X-Git-Url: https://git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fbot%2Fdefault%2Fnavigation.qc;h=24cc29bdccc7258ee4ce78f2777c29942b0bd826;hb=0117ae7d3a9112024ff83615b16ba1df2d719521;hp=5092a65c664c4adcebc4753c279d386c6426cb08;hpb=26693a3ac060825ce6c7f170d4e65f7ac2a1fb25;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc index 5092a65c6..24cc29bdc 100644 --- a/qcsrc/server/bot/default/navigation.qc +++ b/qcsrc/server/bot/default/navigation.qc @@ -15,6 +15,28 @@ .float speed; +void navigation_dynamicgoal_init(entity this, bool initially_static) +{ + this.navigation_dynamicgoal = true; + this.bot_basewaypoint = this.nearestwaypoint; + if(initially_static) + this.nearestwaypointtimeout = -1; + else + this.nearestwaypointtimeout = time; +} + +void navigation_dynamicgoal_set(entity this) +{ + this.nearestwaypointtimeout = time; +} + +void navigation_dynamicgoal_unset(entity this) +{ + if(this.bot_basewaypoint) + this.nearestwaypoint = this.bot_basewaypoint; + this.nearestwaypointtimeout = -1; +} + // rough simulation of walking from one point to another to test if a path // can be traveled, used for waypoint linking and havocbot @@ -232,6 +254,7 @@ void navigation_clearroute(entity this) { //print("bot ", etos(this), " clear\n"); this.navigation_hasgoals = false; + this.goalentity = NULL; this.goalcurrent = NULL; this.goalstack01 = NULL; this.goalstack02 = NULL; @@ -275,6 +298,8 @@ void navigation_clearroute(entity this) void navigation_pushroute(entity this, entity e) { //print("bot ", etos(this), " push ", etos(e), "\n"); + if(this.goalstack31 == this.goalentity) + this.goalentity = NULL; this.goalstack31 = this.goalstack30; this.goalstack30 = this.goalstack29; this.goalstack29 = this.goalstack28; @@ -315,6 +340,8 @@ void navigation_pushroute(entity this, entity e) void navigation_poproute(entity this) { //print("bot ", etos(this), " pop\n"); + if(this.goalcurrent == this.goalentity) + this.goalentity = NULL; this.goalcurrent = this.goalstack01; this.goalstack01 = this.goalstack02; this.goalstack02 = this.goalstack03; @@ -360,12 +387,12 @@ float navigation_waypoint_will_link(vector v, vector org, entity ent, float walk { if (walkfromwp) { - if (tracewalk(ent, v, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), org, bot_navigation_movemode)) + if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, org, bot_navigation_movemode)) return true; } else { - if (tracewalk(ent, org, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), v, bot_navigation_movemode)) + if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v, bot_navigation_movemode)) return true; } } @@ -387,7 +414,7 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom }); vector org = ent.origin + 0.5 * (ent.mins + ent.maxs); - org.z = ent.origin.z + ent.mins.z - STAT(PL_MIN, NULL).z; // player height + org.z = ent.origin.z + ent.mins.z - PL_MIN_CONST.z; // player height // TODO possibly make other code have the same support for bboxes if(ent.tag_entity) org = org + ent.tag_entity.origin; @@ -643,15 +670,54 @@ void navigation_markroutes_inverted(entity fixed_source_waypoint) // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item void navigation_routerating(entity this, entity e, float f, float rangebias) { - entity nwp; - vector o; if (!e) return; if(e.blacklisted) return; - o = (e.absmin + e.absmax) * 0.5; + if (IS_PLAYER(e)) + { + bool rate_wps = false; + if((e.flags & FL_INWATER) || (e.flags & FL_PARTIALGROUND)) + rate_wps = true; + + if(!IS_ONGROUND(e)) + { + traceline(e.origin, e.origin + '0 0 -1500', true, NULL); + int t = pointcontents(trace_endpos + '0 0 1'); + if(t != CONTENT_SOLID ) + { + if(t == CONTENT_WATER || t == CONTENT_SLIME || t == CONTENT_LAVA) + rate_wps = true; + else if(tracebox_hits_trigger_hurt(e.origin, e.mins, e.maxs, trace_endpos)) + return; + } + } + + if(rate_wps) + { + entity theEnemy = e; + entity best_wp = NULL; + float best_dist = 10000; + IL_EACH(g_waypoints, vdist(it.origin - theEnemy.origin, <, 500) + && vdist(it.origin - this.origin, >, 100) + && !(it.wpflags & WAYPOINTFLAG_TELEPORT), + { + float dist = vlen(it.origin - theEnemy.origin); + if (dist < best_dist) + { + best_wp = it; + best_dist = dist; + } + }); + if (!best_wp) + return; + e = best_wp; + } + } + + vector o = (e.absmin + e.absmax) * 0.5; //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n"); @@ -684,7 +750,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) float zdistance, xydistance, cost, t, fuel; vector down, npa, npb; - down = '0 0 -1' * (STAT(PL_MAX, NULL).z - STAT(PL_MIN, NULL).z) * 10; + down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10; do{ npa = pointa + down; @@ -744,6 +810,7 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) } } + entity nwp; //te_wizspike(e.origin); //bprint(etos(e)); //bprint("\n"); @@ -754,25 +821,8 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) } else { - float search; - - search = true; - - if(e.flags & FL_ITEM) - { - if (!(e.flags & FL_WEAPON)) - if(e.nearestwaypoint) - search = false; - } - else if (e.flags & FL_WEAPON) - { - if(e.classname != "droppedweapon") - if(e.nearestwaypoint) - search = false; - } - - if(search) - if (time > e.nearestwaypointtimeout) + if ((!e.nearestwaypoint || e.navigation_dynamicgoal) + && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout) { nwp = navigation_findnearestwaypoint(e, true); if(nwp) @@ -781,13 +831,8 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) { LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e)); - if(e.flags & FL_ITEM) + if(!e.navigation_dynamicgoal) e.blacklisted = true; - else if (e.flags & FL_WEAPON) - { - if(e.classname != "droppedweapon") - e.blacklisted = true; - } if(e.blacklisted) { @@ -796,11 +841,8 @@ void navigation_routerating(entity this, entity e, float f, float rangebias) } } - // TODO: Cleaner solution, probably handling this timeout from ctf.qc - if(e.classname=="item_flag_team") + if(e.navigation_dynamicgoal) e.nearestwaypointtimeout = time + 2; - else - e.nearestwaypointtimeout = time + random() * 3 + 5; } nwp = e.nearestwaypoint; } @@ -837,23 +879,40 @@ bool navigation_routetogoal(entity this, entity e, vector startposition) //print("routetogoal ", etos(e), "\n"); navigation_pushroute(this, e); + if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL)) + { + this.wp_goal_prev1 = this.wp_goal_prev0; + this.wp_goal_prev0 = e; + } + if(g_jetpack) if(e==this.navigation_jetpack_goal) return true; // if it can reach the goal there is nothing more to do - if (tracewalk(this, startposition, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) + if (tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this), (e.absmin + e.absmax) * 0.5, bot_navigation_movemode)) return true; + entity nearest_wp = NULL; // see if there are waypoints describing a path to the item if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL)) + { e = e.nearestwaypoint; + nearest_wp = e; + } else e = e.enemy; // we already have added it, so... if(e == NULL) return false; + if(nearest_wp && nearest_wp.enemy) + { + // often path can be optimized by not adding the nearest waypoint + if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), (this.goalentity.absmin + this.goalentity.absmax) * 0.5, bot_navigation_movemode)) + e = nearest_wp.enemy; + } + for (;;) { // add the spawnfunc_waypoint to the path @@ -878,8 +937,10 @@ void navigation_poptouchedgoals(entity this) if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) { + // make sure jumppad is really hit, don't rely on distance based checks + // as they may report a touch even if it didn't really happen if(this.lastteleporttime>0) - if(time-this.lastteleporttime<(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL)?2:0.15) + if(time - this.lastteleporttime < ((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) ? 2 : 0.15)) { if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) @@ -893,7 +954,7 @@ void navigation_poptouchedgoals(entity this) } // If for some reason the bot is closer to the next goal, pop the current one - if(this.goalstack01) + if(this.goalstack01 && !wasfreed(this.goalstack01)) if(vlen2(this.goalcurrent.origin - this.origin) > vlen2(this.goalstack01.origin - this.origin)) if(checkpvs(this.origin + this.view_ofs, this.goalstack01)) if(tracewalk(this, this.origin, this.mins, this.maxs, (this.goalstack01.absmin + this.goalstack01.absmax) * 0.5, bot_navigation_movemode)) @@ -908,19 +969,11 @@ void navigation_poptouchedgoals(entity this) // personality property } - // HACK: remove players/bots as goals, they can lead a bot to unexpected places (cliffs, lava, etc) - // TODO: rate waypoints near the targetted player at that moment, instead of the player itself - if(IS_PLAYER(this.goalcurrent)) - navigation_poproute(this); - - // aid for detecting jump pads better (distance based check fails sometimes) - if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT && this.jumppadcount > 0 ) - navigation_poproute(this); - // Loose goal touching check when running if(this.aistatus & AI_STATUS_RUNNING) - if(this.speed >= autocvar_sv_maxspeed) // if -really- running if(this.goalcurrent.classname=="waypoint") + if(!(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)) + if(vlen(this.velocity - eZ * this.velocity.z) >= autocvar_sv_maxspeed) // if -really- running { if(vdist(this.origin - this.goalcurrent.origin, <, 150)) { @@ -940,8 +993,21 @@ void navigation_poptouchedgoals(entity this) } } - while (this.goalcurrent && boxesoverlap(m1, m2, this.goalcurrent.absmin, this.goalcurrent.absmax)) + while (this.goalcurrent && !IS_PLAYER(this.goalcurrent)) { + vector gc_min = this.goalcurrent.absmin; + vector gc_max = this.goalcurrent.absmax; + if(this.goalcurrent.classname == "waypoint" && !this.goalcurrent.wpisbox) + { + gc_min = this.goalcurrent.origin - '1 1 1' * 12; + gc_max = this.goalcurrent.origin + '1 1 1' * 12; + } + if(!boxesoverlap(m1, m2, gc_min, gc_max)) + break; + + if((this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)) + break; + // Detect personal waypoints if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING) if(this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && this.goalcurrent.owner==this) @@ -1046,7 +1112,7 @@ void navigation_unstuck(entity this) // evaluate the next goal on the queue float d = vlen2(this.origin - bot_waypoint_queue_goal.origin); LOG_DEBUG(this.netname, " evaluating ", bot_waypoint_queue_goal.classname, " with distance ", ftos(d)); - if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, NULL), STAT(PL_MAX, NULL), bot_waypoint_queue_goal.origin, bot_navigation_movemode)) + if(tracewalk(bot_waypoint_queue_goal, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), bot_waypoint_queue_goal.origin, bot_navigation_movemode)) { if( d > bot_waypoint_queue_bestgoalrating) {