2 // rough simulation of walking from one point to another to test if a path
3 // can be traveled, used for waypoint linking and havocbot
5 float tracewalk(entity e, vector start, vector m1, vector m2, vector end, float movemode)
11 local float totaldist;
14 local float ignorehazards;
17 if(autocvar_bot_debug_tracewalk)
26 dist = totaldist = vlen(move);
27 dir = normalize(move);
29 ignorehazards = FALSE;
31 // Analyze starting point
32 traceline(start, start, MOVE_NORMAL, e);
33 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
37 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
38 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
44 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
48 if(autocvar_bot_debug_tracewalk)
49 debugnodestatus(start, DEBUG_NODE_FAIL);
51 //print("tracewalk: ", vtos(start), " is a bad start\n");
60 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
63 if(autocvar_bot_debug_tracewalk)
64 debugnodestatus(org, DEBUG_NODE_SUCCESS);
66 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
69 if(autocvar_bot_debug_tracewalk)
76 dist = dist - stepdist;
77 traceline(org, org, MOVE_NORMAL, e);
80 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
82 // hazards blocking path
83 if(autocvar_bot_debug_tracewalk)
84 debugnodestatus(org, DEBUG_NODE_FAIL);
86 //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
90 if (trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK)
92 move = normalize(end - org);
93 tracebox(org, m1, m2, org + move * stepdist, movemode, e);
95 if(autocvar_bot_debug_tracewalk)
96 debugnode(trace_endpos);
98 if (trace_fraction < 1)
101 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
102 for(; org_z < end_z + self.maxs_z; org_z += stepdist)
104 if(autocvar_bot_debug_tracewalk)
107 if(pointcontents(org) == CONTENT_EMPTY)
111 if not (pointcontents(org + '0 0 1') == CONTENT_EMPTY)
113 if(autocvar_bot_debug_tracewalk)
114 debugnodestatus(org, DEBUG_NODE_FAIL);
117 //print("tracewalk: ", vtos(start), " failed under water\n");
127 move = dir * stepdist + org;
128 tracebox(org, m1, m2, move, movemode, e);
130 if(autocvar_bot_debug_tracewalk)
131 debugnode(trace_endpos);
134 if (trace_fraction < 1)
136 // check if we can walk over this obstacle
137 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
138 if (trace_fraction < 1 || trace_startsolid)
140 if(autocvar_bot_debug_tracewalk)
141 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
144 traceline( org, move, movemode, e);
145 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
147 local vector nextmove;
149 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
151 nextmove = move + (dir * stepdist);
152 traceline( move, nextmove, movemode, e);
158 if(autocvar_bot_debug_tracewalk)
159 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
161 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
162 //te_explosion(trace_endpos);
163 //print(ftos(e.dphitcontentsmask), "\n");
164 return FALSE; // failed
173 // trace down from stepheight as far as possible and move there,
174 // if this starts in solid we try again without the stepup, and
175 // if that also fails we assume it is a wall
176 // (this is the same logic as the Quake walkmove function used)
177 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
179 // moved successfully
183 c = pointcontents(org + '0 0 1');
184 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
194 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
196 // moved but didn't arrive at the intended destination
197 if(autocvar_bot_debug_tracewalk)
198 debugnodestatus(org, DEBUG_NODE_FAIL);
203 /////////////////////////////////////////////////////////////////////////////
205 /////////////////////////////////////////////////////////////////////////////
207 // completely empty the goal stack, used when deciding where to go
208 void navigation_clearroute()
210 //print("bot ", etos(self), " clear\n");
211 self.navigation_hasgoals = FALSE;
212 self.goalcurrent = world;
213 self.goalstack01 = world;
214 self.goalstack02 = world;
215 self.goalstack03 = world;
216 self.goalstack04 = world;
217 self.goalstack05 = world;
218 self.goalstack06 = world;
219 self.goalstack07 = world;
220 self.goalstack08 = world;
221 self.goalstack09 = world;
222 self.goalstack10 = world;
223 self.goalstack11 = world;
224 self.goalstack12 = world;
225 self.goalstack13 = world;
226 self.goalstack14 = world;
227 self.goalstack15 = world;
228 self.goalstack16 = world;
229 self.goalstack17 = world;
230 self.goalstack18 = world;
231 self.goalstack19 = world;
232 self.goalstack20 = world;
233 self.goalstack21 = world;
234 self.goalstack22 = world;
235 self.goalstack23 = world;
236 self.goalstack24 = world;
237 self.goalstack25 = world;
238 self.goalstack26 = world;
239 self.goalstack27 = world;
240 self.goalstack28 = world;
241 self.goalstack29 = world;
242 self.goalstack30 = world;
243 self.goalstack31 = world;
246 // add a new goal at the beginning of the stack
247 // (in other words: add a new prerequisite before going to the later goals)
248 // NOTE: when a waypoint is added, the WP gets pushed first, then the
249 // next-closest WP on the shortest path to the WP
250 // That means, if the stack overflows, the bot will know how to do the FIRST 32
251 // steps to the goal, and then recalculate the path.
252 void navigation_pushroute(entity e)
254 //print("bot ", etos(self), " push ", etos(e), "\n");
255 self.goalstack31 = self.goalstack30;
256 self.goalstack30 = self.goalstack29;
257 self.goalstack29 = self.goalstack28;
258 self.goalstack28 = self.goalstack27;
259 self.goalstack27 = self.goalstack26;
260 self.goalstack26 = self.goalstack25;
261 self.goalstack25 = self.goalstack24;
262 self.goalstack24 = self.goalstack23;
263 self.goalstack23 = self.goalstack22;
264 self.goalstack22 = self.goalstack21;
265 self.goalstack21 = self.goalstack20;
266 self.goalstack20 = self.goalstack19;
267 self.goalstack19 = self.goalstack18;
268 self.goalstack18 = self.goalstack17;
269 self.goalstack17 = self.goalstack16;
270 self.goalstack16 = self.goalstack15;
271 self.goalstack15 = self.goalstack14;
272 self.goalstack14 = self.goalstack13;
273 self.goalstack13 = self.goalstack12;
274 self.goalstack12 = self.goalstack11;
275 self.goalstack11 = self.goalstack10;
276 self.goalstack10 = self.goalstack09;
277 self.goalstack09 = self.goalstack08;
278 self.goalstack08 = self.goalstack07;
279 self.goalstack07 = self.goalstack06;
280 self.goalstack06 = self.goalstack05;
281 self.goalstack05 = self.goalstack04;
282 self.goalstack04 = self.goalstack03;
283 self.goalstack03 = self.goalstack02;
284 self.goalstack02 = self.goalstack01;
285 self.goalstack01 = self.goalcurrent;
286 self.goalcurrent = e;
289 // remove first goal from stack
290 // (in other words: remove a prerequisite for reaching the later goals)
291 // (used when a spawnfunc_waypoint is reached)
292 void navigation_poproute()
294 //print("bot ", etos(self), " pop\n");
295 self.goalcurrent = self.goalstack01;
296 self.goalstack01 = self.goalstack02;
297 self.goalstack02 = self.goalstack03;
298 self.goalstack03 = self.goalstack04;
299 self.goalstack04 = self.goalstack05;
300 self.goalstack05 = self.goalstack06;
301 self.goalstack06 = self.goalstack07;
302 self.goalstack07 = self.goalstack08;
303 self.goalstack08 = self.goalstack09;
304 self.goalstack09 = self.goalstack10;
305 self.goalstack10 = self.goalstack11;
306 self.goalstack11 = self.goalstack12;
307 self.goalstack12 = self.goalstack13;
308 self.goalstack13 = self.goalstack14;
309 self.goalstack14 = self.goalstack15;
310 self.goalstack15 = self.goalstack16;
311 self.goalstack16 = self.goalstack17;
312 self.goalstack17 = self.goalstack18;
313 self.goalstack18 = self.goalstack19;
314 self.goalstack19 = self.goalstack20;
315 self.goalstack20 = self.goalstack21;
316 self.goalstack21 = self.goalstack22;
317 self.goalstack22 = self.goalstack23;
318 self.goalstack23 = self.goalstack24;
319 self.goalstack24 = self.goalstack25;
320 self.goalstack25 = self.goalstack26;
321 self.goalstack26 = self.goalstack27;
322 self.goalstack27 = self.goalstack28;
323 self.goalstack28 = self.goalstack29;
324 self.goalstack29 = self.goalstack30;
325 self.goalstack30 = self.goalstack31;
326 self.goalstack31 = world;
329 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
330 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
332 local entity waylist, w, best;
333 local float dist, bestdist;
334 local vector v, org, pm1, pm2;
335 pm1 = ent.origin + ent.mins;
336 pm2 = ent.origin + ent.maxs;
337 waylist = findchain(classname, "waypoint");
339 // do two scans, because box test is cheaper
343 // if object is touching spawnfunc_waypoint
345 if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
350 org = ent.origin + 0.5 * (ent.mins + ent.maxs);
351 org_z = ent.origin_z + ent.mins_z - PL_MIN_z; // player height
352 // TODO possibly make other code have the same support for bboxes
354 org = org + ent.tag_entity.origin;
355 if (navigation_testtracewalk)
361 // box check failed, try walk
365 // if object can walk from spawnfunc_waypoint
370 local vector wm1, wm2;
371 wm1 = w.origin + w.mins;
372 wm2 = w.origin + w.maxs;
373 v_x = bound(wm1_x, org_x, wm2_x);
374 v_y = bound(wm1_y, org_y, wm2_y);
375 v_z = bound(wm1_z, org_z, wm2_z);
379 dist = vlen(v - org);
382 traceline(v, org, TRUE, ent);
383 if (trace_fraction == 1)
387 //print("^1can I reach ", vtos(org), " from ", vtos(v), "?\n");
388 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
396 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
410 // finds the waypoints near the bot initiating a navigation query
411 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
414 local vector v, m1, m2, diff;
416 // navigation_testtracewalk = TRUE;
421 if (!head.wpconsidered)
425 m1 = head.origin + head.mins;
426 m2 = head.origin + head.maxs;
428 v_x = bound(m1_x, v_x, m2_x);
429 v_y = bound(m1_y, v_y, m2_y);
430 v_z = bound(m1_z, v_z, m2_z);
434 diff = v - self.origin;
435 diff_z = max(0, diff_z);
436 if (vlen(diff) < maxdist)
438 head.wpconsidered = TRUE;
439 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
441 head.wpnearestpoint = v;
442 head.wpcost = vlen(v - self.origin) + head.dmg;
451 //navigation_testtracewalk = FALSE;
455 // updates a path link if a spawnfunc_waypoint link is better than the current one
456 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
465 v_x = bound(m1_x, p_x, m2_x);
466 v_y = bound(m1_y, p_y, m2_y);
467 v_z = bound(m1_z, p_z, m2_z);
471 cost2 = cost2 + vlen(v - p);
472 if (wp.wpcost > cost2)
477 wp.wpnearestpoint = v;
481 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
482 void navigation_markroutes(entity fixed_source_waypoint)
484 local entity w, wp, waylist;
485 local float searching, cost, cost2;
487 w = waylist = findchain(classname, "waypoint");
490 w.wpconsidered = FALSE;
491 w.wpnearestpoint = '0 0 0';
498 if(fixed_source_waypoint)
500 fixed_source_waypoint.wpconsidered = TRUE;
501 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
502 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
503 fixed_source_waypoint.wpfire = 1;
504 fixed_source_waypoint.enemy = world;
508 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
509 // as this search is expensive we will use lower values if the bot is on the air
510 local float i, increment, maxdistance;
511 if(self.flags & FL_ONGROUND)
522 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
537 p = w.wpnearestpoint;
538 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
539 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
540 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
541 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
542 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
543 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
544 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
545 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
546 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
547 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
548 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
549 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
550 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
551 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
552 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
553 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
554 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
555 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
556 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
557 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
558 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
559 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
560 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
561 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
562 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
563 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
564 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
565 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
566 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
567 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
568 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
569 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
570 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
577 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
578 void navigation_markroutes_inverted(entity fixed_source_waypoint)
580 local entity w, wp, waylist;
581 local float searching, cost, cost2;
583 w = waylist = findchain(classname, "waypoint");
586 w.wpconsidered = FALSE;
587 w.wpnearestpoint = '0 0 0';
594 if(fixed_source_waypoint)
596 fixed_source_waypoint.wpconsidered = TRUE;
597 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
598 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
599 fixed_source_waypoint.wpfire = 1;
600 fixed_source_waypoint.enemy = world;
604 error("need to start with a waypoint\n");
618 cost = w.wpcost; // cost to walk from w to home
619 p = w.wpnearestpoint;
620 for(wp = waylist; wp; wp = wp.chain)
622 if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
623 if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
624 if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
625 if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
626 if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
627 if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
628 if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
629 if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
631 cost2 = cost + wp.dmg;
632 navigation_markroutes_checkwaypoint(w, wp, cost2, p);
640 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
641 void navigation_routerating(entity e, float f, float rangebias)
647 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
649 // Evaluate path using jetpack
651 if(self.items & IT_JETPACK)
652 if(autocvar_bot_ai_navigation_jetpack)
653 if(vlen(self.origin - e.origin) > autocvar_bot_ai_navigation_jetpack_mindistance)
655 vector pointa, pointb;
657 // dprint("jetpack ai: evaluating path for ", e.classname,"\n");
660 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
661 pointa = trace_endpos - '0 0 1';
664 traceline(e.origin, e.origin + '0 0 65535', MOVE_NORMAL, e);
665 pointb = trace_endpos - '0 0 1';
667 // Can I see these two points from the sky?
668 traceline(pointa, pointb, MOVE_NORMAL, self);
670 if(trace_fraction==1)
672 // dprint("jetpack ai: can bridge these two points\n");
674 // Lower the altitude of these points as much as possible
675 local float zdistance, xydistance, cost, t, fuel;
676 local vector down, npa, npb;
678 down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
684 if(npa_z<=self.absmax_z)
687 if(npb_z<=e.absmax_z)
690 traceline(npa, npb, MOVE_NORMAL, self);
691 if(trace_fraction==1)
697 while(trace_fraction == 1);
700 // Rough estimation of fuel consumption
701 // (ignores acceleration and current xyz velocity)
702 xydistance = vlen(pointa - pointb);
703 zdistance = fabs(pointa_z - self.origin_z);
705 t = zdistance / autocvar_g_jetpack_maxspeed_up;
706 t += xydistance / autocvar_g_jetpack_maxspeed_side;
707 fuel = t * autocvar_g_jetpack_fuel * 0.8;
709 // dprint("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel),"\n");
712 if(self.ammo_fuel>fuel)
715 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
716 // - between air and ground speeds)
718 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
719 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
722 // Compare against other goals
723 f = f * rangebias / (rangebias + cost);
725 if (navigation_bestrating < f)
727 // dprint("jetpack path: added goal", e.classname, " (with rating ", ftos(f), ")\n");
728 navigation_bestrating = f;
729 navigation_bestgoal = e;
730 self.navigation_jetpack_goal = e;
731 self.navigation_jetpack_point = pointb;
738 //te_wizspike(e.origin);
741 // update the cached spawnfunc_waypoint link on a dynamic item entity
742 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
748 if (time > e.nearestwaypointtimeout)
750 nwp = navigation_findnearestwaypoint(e, TRUE);
752 e.nearestwaypoint = nwp;
754 dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n");
756 // TODO: Cleaner solution, probably handling this timeout from ctf.qc
757 if(e.classname=="item_flag_team")
758 e.nearestwaypointtimeout = time + 2;
760 e.nearestwaypointtimeout = time + random() * 3 + 5;
762 nwp = e.nearestwaypoint;
765 //dprint("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n");
767 if (nwp.wpcost < 10000000)
769 //te_wizspike(nwp.wpnearestpoint);
770 // dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
771 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint)));
772 //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
774 if (navigation_bestrating < f)
776 // dprint("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n");
777 navigation_bestrating = f;
778 navigation_bestgoal = e;
784 // adds an item to the the goal stack with the path to a given item
785 float navigation_routetogoal(entity e, vector startposition)
789 // if there is no goal, just exit
793 self.navigation_hasgoals = TRUE;
795 // put the entity on the goal stack
796 //print("routetogoal ", etos(e), "\n");
797 navigation_pushroute(e);
800 if(e==self.navigation_jetpack_goal)
803 // if it can reach the goal there is nothing more to do
804 if (tracewalk(self, startposition, PL_MIN, PL_MAX, e.origin, bot_navigation_movemode))
807 // see if there are waypoints describing a path to the item
808 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
809 e = e.nearestwaypoint;
811 e = e.enemy; // we already have added it, so...
818 // add the spawnfunc_waypoint to the path
819 navigation_pushroute(e);
829 // removes any currently touching waypoints from the goal stack
830 // (this is how bots detect if they reached a goal)
831 void navigation_poptouchedgoals()
833 local vector org, m1, m2;
835 m1 = org + self.mins;
836 m2 = org + self.maxs;
838 if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
840 if(self.lastteleporttime>0)
841 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
843 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
844 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
846 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
847 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
849 navigation_poproute();
854 // Loose goal touching check when running
855 if(self.aistatus & AI_STATUS_RUNNING)
856 if(self.goalcurrent.classname=="waypoint")
858 if(vlen(self.origin - self.goalcurrent.origin)<150)
860 traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
861 if(trace_fraction==1)
863 // Detect personal waypoints
864 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
865 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
867 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
868 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
871 navigation_poproute();
876 while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
878 // Detect personal waypoints
879 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
880 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
882 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
883 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
886 navigation_poproute();
890 // begin a goal selection session (queries spawnfunc_waypoint network)
891 void navigation_goalrating_start()
893 if(self.aistatus & AI_STATUS_STUCK)
896 self.navigation_jetpack_goal = world;
897 navigation_bestrating = -1;
898 self.navigation_hasgoals = FALSE;
899 navigation_clearroute();
900 navigation_bestgoal = world;
901 navigation_markroutes(world);
904 // ends a goal selection session (updates goal stack to the best goal)
905 void navigation_goalrating_end()
907 if(self.aistatus & AI_STATUS_STUCK)
910 navigation_routetogoal(navigation_bestgoal, self.origin);
911 // dprint("best goal ", self.goalcurrent.classname , "\n");
913 // If the bot got stuck then try to reach the farthest waypoint
914 if not (self.navigation_hasgoals)
915 if (autocvar_bot_wander_enable)
917 if not(self.aistatus & AI_STATUS_STUCK)
919 dprint(self.netname, " cannot walk to any goal\n");
920 self.aistatus |= AI_STATUS_STUCK;
923 self.navigation_hasgoals = FALSE; // Reset this value
927 void botframe_updatedangerousobjects(float maxupdate)
929 local entity head, bot_dodgelist;
930 local vector m1, m2, v;
931 local float c, d, danger;
933 bot_dodgelist = findchainfloat(bot_dodge, TRUE);
934 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
935 while (botframe_dangerwaypoint != world)
938 m1 = botframe_dangerwaypoint.mins;
939 m2 = botframe_dangerwaypoint.maxs;
940 head = bot_dodgelist;
944 v_x = bound(m1_x, v_x, m2_x);
945 v_y = bound(m1_y, v_y, m2_y);
946 v_z = bound(m1_z, v_z, m2_z);
947 d = head.bot_dodgerating - vlen(head.origin - v);
950 traceline(head.origin, v, TRUE, world);
951 if (trace_fraction == 1)
956 botframe_dangerwaypoint.dmg = danger;
960 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
964 void navigation_unstuck()
966 float search_radius = 1000;
968 if not(autocvar_bot_wander_enable)
971 if not(bot_waypoint_queue_owner)
973 // dprint(self.netname, " sutck, taking over the waypoints queue\n");
974 bot_waypoint_queue_owner = self;
975 bot_waypoint_queue_bestgoal = world;
976 bot_waypoint_queue_bestgoalrating = 0;
979 if(bot_waypoint_queue_owner!=self)
982 if (bot_waypoint_queue_goal)
984 // evaluate the next goal on the queue
985 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
986 // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
987 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
989 if( d > bot_waypoint_queue_bestgoalrating)
991 bot_waypoint_queue_bestgoalrating = d;
992 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
995 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
997 if not(bot_waypoint_queue_goal)
999 if (bot_waypoint_queue_bestgoal)
1001 dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
1002 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1003 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1004 self.aistatus &~= AI_STATUS_STUCK;
1008 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1011 bot_waypoint_queue_owner = world;
1016 if(bot_strategytoken!=self)
1019 // build a new queue
1020 dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
1025 head = findradius(self.origin, search_radius);
1029 if(head.classname=="waypoint")
1030 if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1032 if(bot_waypoint_queue_goal)
1033 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1037 bot_waypoint_queue_goal = head;
1038 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1045 bot_waypoint_queue_goal = first;
1048 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1049 bot_waypoint_queue_owner = world;
1054 // Support for debugging tracewalk visually
1056 void debugresetnodes()
1058 debuglastnode = '0 0 0';
1061 void debugnode(vector node)
1063 if not(self.classname=="player")
1066 if(debuglastnode=='0 0 0')
1068 debuglastnode = node;
1072 te_lightning2(world, node, debuglastnode);
1073 debuglastnode = node;
1076 void debugnodestatus(vector position, float status)
1082 case DEBUG_NODE_SUCCESS:
1085 case DEBUG_NODE_WARNING:
1088 case DEBUG_NODE_FAIL:
1095 te_customflash(position, 40, 2, c);
1098 // Support for debugging the goal stack visually
1101 .vector lastposition;
1103 // Debug the goal stack visually
1104 void debuggoalstack()
1109 if(self.goalcounter==0)goal=self.goalcurrent;
1110 else if(self.goalcounter==1)goal=self.goalstack01;
1111 else if(self.goalcounter==2)goal=self.goalstack02;
1112 else if(self.goalcounter==3)goal=self.goalstack03;
1113 else if(self.goalcounter==4)goal=self.goalstack04;
1114 else if(self.goalcounter==5)goal=self.goalstack05;
1115 else if(self.goalcounter==6)goal=self.goalstack06;
1116 else if(self.goalcounter==7)goal=self.goalstack07;
1117 else if(self.goalcounter==8)goal=self.goalstack08;
1118 else if(self.goalcounter==9)goal=self.goalstack09;
1119 else if(self.goalcounter==10)goal=self.goalstack10;
1120 else if(self.goalcounter==11)goal=self.goalstack11;
1121 else if(self.goalcounter==12)goal=self.goalstack12;
1122 else if(self.goalcounter==13)goal=self.goalstack13;
1123 else if(self.goalcounter==14)goal=self.goalstack14;
1124 else if(self.goalcounter==15)goal=self.goalstack15;
1125 else if(self.goalcounter==16)goal=self.goalstack16;
1126 else if(self.goalcounter==17)goal=self.goalstack17;
1127 else if(self.goalcounter==18)goal=self.goalstack18;
1128 else if(self.goalcounter==19)goal=self.goalstack19;
1129 else if(self.goalcounter==20)goal=self.goalstack20;
1130 else if(self.goalcounter==21)goal=self.goalstack21;
1131 else if(self.goalcounter==22)goal=self.goalstack22;
1132 else if(self.goalcounter==23)goal=self.goalstack23;
1133 else if(self.goalcounter==24)goal=self.goalstack24;
1134 else if(self.goalcounter==25)goal=self.goalstack25;
1135 else if(self.goalcounter==26)goal=self.goalstack26;
1136 else if(self.goalcounter==27)goal=self.goalstack27;
1137 else if(self.goalcounter==28)goal=self.goalstack28;
1138 else if(self.goalcounter==29)goal=self.goalstack29;
1139 else if(self.goalcounter==30)goal=self.goalstack30;
1140 else if(self.goalcounter==31)goal=self.goalstack31;
1144 self.goalcounter = 0;
1145 self.lastposition='0 0 0';
1149 if(self.lastposition=='0 0 0')
1152 org = self.lastposition;
1155 te_lightning2(world, org, goal.origin);
1156 self.lastposition = goal.origin;