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)
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, possibly by jumpstepping
137 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
138 if (trace_fraction < 1 || trace_startsolid)
140 tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
141 if (trace_fraction < 1 || trace_startsolid)
143 if(autocvar_bot_debug_tracewalk)
144 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
147 traceline( org, move, movemode, e);
148 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
152 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
154 nextmove = move + (dir * stepdist);
155 traceline( move, nextmove, movemode, e);
161 if(autocvar_bot_debug_tracewalk)
162 debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
164 //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
165 //te_explosion(trace_endpos);
166 //print(ftos(e.dphitcontentsmask), "\n");
167 return FALSE; // failed
179 // trace down from stepheight as far as possible and move there,
180 // if this starts in solid we try again without the stepup, and
181 // if that also fails we assume it is a wall
182 // (this is the same logic as the Quake walkmove function used)
183 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
185 // moved successfully
189 c = pointcontents(org + '0 0 1');
190 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
200 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
202 // moved but didn't arrive at the intended destination
203 if(autocvar_bot_debug_tracewalk)
204 debugnodestatus(org, DEBUG_NODE_FAIL);
209 /////////////////////////////////////////////////////////////////////////////
211 /////////////////////////////////////////////////////////////////////////////
213 // completely empty the goal stack, used when deciding where to go
214 void navigation_clearroute()
216 //print("bot ", etos(self), " clear\n");
217 self.navigation_hasgoals = FALSE;
218 self.goalcurrent = world;
219 self.goalstack01 = world;
220 self.goalstack02 = world;
221 self.goalstack03 = world;
222 self.goalstack04 = world;
223 self.goalstack05 = world;
224 self.goalstack06 = world;
225 self.goalstack07 = world;
226 self.goalstack08 = world;
227 self.goalstack09 = world;
228 self.goalstack10 = world;
229 self.goalstack11 = world;
230 self.goalstack12 = world;
231 self.goalstack13 = world;
232 self.goalstack14 = world;
233 self.goalstack15 = world;
234 self.goalstack16 = world;
235 self.goalstack17 = world;
236 self.goalstack18 = world;
237 self.goalstack19 = world;
238 self.goalstack20 = world;
239 self.goalstack21 = world;
240 self.goalstack22 = world;
241 self.goalstack23 = world;
242 self.goalstack24 = world;
243 self.goalstack25 = world;
244 self.goalstack26 = world;
245 self.goalstack27 = world;
246 self.goalstack28 = world;
247 self.goalstack29 = world;
248 self.goalstack30 = world;
249 self.goalstack31 = world;
252 // add a new goal at the beginning of the stack
253 // (in other words: add a new prerequisite before going to the later goals)
254 // NOTE: when a waypoint is added, the WP gets pushed first, then the
255 // next-closest WP on the shortest path to the WP
256 // That means, if the stack overflows, the bot will know how to do the FIRST 32
257 // steps to the goal, and then recalculate the path.
258 void navigation_pushroute(entity e)
260 //print("bot ", etos(self), " push ", etos(e), "\n");
261 self.goalstack31 = self.goalstack30;
262 self.goalstack30 = self.goalstack29;
263 self.goalstack29 = self.goalstack28;
264 self.goalstack28 = self.goalstack27;
265 self.goalstack27 = self.goalstack26;
266 self.goalstack26 = self.goalstack25;
267 self.goalstack25 = self.goalstack24;
268 self.goalstack24 = self.goalstack23;
269 self.goalstack23 = self.goalstack22;
270 self.goalstack22 = self.goalstack21;
271 self.goalstack21 = self.goalstack20;
272 self.goalstack20 = self.goalstack19;
273 self.goalstack19 = self.goalstack18;
274 self.goalstack18 = self.goalstack17;
275 self.goalstack17 = self.goalstack16;
276 self.goalstack16 = self.goalstack15;
277 self.goalstack15 = self.goalstack14;
278 self.goalstack14 = self.goalstack13;
279 self.goalstack13 = self.goalstack12;
280 self.goalstack12 = self.goalstack11;
281 self.goalstack11 = self.goalstack10;
282 self.goalstack10 = self.goalstack09;
283 self.goalstack09 = self.goalstack08;
284 self.goalstack08 = self.goalstack07;
285 self.goalstack07 = self.goalstack06;
286 self.goalstack06 = self.goalstack05;
287 self.goalstack05 = self.goalstack04;
288 self.goalstack04 = self.goalstack03;
289 self.goalstack03 = self.goalstack02;
290 self.goalstack02 = self.goalstack01;
291 self.goalstack01 = self.goalcurrent;
292 self.goalcurrent = e;
295 // remove first goal from stack
296 // (in other words: remove a prerequisite for reaching the later goals)
297 // (used when a spawnfunc_waypoint is reached)
298 void navigation_poproute()
300 //print("bot ", etos(self), " pop\n");
301 self.goalcurrent = self.goalstack01;
302 self.goalstack01 = self.goalstack02;
303 self.goalstack02 = self.goalstack03;
304 self.goalstack03 = self.goalstack04;
305 self.goalstack04 = self.goalstack05;
306 self.goalstack05 = self.goalstack06;
307 self.goalstack06 = self.goalstack07;
308 self.goalstack07 = self.goalstack08;
309 self.goalstack08 = self.goalstack09;
310 self.goalstack09 = self.goalstack10;
311 self.goalstack10 = self.goalstack11;
312 self.goalstack11 = self.goalstack12;
313 self.goalstack12 = self.goalstack13;
314 self.goalstack13 = self.goalstack14;
315 self.goalstack14 = self.goalstack15;
316 self.goalstack15 = self.goalstack16;
317 self.goalstack16 = self.goalstack17;
318 self.goalstack17 = self.goalstack18;
319 self.goalstack18 = self.goalstack19;
320 self.goalstack19 = self.goalstack20;
321 self.goalstack20 = self.goalstack21;
322 self.goalstack21 = self.goalstack22;
323 self.goalstack22 = self.goalstack23;
324 self.goalstack23 = self.goalstack24;
325 self.goalstack24 = self.goalstack25;
326 self.goalstack25 = self.goalstack26;
327 self.goalstack26 = self.goalstack27;
328 self.goalstack27 = self.goalstack28;
329 self.goalstack28 = self.goalstack29;
330 self.goalstack29 = self.goalstack30;
331 self.goalstack30 = self.goalstack31;
332 self.goalstack31 = world;
335 float navigation_waypoint_will_link(vector v, vector org, entity ent, float walkfromwp, float bestdist)
338 dist = vlen(v - org);
341 traceline(v, org, TRUE, ent);
342 if (trace_fraction == 1)
346 if (tracewalk(ent, v, PL_MIN, PL_MAX, org, bot_navigation_movemode))
351 if (tracewalk(ent, org, PL_MIN, PL_MAX, v, bot_navigation_movemode))
359 // find the spawnfunc_waypoint near a dynamic goal such as a dropped weapon
360 entity navigation_findnearestwaypoint_withdist(entity ent, float walkfromwp, float bestdist)
362 entity waylist, w, best;
363 vector v, org, pm1, pm2;
365 pm1 = ent.origin + ent.mins;
366 pm2 = ent.origin + ent.maxs;
367 waylist = findchain(classname, "waypoint");
369 // do two scans, because box test is cheaper
373 // if object is touching spawnfunc_waypoint
375 if (boxesoverlap(pm1, pm2, w.absmin, w.absmax))
380 org = ent.origin + 0.5 * (ent.mins + ent.maxs);
381 org_z = ent.origin_z + ent.mins_z - PL_MIN_z; // player height
382 // TODO possibly make other code have the same support for bboxes
384 org = org + ent.tag_entity.origin;
385 if (navigation_testtracewalk)
390 // box check failed, try walk
394 // if object can walk from spawnfunc_waypoint
400 wm1 = w.origin + w.mins;
401 wm2 = w.origin + w.maxs;
402 v_x = bound(wm1_x, org_x, wm2_x);
403 v_y = bound(wm1_y, org_y, wm2_y);
404 v_z = bound(wm1_z, org_z, wm2_z);
408 if(navigation_waypoint_will_link(v, org, ent, walkfromwp, bestdist))
410 bestdist = vlen(v - org);
418 entity navigation_findnearestwaypoint(entity ent, float walkfromwp)
420 return navigation_findnearestwaypoint_withdist(ent, walkfromwp, 1050);
423 // finds the waypoints near the bot initiating a navigation query
424 float navigation_markroutes_nearestwaypoints(entity waylist, float maxdist)
427 vector v, m1, m2, diff;
429 // navigation_testtracewalk = TRUE;
434 if (!head.wpconsidered)
438 m1 = head.origin + head.mins;
439 m2 = head.origin + head.maxs;
441 v_x = bound(m1_x, v_x, m2_x);
442 v_y = bound(m1_y, v_y, m2_y);
443 v_z = bound(m1_z, v_z, m2_z);
447 diff = v - self.origin;
448 diff_z = max(0, diff_z);
449 if (vlen(diff) < maxdist)
451 head.wpconsidered = TRUE;
452 if (tracewalk(self, self.origin, self.mins, self.maxs, v, bot_navigation_movemode))
454 head.wpnearestpoint = v;
455 head.wpcost = vlen(v - self.origin) + head.dmg;
464 //navigation_testtracewalk = FALSE;
468 // updates a path link if a spawnfunc_waypoint link is better than the current one
469 void navigation_markroutes_checkwaypoint(entity w, entity wp, float cost2, vector p)
478 v_x = bound(m1_x, p_x, m2_x);
479 v_y = bound(m1_y, p_y, m2_y);
480 v_z = bound(m1_z, p_z, m2_z);
484 cost2 = cost2 + vlen(v - p);
485 if (wp.wpcost > cost2)
490 wp.wpnearestpoint = v;
494 // queries the entire spawnfunc_waypoint network for pathes leading away from the bot
495 void navigation_markroutes(entity fixed_source_waypoint)
497 entity w, wp, waylist;
498 float searching, cost, cost2;
500 w = waylist = findchain(classname, "waypoint");
503 w.wpconsidered = FALSE;
504 w.wpnearestpoint = '0 0 0';
511 if(fixed_source_waypoint)
513 fixed_source_waypoint.wpconsidered = TRUE;
514 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
515 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
516 fixed_source_waypoint.wpfire = 1;
517 fixed_source_waypoint.enemy = world;
521 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
522 // as this search is expensive we will use lower values if the bot is on the air
523 float i, increment, maxdistance;
524 if(self.flags & FL_ONGROUND)
535 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
550 p = w.wpnearestpoint;
551 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
552 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
553 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
554 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
555 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
556 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
557 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
558 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
559 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
560 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
561 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
562 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
563 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
564 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
565 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
566 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
567 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
568 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
569 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
570 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
571 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
572 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
573 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
574 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
575 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
576 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
577 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
578 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
579 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
580 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
581 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
582 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
583 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
590 // queries the entire spawnfunc_waypoint network for pathes leading to the bot
591 void navigation_markroutes_inverted(entity fixed_source_waypoint)
593 entity w, wp, waylist;
594 float searching, cost, cost2;
596 w = waylist = findchain(classname, "waypoint");
599 w.wpconsidered = FALSE;
600 w.wpnearestpoint = '0 0 0';
607 if(fixed_source_waypoint)
609 fixed_source_waypoint.wpconsidered = TRUE;
610 fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
611 fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
612 fixed_source_waypoint.wpfire = 1;
613 fixed_source_waypoint.enemy = world;
617 error("need to start with a waypoint\n");
631 cost = w.wpcost; // cost to walk from w to home
632 p = w.wpnearestpoint;
633 for(wp = waylist; wp; wp = wp.chain)
635 if(w != wp.wp00) if(w != wp.wp01) if(w != wp.wp02) if(w != wp.wp03)
636 if(w != wp.wp04) if(w != wp.wp05) if(w != wp.wp06) if(w != wp.wp07)
637 if(w != wp.wp08) if(w != wp.wp09) if(w != wp.wp10) if(w != wp.wp11)
638 if(w != wp.wp12) if(w != wp.wp13) if(w != wp.wp14) if(w != wp.wp15)
639 if(w != wp.wp16) if(w != wp.wp17) if(w != wp.wp18) if(w != wp.wp19)
640 if(w != wp.wp20) if(w != wp.wp21) if(w != wp.wp22) if(w != wp.wp23)
641 if(w != wp.wp24) if(w != wp.wp25) if(w != wp.wp26) if(w != wp.wp27)
642 if(w != wp.wp28) if(w != wp.wp29) if(w != wp.wp30) if(w != wp.wp31)
644 cost2 = cost + wp.dmg;
645 navigation_markroutes_checkwaypoint(w, wp, cost2, p);
653 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
654 void navigation_routerating(entity e, float f, float rangebias)
664 o = (e.absmin + e.absmax) * 0.5;
666 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
668 // Evaluate path using jetpack
670 if(self.items & IT_JETPACK)
671 if(autocvar_bot_ai_navigation_jetpack)
672 if(vlen(self.origin - o) > autocvar_bot_ai_navigation_jetpack_mindistance)
674 vector pointa, pointb;
676 // dprint("jetpack ai: evaluating path for ", e.classname,"\n");
679 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
680 pointa = trace_endpos - '0 0 1';
683 traceline(o, o + '0 0 65535', MOVE_NORMAL, e);
684 pointb = trace_endpos - '0 0 1';
686 // Can I see these two points from the sky?
687 traceline(pointa, pointb, MOVE_NORMAL, self);
689 if(trace_fraction==1)
691 // dprint("jetpack ai: can bridge these two points\n");
693 // Lower the altitude of these points as much as possible
694 float zdistance, xydistance, cost, t, fuel;
695 vector down, npa, npb;
697 down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
703 if(npa_z<=self.absmax_z)
706 if(npb_z<=e.absmax_z)
709 traceline(npa, npb, MOVE_NORMAL, self);
710 if(trace_fraction==1)
716 while(trace_fraction == 1);
719 // Rough estimation of fuel consumption
720 // (ignores acceleration and current xyz velocity)
721 xydistance = vlen(pointa - pointb);
722 zdistance = fabs(pointa_z - self.origin_z);
724 t = zdistance / autocvar_g_jetpack_maxspeed_up;
725 t += xydistance / autocvar_g_jetpack_maxspeed_side;
726 fuel = t * autocvar_g_jetpack_fuel * 0.8;
728 // dprint("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel),"\n");
731 if(self.ammo_fuel>fuel)
734 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
735 // - between air and ground speeds)
737 cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
738 cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
741 // Compare against other goals
742 f = f * rangebias / (rangebias + cost);
744 if (navigation_bestrating < f)
746 // dprint("jetpack path: added goal", e.classname, " (with rating ", ftos(f), ")\n");
747 navigation_bestrating = f;
748 navigation_bestgoal = e;
749 self.navigation_jetpack_goal = e;
750 self.navigation_jetpack_point = pointb;
757 //te_wizspike(e.origin);
760 // update the cached spawnfunc_waypoint link on a dynamic item entity
761 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
771 if(e.flags & FL_ITEM)
773 if not(e.flags & FL_WEAPON)
774 if(e.nearestwaypoint)
777 else if (e.flags & FL_WEAPON)
779 if(e.classname != "droppedweapon")
780 if(e.nearestwaypoint)
785 if (time > e.nearestwaypointtimeout)
787 nwp = navigation_findnearestwaypoint(e, TRUE);
789 e.nearestwaypoint = nwp;
792 dprint("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e), "\n");
794 if(e.flags & FL_ITEM)
795 e.blacklisted = TRUE;
796 else if (e.flags & FL_WEAPON)
798 if(e.classname != "droppedweapon")
799 e.blacklisted = TRUE;
804 dprint("The entity '", e.classname, "' is going to be excluded from path finding during this match\n");
809 // TODO: Cleaner solution, probably handling this timeout from ctf.qc
810 if(e.classname=="item_flag_team")
811 e.nearestwaypointtimeout = time + 2;
813 e.nearestwaypointtimeout = time + random() * 3 + 5;
815 nwp = e.nearestwaypoint;
818 //dprint("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n");
820 if (nwp.wpcost < 10000000)
822 //te_wizspike(nwp.wpnearestpoint);
823 // dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
824 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(o - nwp.wpnearestpoint)));
825 //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
827 if (navigation_bestrating < f)
829 // dprint("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n");
830 navigation_bestrating = f;
831 navigation_bestgoal = e;
837 // adds an item to the the goal stack with the path to a given item
838 float navigation_routetogoal(entity e, vector startposition)
842 // if there is no goal, just exit
846 self.navigation_hasgoals = TRUE;
848 // put the entity on the goal stack
849 //print("routetogoal ", etos(e), "\n");
850 navigation_pushroute(e);
853 if(e==self.navigation_jetpack_goal)
856 // if it can reach the goal there is nothing more to do
857 if (tracewalk(self, startposition, PL_MIN, PL_MAX, (e.absmin + e.absmax) * 0.5, bot_navigation_movemode))
860 // see if there are waypoints describing a path to the item
861 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
862 e = e.nearestwaypoint;
864 e = e.enemy; // we already have added it, so...
871 // add the spawnfunc_waypoint to the path
872 navigation_pushroute(e);
882 // removes any currently touching waypoints from the goal stack
883 // (this is how bots detect if they reached a goal)
884 void navigation_poptouchedgoals()
888 m1 = org + self.mins;
889 m2 = org + self.maxs;
891 if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
893 if(self.lastteleporttime>0)
894 if(time-self.lastteleporttime<(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15)
896 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
897 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
899 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
900 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
902 navigation_poproute();
907 // If for some reason the bot is closer to the next goal, pop the current one
909 if(vlen(self.goalcurrent.origin - self.origin) > vlen(self.goalstack01.origin - self.origin))
910 if(checkpvs(self.origin + self.view_ofs, self.goalstack01))
911 if(tracewalk(self, self.origin, self.mins, self.maxs, (self.goalstack01.absmin + self.goalstack01.absmax) * 0.5, bot_navigation_movemode))
913 /// dprint("path optimized for ", self.netname, ", removed a goal from the queue\n");
914 navigation_poproute();
915 // TODO this may also be a nice idea to do "early" (e.g. by
916 // manipulating the vlen() comparisons) to shorten paths in
917 // general - this would make bots walk more "on rails" than
918 // "zigzagging" which they currently do with sufficiently
919 // random-like waypoints, and thus can make a nice bot
920 // personality property
923 // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc)
924 // TODO: rate waypoints near the targetted player at that moment, instead of the player itself
925 if(self.goalcurrent.classname=="player")
926 navigation_poproute();
928 // aid for detecting jump pads better (distance based check fails sometimes)
929 if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && self.jumppadcount > 0 )
930 navigation_poproute();
932 // Loose goal touching check when running
933 if(self.aistatus & AI_STATUS_RUNNING)
934 if(self.speed >= autocvar_sv_maxspeed) // if -really- running
935 if(self.goalcurrent.classname=="waypoint")
937 if(vlen(self.origin - self.goalcurrent.origin)<150)
939 traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
940 if(trace_fraction==1)
942 // Detect personal waypoints
943 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
944 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
946 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
947 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
950 navigation_poproute();
955 while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
957 // Detect personal waypoints
958 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
959 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
961 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
962 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
965 navigation_poproute();
969 // begin a goal selection session (queries spawnfunc_waypoint network)
970 void navigation_goalrating_start()
972 if(self.aistatus & AI_STATUS_STUCK)
975 self.navigation_jetpack_goal = world;
976 navigation_bestrating = -1;
977 self.navigation_hasgoals = FALSE;
978 navigation_clearroute();
979 navigation_bestgoal = world;
980 navigation_markroutes(world);
983 // ends a goal selection session (updates goal stack to the best goal)
984 void navigation_goalrating_end()
986 if(self.aistatus & AI_STATUS_STUCK)
989 navigation_routetogoal(navigation_bestgoal, self.origin);
990 // dprint("best goal ", self.goalcurrent.classname , "\n");
992 // If the bot got stuck then try to reach the farthest waypoint
993 if not (self.navigation_hasgoals)
994 if (autocvar_bot_wander_enable)
996 if not(self.aistatus & AI_STATUS_STUCK)
998 dprint(self.netname, " cannot walk to any goal\n");
999 self.aistatus |= AI_STATUS_STUCK;
1002 self.navigation_hasgoals = FALSE; // Reset this value
1006 void botframe_updatedangerousobjects(float maxupdate)
1008 entity head, bot_dodgelist;
1009 vector m1, m2, v, o;
1012 bot_dodgelist = findchainfloat(bot_dodge, TRUE);
1013 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1014 while (botframe_dangerwaypoint != world)
1017 m1 = botframe_dangerwaypoint.mins;
1018 m2 = botframe_dangerwaypoint.maxs;
1019 head = bot_dodgelist;
1023 v_x = bound(m1_x, v_x, m2_x);
1024 v_y = bound(m1_y, v_y, m2_y);
1025 v_z = bound(m1_z, v_z, m2_z);
1026 o = (head.absmin + head.absmax) * 0.5;
1027 d = head.bot_dodgerating - vlen(o - v);
1030 traceline(o, v, TRUE, world);
1031 if (trace_fraction == 1)
1032 danger = danger + d;
1036 botframe_dangerwaypoint.dmg = danger;
1040 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
1044 void navigation_unstuck()
1046 float search_radius = 1000;
1048 if not(autocvar_bot_wander_enable)
1051 if not(bot_waypoint_queue_owner)
1053 // dprint(self.netname, " sutck, taking over the waypoints queue\n");
1054 bot_waypoint_queue_owner = self;
1055 bot_waypoint_queue_bestgoal = world;
1056 bot_waypoint_queue_bestgoalrating = 0;
1059 if(bot_waypoint_queue_owner!=self)
1062 if (bot_waypoint_queue_goal)
1064 // evaluate the next goal on the queue
1065 float d = vlen(self.origin - bot_waypoint_queue_goal.origin);
1066 // dprint(self.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d), "\n");
1067 if(tracewalk(bot_waypoint_queue_goal, self.origin, PL_MIN, PL_MAX, bot_waypoint_queue_goal.origin, bot_navigation_movemode))
1069 if( d > bot_waypoint_queue_bestgoalrating)
1071 bot_waypoint_queue_bestgoalrating = d;
1072 bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
1075 bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;
1077 if not(bot_waypoint_queue_goal)
1079 if (bot_waypoint_queue_bestgoal)
1081 dprint(self.netname, " stuck, reachable waypoint found, heading to it\n");
1082 navigation_routetogoal(bot_waypoint_queue_bestgoal, self.origin);
1083 self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
1084 self.aistatus &~= AI_STATUS_STUCK;
1088 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1091 bot_waypoint_queue_owner = world;
1096 if(bot_strategytoken!=self)
1099 // build a new queue
1100 dprint(self.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu\n");
1105 head = findradius(self.origin, search_radius);
1109 if(head.classname=="waypoint")
1110 // if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
1112 if(bot_waypoint_queue_goal)
1113 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = head;
1117 bot_waypoint_queue_goal = head;
1118 bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = world;
1125 bot_waypoint_queue_goal = first;
1128 dprint(self.netname, " stuck, cannot walk to any waypoint at all\n");
1129 bot_waypoint_queue_owner = world;
1134 // Support for debugging tracewalk visually
1136 void debugresetnodes()
1138 debuglastnode = '0 0 0';
1141 void debugnode(vector node)
1143 if not(self.classname=="player")
1146 if(debuglastnode=='0 0 0')
1148 debuglastnode = node;
1152 te_lightning2(world, node, debuglastnode);
1153 debuglastnode = node;
1156 void debugnodestatus(vector position, float status)
1162 case DEBUG_NODE_SUCCESS:
1165 case DEBUG_NODE_WARNING:
1168 case DEBUG_NODE_FAIL:
1175 te_customflash(position, 40, 2, c);
1178 // Support for debugging the goal stack visually
1181 .vector lastposition;
1183 // Debug the goal stack visually
1184 void debuggoalstack()
1189 if(self.goalcounter==0)goal=self.goalcurrent;
1190 else if(self.goalcounter==1)goal=self.goalstack01;
1191 else if(self.goalcounter==2)goal=self.goalstack02;
1192 else if(self.goalcounter==3)goal=self.goalstack03;
1193 else if(self.goalcounter==4)goal=self.goalstack04;
1194 else if(self.goalcounter==5)goal=self.goalstack05;
1195 else if(self.goalcounter==6)goal=self.goalstack06;
1196 else if(self.goalcounter==7)goal=self.goalstack07;
1197 else if(self.goalcounter==8)goal=self.goalstack08;
1198 else if(self.goalcounter==9)goal=self.goalstack09;
1199 else if(self.goalcounter==10)goal=self.goalstack10;
1200 else if(self.goalcounter==11)goal=self.goalstack11;
1201 else if(self.goalcounter==12)goal=self.goalstack12;
1202 else if(self.goalcounter==13)goal=self.goalstack13;
1203 else if(self.goalcounter==14)goal=self.goalstack14;
1204 else if(self.goalcounter==15)goal=self.goalstack15;
1205 else if(self.goalcounter==16)goal=self.goalstack16;
1206 else if(self.goalcounter==17)goal=self.goalstack17;
1207 else if(self.goalcounter==18)goal=self.goalstack18;
1208 else if(self.goalcounter==19)goal=self.goalstack19;
1209 else if(self.goalcounter==20)goal=self.goalstack20;
1210 else if(self.goalcounter==21)goal=self.goalstack21;
1211 else if(self.goalcounter==22)goal=self.goalstack22;
1212 else if(self.goalcounter==23)goal=self.goalstack23;
1213 else if(self.goalcounter==24)goal=self.goalstack24;
1214 else if(self.goalcounter==25)goal=self.goalstack25;
1215 else if(self.goalcounter==26)goal=self.goalstack26;
1216 else if(self.goalcounter==27)goal=self.goalstack27;
1217 else if(self.goalcounter==28)goal=self.goalstack28;
1218 else if(self.goalcounter==29)goal=self.goalstack29;
1219 else if(self.goalcounter==30)goal=self.goalstack30;
1220 else if(self.goalcounter==31)goal=self.goalstack31;
1224 self.goalcounter = 0;
1225 self.lastposition='0 0 0';
1229 if(self.lastposition=='0 0 0')
1232 org = self.lastposition;
1235 go = ( goal.absmin + goal.absmax ) * 0.5;
1236 te_lightning2(world, org, go);
1237 self.lastposition = go;