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
  86                         return true;
  87                 }
  88                 if(autocvar_bot_debug_tracewalk)
  89                         debugnode(org);
  90
  91                 if (dist <= 0)
  92                         break;
  93                 if (stepdist > dist)
  94                         stepdist = dist;
  95                 dist = dist - stepdist;
  96                 traceline(org, org, MOVE_NORMAL, e);
  97                 if (!ignorehazards)
  98                 {
  99                         if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
 100                         {
 101                                 // hazards blocking path
 102                                 if(autocvar_bot_debug_tracewalk)
 103                                         debugnodestatus(org, DEBUG_NODE_FAIL);
 104
 105                                 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
 106                                 return false;
 107                         }
 108                 }
 109                 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
 110                 {
 111                         move = normalize(end - org);
 112                         tracebox(org, m1, m2, org + move * stepdist, movemode, e);
 113
 114                         if(autocvar_bot_debug_tracewalk)
 115                                 debugnode(trace_endpos);
 116
 117                         if (trace_fraction < 1)
 118                         {
 119                                 swimming = true;
 120                                 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
 121                                 for (; org.z < end.z + self.maxs.z; org.z += stepdist)
 122                                 {
 123                                                 if(autocvar_bot_debug_tracewalk)
 124                                                         debugnode(org);
 125
 126                                         if(pointcontents(org) == CONTENT_EMPTY)
 127                                                         break;
 128                                 }
 129
 130                                 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
 131                                 {
 132                                         if(autocvar_bot_debug_tracewalk)
 133                                                 debugnodestatus(org, DEBUG_NODE_FAIL);
 134
 135                                         return false;
 136                                         //print("tracewalk: ", vtos(start), " failed under water\n");
 137                                 }
 138                                 continue;
 139
 140                         }
 141                         else
 142                                 org = trace_endpos;
 143                 }
 144                 else
 145                 {
 146                         move = dir * stepdist + org;
 147                         tracebox(org, m1, m2, move, movemode, e);
 148
 149                         if(autocvar_bot_debug_tracewalk)
 150                                 debugnode(trace_endpos);
 151
 152                         // hit something
 153                         if (trace_fraction < 1)
 154                         {
 155                                 // check if we can walk over this obstacle, possibly by jumpstepping
 156                                 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
 157                                 if (trace_fraction < 1 || trace_startsolid)
 158                                 {
 159                                         tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
 160                                         if (trace_fraction < 1 || trace_startsolid)
 161                                         {
 162                                                 if(autocvar_bot_debug_tracewalk)
 163                                                         debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
 164
 165                                                 // check for doors
 166                                                 traceline( org, move, movemode, e);
 167                                                 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 168                                                 {
 169                                                         vector nextmove;
 170                                                         move = trace_endpos;
 171                                                         while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
 172                                                         {
 173                                                                 nextmove = move + (dir * stepdist);
 174                                                                 traceline( move, nextmove, movemode, e);
 175                                                                 move = nextmove;
 176                                                         }
 177                                                 }
 178                                                 else
 179                                                 {
 180                                                         if(autocvar_bot_debug_tracewalk)
 181                                                                 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
 182
 183                                                         //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
 184                                                         //te_explosion(trace_endpos);
 185                                                         //print(ftos(e.dphitcontentsmask), "\n");
 186                                                         return false; // failed
 187                                                 }
 188                                         }
 189                                         else
 190                                                 move = trace_endpos;
 191                                 }
 192                                 else
 193                                         move = trace_endpos;
 194                         }
 195                         else
 196                                 move = trace_endpos;
 197
 198                         // trace down from stepheight as far as possible and move there,
 199                         // if this starts in solid we try again without the stepup, and
 200                         // if that also fails we assume it is a wall
 201                         // (this is the same logic as the Quake walkmove function used)
 202                         tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
 203
 204                         // moved successfully
 205                         if(swimming)
 206                         {
 207                                 float c;
 208                                 c = pointcontents(org + '0 0 1');
 209                                 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
 210                                         swimming = false;
 211                                 else
 212                                         continue;
 213                         }
 214
 215                         org = trace_endpos;
 216                 }
 217         }
 218
 219         //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
 220
 221         // moved but didn't arrive at the intended destination
 222         if(autocvar_bot_debug_tracewalk)
 223                 debugnodestatus(org, DEBUG_NODE_FAIL);
 224
 225         return false;
 226 }
 227
 228 /////////////////////////////////////////////////////////////////////////////
 229 // goal stack
 230 /////////////////////////////////////////////////////////////////////////////
 231
 232 // completely empty the goal stack, used when deciding where to go
 233 void navigation_clearroute()
 234 {
 235         //print("bot ", etos(self), " clear\n");
 236         self.navigation_hasgoals = false;
 237         self.goalcurrent = world;
 238         self.goalstack01 = world;
 239         self.goalstack02 = world;
 240         self.goalstack03 = world;
 241         self.goalstack04 = world;
 242         self.goalstack05 = world;
 243         self.goalstack06 = world;
 244         self.goalstack07 = world;
 245         self.goalstack08 = world;
 246         self.goalstack09 = world;
 247         self.goalstack10 = world;
 248         self.goalstack11 = world;
 249         self.goalstack12 = world;
 250         self.goalstack13 = world;
 251         self.goalstack14 = world;
 252         self.goalstack15 = world;
 253         self.goalstack16 = world;
 254         self.goalstack17 = world;
 255         self.goalstack18 = world;
 256         self.goalstack19 = world;
 257         self.goalstack20 = world;
 258         self.goalstack21 = world;
 259         self.goalstack22 = world;
 260         self.goalstack23 = world;
 261         self.goalstack24 = world;
 262         self.goalstack25 = world;
 263         self.goalstack26 = world;
 264         self.goalstack27 = world;
 265         self.goalstack28 = world;
 266         self.goalstack29 = world;
 267         self.goalstack30 = world;
 268         self.goalstack31 = world;
 269 }
 270
 271 // add a new goal at the beginning of the stack
 272 // (in other words: add a new prerequisite before going to the later goals)
 273 // NOTE: when a waypoint is added, the WP gets pushed first, then the
 274 // next-closest WP on the shortest path to the WP
 275 // That means, if the stack overflows, the bot will know how to do the FIRST 32
 276 // steps to the goal, and then recalculate the path.
 277 void navigation_pushroute(entity e)
 278 {
 279         //print("bot ", etos(self), " push ", etos(e), "\n");
 280         self.goalstack31 = self.goalstack30;
 281         self.goalstack30 = self.goalstack29;
 282         self.goalstack29 = self.goalstack28;
 283         self.goalstack28 = self.goalstack27;
 284         self.goalstack27 = self.goalstack26;
 285         self.goalstack26 = self.goalstack25;
 286         self.goalstack25 = self.goalstack24;
 287         self.goalstack24 = self.goalstack23;
 288         self.goalstack23 = self.goalstack22;
 289         self.goalstack22 = self.goalstack21;
 290         self.goalstack21 = self.goalstack20;
 291         self.goalstack20 = self.goalstack19;
 292         self.goalstack19 = self.goalstack18;
 293         self.goalstack18 = self.goalstack17;
 294         self.goalstack17 = self.goalstack16;
 295         self.goalstack16 = self.goalstack15;
 296         self.goalstack15 = self.goalstack14;
 297         self.goalstack14 = self.goalstack13;
 298         self.goalstack13 = self.goalstack12;
 299         self.goalstack12 = self.goalstack11;
 300         self.goalstack11 = self.goalstack10;
 301         self.goalstack10 = self.goalstack09;
 302         self.goalstack09 = self.goalstack08;
 303         self.goalstack08 = self.goalstack07;
 304         self.goalstack07 = self.goalstack06;
 305         self.goalstack06 = self.goalstack05;
 306         self.goalstack05 = self.goalstack04;
 307         self.goalstack04 = self.goalstack03;
 308         self.goalstack03 = self.goalstack02;
 309         self.goalstack02 = self.goalstack01;
 310         self.goalstack01 = self.goalcurrent;
 311         self.goalcurrent = e;
 312 }
 313
 314 // remove first goal from stack
 315 // (in other words: remove a prerequisite for reaching the later goals)
 316 // (used when a spawnfunc_waypoint is reached)
 317 void navigation_poproute()
 318 {
 319         //print("bot ", etos(self), " pop\n");
 320         self.goalcurrent = self.goalstack01;
 321         self.goalstack01 = self.goalstack02;
 322         self.goalstack02 = self.goalstack03;
 323         self.goalstack03 = self.goalstack04;
 324         self.goalstack04 = self.goalstack05;
 325         self.goalstack05 = self.goalstack06;
 326         self.goalstack06 = self.goalstack07;
 327         self.goalstack07 = self.goalstack08;
 328         self.goalstack08 = self.goalstack09;
 329         self.goalstack09 = self.goalstack10;
 330         self.goalstack10 = self.goalstack11;
 331         self.goalstack11 = self.goalstack12;
 332         self.goalstack12 = self.goalstack13;
 333         self.goalstack13 = self.goalstack14;
 334         self.goalstack14 = self.goalstack15;
 335         self.goalstack15 = self.goalstack16;
 336         self.goalstack16 = self.goalstack17;
 337         self.goalstack17 = self.goalstack18;
 338         self.goalstack18 = self.goalstack19;
 339         self.goalstack19 = self.goalstack20;
 340         self.goalstack20 = self.goalstack21;
 341         self.goalstack21 = self.goalstack22;
 342         self.goalstack22 = self.goalstack23;
 343         self.goalstack23 = self.goalstack24;
 344         self.goalstack24 = self.goalstack25;
 345         self.goalstack25 = self.goalstack26;
 346         self.goalstack26 = self.goalstack27;
 347         self.goalstack27 = self.goalstack28;
 348         self.goalstack28 = self.goalstack29;
 349         self.goalstack29 = self.goalstack30;
 350         self.goalstack30 = self.goalstack31;
 351         self.goalstack31 = world;
 352 }
 353
 354 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
 355 {
 356         float dist;
 357         dist = vlen(v - org);
 358         if (bestdist > dist)
 359         {
 360                 traceline(v, org, true, ent);
 361                 if (trace_fraction == 1)
 362                 {
 363                         if (walkfromwp)
 364                         {
 365                                 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
 366                                         return true;
 367                         }
 368                         else
 369                         {
 370                                 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
 371                                         return true;
 372                         }
 373                 }
 374         }
 375         return false;
 376 }
 377
 378 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
 379 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
 380 {
 381         entity waylist, w, best;
 382         vector v, org, pm1, pm2;
 383
 384         pm1 = ent.origin + ent.mins;
 385         pm2 = ent.origin + ent.maxs;
 386         waylist = findchain(classname, "waypoint");
 387
 388         // do two scans, because box test is cheaper
 389         w = waylist;
 390         while (w)
 391         {
 392                 // if object is touching spawnfunc_waypoint
 393                 if(w != ent && w != except)
 394                         if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
 395                                 return w;
 396                 w = w.chain;
 397         }
 398
 399         org = ent.origin + 0.5 * (ent.mins + ent.maxs);
 400         org.z = ent.origin.z + ent.mins.z - PL_MIN_z; // player height
 401         // TODO possibly make other code have the same support for bboxes
 402         if(ent.tag_entity)
 403                 org = org + ent.tag_entity.origin;
 404         if (navigation_testtracewalk)
 405                 te_plasmaburn(org);
 406
 407         best = world;
 408
 409         // box check failed, try walk
 410         w = waylist;
 411         while (w)
 412         {
 413                 // if object can walk from spawnfunc_waypoint
 414                 if(w != ent)
 415                 {
 416                         if (w.wpisbox)
 417                         {
 418                                 vector wm1, wm2;
 419                                 wm1 = w.origin + w.mins;
 420                                 wm2 = w.origin + w.maxs;
 421                                 v.x = bound(wm1_x, org.x, wm2_x);
 422                                 v.y = bound(wm1_y, org.y, wm2_y);
 423                                 v.z = bound(wm1_z, org.z, wm2_z);
 424                         }
 425                         else
 426                                 v = w.origin;
 427                         if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
 428                         {
 429                                 bestdist = vlen(v - org);
 430                                 best = w;
 431                         }
 432                 }
 433                 w = w.chain;
 434         }
 435         return best;
 436 }
 437 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
 438 {
 439         entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, world);
 440         if (autocvar_g_waypointeditor_auto)
 441         {
 442                 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
 443                 if (wp && !wp2)
 444                         wp.wpflags |= WAYPOINTFLAG_PROTECTED;
 445         }
 446         return wp;
 447 }
 448
 449 // finds the waypoints near the bot initiating a navigation query
 450 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
 451 {
 452         entity head;
 453         vector v, m1, m2, diff;
 454         float c;
 455 //      navigation_testtracewalk = true;
 456         c = 0;
 457         head = waylist;
 458         while (head)
 459         {
 460                 if (!head.wpconsidered)
 461                 {
 462                         if (head.wpisbox)
 463                         {
 464                                 m1 = head.origin + head.mins;
 465                                 m2 = head.origin + head.maxs;
 466                                 v = self.origin;
 467                                 v.x = bound(m1_x, v.x, m2_x);
 468                                 v.y = bound(m1_y, v.y, m2_y);
 469                                 v.z = bound(m1_z, v.z, m2_z);
 470                         }
 471                         else
 472                                 v = head.origin;
 473                         diff = v - self.origin;
 474                         diff.z = max(0, diff.z);
 475                         if (vlen(diff) < maxdist)
 476                         {
 477                                 head.wpconsidered = true;
 478                                 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
 479                                 {
 480                                         head.wpnearestpoint = v;
 481                                         head.wpcost = vlen(v - self.origin) + head.dmg;
 482                                         head.wpfire = 1;
 483                                         head.enemy = world;
 484                                         c = c + 1;
 485                                 }
 486                         }
 487                 }
 488                 head = head.chain;
 489         }
 490         //navigation_testtracewalk = false;
 491         return c;
 492 }
 493
 494 // updates a path link if a spawnfunc_waypoint link is better than the current one
 495 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
 496 {
 497         vector m1;
 498         vector m2;
 499         vector v;
 500         if (wp.wpisbox)
 501         {
 502                 m1 = wp.absmin;
 503                 m2 = wp.absmax;
 504                 v.x = bound(m1_x, p.x, m2_x);
 505                 v.y = bound(m1_y, p.y, m2_y);
 506                 v.z = bound(m1_z, p.z, m2_z);
 507         }
 508         else
 509                 v = wp.origin;
 510         cost2 = cost2 + vlen(v - p);
 511         if (wp.wpcost > cost2)
 512         {
 513                 wp.wpcost = cost2;
 514                 wp.enemy = w;
 515                 wp.wpfire = 1;
 516                 wp.wpnearestpoint = v;
 517         }
 518 }
 519
 520 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
 521 void navigation_markroutes(entity fixed_source_waypoint)
 522 {
 523         entity w, wp, waylist;
 524         float searching, cost, cost2;
 525         vector p;
 526         w = waylist = findchain(classname, "waypoint");
 527         while (w)
 528         {
 529                 w.wpconsidered = false;
 530                 w.wpnearestpoint = '0 0 0';
 531                 w.wpcost = 10000000;
 532                 w.wpfire = 0;
 533                 w.enemy = world;
 534                 w = w.chain;
 535         }
 536
 537         if(fixed_source_waypoint)
 538         {
 539                 fixed_source_waypoint.wpconsidered = true;
 540                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 541                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
 542                 fixed_source_waypoint.wpfire = 1;
 543                 fixed_source_waypoint.enemy = world;
 544         }
 545         else
 546         {
 547                 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
 548                 // as this search is expensive we will use lower values if the bot is on the air
 549                 float i, increment, maxdistance;
 550                 if(self.flags & FL_ONGROUND)
 551                 {
 552                         increment = 750;
 553                         maxdistance = 50000;
 554                 }
 555                 else
 556                 {
 557                         increment = 500;
 558                         maxdistance = 1500;
 559                 }
 560
 561                 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
 562         }
 563
 564         searching = true;
 565         while (searching)
 566         {
 567                 searching = false;
 568                 w = waylist;
 569                 while (w)
 570                 {
 571                         if (w.wpfire)
 572                         {
 573                                 searching = true;
 574                                 w.wpfire = 0;
 575                                 cost = w.wpcost;
 576                                 p = w.wpnearestpoint;
 577                                 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 578                                 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 579                                 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 580                                 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 581                                 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 582                                 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 583                                 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 584                                 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 585                                 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 586                                 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 587                                 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 588                                 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 589                                 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 590                                 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 591                                 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 592                                 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 593                                 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 594                                 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 595                                 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 596                                 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 597                                 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 598                                 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 599                                 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 600                                 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 601                                 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 602                                 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 603                                 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 604                                 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 605                                 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 606                                 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 607                                 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 608                                 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 609                                 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
 610                         }
 611                         w = w.chain;
 612                 }
 613         }
 614 }
 615
 616 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
 617 void navigation_markroutes_inverted(entity fixed_source_waypoint)
 618 {
 619         entity w, wp, waylist;
 620         float searching, cost, cost2;
 621         vector p;
 622         w = waylist = findchain(classname, "waypoint");
 623         while (w)
 624         {
 625                 w.wpconsidered = false;
 626                 w.wpnearestpoint = '0 0 0';
 627                 w.wpcost = 10000000;
 628                 w.wpfire = 0;
 629                 w.enemy = world;
 630                 w = w.chain;
 631         }
 632
 633         if(fixed_source_waypoint)
 634         {
 635                 fixed_source_waypoint.wpconsidered = true;
 636                 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
 637                 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
 638                 fixed_source_waypoint.wpfire = 1;
 639                 fixed_source_waypoint.enemy = world;
 640         }
 641         else
 642         {
 643                 error("need to start with a waypoint\n");
 644         }
 645
 646         searching = true;
 647         while (searching)
 648         {
 649                 searching = false;
 650                 w = waylist;
 651                 while (w)
 652                 {
 653                         if (w.wpfire)
 654                         {
 655                                 searching = true;
 656                                 w.wpfire = 0;
 657                                 cost = w.wpcost; // cost to walk from w to home
 658                                 p = w.wpnearestpoint;
 659                                 for(wp = waylist; wp; wp = wp.chain)
 660                                 {
 661                                         if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
 662                                         if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
 663                                         if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
 664                                         if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
 665                                         if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
 666                                         if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
 667                                         if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
 668                                         if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
 669                                                 continue;
 670                                         cost2 = cost + wp.dmg;
 671                                         navigation_markroutes_checkwaypoint(w, wp, cost2, p);
 672                                 }
 673                         }
 674                         w = w.chain;
 675                 }
 676         }
 677 }
 678
 679 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
 680 void navigation_routerating(entity e, float f, float rangebias)
 681 {
 682         entity nwp;
 683         vector o;
 684         if (!e)
 685                 return;
 686
 687         if(e.blacklisted)
 688                 return;
 689
 690         o = (e.absmin + e.absmax) * 0.5;
 691
 692         //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
 693
 694         // Evaluate path using jetpack
 695         if(g_jetpack)
 696         if(self.items & IT_JETPACK)
 697         if(autocvar_bot_ai_navigation_jetpack)
 698         if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
 699         {
 700                 vector pointa, pointb;
 701
 702                 bot_debug(strcat("jetpack ai: evaluating path for ", e.classname, "\n"));
 703
 704                 // Point A
 705                 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
 706                 pointa = trace_endpos - '0 0 1';
 707
 708                 // Point B
 709                 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
 710                 pointb = trace_endpos - '0 0 1';
 711
 712                 // Can I see these two points from the sky?
 713                 traceline(pointa, pointb, MOVE_NORMAL, self);
 714
 715                 if(trace_fraction==1)
 716                 {
 717                         bot_debug("jetpack ai: can bridge these two points\n");
 718
 719                         // Lower the altitude of these points as much as possible
 720                         float zdistance, xydistance, cost, t, fuel;
 721                         vector down, npa, npb;
 722
 723                         down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
 724
 725                         do{
 726                                 npa = pointa + down;
 727                                 npb = pointb + down;
 728
 729                                 if(npa.z<=self.absmax.z)
 730                                         break;
 731
 732                                 if(npb.z<=e.absmax.z)
 733                                         break;
 734
 735                                 traceline(npa, npb, MOVE_NORMAL, self);
 736                                 if(trace_fraction==1)
 737                                 {
 738                                         pointa = npa;
 739                                         pointb = npb;
 740                                 }
 741                         }
 742                         while(trace_fraction == 1);
 743
 744
 745                         // Rough estimation of fuel consumption
 746                         // (ignores acceleration and current xyz velocity)
 747                         xydistance = vlen(pointa - pointb);
 748                         zdistance = fabs(pointa.z - self.origin.z);
 749
 750                         t = zdistance / autocvar_g_jetpack_maxspeed_up;
 751                         t += xydistance / autocvar_g_jetpack_maxspeed_side;
 752                         fuel = t * autocvar_g_jetpack_fuel * 0.8;
 753
 754                         bot_debug(strcat("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel), "\n"));
 755
 756                         // enough fuel ?
 757                         if(self.ammo_fuel>fuel)
 758                         {
 759                                 // Estimate cost
 760                                 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
 761                                 //  - between air and ground speeds)
 762
 763                                 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
 764                                 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
 765                                 cost *= 1.5;
 766
 767                                 // Compare against other goals
 768                                 f = f * rangebias / (rangebias + cost);
 769
 770                                 if (navigation_bestrating < f)
 771                                 {
 772                                         bot_debug(strcat("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 773                                         navigation_bestrating = f;
 774                                         navigation_bestgoal = e;
 775                                         self.navigation_jetpack_goal = e;
 776                                         self.navigation_jetpack_point = pointb;
 777                                 }
 778                                 return;
 779                         }
 780                 }
 781         }
 782
 783         //te_wizspike(e.origin);
 784         //bprint(etos(e));
 785         //bprint("\n");
 786         // update the cached spawnfunc_waypoint link on a dynamic item entity
 787         if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
 788         {
 789                 nwp = e;
 790         }
 791         else
 792         {
 793                 float search;
 794
 795                 search = true;
 796
 797                 if(e.flags & FL_ITEM)
 798                 {
 799                         if (!(e.flags & FL_WEAPON))
 800                         if(e.nearestwaypoint)
 801                                 search = false;
 802                 }
 803                 else if (e.flags & FL_WEAPON)
 804                 {
 805                         if(e.classname != "droppedweapon")
 806                         if(e.nearestwaypoint)
 807                                 search = false;
 808                 }
 809
 810                 if(search)
 811                 if (time > e.nearestwaypointtimeout)
 812                 {
 813                         nwp = navigation_findnearestwaypoint(e, true);
 814                         if(nwp)
 815                                 e.nearestwaypoint = nwp;
 816                         else
 817                         {
 818                                 bot_debug(strcat("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n"));
 819
 820                                 if(e.flags & FL_ITEM)
 821                                         e.blacklisted = true;
 822                                 else if (e.flags & FL_WEAPON)
 823                                 {
 824                                         if(e.classname != "droppedweapon")
 825                                                 e.blacklisted = true;
 826                                 }
 827
 828                                 if(e.blacklisted)
 829                                 {
 830                                         bot_debug(strcat("The entity '", e.classname, "' is going to be excluded from path finding during this match\n"));
 831                                         return;
 832                                 }
 833                         }
 834
 835                         // TODO: Cleaner solution, probably handling this timeout from ctf.qc
 836                         if(e.classname=="item_flag_team")
 837                                 e.nearestwaypointtimeout = time + 2;
 838                         else
 839                                 e.nearestwaypointtimeout = time + random() * 3 + 5;
 840                 }
 841                 nwp = e.nearestwaypoint;
 842         }
 843
 844         bot_debug(strcat("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n"));
 845         if (nwp)
 846         if (nwp.wpcost < 10000000)
 847         {
 848                 //te_wizspike(nwp.wpnearestpoint);
 849                 bot_debug(strcat(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = "));
 850                 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
 851                 bot_debug(strcat("considering ", e.classname, " (with rating ", ftos(f), ")\n"));
 852                 if (navigation_bestrating < f)
 853                 {
 854                         bot_debug(strcat("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n"));
 855                         navigation_bestrating = f;
 856                         navigation_bestgoal = e;
 857                 }
 858         }
 859 }
 860
 861 // adds an item to the the goal stack with the path to a given item
 862 float navigation_routetogoal(entity e, vector startposition)
 863 {
 864         self.goalentity = e;
 865
 866         // if there is no goal, just exit
 867         if (!e)
 868                 return false;
 869
 870         self.navigation_hasgoals = true;
 871
 872         // put the entity on the goal stack
 873         //print("routetogoal ", etos(e), "\n");
 874         navigation_pushroute(e);
 875
 876         if(g_jetpack)
 877         if(e==self.navigation_jetpack_goal)
 878                 return true;
 879
 880         // if it can reach the goal there is nothing more to do
 881         if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
 882                 return true;
 883
 884         // see if there are waypoints describing a path to the item
 885         if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
 886                 e = e.nearestwaypoint;
 887         else
 888                 e = e.enemy; // we already have added it, so...
 889
 890         if(e == world)
 891                 return false;
 892
 893         for (;;)
 894         {
 895                 // add the spawnfunc_waypoint to the path
 896                 navigation_pushroute(e);
 897                 e = e.enemy;
 898
 899                 if(e==world)
 900                         break;
 901         }
 902
 903         return false;
 904 }
 905
 906 // removes any currently touching waypoints from the goal stack
 907 // (this is how bots detect if they reached a goal)
 908 void navigation_poptouchedgoals()
 909 {
 910         vector org, m1, m2;
 911         org = self.origin;
 912         m1 = org + self.mins;
 913         m2 = org + self.maxs;
 914
 915         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
 916         {
 917                 if(self.lastteleporttime>0)
 918                 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
 919                 {
 920                         if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 921                         if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 922                         {
 923                                 self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 924                                 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 925                         }
 926                         navigation_poproute();
 927                         return;
 928                 }
 929         }
 930
 931         // If for some reason the bot is closer to the next goal, pop the current one
 932         if(self.goalstack01)
 933         if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
 934         if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
 935         if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
 936         {
 937                 bot_debug(strcat("path optimized for ", self.netname, ", removed a goal from the queue\n"));
 938                 navigation_poproute();
 939                 // TODO this may also be a nice idea to do "early" (e.g. by
 940                 // manipulating the vlen() comparisons) to shorten paths in
 941                 // general - this would make bots walk more "on rails" than
 942                 // "zigzagging" which they currently do with sufficiently
 943                 // random-like waypoints, and thus can make a nice bot
 944                 // personality property
 945         }
 946
 947         // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
 948         // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
 949         if(IS_PLAYER(self.goalcurrent))
 950                 navigation_poproute();
 951
 952         // aid for detecting jump pads better (distance based check fails sometimes)
 953         if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
 954                 navigation_poproute();
 955
 956         // Loose goal touching check when running
 957         if(self.aistatus & AI_STATUS_RUNNING)
 958         if(self.speed >= autocvar_sv_maxspeed) // if -really- running
 959         if(self.goalcurrent.classname=="waypoint")
 960         {
 961                 if(vlen(self.origin - self.goalcurrent.origin)<150)
 962                 {
 963                         traceline(self.origin + self.view_ofs , self.goalcurrent.origin, true, world);
 964                         if(trace_fraction==1)
 965                         {
 966                                 // Detect personal waypoints
 967                                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 968                                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 969                                 {
 970                                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 971                                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 972                                 }
 973
 974                                 navigation_poproute();
 975                         }
 976                 }
 977         }
 978
 979         while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
 980         {
 981                 // Detect personal waypoints
 982                 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
 983                 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
 984                 {
 985                         self.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
 986                         self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
 987                 }
 988
 989                 navigation_poproute();
 990         }
 991 }
 992
 993 // begin a goal selection session (queries spawnfunc_waypoint network)
 994 void navigation_goalrating_start()
 995 {
 996         if(self.aistatus & AI_STATUS_STUCK)
 997                 return;
 998
 999         self.navigation_jetpack_goal = world;
1000         navigation_bestrating = -1;
1001         self.navigation_hasgoals = false;
1002         navigation_clearroute();
1003         navigation_bestgoal = world;
1004         navigation_markroutes(world);
1005 }
1006
1007 // ends a goal selection session (updates goal stack to the best goal)
1008 void navigation_goalrating_end()
1009 {
1010         if(self.aistatus & AI_STATUS_STUCK)
1011                 return;
1012
1013         navigation_routetogoal(navigation_bestgoal, self.origin);
1014         bot_debug(strcat("best goal ", self.goalcurrent.classname , "\n"));
1015
1016         // If the bot got stuck then try to reach the farthest waypoint
1017         if (!self.navigation_hasgoals)
1018         if (autocvar_bot_wander_enable)
1019         {
1020                 if (!(self.aistatus & AI_STATUS_STUCK))
1021                 {
1022                         bot_debug(strcat(self.netname, " cannot walk to any goal\n"));
1023                         self.aistatus |= AI_STATUS_STUCK;
1024                 }
1025
1026                 self.navigation_hasgoals = false; // Reset this value
1027         }
1028 }
1029
1030 void botframe_updatedangerousobjects(float maxupdate)
1031 {
1032         entity head, bot_dodgelist;
1033         vector m1, m2, v, o;
1034         float c, d, danger;
1035         c = 0;
1036         bot_dodgelist = findchainfloat(bot_dodge, true);
1037         botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1038         while (botframe_dangerwaypoint != world)
1039         {
1040                 danger = 0;
1041                 m1 = botframe_dangerwaypoint.mins;
1042                 m2 = botframe_dangerwaypoint.maxs;
1043                 head = bot_dodgelist;
1044                 while (head)
1045                 {
1046                         v = head.origin;
1047                         v.x = bound(m1_x, v.x, m2_x);
1048                         v.y = bound(m1_y, v.y, m2_y);
1049                         v.z = bound(m1_z, v.z, m2_z);
1050                         o = (head.absmin + head.absmax) * 0.5;
1051                         d = head.bot_dodgerating - vlen(o - v);
1052                         if (d > 0)
1053                         {
1054                                 traceline(o, v, true, world);
1055                                 if (trace_fraction == 1)
1056                                         danger = danger + d;
1057                         }
1058                         head = head.chain;
1059                 }
1060                 botframe_dangerwaypoint.dmg = danger;
1061                 c = c + 1;
1062                 if (c >= maxupdate)
1063                         break;
1064                 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1065         }
1066 }
1067
1068 void navigation_unstuck()
1069 {
1070         float search_radius = 1000;
1071
1072         if (!autocvar_bot_wander_enable)
1073                 return;
1074
1075         if (!bot_waypoint_queue_owner)
1076         {
1077                 bot_debug(strcat(self.netname, " sutck, taking over the waypoints queue\n"));
1078                 bot_waypoint_queue_owner = self;
1079                 bot_waypoint_queue_bestgoal = world;
1080                 bot_waypoint_queue_bestgoalrating = 0;
1081         }
1082
1083         if(bot_waypoint_queue_owner!=self)
1084                 return;
1085
1086         if (bot_waypoint_queue_goal)
1087         {
1088                 // evaluate the next goal on the queue
1089                 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1090                 bot_debug(strcat(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n"));
1091                 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1092                 {
1093                         if( d > bot_waypoint_queue_bestgoalrating)
1094                         {
1095                                 bot_waypoint_queue_bestgoalrating = d;
1096                                 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1097                         }
1098                 }
1099                 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1100
1101                 if (!bot_waypoint_queue_goal)
1102                 {
1103                         if (bot_waypoint_queue_bestgoal)
1104                         {
1105                                 bot_debug(strcat(self.netname, " stuck, reachable waypoint found, heading to it\n"));
1106                                 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1107                                 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1108                                 self.aistatus &= ~AI_STATUS_STUCK;
1109                         }
1110                         else
1111                         {
1112                                 bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1113                         }
1114
1115                         bot_waypoint_queue_owner = world;
1116                 }
1117         }
1118         else
1119         {
1120                 if(bot_strategytoken!=self)
1121                         return;
1122
1123                 // build a new queue
1124                 bot_debug(strcat(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n"));
1125
1126                 entity head, first;
1127
1128                 first = world;
1129                 head = findradius(self.origin, search_radius);
1130
1131                 while(head)
1132                 {
1133                         if(head.classname=="waypoint")
1134                 //      if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1135                         {
1136                                 if(bot_waypoint_queue_goal)
1137                                         bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1138                                 else
1139                                         first = head;
1140
1141                                 bot_waypoint_queue_goal = head;
1142                                 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1143                         }
1144
1145                         head = head.chain;
1146                 }
1147
1148                 if (first)
1149                         bot_waypoint_queue_goal = first;
1150                 else
1151                 {
1152                         bot_debug(strcat(self.netname, " stuck, cannot walk to any waypoint at all\n"));
1153                         bot_waypoint_queue_owner = world;
1154                 }
1155         }
1156 }
1157
1158 // Support for debugging tracewalk visually
1159
1160 void debugresetnodes()
1161 {
1162         debuglastnode = '0 0 0';
1163 }
1164
1165 void debugnode(vector node)
1166 {
1167         if (!IS_PLAYER(self))
1168                 return;
1169
1170         if(debuglastnode=='0 0 0')
1171         {
1172                 debuglastnode = node;
1173                 return;
1174         }
1175
1176         te_lightning2(world, node, debuglastnode);
1177         debuglastnode = node;
1178 }
1179
1180 void debugnodestatus(vector position, float status)
1181 {
1182         vector c;
1183
1184         switch (status)
1185         {
1186                 case DEBUG_NODE_SUCCESS:
1187                         c = '0 15 0';
1188                         break;
1189                 case DEBUG_NODE_WARNING:
1190                         c = '15 15 0';
1191                         break;
1192                 case DEBUG_NODE_FAIL:
1193                         c = '15 0 0';
1194                         break;
1195                 default:
1196                         c = '15 15 15';
1197         }
1198
1199         te_customflash(position, 40,  2, c);
1200 }
1201
1202 // Support for debugging the goal stack visually
1203
1204 .float goalcounter;
1205 .vector lastposition;
1206
1207 // Debug the goal stack visually
1208 void debuggoalstack()
1209 {
1210         entity goal;
1211         vector org, go;
1212
1213         if(self.goalcounter==0)goal=self.goalcurrent;
1214         else if(self.goalcounter==1)goal=self.goalstack01;
1215         else if(self.goalcounter==2)goal=self.goalstack02;
1216         else if(self.goalcounter==3)goal=self.goalstack03;
1217         else if(self.goalcounter==4)goal=self.goalstack04;
1218         else if(self.goalcounter==5)goal=self.goalstack05;
1219         else if(self.goalcounter==6)goal=self.goalstack06;
1220         else if(self.goalcounter==7)goal=self.goalstack07;
1221         else if(self.goalcounter==8)goal=self.goalstack08;
1222         else if(self.goalcounter==9)goal=self.goalstack09;
1223         else if(self.goalcounter==10)goal=self.goalstack10;
1224         else if(self.goalcounter==11)goal=self.goalstack11;
1225         else if(self.goalcounter==12)goal=self.goalstack12;
1226         else if(self.goalcounter==13)goal=self.goalstack13;
1227         else if(self.goalcounter==14)goal=self.goalstack14;
1228         else if(self.goalcounter==15)goal=self.goalstack15;
1229         else if(self.goalcounter==16)goal=self.goalstack16;
1230         else if(self.goalcounter==17)goal=self.goalstack17;
1231         else if(self.goalcounter==18)goal=self.goalstack18;
1232         else if(self.goalcounter==19)goal=self.goalstack19;
1233         else if(self.goalcounter==20)goal=self.goalstack20;
1234         else if(self.goalcounter==21)goal=self.goalstack21;
1235         else if(self.goalcounter==22)goal=self.goalstack22;
1236         else if(self.goalcounter==23)goal=self.goalstack23;
1237         else if(self.goalcounter==24)goal=self.goalstack24;
1238         else if(self.goalcounter==25)goal=self.goalstack25;
1239         else if(self.goalcounter==26)goal=self.goalstack26;
1240         else if(self.goalcounter==27)goal=self.goalstack27;
1241         else if(self.goalcounter==28)goal=self.goalstack28;
1242         else if(self.goalcounter==29)goal=self.goalstack29;
1243         else if(self.goalcounter==30)goal=self.goalstack30;
1244         else if(self.goalcounter==31)goal=self.goalstack31;
1245         else goal=world;
1246
1247         if(goal==world)
1248         {
1249                 self.goalcounter = 0;
1250                 self.lastposition='0 0 0';
1251                 return;
1252         }
1253
1254         if(self.lastposition=='0 0 0')
1255                 org = self.origin;
1256         else
1257                 org = self.lastposition;
1258
1259
1260         go = ( goal.absmin + goal.absmax ) * 0.5;
1261         te_lightning2(world, org, go);
1262         self.lastposition = go;
1263
1264         self.goalcounter++;
1265 }