1 #include "waypoints.qh"
6 #include "navigation.qh"
8 #include <common/state.qh>
10 #include "../../antilag.qh"
12 #include <common/constants.qh>
13 #include <common/net_linked.qh>
14 #include <common/physics/player.qh>
16 #include <lib/warpzone/common.qh>
17 #include <lib/warpzone/util_server.qh>
19 .entity spawnpointmodel;
20 void waypoint_unreachable(entity pl)
22 IL_EACH(g_waypoints, true,
24 it.colormod = '0.5 0.5 0.5';
25 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
27 entity e2 = navigation_findnearestwaypoint(pl, false);
28 navigation_markroutes(pl, e2);
32 IL_EACH(g_waypoints, it.wpcost >= 10000000,
34 LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
36 it.effects |= EF_NODEPTHTEST | EF_BLUE;
40 if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
41 navigation_markroutes_inverted(e2);
44 IL_EACH(g_waypoints, it.wpcost >= 10000000,
46 LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
48 if (!(it.effects & EF_NODEPTHTEST)) // not already reported before
50 it.effects |= EF_NODEPTHTEST | EF_RED;
53 if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
54 if (m) LOG_INFOF("%d waypoints have been marked total\n", m);
57 IL_EACH(g_spawnpoints, true,
59 if (navigation_findnearestwaypoint(it, false))
61 if(it.spawnpointmodel)
63 delete(it.spawnpointmodel);
64 it.spawnpointmodel = NULL;
69 if(!it.spawnpointmodel)
71 tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
72 entity e = new(spawnpointmodel);
73 vector org = trace_endpos + eZ;
75 e.solid = SOLID_TRIGGER;
76 it.spawnpointmodel = e;
78 LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
79 it.spawnpointmodel.effects |= EF_NODEPTHTEST;
80 _setmodel(it.spawnpointmodel, pl.model);
81 it.spawnpointmodel.frame = pl.frame;
82 it.spawnpointmodel.skin = pl.skin;
83 it.spawnpointmodel.colormap = pl.colormap;
84 it.spawnpointmodel.colormod = pl.colormod;
85 it.spawnpointmodel.glowmod = pl.glowmod;
86 setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
90 if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);
93 IL_EACH(g_items, true,
95 it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
96 it.colormod = '0.5 0.5 0.5';
98 IL_EACH(g_items, true,
100 if (navigation_findnearestwaypoint(it, false))
102 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
103 it.effects |= EF_NODEPTHTEST | EF_RED;
107 if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);
110 IL_EACH(g_items, true,
112 if (navigation_findnearestwaypoint(it, true))
114 LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
115 it.effects |= EF_NODEPTHTEST | EF_BLUE;
119 if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
122 vector waypoint_getSymmetricalOrigin(vector org, int ctf_flags)
124 vector new_org = org;
125 if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
127 vector map_center = havocbot_middlepoint;
128 if (autocvar_g_waypointeditor_symmetrical == -1)
129 map_center = autocvar_g_waypointeditor_symmetrical_origin;
131 new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
133 else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
135 float m = havocbot_symmetryaxis_equation.x;
136 float q = havocbot_symmetryaxis_equation.y;
137 if (autocvar_g_waypointeditor_symmetrical == -2)
139 m = autocvar_g_waypointeditor_symmetrical_axis.x;
140 q = autocvar_g_waypointeditor_symmetrical_axis.y;
143 new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
144 new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
150 void waypoint_setupmodel(entity wp)
152 if (autocvar_g_waypointeditor)
154 // TODO: add some sort of visible box in edit mode for box waypoints
157 setmodel(wp, MDL_WAYPOINT);
159 wp.effects = EF_LOWPRECISION;
160 if (wp.wpflags & WAYPOINTFLAG_ITEM)
161 wp.colormod = '1 0 0';
162 else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
163 wp.colormod = '1 1 0';
165 wp.colormod = '1 1 1';
171 // create a new spawnfunc_waypoint and automatically link it to other waypoints, and link
172 // them back to it as well
173 // (suitable for spawnfunc_waypoint editor)
174 entity waypoint_spawn(vector m1, vector m2, float f)
176 if(!(f & WAYPOINTFLAG_PERSONAL))
185 IL_EACH(g_waypoints, boxesoverlap(em1, em2, it.absmin, it.absmax),
191 entity w = new(waypoint);
192 IL_PUSH(g_waypoints, w);
193 w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
195 w.solid = SOLID_TRIGGER;
196 setorigin(w, (m1 + m2) * 0.5);
197 setsize(w, m1 - w.origin, m2 - w.origin);
203 setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
204 if(!move_out_of_solid(w))
206 if(!(f & WAYPOINTFLAG_GENERATED))
208 LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
214 if(autocvar_developer)
216 LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin), "\n");
217 backtrace("Waypoint stuck");
221 setsize(w, '0 0 0', '0 0 0');
224 waypoint_clearlinks(w);
225 //waypoint_schedulerelink(w);
227 waypoint_setupmodel(w);
232 void waypoint_spawn_fromeditor(entity pl)
235 vector org = pl.origin;
236 int ctf_flags = havocbot_symmetryaxis_equation.z;
237 bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
238 || (autocvar_g_waypointeditor_symmetrical < 0));
239 int order = ctf_flags;
240 if(autocvar_g_waypointeditor_symmetrical_order >= 2)
242 order = autocvar_g_waypointeditor_symmetrical_order;
246 if(!PHYS_INPUT_BUTTON_CROUCH(pl))
248 // snap waypoint to item's origin if close enough
249 IL_EACH(g_items, true,
251 vector item_org = (it.absmin + it.absmax) * 0.5;
252 item_org.z = it.absmin.z - PL_MIN_CONST.z;
253 if(vlen(item_org - org) < 30)
262 e = waypoint_spawn(org, org, 0);
263 waypoint_schedulerelink(e);
264 bprint(strcat("Waypoint spawned at ", vtos(org), "\n"));
267 org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
268 if (vdist(org - pl.origin, >, 32))
279 void waypoint_remove(entity wp)
281 // tell all waypoints linked to wp that they need to relink
282 IL_EACH(g_waypoints, it != wp,
284 if (waypoint_islinked(it, wp))
285 waypoint_removelink(it, wp);
290 void waypoint_remove_fromeditor(entity pl)
292 entity e = navigation_findnearestwaypoint(pl, false);
294 int ctf_flags = havocbot_symmetryaxis_equation.z;
295 bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
296 || (autocvar_g_waypointeditor_symmetrical < 0));
297 int order = ctf_flags;
298 if(autocvar_g_waypointeditor_symmetrical_order >= 2)
300 order = autocvar_g_waypointeditor_symmetrical_order;
306 if (e.wpflags & WAYPOINTFLAG_GENERATED) return;
310 LOG_INFO("^1Warning: ^7Removal of hardwired waypoints is not allowed in the editor. Please remove links from/to this waypoint (", vtos(e.origin), ") by hand from maps/", mapname, ".waypoints.hardwired\n");
314 entity wp_sym = NULL;
317 vector org = waypoint_getSymmetricalOrigin(e.origin, ctf_flags);
318 FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
319 if(vdist(org - it.origin, <, 3))
327 bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
341 void waypoint_removelink(entity from, entity to)
343 if (from == to || (from.wpflags & WAYPOINTFLAG_NORELINK))
347 if (!found && from.wp00 == to) found = true; if (found) {from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;}
348 if (!found && from.wp01 == to) found = true; if (found) {from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;}
349 if (!found && from.wp02 == to) found = true; if (found) {from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;}
350 if (!found && from.wp03 == to) found = true; if (found) {from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;}
351 if (!found && from.wp04 == to) found = true; if (found) {from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;}
352 if (!found && from.wp05 == to) found = true; if (found) {from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;}
353 if (!found && from.wp06 == to) found = true; if (found) {from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;}
354 if (!found && from.wp07 == to) found = true; if (found) {from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;}
355 if (!found && from.wp08 == to) found = true; if (found) {from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;}
356 if (!found && from.wp09 == to) found = true; if (found) {from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;}
357 if (!found && from.wp10 == to) found = true; if (found) {from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;}
358 if (!found && from.wp11 == to) found = true; if (found) {from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;}
359 if (!found && from.wp12 == to) found = true; if (found) {from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;}
360 if (!found && from.wp13 == to) found = true; if (found) {from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;}
361 if (!found && from.wp14 == to) found = true; if (found) {from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;}
362 if (!found && from.wp15 == to) found = true; if (found) {from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;}
363 if (!found && from.wp16 == to) found = true; if (found) {from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;}
364 if (!found && from.wp17 == to) found = true; if (found) {from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;}
365 if (!found && from.wp18 == to) found = true; if (found) {from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;}
366 if (!found && from.wp19 == to) found = true; if (found) {from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;}
367 if (!found && from.wp20 == to) found = true; if (found) {from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;}
368 if (!found && from.wp21 == to) found = true; if (found) {from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;}
369 if (!found && from.wp22 == to) found = true; if (found) {from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;}
370 if (!found && from.wp23 == to) found = true; if (found) {from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;}
371 if (!found && from.wp24 == to) found = true; if (found) {from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;}
372 if (!found && from.wp25 == to) found = true; if (found) {from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;}
373 if (!found && from.wp26 == to) found = true; if (found) {from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;}
374 if (!found && from.wp27 == to) found = true; if (found) {from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;}
375 if (!found && from.wp28 == to) found = true; if (found) {from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;}
376 if (!found && from.wp29 == to) found = true; if (found) {from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;}
377 if (!found && from.wp30 == to) found = true; if (found) {from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;}
378 if (found) {from.wp31 = NULL; from.wp31mincost = 10000000;}
381 bool waypoint_islinked(entity from, entity to)
383 if (from.wp00 == to) return true;if (from.wp01 == to) return true;if (from.wp02 == to) return true;if (from.wp03 == to) return true;
384 if (from.wp04 == to) return true;if (from.wp05 == to) return true;if (from.wp06 == to) return true;if (from.wp07 == to) return true;
385 if (from.wp08 == to) return true;if (from.wp09 == to) return true;if (from.wp10 == to) return true;if (from.wp11 == to) return true;
386 if (from.wp12 == to) return true;if (from.wp13 == to) return true;if (from.wp14 == to) return true;if (from.wp15 == to) return true;
387 if (from.wp16 == to) return true;if (from.wp17 == to) return true;if (from.wp18 == to) return true;if (from.wp19 == to) return true;
388 if (from.wp20 == to) return true;if (from.wp21 == to) return true;if (from.wp22 == to) return true;if (from.wp23 == to) return true;
389 if (from.wp24 == to) return true;if (from.wp25 == to) return true;if (from.wp26 == to) return true;if (from.wp27 == to) return true;
390 if (from.wp28 == to) return true;if (from.wp29 == to) return true;if (from.wp30 == to) return true;if (from.wp31 == to) return true;
394 float waypoint_getdistancecost_simple(float dist)
396 return dist / autocvar_sv_maxspeed;
399 float waypoint_getdistancecost(vector from, vector to)
401 float c = waypoint_getdistancecost_simple(vlen(to - from));
403 float height = from.z - to.z;
404 if(height > 0 && autocvar_sv_gravity > 0)
406 float height_cost = sqrt(height / autocvar_sv_gravity);
407 float xydist = vlen(vec2(to - from));
408 float xydist_cost = xydist / autocvar_sv_maxspeed;
409 if(max(height_cost, xydist_cost) < c)
410 c = max(height_cost, xydist_cost);
415 float waypoint_getlinkcost(entity from, entity to)
417 vector v1 = from.origin;
418 vector v2 = to.origin;
421 vector m1 = to.absmin, m2 = to.absmax;
422 v1_x = bound(m1_x, v1_x, m2_x);
423 v1_y = bound(m1_y, v1_y, m2_y);
424 v1_z = bound(m1_z, v1_z, m2_z);
428 vector m1 = from.absmin, m2 = from.absmax;
429 v2_x = bound(m1_x, v2_x, m2_x);
430 v2_y = bound(m1_y, v2_y, m2_y);
431 v2_z = bound(m1_z, v2_z, m2_z);
433 return waypoint_getdistancecost(v1, v2);
436 // add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
437 // if c == -1 automatically determine cost of the link
438 void waypoint_addlink_customcost(entity from, entity to, float c)
440 if (from == to || waypoint_islinked(from, to))
442 if (c == -1 && (from.wpflags & WAYPOINTFLAG_NORELINK))
446 c = waypoint_getlinkcost(from, to);
448 if (from.wp31mincost < c) return;
449 if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
450 if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
451 if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
452 if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
453 if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
454 if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
455 if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
456 if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
457 if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
458 if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
459 if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
460 if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
461 if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
462 if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
463 if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
464 if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
465 if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
466 if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
467 if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
468 if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
469 if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
470 if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
471 if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
472 if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
473 if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
474 if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
475 if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
476 if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
477 if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
478 if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
479 if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
480 from.wp00 = to;from.wp00mincost = c;return;
483 void waypoint_addlink(entity from, entity to)
485 waypoint_addlink_customcost(from, to, -1);
488 // relink this spawnfunc_waypoint
489 // (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
491 void waypoint_think(entity this)
493 vector sv, sm1, sm2, ev, em1, em2, dv;
495 bot_calculate_stepheightvec();
497 bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);
499 //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
500 sm1 = this.origin + this.mins;
501 sm2 = this.origin + this.maxs;
502 IL_EACH(g_waypoints, this != it,
504 if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
506 waypoint_addlink(this, it);
507 waypoint_addlink(it, this);
512 if(!checkpvs(this.origin, it))
518 sv.x = bound(sm1_x, sv.x, sm2_x);
519 sv.y = bound(sm1_y, sv.y, sm2_y);
520 sv.z = bound(sm1_z, sv.z, sm2_z);
522 em1 = it.origin + it.mins;
523 em2 = it.origin + it.maxs;
524 ev.x = bound(em1_x, ev.x, em2_x);
525 ev.y = bound(em1_y, ev.y, em2_y);
526 ev.z = bound(em1_z, ev.z, em2_z);
529 if(vdist(dv, >=, 1050)) // max search distance in XY
531 ++relink_lengthculled;
534 navigation_testtracewalk = 0;
537 tracebox(sv - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, sv, false, this);
538 if (!trace_startsolid)
540 //dprint("sv deviation", vtos(trace_endpos - sv), "\n");
541 sv = trace_endpos + '0 0 1';
546 tracebox(ev - PL_MIN_CONST.z * '0 0 1', PL_MIN_CONST, PL_MAX_CONST, ev, false, it);
547 if (!trace_startsolid)
549 //dprint("ev deviation", vtos(trace_endpos - ev), "\n");
550 ev = trace_endpos + '0 0 1';
553 //traceline(this.origin, it.origin, false, NULL);
554 //if (trace_fraction == 1)
555 if (!this.wpisbox && tracewalk(this, sv, PL_MIN_CONST, PL_MAX_CONST, ev, MOVE_NOMONSTERS))
556 waypoint_addlink(this, it);
558 relink_walkculled += 0.5;
559 if (!it.wpisbox && tracewalk(it, ev, PL_MIN_CONST, PL_MAX_CONST, sv, MOVE_NOMONSTERS))
560 waypoint_addlink(it, this);
562 relink_walkculled += 0.5;
565 navigation_testtracewalk = 0;
566 this.wplinked = true;
569 void waypoint_clearlinks(entity wp)
571 // clear links to other waypoints
573 wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
574 wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
575 wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
576 wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;
578 wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
579 wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
580 wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
581 wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;
586 // tell a spawnfunc_waypoint to relink
587 void waypoint_schedulerelink(entity wp)
592 waypoint_setupmodel(wp);
593 wp.wpisbox = vdist(wp.size, >, 0);
595 if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
597 if (!(wp.wpflags & WAYPOINTFLAG_NORELINK))
598 waypoint_clearlinks(wp);
599 // schedule an actual relink on next frame
600 setthink(wp, waypoint_think);
602 wp.effects = EF_LOWPRECISION;
605 // spawnfunc_waypoint map entity
608 IL_PUSH(g_waypoints, this);
610 setorigin(this, this.origin);
611 // schedule a relink after other waypoints have had a chance to spawn
612 waypoint_clearlinks(this);
613 //waypoint_schedulerelink(this);
616 // tell all waypoints to relink
617 // actually this is useful only to update relink_* stats
618 void waypoint_schedulerelinkall()
620 relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
621 IL_EACH(g_waypoints, true,
623 waypoint_schedulerelink(it);
625 waypoint_load_links_hardwired();
628 // Load waypoint links from file
629 bool waypoint_load_links()
632 float file, tokens, c = 0, found;
633 entity wp_from = NULL, wp_to;
634 vector wp_to_pos, wp_from_pos;
635 filename = strcat("maps/", mapname);
636 filename = strcat(filename, ".waypoints.cache");
637 file = fopen(filename, FILE_READ);
641 LOG_TRACE("waypoint links load from ");
643 LOG_TRACE(" failed");
647 while ((s = fgets(file)))
649 tokens = tokenizebyseparator(s, "*");
658 wp_from_pos = stov(argv(0));
659 wp_to_pos = stov(argv(1));
661 // Search "from" waypoint
662 if(!wp_from || wp_from.origin!=wp_from_pos)
664 wp_from = findradius(wp_from_pos, 1);
668 if(vdist(wp_from.origin - wp_from_pos, <, 1))
669 if(wp_from.classname == "waypoint")
674 wp_from = wp_from.chain;
679 LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
685 // Search "to" waypoint
686 wp_to = findradius(wp_to_pos, 1);
690 if(vdist(wp_to.origin - wp_to_pos, <, 1))
691 if(wp_to.classname == "waypoint")
701 LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
706 waypoint_addlink(wp_from, wp_to);
711 LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.cache");
713 botframe_cachedwaypointlinks = true;
717 void waypoint_load_or_remove_links_hardwired(bool removal_mode)
720 float file, tokens, c = 0, found;
721 entity wp_from = NULL, wp_to;
722 vector wp_to_pos, wp_from_pos;
723 filename = strcat("maps/", mapname);
724 filename = strcat(filename, ".waypoints.hardwired");
725 file = fopen(filename, FILE_READ);
727 botframe_loadedforcedlinks = true;
732 LOG_TRACE("waypoint links load from ", filename, " failed");
736 while ((s = fgets(file)))
738 if(substring(s, 0, 2)=="//")
741 if(substring(s, 0, 1)=="#")
744 tokens = tokenizebyseparator(s, "*");
749 wp_from_pos = stov(argv(0));
750 wp_to_pos = stov(argv(1));
752 // Search "from" waypoint
753 if(!wp_from || wp_from.origin!=wp_from_pos)
755 wp_from = findradius(wp_from_pos, 5);
759 if(vdist(wp_from.origin - wp_from_pos, <, 5))
760 if(wp_from.classname == "waypoint")
765 wp_from = wp_from.chain;
771 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_from_pos), ". Path skipped\n"));
776 // Search "to" waypoint
777 wp_to = findradius(wp_to_pos, 5);
781 if(vdist(wp_to.origin - wp_to_pos, <, 5))
782 if(wp_to.classname == "waypoint")
793 LOG_INFO(strcat("NOTICE: Can not find waypoint at ", vtos(wp_to_pos), ". Path skipped\n"));
800 waypoint_removelink(wp_from, wp_to);
804 waypoint_addlink(wp_from, wp_to);
805 wp_from.wphardwired = true;
806 wp_to.wphardwired = true;
812 LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
815 void waypoint_load_links_hardwired() { waypoint_load_or_remove_links_hardwired(false); }
816 void waypoint_remove_links_hardwired() { waypoint_load_or_remove_links_hardwired(true); }
818 entity waypoint_get_link(entity w, float i)
822 case 0:return w.wp00;
823 case 1:return w.wp01;
824 case 2:return w.wp02;
825 case 3:return w.wp03;
826 case 4:return w.wp04;
827 case 5:return w.wp05;
828 case 6:return w.wp06;
829 case 7:return w.wp07;
830 case 8:return w.wp08;
831 case 9:return w.wp09;
832 case 10:return w.wp10;
833 case 11:return w.wp11;
834 case 12:return w.wp12;
835 case 13:return w.wp13;
836 case 14:return w.wp14;
837 case 15:return w.wp15;
838 case 16:return w.wp16;
839 case 17:return w.wp17;
840 case 18:return w.wp18;
841 case 19:return w.wp19;
842 case 20:return w.wp20;
843 case 21:return w.wp21;
844 case 22:return w.wp22;
845 case 23:return w.wp23;
846 case 24:return w.wp24;
847 case 25:return w.wp25;
848 case 26:return w.wp26;
849 case 27:return w.wp27;
850 case 28:return w.wp28;
851 case 29:return w.wp29;
852 case 30:return w.wp30;
853 case 31:return w.wp31;
858 // Save all waypoint links to a file
859 void waypoint_save_links()
861 // temporarily remove hardwired links so they don't get saved among normal links
862 waypoint_remove_links_hardwired();
864 string filename = sprintf("maps/%s.waypoints.cache", mapname);
865 int file = fopen(filename, FILE_WRITE);
868 LOG_INFOF("waypoint link save to %s failed\n", filename);
873 IL_EACH(g_waypoints, true,
875 for(int j = 0; j < 32; ++j)
877 entity link = waypoint_get_link(it, j);
880 string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
887 botframe_cachedwaypointlinks = true;
889 LOG_INFOF("saved %d waypoint links to maps/%s.waypoints.cache\n", c, mapname);
891 waypoint_load_links_hardwired();
894 // save waypoints to gamedir/data/maps/mapname.waypoints
895 void waypoint_saveall()
897 string filename = sprintf("maps/%s.waypoints", mapname);
898 int file = fopen(filename, FILE_WRITE);
901 waypoint_save_links(); // save anyway?
902 botframe_loadedforcedlinks = false;
904 LOG_INFOF("waypoint links: save to %s failed\n", filename);
909 IL_EACH(g_waypoints, true,
911 if(it.wpflags & WAYPOINTFLAG_GENERATED)
915 s = strcat(vtos(it.origin + it.mins), "\n");
916 s = strcat(s, vtos(it.origin + it.maxs));
918 s = strcat(s, ftos(it.wpflags));
924 waypoint_save_links();
925 botframe_loadedforcedlinks = false;
927 LOG_INFOF("saved %d waypoints to maps/%s.waypoints\n", c, mapname);
930 // load waypoints from file
931 float waypoint_loadall()
934 float file, cwp, cwb, fl;
938 filename = strcat("maps/", mapname);
939 filename = strcat(filename, ".waypoints");
940 file = fopen(filename, FILE_READ);
943 while ((s = fgets(file)))
954 waypoint_spawn(m1, m2, fl);
961 LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");
965 LOG_TRACE("waypoint load from ", filename, " failed");
970 vector waypoint_fixorigin(vector position)
972 tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
973 if(trace_fraction < 1)
974 position = trace_endpos;
975 //traceline(position, position + '0 0 -512', MOVE_NOMONSTERS, NULL);
976 //print("position is ", ftos(trace_endpos_z - position_z), " above solid\n");
980 void waypoint_spawnforitem_force(entity e, vector org)
982 // Fix the waypoint altitude if necessary
983 org = waypoint_fixorigin(org);
985 // don't spawn an item spawnfunc_waypoint if it already exists
986 IL_EACH(g_waypoints, true,
990 if(boxesoverlap(org, org, it.absmin, it.absmax))
992 e.nearestwaypoint = it;
998 if(vdist(it.origin - org, <, 16))
1000 e.nearestwaypoint = it;
1006 e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
1009 void waypoint_spawnforitem(entity e)
1011 if(!bot_waypoints_for_items)
1014 waypoint_spawnforitem_force(e, e.origin);
1017 void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
1021 w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag | WAYPOINTFLAG_NORELINK);
1022 dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
1023 // one way link to the destination
1025 w.wp00mincost = timetaken; // this is just for jump pads
1026 // the teleporter's nearest spawnfunc_waypoint is this one
1027 // (teleporters are not goals, so this is probably useless)
1028 e.nearestwaypoint = w;
1029 e.nearestwaypointtimeout = -1;
1032 void waypoint_spawnforteleporter_v(entity e, vector org, vector destination, float timetaken)
1034 org = waypoint_fixorigin(org);
1035 destination = waypoint_fixorigin(destination);
1036 waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, org, org, destination, destination, timetaken);
1039 void waypoint_spawnforteleporter(entity e, vector destination, float timetaken)
1041 destination = waypoint_fixorigin(destination);
1042 waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin, e.absmax, destination, destination, timetaken);
1045 entity waypoint_spawnpersonal(entity this, vector position)
1049 // drop the waypoint to a proper location:
1050 // first move it up by a player height
1051 // then move it down to hit the floor with player bbox size
1052 position = waypoint_fixorigin(position);
1054 w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
1055 w.nearestwaypoint = NULL;
1056 w.nearestwaypointtimeout = 0;
1059 waypoint_schedulerelink(w);
1064 void waypoint_showlink(entity wp1, entity wp2, int display_type)
1069 if (wp1.wphardwired && wp2.wphardwired)
1070 te_beam(NULL, wp1.origin, wp2.origin);
1071 else if (display_type == 1)
1072 te_lightning2(NULL, wp1.origin, wp2.origin);
1075 void waypoint_showlinks_to(entity wp, int display_type)
1077 IL_EACH(g_waypoints, it != wp,
1079 if (waypoint_islinked(it, wp))
1080 waypoint_showlink(it, wp, display_type);
1084 void waypoint_showlinks_from(entity wp, int display_type)
1086 waypoint_showlink(wp.wp00, wp, display_type); waypoint_showlink(wp.wp16, wp, display_type);
1087 waypoint_showlink(wp.wp01, wp, display_type); waypoint_showlink(wp.wp17, wp, display_type);
1088 waypoint_showlink(wp.wp02, wp, display_type); waypoint_showlink(wp.wp18, wp, display_type);
1089 waypoint_showlink(wp.wp03, wp, display_type); waypoint_showlink(wp.wp19, wp, display_type);
1090 waypoint_showlink(wp.wp04, wp, display_type); waypoint_showlink(wp.wp20, wp, display_type);
1091 waypoint_showlink(wp.wp05, wp, display_type); waypoint_showlink(wp.wp21, wp, display_type);
1092 waypoint_showlink(wp.wp06, wp, display_type); waypoint_showlink(wp.wp22, wp, display_type);
1093 waypoint_showlink(wp.wp07, wp, display_type); waypoint_showlink(wp.wp23, wp, display_type);
1094 waypoint_showlink(wp.wp08, wp, display_type); waypoint_showlink(wp.wp24, wp, display_type);
1095 waypoint_showlink(wp.wp09, wp, display_type); waypoint_showlink(wp.wp25, wp, display_type);
1096 waypoint_showlink(wp.wp10, wp, display_type); waypoint_showlink(wp.wp26, wp, display_type);
1097 waypoint_showlink(wp.wp11, wp, display_type); waypoint_showlink(wp.wp27, wp, display_type);
1098 waypoint_showlink(wp.wp12, wp, display_type); waypoint_showlink(wp.wp28, wp, display_type);
1099 waypoint_showlink(wp.wp13, wp, display_type); waypoint_showlink(wp.wp29, wp, display_type);
1100 waypoint_showlink(wp.wp14, wp, display_type); waypoint_showlink(wp.wp30, wp, display_type);
1101 waypoint_showlink(wp.wp15, wp, display_type); waypoint_showlink(wp.wp31, wp, display_type);
1104 void botframe_showwaypointlinks()
1106 if (time < botframe_waypointeditorlightningtime)
1108 botframe_waypointeditorlightningtime = time + 0.5;
1109 FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
1111 int display_type = 0;
1112 entity head = navigation_findnearestwaypoint(it, false);
1113 if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE)
1114 display_type = 1; // default
1115 else if(head && (head.wphardwired))
1116 display_type = 2; // only hardwired
1120 //navigation_testtracewalk = true;
1121 //print("currently selected WP is ", etos(head), "\n");
1122 //navigation_testtracewalk = false;
1125 te_lightning2(NULL, head.origin, it.origin);
1126 if(PHYS_INPUT_BUTTON_CROUCH(it))
1127 waypoint_showlinks_to(head, display_type);
1129 waypoint_showlinks_from(head, display_type);
1135 float botframe_autowaypoints_fixdown(vector v)
1137 tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
1138 if(trace_fraction >= 1)
1143 float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
1145 IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
1147 // if a matching spawnfunc_waypoint already exists, don't add a duplicate
1151 waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
1157 // 0 = no action needed
1158 // -1 = temp fail, try from world too
1159 // -2 = permanent fail, do not retry
1160 float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
1162 // make it possible to go from p to wp, if we can
1163 // if wp is NULL, nearest is chosen
1167 float t, tmin, tmax;
1171 if(!botframe_autowaypoints_fixdown(p.origin))
1173 porg = trace_endpos;
1177 // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w
1179 // if wp -> porg, then OK
1181 if(navigation_waypoint_will_link(wp.origin, porg, p, walkfromwp, 1050))
1183 // we may find a better one
1184 maxdist = vlen(wp.origin - porg);
1188 // accept any "good"
1192 float bestdist = maxdist;
1193 IL_EACH(g_waypoints, it != wp && !(it.wpflags & WAYPOINTFLAG_NORELINK),
1195 float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
1197 if(navigation_waypoint_will_link(wp.origin, it.origin, p, walkfromwp, 1050))
1198 if(navigation_waypoint_will_link(it.origin, porg, p, walkfromwp, 1050))
1204 if(bestdist < maxdist)
1206 LOG_INFO("update chain to new nearest WP ", etos(p.(fld)), "\n");
1212 // we know maxdist < 2100
1213 // so wp -> porg is still valid
1219 // otherwise, no existing WP can fix our issues
1225 w = navigation_findnearestwaypoint(p, walkfromwp);
1238 if(tmax - tmin < 0.001)
1240 // did not get a good candidate
1244 t = (tmin + tmax) * 0.5;
1245 o = antilag_takebackorigin(p, CS(p), time - t);
1246 if(!botframe_autowaypoints_fixdown(o))
1252 if(!navigation_waypoint_will_link(wp.origin, o, p, walkfromwp, 1050))
1254 // we cannot walk from wp.origin to o
1255 // get closer to tmax
1264 w = navigation_findnearestwaypoint(p, walkfromwp);
1268 // we cannot walk from any WP to o
1269 // get closer to tmax
1275 // if we get here, o is valid regarding waypoints
1276 // check if o is connected right to the player
1277 // we break if it succeeds, as that means o is a good waypoint location
1278 if(navigation_waypoint_will_link(o, porg, p, walkfromwp, 1050))
1281 // o is no good, we need to get closer to the player
1285 LOG_INFO("spawning a waypoint for connecting to ", etos(wp), "\n");
1286 botframe_autowaypoints_createwp(o, p, fld, 0);
1290 // automatically create missing waypoints
1291 .entity botframe_autowaypoints_lastwp0, botframe_autowaypoints_lastwp1;
1292 void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
1294 float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
1297 r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
1301 LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain\n");
1302 if(!botframe_autowaypoints_fixdown(p.origin))
1303 return; // shouldn't happen, caught above
1304 botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
1307 void botframe_deleteuselesswaypoints()
1309 IL_EACH(g_items, it.bot_pickup,
1311 // NOTE: this protects waypoints if they're the ONLY nearest
1312 // waypoint. That's the intention.
1313 navigation_findnearestwaypoint(it, false); // Walk TO item.
1314 navigation_findnearestwaypoint(it, true); // Walk FROM item.
1316 IL_EACH(g_waypoints, true,
1318 it.wpflags |= WAYPOINTFLAG_DEAD_END;
1319 it.wpflags &= ~WAYPOINTFLAG_USEFUL;
1321 if (it.wpflags & WAYPOINTFLAG_ITEM)
1322 it.wpflags |= WAYPOINTFLAG_USEFUL;
1323 if (it.wpflags & WAYPOINTFLAG_TELEPORT)
1324 it.wpflags |= WAYPOINTFLAG_USEFUL;
1325 if (it.wpflags & WAYPOINTFLAG_LADDER)
1326 it.wpflags |= WAYPOINTFLAG_USEFUL;
1327 if (it.wpflags & WAYPOINTFLAG_PROTECTED)
1328 it.wpflags |= WAYPOINTFLAG_USEFUL;
1329 // b) WP is closest WP for an item/spawnpoint/other entity
1330 // This has been done above by protecting these WPs.
1332 // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
1333 IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
1335 for (int m = 0; m < 32; ++m)
1337 entity w = waypoint_get_link(it, m);
1340 if (w.wpflags & WAYPOINTFLAG_PERSONAL)
1342 if (w.wpflags & WAYPOINTFLAG_USEFUL)
1344 for (int j = 0; j < 32; ++j)
1346 entity w2 = waypoint_get_link(w, j);
1351 if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
1353 // If we got here, it != w2 exist with it -> w
1354 // and w -> w2. That means the waypoint is not
1356 w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
1357 for (int k = 0; k < 32; ++k)
1359 if (waypoint_get_link(it, k) == w2)
1361 // IF WE GET HERE, w is proven useful
1362 // to get from it to w2!
1363 w.wpflags |= WAYPOINTFLAG_USEFUL;
1370 // d) The waypoint is a dead end. Dead end waypoints must be kept as
1371 // they are needed to complete routes while autowaypointing.
1373 IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
1375 LOG_INFOF("Removed a waypoint at %v. Try again for more!\n", it.origin);
1376 te_explosion(it.origin);
1377 waypoint_remove(it);
1381 IL_EACH(g_waypoints, true,
1383 it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
1387 void botframe_autowaypoints()
1389 FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), LAMBDA(
1390 // going back is broken, so only fix waypoints to walk TO the player
1391 //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
1392 botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
1393 //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
1396 if (autocvar_g_waypointeditor_auto >= 2) {
1397 botframe_deleteuselesswaypoints();