1 #include "navigation.qh"
6 #include "waypoints.qh"
8 #include <common/t_items.qh>
10 #include <common/items/_mod.qh>
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/triggers/trigger/jumppads.qh>
18 // rough simulation of walking from one point to another to test if a path
19 // can be traveled, used for waypoint linking and havocbot
21 bool tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
33 if(autocvar_bot_debug_tracewalk)
42 dist = totaldist = vlen(move);
43 dir = normalize(move);
45 ignorehazards = false;
48 // Analyze starting point
49 traceline(start, start, MOVE_NORMAL, e);
50 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
54 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
55 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
61 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
65 if(autocvar_bot_debug_tracewalk)
66 debugnodestatus(start, DEBUG_NODE_FAIL);
68 //print("tracewalk: ", vtos(start), " is a bad start\n");
77 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
80 if(autocvar_bot_debug_tracewalk)
81 debugnodestatus(org, DEBUG_NODE_SUCCESS);
83 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
86 if(autocvar_bot_debug_tracewalk)
93 dist = dist - stepdist;
94 traceline(org, org, MOVE_NORMAL, e);
97 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
99 // hazards blocking path
100 if(autocvar_bot_debug_tracewalk)
101 debugnodestatus(org, DEBUG_NODE_FAIL);
103 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
107 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
109 move = normalize(end - org);
110 tracebox(org, m1, m2, org + move * stepdist, movemode, e);
112 if(autocvar_bot_debug_tracewalk)
113 debugnode(e, trace_endpos);
115 if (trace_fraction < 1)
118 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
119 for (; org.z < end.z + e.maxs.z; org.z += stepdist)
121 if(autocvar_bot_debug_tracewalk)
124 if(pointcontents(org) == CONTENT_EMPTY)
128 if(pointcontents(org + '0 0 1') != CONTENT_EMPTY)
130 if(autocvar_bot_debug_tracewalk)
131 debugnodestatus(org, DEBUG_NODE_FAIL);
134 //print("tracewalk: ", vtos(start), " failed under water\n");
144 move = dir * stepdist + org;
145 tracebox(org, m1, m2, move, movemode, e);
147 if(autocvar_bot_debug_tracewalk)
148 debugnode(e, trace_endpos);
151 if (trace_fraction < 1)
153 // check if we can walk over this obstacle, possibly by jumpstepping
154 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
155 if (trace_fraction < 1 || trace_startsolid)
157 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
158 if (trace_fraction < 1 || trace_startsolid)
160 if(autocvar_bot_debug_tracewalk)
161 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
164 traceline( org, move, movemode, e);
165 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
169 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
171 nextmove = move + (dir * stepdist);
172 traceline( move, nextmove, movemode, e);
178 if(autocvar_bot_debug_tracewalk)
179 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
181 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
182 //te_explosion(trace_endpos);
183 //print(ftos(e.dphitcontentsmask), "\n");
184 return false; // failed
196 // trace down from stepheight as far as possible and move there,
197 // if this starts in solid we try again without the stepup, and
198 // if that also fails we assume it is a wall
199 // (this is the same logic as the Quake walkmove function used)
200 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
202 // moved successfully
206 c = pointcontents(org + '0 0 1');
207 if (!(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME))
217 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
219 // moved but didn't arrive at the intended destination
220 if(autocvar_bot_debug_tracewalk)
221 debugnodestatus(org, DEBUG_NODE_FAIL);
226 /////////////////////////////////////////////////////////////////////////////
228 /////////////////////////////////////////////////////////////////////////////
230 // completely empty the goal stack, used when deciding where to go
231 void navigation_clearroute(entity this)
233 //print("bot ", etos(this), " clear\n");
234 this.navigation_hasgoals = false;
235 this.goalentity = NULL;
236 this.goalcurrent = NULL;
237 this.goalstack01 = NULL;
238 this.goalstack02 = NULL;
239 this.goalstack03 = NULL;
240 this.goalstack04 = NULL;
241 this.goalstack05 = NULL;
242 this.goalstack06 = NULL;
243 this.goalstack07 = NULL;
244 this.goalstack08 = NULL;
245 this.goalstack09 = NULL;
246 this.goalstack10 = NULL;
247 this.goalstack11 = NULL;
248 this.goalstack12 = NULL;
249 this.goalstack13 = NULL;
250 this.goalstack14 = NULL;
251 this.goalstack15 = NULL;
252 this.goalstack16 = NULL;
253 this.goalstack17 = NULL;
254 this.goalstack18 = NULL;
255 this.goalstack19 = NULL;
256 this.goalstack20 = NULL;
257 this.goalstack21 = NULL;
258 this.goalstack22 = NULL;
259 this.goalstack23 = NULL;
260 this.goalstack24 = NULL;
261 this.goalstack25 = NULL;
262 this.goalstack26 = NULL;
263 this.goalstack27 = NULL;
264 this.goalstack28 = NULL;
265 this.goalstack29 = NULL;
266 this.goalstack30 = NULL;
267 this.goalstack31 = NULL;
270 // add a new goal at the beginning of the stack
271 // (in other words: add a new prerequisite before going to the later goals)
272 // NOTE: when a waypoint is added, the WP gets pushed first, then the
273 // next-closest WP on the shortest path to the WP
274 // That means, if the stack overflows, the bot will know how to do the FIRST 32
275 // steps to the goal, and then recalculate the path.
276 void navigation_pushroute(entity this, entity e)
278 //print("bot ", etos(this), " push ", etos(e), "\n");
279 if(this.goalstack31 == this.goalentity)
280 this.goalentity = NULL;
281 this.goalstack31 = this.goalstack30;
282 this.goalstack30 = this.goalstack29;
283 this.goalstack29 = this.goalstack28;
284 this.goalstack28 = this.goalstack27;
285 this.goalstack27 = this.goalstack26;
286 this.goalstack26 = this.goalstack25;
287 this.goalstack25 = this.goalstack24;
288 this.goalstack24 = this.goalstack23;
289 this.goalstack23 = this.goalstack22;
290 this.goalstack22 = this.goalstack21;
291 this.goalstack21 = this.goalstack20;
292 this.goalstack20 = this.goalstack19;
293 this.goalstack19 = this.goalstack18;
294 this.goalstack18 = this.goalstack17;
295 this.goalstack17 = this.goalstack16;
296 this.goalstack16 = this.goalstack15;
297 this.goalstack15 = this.goalstack14;
298 this.goalstack14 = this.goalstack13;
299 this.goalstack13 = this.goalstack12;
300 this.goalstack12 = this.goalstack11;
301 this.goalstack11 = this.goalstack10;
302 this.goalstack10 = this.goalstack09;
303 this.goalstack09 = this.goalstack08;
304 this.goalstack08 = this.goalstack07;
305 this.goalstack07 = this.goalstack06;
306 this.goalstack06 = this.goalstack05;
307 this.goalstack05 = this.goalstack04;
308 this.goalstack04 = this.goalstack03;
309 this.goalstack03 = this.goalstack02;
310 this.goalstack02 = this.goalstack01;
311 this.goalstack01 = this.goalcurrent;
312 this.goalcurrent = e;
315 // remove first goal from stack
316 // (in other words: remove a prerequisite for reaching the later goals)
317 // (used when a spawnfunc_waypoint is reached)
318 void navigation_poproute(entity this)
320 //print("bot ", etos(this), " pop\n");
321 if(this.goalcurrent == this.goalentity)
322 this.goalentity = NULL;
323 this.goalcurrent = this.goalstack01;
324 this.goalstack01 = this.goalstack02;
325 this.goalstack02 = this.goalstack03;
326 this.goalstack03 = this.goalstack04;
327 this.goalstack04 = this.goalstack05;
328 this.goalstack05 = this.goalstack06;
329 this.goalstack06 = this.goalstack07;
330 this.goalstack07 = this.goalstack08;
331 this.goalstack08 = this.goalstack09;
332 this.goalstack09 = this.goalstack10;
333 this.goalstack10 = this.goalstack11;
334 this.goalstack11 = this.goalstack12;
335 this.goalstack12 = this.goalstack13;
336 this.goalstack13 = this.goalstack14;
337 this.goalstack14 = this.goalstack15;
338 this.goalstack15 = this.goalstack16;
339 this.goalstack16 = this.goalstack17;
340 this.goalstack17 = this.goalstack18;
341 this.goalstack18 = this.goalstack19;
342 this.goalstack19 = this.goalstack20;
343 this.goalstack20 = this.goalstack21;
344 this.goalstack21 = this.goalstack22;
345 this.goalstack22 = this.goalstack23;
346 this.goalstack23 = this.goalstack24;
347 this.goalstack24 = this.goalstack25;
348 this.goalstack25 = this.goalstack26;
349 this.goalstack26 = this.goalstack27;
350 this.goalstack27 = this.goalstack28;
351 this.goalstack28 = this.goalstack29;
352 this.goalstack29 = this.goalstack30;
353 this.goalstack30 = this.goalstack31;
354 this.goalstack31 = NULL;
357 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
360 dist = vlen(v - org);
363 traceline(v, org, true, ent);
364 if (trace_fraction == 1)
368 if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode))
373 if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode))
381 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
382 entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfromwp, float bestdist, entity except)
384 vector pm1 = ent.origin + ent.mins;
385 vector pm2 = ent.origin + ent.maxs;
387 // do two scans, because box test is cheaper
388 IL_EACH(g_waypoints, it != ent && it != except,
390 if(boxesoverlap(pm1, pm2, it.absmin, it.absmax))
394 vector org = ent.origin + 0.5 * (ent.mins + ent.maxs);
395 org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height
396 // TODO possibly make other code have the same support for bboxes
398 org = org + ent.tag_entity.origin;
399 if (navigation_testtracewalk)
405 // box check failed, try walk
406 IL_EACH(g_waypoints, it != ent,
410 vector wm1 = it.origin + it.mins;
411 vector wm2 = it.origin + it.maxs;
412 v.x = bound(wm1_x, org.x, wm2_x);
413 v.y = bound(wm1_y, org.y, wm2_y);
414 v.z = bound(wm1_z, org.z, wm2_z);
418 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
420 bestdist = vlen(v - org);
426 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
428 entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
429 if (autocvar_g_waypointeditor_auto)
431 entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
433 wp.wpflags |= WAYPOINTFLAG_PROTECTED;
438 // finds the waypoints near the bot initiating a navigation query
439 float navigation_markroutes_nearestwaypoints(entity this, float maxdist)
442 // navigation_testtracewalk = true;
444 IL_EACH(g_waypoints, !it.wpconsidered,
448 m1 = it.origin + it.mins;
449 m2 = it.origin + it.maxs;
451 v.x = bound(m1_x, v.x, m2_x);
452 v.y = bound(m1_y, v.y, m2_y);
453 v.z = bound(m1_z, v.z, m2_z);
457 vector diff = v - this.origin;
458 diff.z = max(0, diff.z);
459 if(vdist(diff, <, maxdist))
461 it.wpconsidered = true;
462 if (tracewalk(this, this.origin, this.mins, this.maxs, v, bot_navigation_movemode))
464 it.wpnearestpoint = v;
465 it.wpcost = vlen(v - this.origin) + it.dmg;
472 //navigation_testtracewalk = false;
476 // updates a path link if a spawnfunc_waypoint link is better than the current one
477 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
486 v.x = bound(m1_x, p.x, m2_x);
487 v.y = bound(m1_y, p.y, m2_y);
488 v.z = bound(m1_z, p.z, m2_z);
492 cost2 = cost2 + vlen(v - p);
493 if (wp.wpcost > cost2)
498 wp.wpnearestpoint = v;
502 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
503 void navigation_markroutes(entity this, entity fixed_source_waypoint)
508 IL_EACH(g_waypoints, true,
510 it.wpconsidered = false;
511 it.wpnearestpoint = '0 0 0';
512 it.wpcost = 10000000;
517 if(fixed_source_waypoint)
519 fixed_source_waypoint.wpconsidered = true;
520 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
521 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
522 fixed_source_waypoint.wpfire = 1;
523 fixed_source_waypoint.enemy = NULL;
527 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
528 // as this search is expensive we will use lower values if the bot is on the air
529 float increment, maxdistance;
530 if(IS_ONGROUND(this))
541 for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
544 bool searching = true;
548 IL_EACH(g_waypoints, it.wpfire,
553 p = it.wpnearestpoint;
555 wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
556 wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
557 wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
558 wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
559 wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
560 wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
561 wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
562 wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
563 wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
564 wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
565 wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
566 wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
567 wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
568 wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
569 wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
570 wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
571 wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
572 wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
573 wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
574 wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
575 wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
576 wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
577 wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
578 wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
579 wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
580 wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
581 wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
582 wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
583 wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
584 wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
585 wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
586 wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
587 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
592 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
593 void navigation_markroutes_inverted(entity fixed_source_waypoint)
597 IL_EACH(g_waypoints, true,
599 it.wpconsidered = false;
600 it.wpnearestpoint = '0 0 0';
601 it.wpcost = 10000000;
606 if(fixed_source_waypoint)
608 fixed_source_waypoint.wpconsidered = true;
609 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
610 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
611 fixed_source_waypoint.wpfire = 1;
612 fixed_source_waypoint.enemy = NULL;
616 error("need to start with a waypoint\n");
619 bool searching = true;
623 IL_EACH(g_waypoints, it.wpfire,
627 cost = it.wpcost; // cost to walk from it to home
628 p = it.wpnearestpoint;
630 IL_EACH(g_waypoints, true,
632 if(wp != it.wp00) if(wp != it.wp01) if(wp != it.wp02) if(wp != it.wp03)
633 if(wp != it.wp04) if(wp != it.wp05) if(wp != it.wp06) if(wp != it.wp07)
634 if(wp != it.wp08) if(wp != it.wp09) if(wp != it.wp10) if(wp != it.wp11)
635 if(wp != it.wp12) if(wp != it.wp13) if(wp != it.wp14) if(wp != it.wp15)
636 if(wp != it.wp16) if(wp != it.wp17) if(wp != it.wp18) if(wp != it.wp19)
637 if(wp != it.wp20) if(wp != it.wp21) if(wp != it.wp22) if(wp != it.wp23)
638 if(wp != it.wp24) if(wp != it.wp25) if(wp != it.wp26) if(wp != it.wp27)
639 if(wp != it.wp28) if(wp != it.wp29) if(wp != it.wp30) if(wp != it.wp31)
641 cost2 = cost + it.dmg;
642 navigation_markroutes_checkwaypoint(wp, it, cost2, p);
648 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
649 void navigation_routerating(entity this, entity e, float f, float rangebias)
659 bool rate_wps = false;
660 if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND))
665 traceline(e.origin, e.origin + '0 0 -1500', true, NULL);
666 int t = pointcontents(trace_endpos + '0 0 1');
667 if(t != CONTENT_SOLID )
669 if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA)
671 else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos))
679 entity best_wp = NULL;
680 float best_dist = 10000;
681 IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500)
682 && vdist(it.origin - this.origin, >, 100)
683 && !(it.wpflags & WAYPOINTFLAG_TELEPORT),
685 float dist = vlen(it.origin - theEnemy.origin);
686 if (dist < best_dist)
698 vector o = (e.absmin + e.absmax) * 0.5;
700 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
702 // Evaluate path using jetpack
704 if(this.items & IT_JETPACK)
705 if(autocvar_bot_ai_navigation_jetpack)
706 if(vdist(this.origin - o, >, autocvar_bot_ai_navigation_jetpack_mindistance))
708 vector pointa, pointb;
710 LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);
713 traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
714 pointa = trace_endpos - '0 0 1';
717 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
718 pointb = trace_endpos - '0 0 1';
720 // Can I see these two points from the sky?
721 traceline(pointa, pointb, MOVE_NORMAL, this);
723 if(trace_fraction==1)
725 LOG_DEBUG("jetpack ai: can bridge these two points");
727 // Lower the altitude of these points as much as possible
728 float zdistance, xydistance, cost, t, fuel;
729 vector down, npa, npb;
731 down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;
737 if(npa.z<=this.absmax.z)
740 if(npb.z<=e.absmax.z)
743 traceline(npa, npb, MOVE_NORMAL, this);
744 if(trace_fraction==1)
750 while(trace_fraction == 1);
753 // Rough estimation of fuel consumption
754 // (ignores acceleration and current xyz velocity)
755 xydistance = vlen(pointa - pointb);
756 zdistance = fabs(pointa.z - this.origin.z);
758 t = zdistance / autocvar_g_jetpack_maxspeed_up;
759 t += xydistance / autocvar_g_jetpack_maxspeed_side;
760 fuel = t * autocvar_g_jetpack_fuel * 0.8;
762 LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), " this.ammo_fuel ", ftos(this.ammo_fuel));
765 if(this.ammo_fuel>fuel)
768 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
769 // - between air and ground speeds)
771 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
772 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
775 // Compare against other goals
776 f = f * rangebias / (rangebias + cost);
778 if (navigation_bestrating < f)
780 LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
781 navigation_bestrating = f;
782 navigation_bestgoal = e;
783 this.navigation_jetpack_goal = e;
784 this.navigation_jetpack_point = pointb;
792 //te_wizspike(e.origin);
795 // update the cached spawnfunc_waypoint link on a dynamic item entity
796 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
806 if(e.flags & FL_ITEM)
808 if (!(e.flags & FL_WEAPON))
809 if(e.nearestwaypoint)
812 else if (e.flags & FL_WEAPON)
814 if(e.classname != "droppedweapon")
815 if(e.nearestwaypoint)
820 if (time > e.nearestwaypointtimeout)
822 nwp = navigation_findnearestwaypoint(e, true);
824 e.nearestwaypoint = nwp;
827 LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));
829 if(e.flags & FL_ITEM)
830 e.blacklisted = true;
831 else if (e.flags & FL_WEAPON)
833 if(e.classname != "droppedweapon")
834 e.blacklisted = true;
839 LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
844 // TODO: Cleaner solution, probably handling this timeout from ctf.qc
845 if(e.classname=="item_flag_team")
846 e.nearestwaypointtimeout = time + 2;
848 e.nearestwaypointtimeout = time + random() * 3 + 5;
850 nwp = e.nearestwaypoint;
853 LOG_DEBUG("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")");
855 if (nwp.wpcost < 10000000)
857 //te_wizspike(nwp.wpnearestpoint);
858 LOG_DEBUG(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
859 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
860 LOG_DEBUG("considering ", e.classname, " (with rating ", ftos(f), ")");
861 if (navigation_bestrating < f)
863 LOG_DEBUG("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")");
864 navigation_bestrating = f;
865 navigation_bestgoal = e;
870 // adds an item to the the goal stack with the path to a given item
871 bool navigation_routetogoal(entity this, entity e, vector startposition)
875 // if there is no goal, just exit
879 this.navigation_hasgoals = true;
881 // put the entity on the goal stack
882 //print("routetogoal ", etos(e), "\n");
883 navigation_pushroute(this, e);
885 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
887 this.wp_goal_prev1 = this.wp_goal_prev0;
888 this.wp_goal_prev0 = e;
892 if(e==this.navigation_jetpack_goal)
895 // if it can reach the goal there is nothing more to do
896 if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
899 // see if there are waypoints describing a path to the item
900 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
901 e = e.nearestwaypoint;
903 e = e.enemy; // we already have added it, so...
910 // add the spawnfunc_waypoint to the path
911 navigation_pushroute(this, e);
921 // removes any currently touching waypoints from the goal stack
922 // (this is how bots detect if they reached a goal)
923 void navigation_poptouchedgoals(entity this)
927 m1 = org + this.mins;
928 m2 = org + this.maxs;
930 if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
932 // make sure jumppad is really hit, don't rely on distance based checks
933 // as they may report a touch even if it didn't really happen
934 if(this.lastteleporttime>0)
935 if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15))
937 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
938 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
940 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
941 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
943 navigation_poproute(this);
948 // If for some reason the bot is closer to the next goal, pop the current one
949 if(this.goalstack01 && !wasfreed(this.goalstack01))
950 if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin))
951 if(checkpvs(this.origin + this.view_ofs, this.goalstack01))
952 if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode))
954 LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
955 navigation_poproute(this);
956 // TODO this may also be a nice idea to do "early" (e.g. by
957 // manipulating the vlen() comparisons) to shorten paths in
958 // general - this would make bots walk more "on rails" than
959 // "zigzagging" which they currently do with sufficiently
960 // random-like waypoints, and thus can make a nice bot
961 // personality property
964 // Loose goal touching check when running
965 if(this.aistatus & AI_STATUS_RUNNING)
966 if(this.goalcurrent.classname=="waypoint")
967 if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
968 if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running
970 if(vdist(this.origin - this.goalcurrent.origin, <, 150))
972 traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
973 if(trace_fraction==1)
975 // Detect personal waypoints
976 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
977 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
979 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
980 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
983 navigation_poproute(this);
988 while (this.goalcurrent && !IS_PLAYER(this.goalcurrent))
990 vector gc_min = this.goalcurrent.absmin;
991 vector gc_max = this.goalcurrent.absmax;
992 if(this.goalcurrent.classname == "waypoint")
994 gc_min = this.goalcurrent.origin - '1 1 1' * 12;
995 gc_max = this.goalcurrent.origin + '1 1 1' * 12;
997 if(!boxesoverlap(m1, m2, gc_min, gc_max))
1000 if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT))
1003 // Detect personal waypoints
1004 if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
1005 if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this)
1007 this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
1008 this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
1011 navigation_poproute(this);
1015 // begin a goal selection session (queries spawnfunc_waypoint network)
1016 void navigation_goalrating_start(entity this)
1018 if(this.aistatus & AI_STATUS_STUCK)
1021 this.navigation_jetpack_goal = NULL;
1022 navigation_bestrating = -1;
1023 this.navigation_hasgoals = false;
1024 navigation_clearroute(this);
1025 navigation_bestgoal = NULL;
1026 navigation_markroutes(this, NULL);
1029 // ends a goal selection session (updates goal stack to the best goal)
1030 void navigation_goalrating_end(entity this)
1032 if(this.aistatus & AI_STATUS_STUCK)
1035 navigation_routetogoal(this, navigation_bestgoal, this.origin);
1036 LOG_DEBUG("best goal ", this.goalcurrent.classname);
1038 // If the bot got stuck then try to reach the farthest waypoint
1039 if (!this.navigation_hasgoals)
1040 if (autocvar_bot_wander_enable)
1042 if (!(this.aistatus & AI_STATUS_STUCK))
1044 LOG_DEBUG(this.netname, " cannot walk to any goal");
1045 this.aistatus |= AI_STATUS_STUCK;
1048 this.navigation_hasgoals = false; // Reset this value
1052 void botframe_updatedangerousobjects(float maxupdate)
1054 vector m1, m2, v, o;
1057 IL_EACH(g_waypoints, true,
1062 IL_EACH(g_bot_dodge, it.bot_dodge,
1065 v.x = bound(m1_x, v.x, m2_x);
1066 v.y = bound(m1_y, v.y, m2_y);
1067 v.z = bound(m1_z, v.z, m2_z);
1068 o = (it.absmin + it.absmax) * 0.5;
1069 d = it.bot_dodgerating - vlen(o - v);
1072 traceline(o, v, true, NULL);
1073 if (trace_fraction == 1)
1074 danger = danger + d;
1084 void navigation_unstuck(entity this)
1086 float search_radius = 1000;
1088 if (!autocvar_bot_wander_enable)
1091 if (!bot_waypoint_queue_owner)
1093 LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
1094 bot_waypoint_queue_owner = this;
1095 bot_waypoint_queue_bestgoal = NULL;
1096 bot_waypoint_queue_bestgoalrating = 0;
1099 if(bot_waypoint_queue_owner!=this)
1102 if (bot_waypoint_queue_goal)
1104 // evaluate the next goal on the queue
1105 float d = vlen2(this.origin - bot_waypoint_queue_goal.origin);
1106 LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d));
1107 if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1109 if( d > bot_waypoint_queue_bestgoalrating)
1111 bot_waypoint_queue_bestgoalrating = d;
1112 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1115 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1117 if (!bot_waypoint_queue_goal)
1119 if (bot_waypoint_queue_bestgoal)
1121 LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
1122 navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
1123 this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1124 this.aistatus &= ~AI_STATUS_STUCK;
1128 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1131 bot_waypoint_queue_owner = NULL;
1136 if(bot_strategytoken!=this)
1139 // build a new queue
1140 LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");
1142 entity first = NULL;
1144 FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
1146 if(bot_waypoint_queue_goal)
1147 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
1151 bot_waypoint_queue_goal = it;
1152 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
1156 bot_waypoint_queue_goal = first;
1159 LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
1160 bot_waypoint_queue_owner = NULL;
1165 // Support for debugging tracewalk visually
1167 void debugresetnodes()
1169 debuglastnode = '0 0 0';
1172 void debugnode(entity this, vector node)
1174 if (!IS_PLAYER(this))
1177 if(debuglastnode=='0 0 0')
1179 debuglastnode = node;
1183 te_lightning2(NULL, node, debuglastnode);
1184 debuglastnode = node;
1187 void debugnodestatus(vector position, float status)
1193 case DEBUG_NODE_SUCCESS:
1196 case DEBUG_NODE_WARNING:
1199 case DEBUG_NODE_FAIL:
1206 te_customflash(position, 40, 2, c);
1209 // Support for debugging the goal stack visually
1212 .vector lastposition;
1214 // Debug the goal stack visually
1215 void debuggoalstack(entity this)
1220 if(this.goalcounter==0)goal=this.goalcurrent;
1221 else if(this.goalcounter==1)goal=this.goalstack01;
1222 else if(this.goalcounter==2)goal=this.goalstack02;
1223 else if(this.goalcounter==3)goal=this.goalstack03;
1224 else if(this.goalcounter==4)goal=this.goalstack04;
1225 else if(this.goalcounter==5)goal=this.goalstack05;
1226 else if(this.goalcounter==6)goal=this.goalstack06;
1227 else if(this.goalcounter==7)goal=this.goalstack07;
1228 else if(this.goalcounter==8)goal=this.goalstack08;
1229 else if(this.goalcounter==9)goal=this.goalstack09;
1230 else if(this.goalcounter==10)goal=this.goalstack10;
1231 else if(this.goalcounter==11)goal=this.goalstack11;
1232 else if(this.goalcounter==12)goal=this.goalstack12;
1233 else if(this.goalcounter==13)goal=this.goalstack13;
1234 else if(this.goalcounter==14)goal=this.goalstack14;
1235 else if(this.goalcounter==15)goal=this.goalstack15;
1236 else if(this.goalcounter==16)goal=this.goalstack16;
1237 else if(this.goalcounter==17)goal=this.goalstack17;
1238 else if(this.goalcounter==18)goal=this.goalstack18;
1239 else if(this.goalcounter==19)goal=this.goalstack19;
1240 else if(this.goalcounter==20)goal=this.goalstack20;
1241 else if(this.goalcounter==21)goal=this.goalstack21;
1242 else if(this.goalcounter==22)goal=this.goalstack22;
1243 else if(this.goalcounter==23)goal=this.goalstack23;
1244 else if(this.goalcounter==24)goal=this.goalstack24;
1245 else if(this.goalcounter==25)goal=this.goalstack25;
1246 else if(this.goalcounter==26)goal=this.goalstack26;
1247 else if(this.goalcounter==27)goal=this.goalstack27;
1248 else if(this.goalcounter==28)goal=this.goalstack28;
1249 else if(this.goalcounter==29)goal=this.goalstack29;
1250 else if(this.goalcounter==30)goal=this.goalstack30;
1251 else if(this.goalcounter==31)goal=this.goalstack31;
1256 this.goalcounter = 0;
1257 this.lastposition='0 0 0';
1261 if(this.lastposition=='0 0 0')
1264 org = this.lastposition;
1267 go = ( goal.absmin + goal.absmax ) * 0.5;
1268 te_lightning2(NULL, org, go);
1269 this.lastposition = go;