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 #ifdef DEBUG_TRACEWALK
25 dist = totaldist = vlen(move);
26 dir = normalize(move);
28 ignorehazards = FALSE;
30 // Analyze starting point
31 traceline(start, start, MOVE_NORMAL, e);
32 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
36 traceline( start, start + '0 0 -65536', MOVE_NORMAL, e);
37 if (trace_dpstartcontents & (DPCONTENTS_SLIME | DPCONTENTS_LAVA))
43 tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
47 #ifdef DEBUG_TRACEWALK
48 debugnodestatus(start, DEBUG_NODE_FAIL);
50 //print("tracewalk: ", vtos(start), " is a bad start\n");
59 if (boxesoverlap(end, end, org + m1 + '-1 -1 -1', org + m2 + '1 1 1'))
62 #ifdef DEBUG_TRACEWALK
63 debugnodestatus(org, DEBUG_NODE_SUCCESS);
65 //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
68 #ifdef 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 #ifdef 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 #ifdef DEBUG_TRACEWALK
96 debugnode(trace_endpos);
99 if (trace_fraction < 1)
102 org = trace_endpos - normalize(org - trace_endpos) * stepdist;
103 for(; org_z < end_z + self.maxs_z; org_z += stepdist)
105 #ifdef DEBUG_TRACEWALK
108 if(pointcontents(org) == CONTENT_EMPTY)
112 if not (pointcontents(org + '0 0 1') == CONTENT_EMPTY)
114 #ifdef DEBUG_TRACEWALK
115 debugnodestatus(org, DEBUG_NODE_FAIL);
118 //print("tracewalk: ", vtos(start), " failed under water\n");
128 move = dir * stepdist + org;
129 tracebox(org, m1, m2, move, movemode, e);
131 #ifdef DEBUG_TRACEWALK
132 debugnode(trace_endpos);
136 if (trace_fraction < 1)
138 // check if we can walk over this obstacle
139 tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
140 if (trace_fraction < 1 || trace_startsolid)
142 #ifdef DEBUG_TRACEWALK
143 debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);
147 traceline( org, move, movemode, e);
148 if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
150 local vector nextmove;
152 while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
154 nextmove = move + (dir * stepdist);
155 traceline( move, nextmove, movemode, e);
161 #ifdef 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
176 // trace down from stepheight as far as possible and move there,
177 // if this starts in solid we try again without the stepup, and
178 // if that also fails we assume it is a wall
179 // (this is the same logic as the Quake walkmove function used)
180 tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
182 // moved successfully
186 c = pointcontents(org + '0 0 1');
187 if not(c == CONTENT_WATER || c == CONTENT_LAVA || c == CONTENT_SLIME)
197 //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");
199 // moved but didn't arrive at the intended destination
200 #ifdef DEBUG_TRACEWALK
201 debugnodestatus(org, DEBUG_NODE_FAIL);
207 /////////////////////////////////////////////////////////////////////////////
209 /////////////////////////////////////////////////////////////////////////////
211 // completely empty the goal stack, used when deciding where to go
212 void navigation_clearroute()
214 //print("bot ", etos(self), " clear\n");
215 self.navigation_hasgoals = FALSE;
216 self.goalcurrent = world;
217 self.goalstack01 = world;
218 self.goalstack02 = world;
219 self.goalstack03 = world;
220 self.goalstack04 = world;
221 self.goalstack05 = world;
222 self.goalstack06 = world;
223 self.goalstack07 = world;
224 self.goalstack08 = world;
225 self.goalstack09 = world;
226 self.goalstack10 = world;
227 self.goalstack11 = world;
228 self.goalstack12 = world;
229 self.goalstack13 = world;
230 self.goalstack14 = world;
231 self.goalstack15 = world;
232 self.goalstack16 = world;
233 self.goalstack17 = world;
234 self.goalstack18 = world;
235 self.goalstack19 = world;
236 self.goalstack20 = world;
237 self.goalstack21 = world;
238 self.goalstack22 = world;
239 self.goalstack23 = world;
240 self.goalstack24 = world;
241 self.goalstack25 = world;
242 self.goalstack26 = world;
243 self.goalstack27 = world;
244 self.goalstack28 = world;
245 self.goalstack29 = world;
246 self.goalstack30 = world;
247 self.goalstack31 = world;
250 // add a new goal at the beginning of the stack
251 // (in other words: add a new prerequisite before going to the later goals)
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()
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 // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
499 // as this search is expensive we will use lower values if the bot is on the air
500 local float i, increment, maxdistance;
501 if(self.flags & FL_ONGROUND)
512 for(i=increment;!navigation_markroutes_nearestwaypoints(waylist, i)&&i<maxdistance;i+=increment);
526 p = w.wpnearestpoint;
527 wp = w.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp00mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
528 wp = w.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp01mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
529 wp = w.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp02mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
530 wp = w.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp03mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
531 wp = w.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp04mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
532 wp = w.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp05mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
533 wp = w.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp06mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
534 wp = w.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp07mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
535 wp = w.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp08mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
536 wp = w.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp09mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
537 wp = w.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp10mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
538 wp = w.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp11mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
539 wp = w.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp12mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
540 wp = w.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp13mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
541 wp = w.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp14mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
542 wp = w.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp15mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
543 wp = w.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp16mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
544 wp = w.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp17mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
545 wp = w.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp18mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
546 wp = w.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp19mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
547 wp = w.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp20mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
548 wp = w.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp21mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
549 wp = w.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp22mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
550 wp = w.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp23mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
551 wp = w.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp24mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
552 wp = w.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp25mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
553 wp = w.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp26mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
554 wp = w.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp27mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
555 wp = w.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp28mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
556 wp = w.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp29mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
557 wp = w.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp30mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
558 wp = w.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + w.wp31mincost) navigation_markroutes_checkwaypoint(w, wp, cost2, p);
559 }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
566 void navigation_bestgoals_reset()
573 for(i=0;i>MAX_BESTGOALS-1;++i)
575 navigation_bestgoals[i] = world;
579 void navigation_add_bestgoal(entity goal)
581 if(bestgoalsrindex>0)
585 if(bestgoalsrindex==MAX_BESTGOALS)
589 if(bestgoalswindex==MAX_BESTGOALS)
592 if(bestgoalsrindex==0)
596 navigation_bestgoals[bestgoalswindex] = goal;
601 entity navigation_get_bestgoal()
605 ent = navigation_bestgoals[bestgoalsrindex];
606 navigation_bestgoals[bestgoalsrindex] = world;
610 if(bestgoalsrindex==MAX_BESTGOALS)
616 // updates the best goal according to a weighted calculation of travel cost and item value of a new proposed item
617 void navigation_routerating(entity e, float f, float rangebias)
623 //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");
625 // Evaluate path using jetpack
627 if(self.items & IT_JETPACK)
628 if(cvar("bot_ai_navigation_jetpack"))
629 if(vlen(self.origin - e.origin) > cvar("bot_ai_navigation_jetpack_mindistance"))
631 vector pointa, pointb;
633 // dprint("jetpack ai: evaluating path for ", e.classname,"\n");
636 traceline(self.origin, self.origin + '0 0 65535', MOVE_NORMAL, self);
637 pointa = trace_endpos - '0 0 1';
640 traceline(e.origin, e.origin + '0 0 65535', MOVE_NORMAL, e);
641 pointb = trace_endpos - '0 0 1';
643 // Can I see these two points from the sky?
644 traceline(pointa, pointb, MOVE_NORMAL, self);
646 if(trace_fraction==1)
648 // dprint("jetpack ai: can bridge these two points\n");
650 // Lower the altitude of these points as much as possible
651 local float zdistance, xydistance, cost, t, fuel;
652 local vector down, npa, npb;
654 down = '0 0 -1' * (PL_MAX_z - PL_MIN_z) * 10;
660 if(npa_z<=self.absmax_z)
663 if(npb_z<=e.absmax_z)
666 traceline(npa, npb, MOVE_NORMAL, self);
667 if(trace_fraction==1)
673 while(trace_fraction == 1);
676 // Rough estimation of fuel consumption
677 // (ignores acceleration and current xyz velocity)
678 xydistance = vlen(pointa - pointb);
679 zdistance = fabs(pointa_z - self.origin_z);
681 t = zdistance / cvar("g_jetpack_maxspeed_up");
682 t += xydistance / cvar("g_jetpack_maxspeed_side");
683 fuel = t * cvar("g_jetpack_fuel") * 0.8;
685 // dprint("jetpack ai: required fuel ", ftos(fuel), " self.ammo_fuel ", ftos(self.ammo_fuel),"\n");
688 if(self.ammo_fuel>fuel)
691 // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
692 // - between air and ground speeds)
694 cost = xydistance / (cvar("g_jetpack_maxspeed_side")/cvar("sv_maxspeed"));
695 cost += zdistance / (cvar("g_jetpack_maxspeed_up")/cvar("sv_maxspeed"));
698 // Compare against other goals
699 f = f * rangebias / (rangebias + cost);
701 if (navigation_bestrating < f)
703 // dprint("jetpack path: added goal", e.classname, " (with rating ", ftos(f), ")\n");
704 navigation_bestrating = f;
705 navigation_add_bestgoal(e);
706 self.navigation_jetpack_goal = e;
707 self.navigation_jetpack_point = pointb;
714 //te_wizspike(e.origin);
717 // update the cached spawnfunc_waypoint link on a dynamic item entity
718 if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
724 if (time > e.nearestwaypointtimeout)
726 nwp = navigation_findnearestwaypoint(e, TRUE);
728 e.nearestwaypoint = nwp;
730 print("FAILED to find a nearest waypoint to ", etos(e), "\n");
732 // TODO: Cleaner solution, probably handling this timeout from ctf.qc
733 if(e.classname=="item_flag_team")
734 e.nearestwaypointtimeout = time + 2;
736 e.nearestwaypointtimeout = time + random() * 3 + 5;
738 nwp = e.nearestwaypoint;
741 //dprint("-- checking ", e.classname, " (with cost ", ftos(nwp.wpcost), ")\n");
743 if (nwp.wpcost < 10000000)
745 //te_wizspike(nwp.wpnearestpoint);
746 // dprint(e.classname, " ", ftos(f), "/(1+", ftos((nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint))), "/", ftos(rangebias), ") = ");
747 f = f * rangebias / (rangebias + (nwp.wpcost + vlen(e.origin - nwp.wpnearestpoint)));
748 //dprint("considering ", e.classname, " (with rating ", ftos(f), ")\n");
750 if (navigation_bestrating < f)
752 // dprint("ground path: added goal ", e.classname, " (with rating ", ftos(f), ")\n");
753 navigation_bestrating = f;
754 navigation_add_bestgoal(e);
760 // adds an item to the the goal stack with the path to a given item
761 float navigation_routetogoal(entity e, vector startposition)
765 // if there is no goal, just exit
769 self.navigation_hasgoals = TRUE;
771 // put the entity on the goal stack
772 //print("routetogoal ", etos(e), "\n");
773 navigation_pushroute(e);
776 if(e==self.navigation_jetpack_goal)
779 // if it can reach the goal there is nothing more to do
780 if (tracewalk(self, startposition, PL_MIN, PL_MAX, e.origin, bot_navigation_movemode))
783 // see if there are waypoints describing a path to the item
784 if(e.classname != "waypoint" || (e.wpflags & WAYPOINTFLAG_PERSONAL))
785 e = e.nearestwaypoint;
787 e = e.enemy; // we already have added it, so...
794 // add the spawnfunc_waypoint to the path
795 navigation_pushroute(e);
805 void navigation_routetogoals()
809 navigation_clearroute();
811 g1 = navigation_get_bestgoal();
815 g2 = navigation_get_bestgoal();
819 navigation_routetogoal(g1, self.origin);
823 if(navigation_routetogoal(g1, g2.origin))
830 navigation_clearroute();
836 // removes any currently touching waypoints from the goal stack
837 // (this is how bots detect if they reached a goal)
838 void navigation_poptouchedgoals()
840 local vector org, m1, m2;
842 m1 = org + self.mins;
843 m2 = org + self.maxs;
845 if(self.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
847 if(self.lastteleporttime>0)
848 if(time-self.lastteleporttime<0.15)
850 navigation_poproute();
855 // Loose goal touching check when running
856 if(self.aistatus & AI_STATUS_RUNNING)
857 if(self.goalcurrent.classname=="waypoint")
859 if(vlen(self.origin - self.goalcurrent.origin)<150)
861 traceline(self.origin + self.view_ofs , self.goalcurrent.origin, TRUE, world);
862 if(trace_fraction==1)
864 // Detect personal waypoints
865 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
866 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
868 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
869 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
872 navigation_poproute();
877 while (self.goalcurrent && boxesoverlap(m1, m2, self.goalcurrent.absmin, self.goalcurrent.absmax))
879 // Detect personal waypoints
880 if(self.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
881 if(self.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL && self.goalcurrent.owner==self)
883 self.aistatus &~= AI_STATUS_WAYPOINT_PERSONAL_GOING;
884 self.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
887 navigation_poproute();
891 // begin a goal selection session (queries spawnfunc_waypoint network)
892 void navigation_goalrating_start()
894 self.navigation_jetpack_goal = world;
895 navigation_bestrating = -1;
896 self.navigation_hasgoals = FALSE;
897 navigation_bestgoals_reset();
898 navigation_markroutes();
901 // ends a goal selection session (updates goal stack to the best goal)
902 void navigation_goalrating_end()
904 navigation_routetogoals();
905 // dprint("best goal ", self.goalcurrent.classname , "\n");
907 // Hack: if it can't walk to any goal just move blindly to the first visible waypoint
908 if not (self.navigation_hasgoals)
910 dprint(self.netname, " can't walk to any goal, going to a near waypoint\n");
914 RandomSelection_Init();
915 head = findradius(self.origin,1000);
918 if(head.classname=="waypoint")
919 if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
920 if(vlen(self.origin-head.origin)>100)
921 if(checkpvs(self.view_ofs,head))
922 RandomSelection_Add(head, 0, string_null, 1 + (vlen(self.origin-head.origin)<500), 0);
925 if(RandomSelection_chosen_ent)
926 navigation_routetogoal(RandomSelection_chosen_ent, self.origin);
928 self.navigation_hasgoals = FALSE; // Reset this value
932 void botframe_updatedangerousobjects(float maxupdate)
934 local entity head, bot_dodgelist;
935 local vector m1, m2, v;
936 local float c, d, danger;
938 bot_dodgelist = findchainfloat(bot_dodge, TRUE);
939 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
940 while (botframe_dangerwaypoint != world)
943 m1 = botframe_dangerwaypoint.mins;
944 m2 = botframe_dangerwaypoint.maxs;
945 head = bot_dodgelist;
949 v_x = bound(m1_x, v_x, m2_x);
950 v_y = bound(m1_y, v_y, m2_y);
951 v_z = bound(m1_z, v_z, m2_z);
952 d = head.bot_dodgerating - vlen(head.origin - v);
955 traceline(head.origin, v, TRUE, world);
956 if (trace_fraction == 1)
961 botframe_dangerwaypoint.dmg = danger;
965 botframe_dangerwaypoint = find(botframe_dangerwaypoint, classname, "waypoint");
969 #ifdef DEBUG_TRACEWALK
971 void debugresetnodes()
973 debuglastnode = '0 0 0';
976 void debugnode(vector node)
978 if not(self.classname=="player")
981 if(debuglastnode=='0 0 0')
983 debuglastnode = node;
987 te_lightning2(world, node, debuglastnode);
988 debuglastnode = node;
991 void debugnodestatus(vector position, float status)
997 case DEBUG_NODE_SUCCESS:
1000 case DEBUG_NODE_WARNING:
1003 case DEBUG_NODE_FAIL:
1010 te_customflash(position, 40, 2, color);
1015 #ifdef DEBUG_BOT_GOALSTACK
1018 .vector lastposition;
1020 // Debug the goal stack visually
1021 void debuggoalstack()
1023 local entity target;
1026 if(self.goalcounter==0)target=self.goalcurrent;
1027 else if(self.goalcounter==1)target=self.goalstack01;
1028 else if(self.goalcounter==2)target=self.goalstack02;
1029 else if(self.goalcounter==3)target=self.goalstack03;
1030 else if(self.goalcounter==4)target=self.goalstack04;
1031 else if(self.goalcounter==5)target=self.goalstack05;
1032 else if(self.goalcounter==6)target=self.goalstack06;
1033 else if(self.goalcounter==7)target=self.goalstack07;
1034 else if(self.goalcounter==8)target=self.goalstack08;
1035 else if(self.goalcounter==9)target=self.goalstack09;
1036 else if(self.goalcounter==10)target=self.goalstack10;
1037 else if(self.goalcounter==11)target=self.goalstack11;
1038 else if(self.goalcounter==12)target=self.goalstack12;
1039 else if(self.goalcounter==13)target=self.goalstack13;
1040 else if(self.goalcounter==14)target=self.goalstack14;
1041 else if(self.goalcounter==15)target=self.goalstack15;
1042 else if(self.goalcounter==16)target=self.goalstack16;
1043 else if(self.goalcounter==17)target=self.goalstack17;
1044 else if(self.goalcounter==18)target=self.goalstack18;
1045 else if(self.goalcounter==19)target=self.goalstack19;
1046 else if(self.goalcounter==20)target=self.goalstack20;
1047 else if(self.goalcounter==21)target=self.goalstack21;
1048 else if(self.goalcounter==22)target=self.goalstack22;
1049 else if(self.goalcounter==23)target=self.goalstack23;
1050 else if(self.goalcounter==24)target=self.goalstack24;
1051 else if(self.goalcounter==25)target=self.goalstack25;
1052 else if(self.goalcounter==26)target=self.goalstack26;
1053 else if(self.goalcounter==27)target=self.goalstack27;
1054 else if(self.goalcounter==28)target=self.goalstack28;
1055 else if(self.goalcounter==29)target=self.goalstack29;
1056 else if(self.goalcounter==30)target=self.goalstack30;
1057 else if(self.goalcounter==31)target=self.goalstack31;
1061 self.goalcounter = 0;
1062 self.lastposition='0 0 0';
1066 if(self.lastposition=='0 0 0')
1069 org = self.lastposition;
1072 te_lightning2(world, org, target.origin);
1073 self.lastposition = target.origin;