navigation.qh File Reference

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Macros
#define	navigation_item_add_link(from_wp, to_item, walkable)   waypoint_addlink_customcost(to_item, from_wp, (walkable ? waypoint_getlinkcost(from_wp, to_item) : 999))
#define	navigation_item_getlinknum(to_item, from_wp)   waypoint_getlinknum(to_item, from_wp)
#define	navigation_item_initlinks_ifneeded(e)   MACRO_BEGIN if (!e.wp00) waypoint_clearlinks(e); MACRO_END
#define	navigation_item_iswalkablelink(to_item, from_wp)   (waypoint_get_assigned_link_cost(to_item, from_wp) < 999)
#define	SUBMERGED_NO   1
#define	SUBMERGED_UNDEFINED   0
#define	SUBMERGED_YES   2
#define	TELEPORT_USED(pl, tele_wp)   boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl))

Functions
void	botframe_updatedangerousobjects (float maxupdate)
void	debuggoalstack (entity this)
void	debugnode (entity this, vector node)
void	debugnodestatus (vector position, float status)
void	debugresetnodes ()
bool	navigation_check_submerged_state (entity ent, vector pos)
void	navigation_clearroute (entity this)
void	navigation_dynamicgoal_init (entity this, bool initially_static)
void	navigation_dynamicgoal_set (entity this, entity dropper)
void	navigation_dynamicgoal_unset (entity this)
entity	navigation_findnearestwaypoint (entity ent, float walkfromwp)
void	navigation_goalrating_end (entity this)
void	navigation_goalrating_start (entity this)
bool	navigation_goalrating_timeout (entity this)
void	navigation_goalrating_timeout_force (entity this)
void	navigation_goalrating_timeout_set (entity this)
void	navigation_markroutes (entity this, entity fixed_source_waypoint)
void	navigation_markroutes_checkwaypoint (entity w, entity wp, float cost2, vector p)
void	navigation_markroutes_inverted (entity fixed_source_waypoint)
float	navigation_markroutes_nearestwaypoints (entity this, float maxdist)
void	navigation_poproute (entity this)
int	navigation_poptouchedgoals (entity this)
void	navigation_pushroute (entity this, entity e)
void	navigation_routerating (entity this, entity e, float f, float rangebias)
float	navigation_routetogoal (entity this, entity e, vector startposition)
bool	navigation_shortenpath (entity this)
void	navigation_unstuck (entity this)
float	navigation_waypoint_will_link (vector v, vector org, entity ent, vector v2, float v2_height, vector o2, float o2_height, float walkfromwp, float bestdist)
float	tracewalk (entity e, vector start, vector m1, vector m2, vector end, float end_height, float movemode)

Variables
float	blacklisted
entity	bot_basewaypoint
const float	BOT_BUNNYHOP_WP_DETECTION_RANGE = 100
float	bot_navigation_movemode
entity	bot_waypoint_queue_bestgoal
float	bot_waypoint_queue_bestgoalrating
entity	bot_waypoint_queue_goal
entity	bot_waypoint_queue_nextgoal
entity	bot_waypoint_queue_owner
const float	DEBUG_NODE_FAIL = 3
const float	DEBUG_NODE_SUCCESS = 1
const float	DEBUG_NODE_WARNING = 2
vector	debuglastnode
entity	goalcurrent
float	goalcurrent_distance_2d
float	goalcurrent_distance_time
float	goalcurrent_distance_z
entity	goalcurrent_prev
entity	goalentity
float	goalentity_lock_timeout
bool	goalentity_shouldbefrozen
entity	goalstack01
entity	goalstack02
entity	goalstack03
entity	goalstack04
entity	goalstack05
entity	goalstack06
entity	goalstack07
entity	goalstack08
entity	goalstack09
entity	goalstack10
entity	goalstack11
entity	goalstack12
entity	goalstack13
entity	goalstack14
entity	goalstack15
entity	goalstack16
entity	goalstack17
entity	goalstack18
entity	goalstack19
entity	goalstack20
entity	goalstack21
entity	goalstack22
entity	goalstack23
entity	goalstack24
entity	goalstack25
entity	goalstack26
entity	goalstack27
entity	goalstack28
entity	goalstack29
entity	goalstack30
entity	goalstack31
float	jumpheight_time
vector	jumpheight_vec
vector	jumpstepheightvec
vector	lastteleport_origin
float	lastteleporttime
int	nav_submerged_state
entity	navigation_bestgoal
float	navigation_bestrating
bool	navigation_dynamicgoal
entity	navigation_jetpack_goal
vector	navigation_jetpack_point
float	navigation_testtracewalk
entity	nearestwaypoint
float	nearestwaypointtimeout
vector	stepheightvec
vector	tracewalk_dest
float	tracewalk_dest_height
entity	wp_goal_prev0
entity	wp_goal_prev1

Macro Definition Documentation

navigation_item_add_link

#define navigation_item_add_link	(		from_wp,
			to_item,
			walkable
	)		waypoint_addlink_customcost(to_item, from_wp, (walkable ? waypoint_getlinkcost(from_wp, to_item) : 999))

Definition at line 60 of file navigation.qh.

Referenced by navigation_routetogoal().

navigation_item_getlinknum

#define navigation_item_getlinknum	(		to_item,
			from_wp
	)		waypoint_getlinknum(to_item, from_wp)

Definition at line 57 of file navigation.qh.

Referenced by navigation_routetogoal().

navigation_item_initlinks_ifneeded

#define navigation_item_initlinks_ifneeded

(

e

)

MACRO_BEGIN if (!e.wp00) waypoint_clearlinks(e); MACRO_END

Definition at line 56 of file navigation.qh.

Referenced by navigation_routetogoal().

navigation_item_iswalkablelink

#define navigation_item_iswalkablelink	(		to_item,
			from_wp
	)		(waypoint_get_assigned_link_cost(to_item, from_wp) < 999)

Definition at line 58 of file navigation.qh.

Referenced by navigation_routetogoal().

SUBMERGED_NO

#define SUBMERGED_NO   1

Definition at line 101 of file navigation.qh.

Referenced by navigation_check_submerged_state().

SUBMERGED_UNDEFINED

#define SUBMERGED_UNDEFINED   0

Definition at line 100 of file navigation.qh.

Referenced by navigation_check_submerged_state().

SUBMERGED_YES

#define SUBMERGED_YES   2

Definition at line 102 of file navigation.qh.

Referenced by navigation_check_submerged_state().

TELEPORT_USED

#define TELEPORT_USED	(		pl,
			tele_wp
	)		boxesoverlap(tele_wp.absmin, tele_wp.absmax, pl.lastteleport_origin + STAT(PL_MIN, pl), pl.lastteleport_origin + STAT(PL_MAX, pl))

Definition at line 63 of file navigation.qh.

Referenced by navigation_poptouchedgoals().

Function Documentation

botframe_updatedangerousobjects()

void botframe_updatedangerousobjects

(

float

maxupdate

)

Definition at line 1873 of file navigation.qc.

References entity(), g_bot_dodge, g_waypoints, IL_EACH, v, and vector().

Referenced by bot_serverframe().

{
    vector m1, m2, v, o;
    float c, d, danger;
    c = 0;
    entity wp_cur;
    IL_EACH(g_waypoints, true,
    {
        danger = 0;
        m1 = it.absmin;
        m2 = it.absmax;
        wp_cur = it;
        IL_EACH(g_bot_dodge, it.bot_dodge,
        {
            v = it.origin;
            v.x = bound(m1_x, v.x, m2_x);
            v.y = bound(m1_y, v.y, m2_y);
            v.z = bound(m1_z, v.z, m2_z);
            o = (it.absmin + it.absmax) * 0.5;
            d = waypoint_getlinearcost(it.bot_dodgerating) - waypoint_gettravelcost(o, v, it, wp_cur);
            if (d > 0)
            {
                traceline(o, v, true, NULL);
                if (trace_fraction == 1)
                    danger = danger + d;
            }
        });
        it.dmg = danger;
        c = c + 1;
        if (c >= maxupdate)
            break;
    });
}

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debuggoalstack()

void debuggoalstack

(

entity

this

)

Definition at line 2061 of file navigation.qc.

References entity(), goalcounter, goalcurrent, goalstack01, goalstack02, goalstack03, goalstack04, goalstack05, goalstack06, goalstack07, goalstack08, goalstack09, goalstack10, goalstack11, goalstack12, goalstack13, goalstack14, goalstack15, goalstack16, goalstack17, goalstack18, goalstack19, goalstack20, goalstack21, goalstack22, goalstack23, goalstack24, goalstack25, goalstack26, goalstack27, goalstack28, goalstack29, goalstack30, goalstack31, lastposition, NULL, origin, and vector().

Referenced by havocbot_moveto(), and havocbot_movetogoal().

{
    entity goal;
    vector org, go;

    if(this.goalcounter==0)goal=this.goalcurrent;
    else if(this.goalcounter==1)goal=this.goalstack01;
    else if(this.goalcounter==2)goal=this.goalstack02;
    else if(this.goalcounter==3)goal=this.goalstack03;
    else if(this.goalcounter==4)goal=this.goalstack04;
    else if(this.goalcounter==5)goal=this.goalstack05;
    else if(this.goalcounter==6)goal=this.goalstack06;
    else if(this.goalcounter==7)goal=this.goalstack07;
    else if(this.goalcounter==8)goal=this.goalstack08;
    else if(this.goalcounter==9)goal=this.goalstack09;
    else if(this.goalcounter==10)goal=this.goalstack10;
    else if(this.goalcounter==11)goal=this.goalstack11;
    else if(this.goalcounter==12)goal=this.goalstack12;
    else if(this.goalcounter==13)goal=this.goalstack13;
    else if(this.goalcounter==14)goal=this.goalstack14;
    else if(this.goalcounter==15)goal=this.goalstack15;
    else if(this.goalcounter==16)goal=this.goalstack16;
    else if(this.goalcounter==17)goal=this.goalstack17;
    else if(this.goalcounter==18)goal=this.goalstack18;
    else if(this.goalcounter==19)goal=this.goalstack19;
    else if(this.goalcounter==20)goal=this.goalstack20;
    else if(this.goalcounter==21)goal=this.goalstack21;
    else if(this.goalcounter==22)goal=this.goalstack22;
    else if(this.goalcounter==23)goal=this.goalstack23;
    else if(this.goalcounter==24)goal=this.goalstack24;
    else if(this.goalcounter==25)goal=this.goalstack25;
    else if(this.goalcounter==26)goal=this.goalstack26;
    else if(this.goalcounter==27)goal=this.goalstack27;
    else if(this.goalcounter==28)goal=this.goalstack28;
    else if(this.goalcounter==29)goal=this.goalstack29;
    else if(this.goalcounter==30)goal=this.goalstack30;
    else if(this.goalcounter==31)goal=this.goalstack31;
    else goal=NULL;

    if(goal==NULL)
    {
        this.goalcounter = 0;
        this.lastposition='0 0 0';
        return;
    }

    if(this.lastposition=='0 0 0')
        org = this.origin;
    else
        org = this.lastposition;


    go = ( goal.absmin + goal.absmax ) * 0.5;
    te_lightning2(NULL, org, go);
    this.lastposition = go;

    this.goalcounter++;
}

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debugnode()

void debugnode	(	entity	this,
		vector	node
	)

Definition at line 2018 of file navigation.qc.

References debuglastnode, IS_PLAYER, and NULL.

Referenced by tracewalk().

{
    if (!IS_PLAYER(this))
        return;

    if(debuglastnode=='0 0 0')
    {
        debuglastnode = node;
        return;
    }

    te_lightning2(NULL, node, debuglastnode);
    debuglastnode = node;
}

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debugnodestatus()

void debugnodestatus	(	vector	position,
		float	status
	)

Definition at line 2033 of file navigation.qc.

References DEBUG_NODE_FAIL, DEBUG_NODE_SUCCESS, DEBUG_NODE_WARNING, and vector().

Referenced by tracewalk().

{
    vector c;

    switch (status)
    {
        case DEBUG_NODE_SUCCESS:
            c = '0 15 0';
            break;
        case DEBUG_NODE_WARNING:
            c = '15 15 0';
            break;
        case DEBUG_NODE_FAIL:
            c = '15 0 0';
            break;
        default:
            c = '15 15 15';
    }

    te_customflash(position, 40,  2, c);
}

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debugresetnodes()

void debugresetnodes

(

)

Definition at line 2013 of file navigation.qc.

References debuglastnode.

Referenced by tracewalk().

{
    debuglastnode = '0 0 0';
}

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navigation_check_submerged_state()

bool navigation_check_submerged_state	(	entity	ent,
		vector	pos
	)

Definition at line 203 of file navigation.qc.

References IS_PLAYER, SUBMERGED, SUBMERGED_NO, SUBMERGED_UNDEFINED, SUBMERGED_YES, and WATERLEVEL_SUBMERGED.

Referenced by waypoint_gettravelcost().

{
    bool submerged;
    if(IS_PLAYER(ent))
        submerged = (ent.waterlevel == WATERLEVEL_SUBMERGED);
    else if(ent.nav_submerged_state != SUBMERGED_UNDEFINED)
        submerged = (ent.nav_submerged_state == SUBMERGED_YES);
    else
    {
        submerged = SUBMERGED(pos);
        // NOTE: SUBMERGED check of box waypoint origin may fail even if origin
        //  is actually submerged because often they are inside some solid.
        //  That's why submerged state is saved now that we know current pos is
        //  not stuck in solid (previous tracewalk call to this pos was successfully)
        if(!ent.navigation_dynamicgoal)
            ent.nav_submerged_state = (submerged) ? SUBMERGED_YES : SUBMERGED_NO;
    }
    return submerged;
}

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navigation_clearroute()

void navigation_clearroute

(

entity

this

)

Definition at line 750 of file navigation.qc.

References FLOAT_MAX, goalcurrent, goalcurrent_distance_2d, goalcurrent_distance_time, goalcurrent_distance_z, goalcurrent_prev, goalentity, goalentity_lock_timeout, goalentity_shouldbefrozen, goalstack01, goalstack02, goalstack03, goalstack04, goalstack05, goalstack06, goalstack07, goalstack08, goalstack09, goalstack10, goalstack11, goalstack12, goalstack13, goalstack14, goalstack15, goalstack16, goalstack17, goalstack18, goalstack19, goalstack20, goalstack21, goalstack22, goalstack23, goalstack24, goalstack25, goalstack26, goalstack27, goalstack28, goalstack29, goalstack30, goalstack31, lastteleporttime, and NULL.

Referenced by havocbot_ai(), havocbot_movetogoal(), havocbot_resetgoal(), navigation_goalrating_start(), and navigation_unstuck().

{
    this.lastteleporttime = 0;
    this.goalcurrent_prev = this.goalcurrent;
    this.goalcurrent_distance_2d = FLOAT_MAX;
    this.goalcurrent_distance_z = FLOAT_MAX;
    this.goalcurrent_distance_time = 0;
    this.goalentity_lock_timeout = 0;
    this.goalentity_shouldbefrozen = false;
    this.goalentity = NULL;
    this.goalcurrent = NULL;
    this.goalstack01 = NULL;
    this.goalstack02 = NULL;
    this.goalstack03 = NULL;
    this.goalstack04 = NULL;
    this.goalstack05 = NULL;
    this.goalstack06 = NULL;
    this.goalstack07 = NULL;
    this.goalstack08 = NULL;
    this.goalstack09 = NULL;
    this.goalstack10 = NULL;
    this.goalstack11 = NULL;
    this.goalstack12 = NULL;
    this.goalstack13 = NULL;
    this.goalstack14 = NULL;
    this.goalstack15 = NULL;
    this.goalstack16 = NULL;
    this.goalstack17 = NULL;
    this.goalstack18 = NULL;
    this.goalstack19 = NULL;
    this.goalstack20 = NULL;
    this.goalstack21 = NULL;
    this.goalstack22 = NULL;
    this.goalstack23 = NULL;
    this.goalstack24 = NULL;
    this.goalstack25 = NULL;
    this.goalstack26 = NULL;
    this.goalstack27 = NULL;
    this.goalstack28 = NULL;
    this.goalstack29 = NULL;
    this.goalstack30 = NULL;
    this.goalstack31 = NULL;
}

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navigation_dynamicgoal_init()

void navigation_dynamicgoal_init	(	entity	this,
		bool	initially_static
	)

Definition at line 76 of file navigation.qc.

References bot_basewaypoint, navigation_dynamicgoal, nearestwaypoint, nearestwaypointtimeout, and time.

{
    this.navigation_dynamicgoal = true;
    this.bot_basewaypoint = this.nearestwaypoint;
    if(initially_static)
        this.nearestwaypointtimeout = -1;
    else
        this.nearestwaypointtimeout = time;
}

navigation_dynamicgoal_set()

void navigation_dynamicgoal_set	(	entity	this,
		entity	dropper
	)

Definition at line 86 of file navigation.qc.

References nearestwaypoint, nearestwaypointtimeout, and time.

{
    this.nearestwaypointtimeout = time;
    if (dropper && dropper.nearestwaypointtimeout && dropper.nearestwaypointtimeout < time + 2)
        this.nearestwaypoint = dropper.nearestwaypoint;
    if (this.nearestwaypoint)
        this.nearestwaypointtimeout += 2;
}

navigation_dynamicgoal_unset()

void navigation_dynamicgoal_unset

(

entity

this

)

Definition at line 95 of file navigation.qc.

References bot_basewaypoint, nearestwaypoint, and nearestwaypointtimeout.

{
    if(this.bot_basewaypoint)
        this.nearestwaypoint = this.bot_basewaypoint;
    this.nearestwaypointtimeout = -1;
}

navigation_findnearestwaypoint()

entity navigation_findnearestwaypoint	(	entity	ent,
		float	walkfromwp
	)

Definition at line 1011 of file navigation.qc.

References autocvar_g_waypointeditor_auto, entity(), navigation_findnearestwaypoint_withdist_except(), NULL, and WAYPOINTFLAG_PROTECTED.

Referenced by navigation_routerating().

{
    entity wp = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, NULL);
    if (autocvar_g_waypointeditor_auto)
    {
        entity wp2 = navigation_findnearestwaypoint_withdist_except(ent, walkfromwp, 1050, wp);
        if (wp && !wp2)
            wp.wpflags |= WAYPOINTFLAG_PROTECTED;
    }
    return wp;
}

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navigation_goalrating_end()

void navigation_goalrating_end

(

entity

this

)

Definition at line 1845 of file navigation.qc.

References AI_STATUS_STUCK, aistatus, autocvar_bot_wander_enable, boolean, entity(), goalcurrent, goalentity, goalentity_shouldbefrozen, goalstack31, LOG_DEBUG, navigation_bestgoal, navigation_poproute(), navigation_routetogoal(), netname, NULL, and origin.

{
    if(this.aistatus & AI_STATUS_STUCK)
        return;

    entity wp = this.goalstack31; // save to wp as this.goalstack31 is set by navigation_routetogoal
    this.goalstack31 = NULL;

    navigation_routetogoal(this, navigation_bestgoal, this.origin);
    LOG_DEBUG("best goal ", navigation_bestgoal.classname);

    if (wp && this.goalcurrent == wp)
        navigation_poproute(this);

    // If the bot got stuck then try to reach the farthest waypoint
    if (!this.goalentity)
    {
        if (autocvar_bot_wander_enable && !(this.aistatus & AI_STATUS_STUCK))
        {
            LOG_DEBUG(this.netname, " cannot walk to any goal");
            this.aistatus |= AI_STATUS_STUCK;
        }
        this.goalentity_shouldbefrozen = false;
    }
    else
        this.goalentity_shouldbefrozen = boolean(STAT(FROZEN, this.goalentity));
}

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navigation_goalrating_start()

void navigation_goalrating_start

(

entity

this

)

Definition at line 1830 of file navigation.qc.

References AI_STATUS_STUCK, aistatus, entity(), goalstack31, navigation_bestgoal, navigation_bestrating, navigation_clearroute(), navigation_get_really_close_waypoint(), navigation_jetpack_goal, navigation_markroutes(), and NULL.

{
    if(this.aistatus & AI_STATUS_STUCK)
        return;

    this.navigation_jetpack_goal = NULL;
    navigation_bestrating = -1;
    entity wp = navigation_get_really_close_waypoint(this);
    navigation_clearroute(this);
    navigation_bestgoal = NULL;
    navigation_markroutes(this, wp);
    this.goalstack31 = wp; // temporarly save the really close waypoint
}

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navigation_goalrating_timeout()

bool navigation_goalrating_timeout

(

entity

this

)

Definition at line 43 of file navigation.qc.

References bot_strategytime, ERASEABLE, and time.

{
    return this.bot_strategytime < time;
}

navigation_goalrating_timeout_force()

void navigation_goalrating_timeout_force

(

entity

this

)

Definition at line 28 of file navigation.qc.

References navigation_goalrating_timeout_expire().

{
    navigation_goalrating_timeout_expire(this, 0);
}

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navigation_goalrating_timeout_set()

void navigation_goalrating_timeout_set

(

entity

this

)

Definition at line 19 of file navigation.qc.

References autocvar_bot_ai_strategyinterval, autocvar_bot_ai_strategyinterval_movingtarget, bot_strategytime, goalentity, IS_MOVABLE, and time.

Referenced by navigation_unstuck().

{
    if(IS_MOVABLE(this.goalentity))
        this.bot_strategytime = time + autocvar_bot_ai_strategyinterval_movingtarget;
    else
        this.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
}

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navigation_markroutes()

void navigation_markroutes	(	entity	this,
		entity	fixed_source_waypoint
	)

Definition at line 1081 of file navigation.qc.

References g_waypoints, IL_EACH, IS_ONGROUND, navigation_markroutes_nearestwaypoints(), NULL, and vector().

Referenced by navigation_goalrating_start().

{
    float cost, cost2;
    vector p;

    IL_EACH(g_waypoints, true,
    {
        it.wpconsidered = false;
        it.wpnearestpoint = '0 0 0';
        it.wpcost = 10000000;
        it.wpfire = 0;
        it.enemy = NULL;
    });

    if(fixed_source_waypoint)
    {
        fixed_source_waypoint.wpconsidered = true;
        fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
        fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg;
        fixed_source_waypoint.wpfire = 1;
        fixed_source_waypoint.enemy = NULL;
    }
    else
    {
        // try a short range search for the nearest waypoints, and expand the search repeatedly if none are found
        // as this search is expensive we will use lower values if the bot is on the air
        float increment, maxdistance;
        if(IS_ONGROUND(this))
        {
            increment = 750;
            maxdistance = 50000;
        }
        else
        {
            increment = 500;
            maxdistance = 1500;
        }

        for(int j = increment; !navigation_markroutes_nearestwaypoints(this, j) && j < maxdistance; j += increment);
    }

    bool searching = true;
    while (searching)
    {
        searching = false;
        IL_EACH(g_waypoints, it.wpfire,
        {
            searching = true;
            it.wpfire = 0;
            cost = it.wpcost;
            p = it.wpnearestpoint;
            entity wp;
            wp = it.wp00;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp00mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp01;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp01mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp02;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp02mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp03;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp03mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp04;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp04mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp05;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp05mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp06;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp06mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp07;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp07mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp08;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp08mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp09;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp09mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp10;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp10mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp11;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp11mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp12;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp12mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp13;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp13mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp14;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp14mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp15;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp15mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp16;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp16mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp17;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp17mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp18;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp18mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp19;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp19mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp20;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp20mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp21;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp21mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp22;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp22mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp23;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp23mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp24;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp24mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp25;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp25mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp26;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp26mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp27;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp27mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp28;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp28mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp29;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp29mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp30;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp30mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            wp = it.wp31;if (wp){cost2 = cost + wp.dmg;if (wp.wpcost > cost2 + it.wp31mincost) navigation_markroutes_checkwaypoint(it, wp, cost2, p);
            }}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
        });
    }
}

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navigation_markroutes_checkwaypoint()

void navigation_markroutes_checkwaypoint	(	entity	w,
		entity	wp,
		float	cost2,
		vector	p
	)

Definition at line 1053 of file navigation.qc.

References bound(), v, vector(), waypoint_gettravelcost(), and WAYPOINTFLAG_TELEPORT.

{
    vector m1, m2;
    vector v;
    if (wp.wpisbox)
    {
        m1 = wp.origin + wp.mins;
        m2 = wp.origin + wp.maxs;
        v.x = bound(m1_x, p.x, m2_x);
        v.y = bound(m1_y, p.y, m2_y);
        v.z = bound(m1_z, p.z, m2_z);
    }
    else
        v = wp.origin;
    if (w.wpflags & WAYPOINTFLAG_TELEPORT)
        cost += w.wp00mincost; // assuming teleport has exactly one destination
    else
        cost += waypoint_gettravelcost(p, v, w, wp);
    if (wp.wpcost > cost)
    {
        wp.wpcost = cost;
        wp.enemy = w;
        wp.wpfire = 1;
        wp.wpnearestpoint = v;
    }
}

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navigation_markroutes_inverted()

void navigation_markroutes_inverted

(

entity

fixed_source_waypoint

)

Definition at line 1171 of file navigation.qc.

References error(), g_waypoints, IL_EACH, NULL, and vector().

{
    float cost, cost2;
    vector p;
    IL_EACH(g_waypoints, true,
    {
        it.wpconsidered = false;
        it.wpnearestpoint = '0 0 0';
        it.wpcost = 10000000;
        it.wpfire = 0;
        it.enemy = NULL;
    });

    if(fixed_source_waypoint)
    {
        fixed_source_waypoint.wpconsidered = true;
        fixed_source_waypoint.wpnearestpoint = fixed_source_waypoint.origin + 0.5 * (fixed_source_waypoint.mins + fixed_source_waypoint.maxs);
        fixed_source_waypoint.wpcost = fixed_source_waypoint.dmg; // the cost to get from X to fixed_source_waypoint
        fixed_source_waypoint.wpfire = 1;
        fixed_source_waypoint.enemy = NULL;
    }
    else
    {
        error("need to start with a waypoint\n");
    }

    bool searching = true;
    while (searching)
    {
        searching = false;
        IL_EACH(g_waypoints, it.wpfire,
        {
            searching = true;
            it.wpfire = 0;
            cost = it.wpcost; // cost to walk from it to home
            p = it.wpnearestpoint;
            entity wp = it;
            IL_EACH(g_waypoints, it != wp,
            {
                if(!waypoint_islinked(it, wp))
                    continue;
                cost2 = cost + it.dmg;
                navigation_markroutes_checkwaypoint(wp, it, cost2, p);
            });
        });
    }
}

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navigation_markroutes_nearestwaypoints()

float navigation_markroutes_nearestwaypoints	(	entity	this,
		float	maxdist
	)

Definition at line 1024 of file navigation.qc.

References g_waypoints, and IL_EACH.

Referenced by navigation_markroutes().

{
    //navigation_testtracewalk = true;
    int c = 0;
    IL_EACH(g_waypoints, !it.wpconsidered,
    {
        set_tracewalk_dest(it, this.origin, false);

        vector diff = tracewalk_dest - this.origin;
        diff.z = max(0, diff.z);
        if(vdist(diff, <, maxdist))
        {
            it.wpconsidered = true;
            if (tracewalk(this, this.origin, this.mins, this.maxs,
                tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
            {
                it.wpnearestpoint = tracewalk_dest;
                it.wpcost = waypoint_gettravelcost(this.origin, tracewalk_dest, this, it) + it.dmg;
                it.wpfire = 1;
                it.enemy = NULL;
                c = c + 1;
            }
        }
    });
    //navigation_testtracewalk = false;
    return c;
}

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navigation_poproute()

void navigation_poproute

(

entity

this

)

Definition at line 846 of file navigation.qc.

References FLOAT_MAX, goalcurrent, goalcurrent_distance_2d, goalcurrent_distance_time, goalcurrent_distance_z, goalcurrent_prev, goalentity, goalentity_lock_timeout, goalstack01, goalstack02, goalstack03, goalstack04, goalstack05, goalstack06, goalstack07, goalstack08, goalstack09, goalstack10, goalstack11, goalstack12, goalstack13, goalstack14, goalstack15, goalstack16, goalstack17, goalstack18, goalstack19, goalstack20, goalstack21, goalstack22, goalstack23, goalstack24, goalstack25, goalstack26, goalstack27, goalstack28, goalstack29, goalstack30, goalstack31, and NULL.

Referenced by navigation_goalrating_end(), navigation_poptouchedgoals(), and navigation_shortenpath().

{
    this.goalcurrent_prev = this.goalcurrent;
    this.goalcurrent_distance_2d = FLOAT_MAX;
    this.goalcurrent_distance_z = FLOAT_MAX;
    this.goalcurrent_distance_time = 0;
    //print("bot ", etos(this), " pop\n");
    if(this.goalcurrent == this.goalentity)
    {
        this.goalentity = NULL;
        this.goalentity_lock_timeout = 0;
    }
    this.goalcurrent = this.goalstack01;
    this.goalstack01 = this.goalstack02;
    this.goalstack02 = this.goalstack03;
    this.goalstack03 = this.goalstack04;
    this.goalstack04 = this.goalstack05;
    this.goalstack05 = this.goalstack06;
    this.goalstack06 = this.goalstack07;
    this.goalstack07 = this.goalstack08;
    this.goalstack08 = this.goalstack09;
    this.goalstack09 = this.goalstack10;
    this.goalstack10 = this.goalstack11;
    this.goalstack11 = this.goalstack12;
    this.goalstack12 = this.goalstack13;
    this.goalstack13 = this.goalstack14;
    this.goalstack14 = this.goalstack15;
    this.goalstack15 = this.goalstack16;
    this.goalstack16 = this.goalstack17;
    this.goalstack17 = this.goalstack18;
    this.goalstack18 = this.goalstack19;
    this.goalstack19 = this.goalstack20;
    this.goalstack20 = this.goalstack21;
    this.goalstack21 = this.goalstack22;
    this.goalstack22 = this.goalstack23;
    this.goalstack23 = this.goalstack24;
    this.goalstack24 = this.goalstack25;
    this.goalstack25 = this.goalstack26;
    this.goalstack26 = this.goalstack27;
    this.goalstack27 = this.goalstack28;
    this.goalstack28 = this.goalstack29;
    this.goalstack29 = this.goalstack30;
    this.goalstack30 = this.goalstack31;
    this.goalstack31 = NULL;
}

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navigation_poptouchedgoals()

int navigation_poptouchedgoals

(

entity

this

)

Definition at line 1629 of file navigation.qc.

References absmax, absmin, AI_STATUS_RUNNING, AI_STATUS_WAYPOINT_PERSONAL_GOING, AI_STATUS_WAYPOINT_PERSONAL_REACHED, aistatus, BOT_BUNNYHOP_WP_DETECTION_RANGE, boxesoverlap(), entity(), eZ, goalcurrent, goalstack01, goalstack02, goalstack03, IS_PLAYER, jumpheight_vec, jumppadcount, ladder_entity, lastteleporttime, navigation_poproute(), NULL, origin, random(), TELEPORT_USED, time, trace_fraction, vdist, vec2, vector(), velocity, view_ofs, vlen2, WAYPOINTFLAG_JUMP, WAYPOINTFLAG_PERSONAL, and WAYPOINTFLAG_TELEPORT.

Referenced by havocbot_movetogoal().

{
    int removed_goals = 0;

    if(!this.goalcurrent)
        return removed_goals;

    if(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
    {
        if (!this.goalcurrent.wpisbox // warpzone
            && vlen2(this.origin - this.goalstack01.origin) < vlen2(this.origin - this.goalcurrent.origin))
        {
            // immediately remove origin and destination waypoints
            navigation_poproute(this);
            ++removed_goals;
            navigation_poproute(this);
            ++removed_goals;
            this.lastteleporttime = 0;
        }

        // 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 && TELEPORT_USED(this, this.goalcurrent))
        {
            if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
            if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
            {
                this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
                this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
            }
            if(this.jumppadcount)
            {
                // remove jumppad waypoint after a random delay to prevent bots getting
                // stuck on certain jumppads that require an extra initial horizontal speed
                float max_delay = 0.1;
                if (vdist(vec2(this.velocity), >, 2 * autocvar_sv_maxspeed))
                    max_delay = 0.05;
                if (time - this.lastteleporttime < random() * max_delay)
                    return removed_goals;
            }
            else if (this.goalcurrent.wpisbox) // teleport
            {
                // immediately remove origin and destination waypoints
                navigation_poproute(this);
                ++removed_goals;
            }
            navigation_poproute(this);
            this.lastteleporttime = 0;
            ++removed_goals;
        }
        return removed_goals;
    }
    else if (this.lastteleporttime > 0)
    {
        // sometimes bot is pushed so hard (by a jumppad or a shot) that ends up touching the next
        // teleport / jumppad / warpzone present in its path skipping check of one or more goals
        // if so immediately fix bot path by removing skipped goals
        entity tele_ent = NULL;
        if (this.goalstack01 && (this.goalstack01.wpflags & WAYPOINTFLAG_TELEPORT))
            tele_ent = this.goalstack01;
        else if (this.goalstack02 && (this.goalstack02.wpflags & WAYPOINTFLAG_TELEPORT))
            tele_ent = this.goalstack02;
        else if (this.goalstack03 && (this.goalstack03.wpflags & WAYPOINTFLAG_TELEPORT))
            tele_ent = this.goalstack03;
        if (tele_ent && TELEPORT_USED(this, tele_ent))
        {
            if (this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
            if ((tele_ent.wpflags & WAYPOINTFLAG_PERSONAL) && tele_ent.owner == this)
            {
                this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
                this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
            }
            while (this.goalcurrent != tele_ent)
            {
                navigation_poproute(this);
                ++removed_goals;
            }
            navigation_poproute(this);
            this.lastteleporttime = 0;
            ++removed_goals;
            return removed_goals;
        }
        // reset of lastteleporttime can be overriden by a jumppad when it's set
        // in more than one frame: make sure it's reset
        this.lastteleporttime = 0;
    }

    // Loose goal touching check when running
    // check goalstack01 to make sure waypoint isn't the final goal
    if((this.aistatus & AI_STATUS_RUNNING) && this.goalcurrent.classname == "waypoint" && !(this.goalcurrent.wpflags & WAYPOINTFLAG_JUMP)
        && this.goalstack01 && !wasfreed(this.goalstack01) && vdist(vec2(this.velocity), >=, autocvar_sv_maxspeed))
    {
        vector gco = this.goalcurrent.origin;
        float min_dist = BOT_BUNNYHOP_WP_DETECTION_RANGE;
        // also detect waypoints when bot is way above them but with a narrower horizontal range
        // so to increase chances bot ends up in the standard range (optimizes nearest waypoint finding)
        if(vdist(this.origin - gco, <, min_dist)
            || (vdist(vec2(this.origin - gco), <, min_dist * 0.5) && vdist(this.origin - eZ * 1.5 * min_dist - gco, <, min_dist)))
        {
            traceline(this.origin + this.view_ofs , this.goalcurrent.origin, true, NULL);
            if(trace_fraction==1)
            {
                // Detect personal waypoints
                if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
                if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
                {
                    this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
                    this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
                }

                navigation_poproute(this);
                ++removed_goals;
                if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
                    return removed_goals;
            }
        }
    }

    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 + eZ * (jumpheight_vec.z + STAT(PL_MIN, this).z);
        }
        if (this.ladder_entity)
        {
            if (!boxesoverlap(this.absmin, this.absmax - eZ * STAT(PL_MAX, this).z, gc_min, gc_max))
                break;
        }
        else
        {
            if (!boxesoverlap(this.absmin, this.absmax, gc_min, gc_max))
                break;
        }

        // Detect personal waypoints
        if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_GOING)
        if((this.goalcurrent.wpflags & WAYPOINTFLAG_PERSONAL) && this.goalcurrent.owner==this)
        {
            this.aistatus &= ~AI_STATUS_WAYPOINT_PERSONAL_GOING;
            this.aistatus |= AI_STATUS_WAYPOINT_PERSONAL_REACHED;
        }

        navigation_poproute(this);
        ++removed_goals;
        if(this.goalcurrent && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT)
            return removed_goals;
    }
    return removed_goals;
}

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navigation_pushroute()

void navigation_pushroute	(	entity	this,
		entity	e
	)

Definition at line 800 of file navigation.qc.

References FLOAT_MAX, goalcurrent, goalcurrent_distance_2d, goalcurrent_distance_time, goalcurrent_distance_z, goalcurrent_prev, goalentity, goalstack01, goalstack02, goalstack03, goalstack04, goalstack05, goalstack06, goalstack07, goalstack08, goalstack09, goalstack10, goalstack11, goalstack12, goalstack13, goalstack14, goalstack15, goalstack16, goalstack17, goalstack18, goalstack19, goalstack20, goalstack21, goalstack22, goalstack23, goalstack24, goalstack25, goalstack26, goalstack27, goalstack28, goalstack29, goalstack30, goalstack31, and NULL.

Referenced by havocbot_ai(), havocbot_movetogoal(), and navigation_routetogoal().

{
    this.goalcurrent_prev = this.goalcurrent;
    this.goalcurrent_distance_2d = FLOAT_MAX;
    this.goalcurrent_distance_z = FLOAT_MAX;
    this.goalcurrent_distance_time = 0;
    //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;
    this.goalstack28 = this.goalstack27;
    this.goalstack27 = this.goalstack26;
    this.goalstack26 = this.goalstack25;
    this.goalstack25 = this.goalstack24;
    this.goalstack24 = this.goalstack23;
    this.goalstack23 = this.goalstack22;
    this.goalstack22 = this.goalstack21;
    this.goalstack21 = this.goalstack20;
    this.goalstack20 = this.goalstack19;
    this.goalstack19 = this.goalstack18;
    this.goalstack18 = this.goalstack17;
    this.goalstack17 = this.goalstack16;
    this.goalstack16 = this.goalstack15;
    this.goalstack15 = this.goalstack14;
    this.goalstack14 = this.goalstack13;
    this.goalstack13 = this.goalstack12;
    this.goalstack12 = this.goalstack11;
    this.goalstack11 = this.goalstack10;
    this.goalstack10 = this.goalstack09;
    this.goalstack09 = this.goalstack08;
    this.goalstack08 = this.goalstack07;
    this.goalstack07 = this.goalstack06;
    this.goalstack06 = this.goalstack05;
    this.goalstack05 = this.goalstack04;
    this.goalstack04 = this.goalstack03;
    this.goalstack03 = this.goalstack02;
    this.goalstack02 = this.goalstack01;
    this.goalstack01 = this.goalcurrent;
    this.goalcurrent = e;
}

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navigation_routerating()

void navigation_routerating	(	entity	this,
		entity	e,
		float	f,
		float	rangebias
	)

Definition at line 1220 of file navigation.qc.

References autocvar_bot_ai_navigation_jetpack, autocvar_bot_ai_navigation_jetpack_mindistance, CONTENT_LAVA, CONTENT_SLIME, CONTENT_SOLID, CONTENT_WATER, entity(), etos(), fabs(), FL_PARTIALGROUND, FLOAT_MAX, ftos(), g_waypoints, GetResource(), IL_EACH, IS_BOT_CLIENT, IS_ONGROUND, IS_PLAYER, items, LOG_DEBUG, MOVE_NORMAL, navigation_bestgoal, navigation_bestrating, navigation_findnearestwaypoint(), navigation_jetpack_goal, navigation_jetpack_point, NULL, origin, random(), time, trace_endpos, trace_fraction, vdist, vector(), vlen(), WATERLEVEL_WETFEET, waypoint_getlinearcost(), waypoint_gettravelcost(), waypointeditor_enabled, WAYPOINTFLAG_PERSONAL, and WAYPOINTFLAG_TELEPORT.

{
    if (!e || e.blacklisted) { return; }

    rangebias = waypoint_getlinearcost(rangebias);
    f = waypoint_getlinearcost(f);

    if (IS_PLAYER(e))
    {
        bool rate_wps = false;
        if (e.watertype < CONTENT_WATER || (e.waterlevel > WATERLEVEL_WETFEET && !STAT(FROZEN, e))
            || (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 = FLOAT_MAX;
            IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT)
                && vdist(it.origin - theEnemy.origin, <, 500)
                && vdist(it.origin - this.origin, >, 100)
                && vdist(it.origin - this.origin, <, 10000),
            {
                float dist = vlen2(it.origin - theEnemy.origin);
                if (dist < best_dist)
                {
                    best_wp = it;
                    best_dist = dist;
                }
            });
            if (!best_wp)
                return;
            e = best_wp;
        }
    }

    vector goal_org = (e.absmin + e.absmax) * 0.5;

    //print("routerating ", etos(e), " = ", ftos(f), " - ", ftos(rangebias), "\n");

    // Evaluate path using jetpack
    if(this.items & IT_JETPACK)
    if(autocvar_bot_ai_navigation_jetpack)
    if(vdist(this.origin - goal_org, >, autocvar_bot_ai_navigation_jetpack_mindistance))
    {
        vector pointa, pointb;

        LOG_DEBUG("jetpack ai: evaluating path for ", e.classname);

        // Point A
        traceline(this.origin, this.origin + '0 0 65535', MOVE_NORMAL, this);
        pointa = trace_endpos - '0 0 1';

        // Point B
        traceline(goal_org, goal_org + '0 0 65535', MOVE_NORMAL, e);
        pointb = trace_endpos - '0 0 1';

        // Can I see these two points from the sky?
        traceline(pointa, pointb, MOVE_NORMAL, this);

        if(trace_fraction==1)
        {
            LOG_DEBUG("jetpack ai: can bridge these two points");

            // Lower the altitude of these points as much as possible
            float zdistance, xydistance, cost, t, fuel;
            vector down, npa, npb;

            down = '0 0 -1' * (STAT(PL_MAX, this).z - STAT(PL_MIN, this).z) * 10;

            do{
                npa = pointa + down;
                npb = pointb + down;

                if(npa.z<=this.absmax.z)
                    break;

                if(npb.z<=e.absmax.z)
                    break;

                traceline(npa, npb, MOVE_NORMAL, this);
                if(trace_fraction==1)
                {
                    pointa = npa;
                    pointb = npb;
                }
            }
            while(trace_fraction == 1);


            // Rough estimation of fuel consumption
            // (ignores acceleration and current xyz velocity)
            xydistance = vlen(pointa - pointb);
            zdistance = fabs(pointa.z - this.origin.z);

            t = zdistance / autocvar_g_jetpack_maxspeed_up;
            t += xydistance / autocvar_g_jetpack_maxspeed_side;
            fuel = t * autocvar_g_jetpack_fuel * 0.8;

            LOG_DEBUG("jetpack ai: required fuel ", ftos(fuel), ", have ", ftos(GetResource(this, RES_FUEL)));

            // enough fuel ?
            if(GetResource(this, RES_FUEL) > fuel || (this.items & IT_UNLIMITED_AMMO))
            {
                // Estimate cost
                // (as onground costs calculation is mostly based on distances, here we do the same establishing some relationship
                //  - between air and ground speeds)

                cost = xydistance / (autocvar_g_jetpack_maxspeed_side/autocvar_sv_maxspeed);
                cost += zdistance / (autocvar_g_jetpack_maxspeed_up/autocvar_sv_maxspeed);
                cost *= 1.5;

                // Compare against other goals
                f = f * rangebias / (rangebias + cost);

                if (navigation_bestrating < f)
                {
                    LOG_DEBUG("jetpack path: added goal ", e.classname, " (with rating ", ftos(f), ")");
                    navigation_bestrating = f;
                    navigation_bestgoal = e;
                    this.navigation_jetpack_goal = e;
                    this.navigation_jetpack_point = pointb;
                }
                return;
            }
        }
    }

    entity nwp;
    //te_wizspike(e.origin);
    //bprint(etos(e));
    //bprint("\n");
    // update the cached spawnfunc_waypoint link on a dynamic item entity
    if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
    {
        nwp = e;
    }
    else
    {
        if(waypointeditor_enabled && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
            e.nearestwaypoint = NULL;

        if ((!e.nearestwaypoint || e.navigation_dynamicgoal)
            && e.nearestwaypointtimeout >= 0 && time > e.nearestwaypointtimeout)
        {
            if(IS_BOT_CLIENT(e) && e.goalcurrent && e.goalcurrent.classname == "waypoint")
                e.nearestwaypoint = nwp = e.goalcurrent;
            else
                e.nearestwaypoint = nwp = navigation_findnearestwaypoint(e, true);
            if(!nwp)
            {
                LOG_DEBUG("FAILED to find a nearest waypoint to '", e.classname, "' #", etos(e));

                if(!e.navigation_dynamicgoal)
                    e.blacklisted = true;

                if(e.blacklisted)
                {
                    LOG_DEBUG("The entity '", e.classname, "' is going to be excluded from path finding during this match");
                    return;
                }
            }

            if(e.navigation_dynamicgoal)
                e.nearestwaypointtimeout = time + 2;
            else if(waypointeditor_enabled)
                e.nearestwaypointtimeout = time + 3 + random() * 2;
        }
        nwp = e.nearestwaypoint;
    }

    if (nwp && nwp.wpcost < 10000000)
    {
        //te_wizspike(nwp.wpnearestpoint);
        float nwptoitem_cost = 0;
        if(nwp.wpflags & WAYPOINTFLAG_TELEPORT)
            nwptoitem_cost = nwp.wp00mincost;
        else
            nwptoitem_cost = waypoint_gettravelcost(nwp.wpnearestpoint, goal_org, nwp, e);
        float cost = nwp.wpcost + nwptoitem_cost;
        LOG_DEBUG("checking ^5", e.classname, "^7 with base rating ^xf04", ftos(f), "^7 and rangebias ^xf40", ftos(rangebias));
        f = f * rangebias / (rangebias + cost);
        LOG_DEBUG("         ^5", e.classname, "^7 with cost ^6", ftos(cost), "^7 and final rating ^2", ftos(f));
        if (navigation_bestrating < f)
        {
            LOG_DEBUG(" ground path: ^3added goal ^5", e.classname);
            navigation_bestrating = f;
            navigation_bestgoal = e;
        }
    }
}

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navigation_routetogoal()

float navigation_routetogoal	(	entity	this,
		entity	e,
		vector	startposition
	)

Definition at line 1429 of file navigation.qc.

References autocvar_bot_ai_strategyinterval_movingtarget, bot_navigation_movemode, checkpvs(), entity(), goalcurrent, goalentity, IS_MOVABLE, items, MAX_CHASE_DISTANCE, navigation_item_add_link, navigation_item_getlinknum, navigation_item_initlinks_ifneeded, navigation_item_iswalkablelink, navigation_jetpack_goal, navigation_pushroute(), NULL, origin, set_tracewalk_dest(), trace_ent, tracewalk(), tracewalk_dest, tracewalk_dest_height, vdist, vec2, vlen2, waypointeditor_enabled, WAYPOINTFLAG_PERSONAL, WAYPOINTFLAG_TELEPORT, wp_goal_prev0, wp_goal_prev1, and WPFLAGMASK_NORELINK.

Referenced by havocbot_movetogoal(), navigation_goalrating_end(), and navigation_unstuck().

{
    // if there is no goal, just exit
    if (!e)
        return false;

    entity teleport_goal = NULL;

    this.goalentity = e;

    if(e.wpflags & WAYPOINTFLAG_TELEPORT)
    {
        // force teleport destination as route destination
        teleport_goal = e;
        navigation_pushroute(this, e.wp00);
        this.goalentity = e.wp00;
    }

    // put the entity on the goal stack
    //print("routetogoal ", etos(e), "\n");
    navigation_pushroute(this, e);

    if(teleport_goal)
        e = this.goalentity;

    if(e.classname == "waypoint" && !(e.wpflags & WAYPOINTFLAG_PERSONAL))
    {
        this.wp_goal_prev1 = this.wp_goal_prev0;
        this.wp_goal_prev0 = e;
    }

    if((this.items & IT_JETPACK) && e == this.navigation_jetpack_goal)
        return true;

    // if it can reach the goal there is nothing more to do
    set_tracewalk_dest(e, startposition, true);
    if ((!IS_MOVABLE(this.goalcurrent) || vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE))
        && (trace_ent == this || tracewalk(this, startposition, STAT(PL_MIN, this), STAT(PL_MAX, this),
        tracewalk_dest, tracewalk_dest_height, 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 if(teleport_goal)
        e = teleport_goal;
    else
        e = e.enemy; // we already have added it, so...

    if(e == NULL)
        return false;

    if(nearest_wp && nearest_wp.enemy && !(nearest_wp.enemy.wpflags & WPFLAGMASK_NORELINK))
    {
        // often path can be optimized by not adding the nearest waypoint
        if (this.goalentity.navigation_dynamicgoal || waypointeditor_enabled)
        {
            if (nearest_wp.enemy.wpcost < autocvar_bot_ai_strategyinterval_movingtarget)
            {
                if (vdist(vec2(this.goalentity.origin - nearest_wp.origin), <, 32))
                    e = nearest_wp.enemy;
                else
                {
                    set_tracewalk_dest(this.goalentity, nearest_wp.enemy.origin, true);
                    if (trace_ent == this || (vdist(tracewalk_dest - nearest_wp.enemy.origin, <, 1050)
                        && vlen2(tracewalk_dest - nearest_wp.enemy.origin) < vlen2(nearest_wp.origin - nearest_wp.enemy.origin)
                        && tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
                        tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode)))
                    {
                        e = nearest_wp.enemy;
                    }
                }
            }
        }
        else
        {
            // NOTE unlike waypoints, items hold incoming links
            navigation_item_initlinks_ifneeded(this.goalentity);
            int link_num = navigation_item_getlinknum(this.goalentity, nearest_wp.enemy);
            if (link_num >= 0)
            {
                if (navigation_item_iswalkablelink(this.goalentity, link_num))
                    e = nearest_wp.enemy;
            }
            else // untested link
            {
                entity wp = nearest_wp.enemy;
                entity goal = this.goalentity;
                bool walkable = false;
                if (checkpvs(wp.origin, goal))
                {
                    set_tracewalk_dest(goal, wp.origin, false);
                    if (vdist(tracewalk_dest - wp.origin, <, 1050)
                        && tracewalk(goal, wp.origin, PL_MIN_CONST, PL_MAX_CONST,
                        tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
                    {
                        walkable = true;
                        e = nearest_wp.enemy;
                    }
                }
                navigation_item_add_link(wp, goal, walkable);
            }
        }
    }

    for (;;)
    {
        // add the spawnfunc_waypoint to the path
        navigation_pushroute(this, e);
        e = e.enemy;

        if(e==NULL)
            break;
    }

    return false;
}

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navigation_shortenpath()

bool navigation_shortenpath

(

entity

this

)

Definition at line 1554 of file navigation.qc.

References bot_navigation_movemode, bot_tracewalk_time, checkpvs(), entity(), fabs(), goalcurrent, goalentity, goalstack01, IS_MOVABLE, LOG_DEBUG, max(), MAX_CHASE_DISTANCE, maxs, mins, navigation_poproute(), netname, next, origin, set_tracewalk_dest(), time, trace_ent, tracewalk(), tracewalk_dest, tracewalk_dest_height, vdist, vectoangles(), vector(), view_ofs, vlen2, WAYPOINTFLAG_JUMP, and WAYPOINTFLAG_TELEPORT.

Referenced by havocbot_movetogoal().

{
    if (!this.goalstack01 || wasfreed(this.goalstack01))
        return false;
    if (this.bot_tracewalk_time > time)
        return false;
    this.bot_tracewalk_time = max(time, this.bot_tracewalk_time) + 0.25;

    bool cut_allowed = false;
    entity next = this.goalentity;
    // evaluate whether bot can discard current route and chase directly a player, trying to
    // keep waypoint route as long as possible, as it is safer and faster (bot can bunnyhop)
    if (IS_MOVABLE(next))
    {
        set_tracewalk_dest(next, this.origin, true);
        if (vdist(this.origin - tracewalk_dest, <, 200))
            cut_allowed = true;
        else if (vdist(tracewalk_dest - this.origin, <, MAX_CHASE_DISTANCE)
            && vdist(tracewalk_dest - this.goalcurrent.origin, >, 200)
            && vdist(this.origin - this.goalcurrent.origin, >, 100)
            && checkpvs(this.origin + this.view_ofs, next))
        {
            if (vlen2(next.origin - this.origin) < vlen2(this.goalcurrent.origin - this.origin))
                cut_allowed = true;
            else
            {
                vector deviation = vectoangles(this.goalcurrent.origin - this.origin) - vectoangles(next.origin - this.origin);
                while (deviation.y < -180) deviation.y += 360;
                while (deviation.y > 180) deviation.y -= 360;
                if (fabs(deviation.y) > 25)
                    cut_allowed = true;
            }
        }
        if (cut_allowed)
        {
            if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
                tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
            {
                LOG_DEBUG("path optimized for ", this.netname, ", route cleared");
                do
                {
                    navigation_poproute(this);
                }
                while (this.goalcurrent != next);
                return true;
            }
            return false;
        }
    }

    next = this.goalstack01;
    // if for some reason the bot is closer to the next goal, pop the current one
    if (!IS_MOVABLE(next) && !(this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_JUMP))
        && vlen2(this.goalcurrent.origin - next.origin) > vlen2(next.origin - this.origin)
        && checkpvs(this.origin + this.view_ofs, next))
    {
        set_tracewalk_dest(next, this.origin, true);
        cut_allowed = true;
    }

    if (cut_allowed)
    {
        if (trace_ent == this || tracewalk(this, this.origin, this.mins, this.maxs,
            tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
        {
            LOG_DEBUG("path optimized for ", this.netname, ", removed a goal from the queue");
            navigation_poproute(this);
            return true;
        }
    }
    return false;
}

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navigation_unstuck()

void navigation_unstuck

(

entity

this

)

Definition at line 1907 of file navigation.qc.

References AI_STATUS_STUCK, aistatus, autocvar_bot_wander_enable, bot_navigation_movemode, bot_strategytoken, bot_waypoint_queue_bestgoal, bot_waypoint_queue_bestgoalrating, bot_waypoint_queue_goal, bot_waypoint_queue_owner, entity(), ftos(), g_waypoints, goalentity, IL_EACH, LOG_DEBUG, navigation_clearroute(), navigation_goalrating_timeout_expire(), navigation_goalrating_timeout_set(), navigation_routetogoal(), netname, NULL, origin, random(), set_tracewalk_dest(), tracewalk(), tracewalk_dest, tracewalk_dest_height, vlen2, and WAYPOINTFLAG_GENERATED.

Referenced by bot_think().

{
    if (!autocvar_bot_wander_enable)
        return;

    bool has_user_waypoints = false;
    IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_GENERATED),
    {
        has_user_waypoints = true;
        break;
    });
    if (!has_user_waypoints)
        return;

    float search_radius = 1000;

    if (!bot_waypoint_queue_owner)
    {
        LOG_DEBUG(this.netname, " stuck, taking over the waypoints queue");
        bot_waypoint_queue_owner = this;
        bot_waypoint_queue_bestgoal = NULL;
        bot_waypoint_queue_bestgoalrating = 0;
    }

    if(bot_waypoint_queue_owner!=this)
        return;

    if (bot_waypoint_queue_goal)
    {
        // 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 squared distance ", ftos(d));
        set_tracewalk_dest(bot_waypoint_queue_goal, this.origin, false);
        if (tracewalk(this, this.origin, STAT(PL_MIN, this), STAT(PL_MAX, this),
            tracewalk_dest, tracewalk_dest_height, bot_navigation_movemode))
        {
            if( d > bot_waypoint_queue_bestgoalrating)
            {
                bot_waypoint_queue_bestgoalrating = d;
                bot_waypoint_queue_bestgoal = bot_waypoint_queue_goal;
            }
        }

        // move to a random waypoint while bot is searching for a walkable path;
        // this is usually sufficient to unstuck bots from bad spots or when other
        // bots of the same team block all their ways
        if (!bot_waypoint_queue_bestgoal && (!this.goalentity || random() < 0.1))
        {
            navigation_clearroute(this);
            navigation_routetogoal(this, bot_waypoint_queue_goal, this.origin);
            navigation_goalrating_timeout_expire(this, 1 + random() * 2);
        }

        bot_waypoint_queue_goal = bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal;

        if (!bot_waypoint_queue_goal)
        {
            if (bot_waypoint_queue_bestgoal)
            {
                LOG_DEBUG(this.netname, " stuck, reachable waypoint found, heading to it");
                navigation_clearroute(this);
                navigation_routetogoal(this, bot_waypoint_queue_bestgoal, this.origin);
                navigation_goalrating_timeout_set(this);
                this.aistatus &= ~AI_STATUS_STUCK;
            }
            else
            {
                LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
            }

            bot_waypoint_queue_owner = NULL;
        }
    }
    else
    {
        if(bot_strategytoken!=this)
            return;

        // build a new queue
        LOG_DEBUG(this.netname, " stuck, scanning reachable waypoints within ", ftos(search_radius)," qu");

        entity first = NULL;

        FOREACH_ENTITY_RADIUS(this.origin, search_radius, it.classname == "waypoint" && !(it.wpflags & WAYPOINTFLAG_GENERATED),
        {
            if(bot_waypoint_queue_goal)
                bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = it;
            else
                first = it;

            bot_waypoint_queue_goal = it;
            bot_waypoint_queue_goal.bot_waypoint_queue_nextgoal = NULL;
        });

        if (first)
            bot_waypoint_queue_goal = first;
        else
        {
            LOG_DEBUG(this.netname, " stuck, cannot walk to any waypoint at all");
            bot_waypoint_queue_owner = NULL;
        }
    }
}

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navigation_waypoint_will_link()

float navigation_waypoint_will_link	(	vector	v,
		vector	org,
		entity	ent,
		vector	v2,
		float	v2_height,
		vector	o2,
		float	o2_height,
		float	walkfromwp,
		float	bestdist
	)

Definition at line 895 of file navigation.qc.

References bot_navigation_movemode, trace_fraction, tracewalk(), and vdist.

Referenced by botframe_autowaypoints_fix_from(), and navigation_findnearestwaypoint_withdist_except().

{
    if (vdist(v - org, <, bestdist))
    {
        traceline(v, org, true, ent);
        if (trace_fraction == 1)
        {
            if (walkfromwp)
            {
                if (tracewalk(ent, v, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
                    return true;
            }
            else
            {
                if (tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, o2, o2_height, bot_navigation_movemode))
                    return true;
            }
        }
    }
    return false;
}

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tracewalk()

float tracewalk	(	entity	e,
		vector	start,
		vector	m1,
		vector	m2,
		vector	end,
		float	end_height,
		float	movemode
	)

Definition at line 273 of file navigation.qc.

References autocvar_bot_debug_tracewalk, bound(), DEBUG_NODE_FAIL, DEBUG_NODE_SUCCESS, DEBUG_NODE_WARNING, debugnode(), debugnodestatus(), debugresetnodes(), eZ, IN_LAVA, jumpheight_vec, jumpstepheightvec, MOVE_NOMONSTERS, NAV_SWIM_ONWATER, NAV_SWIM_UNDERWATER, NAV_WALK, navigation_checkladders(), normalize(), RESURFACE_LIMITED, stepheightvec, SUBMERGED, trace_endpos, trace_ent, trace_fraction, trace_startsolid, v, vec2, vector(), vlen(), and WETFEET.

Referenced by navigation_get_really_close_waypoint(), navigation_routetogoal(), navigation_shortenpath(), navigation_unstuck(), and navigation_waypoint_will_link().

{
    if(autocvar_bot_debug_tracewalk)
    {
        debugresetnodes();
        debugnode(e, start);
    }

    vector org = start;
    vector flatdir = end - start;
    flatdir.z = 0;
    float flatdist = vlen(flatdir);
    flatdir = normalize(flatdir);
    float stepdist = 32;
    bool ignorehazards = false;
    int nav_action;

    // Analyze starting point
    if (IN_LAVA(start))
        ignorehazards = true;

    tracebox(start, m1, m2, start, MOVE_NOMONSTERS, e);
    if (trace_startsolid)
    {
        // Bad start
        if(autocvar_bot_debug_tracewalk)
            debugnodestatus(start, DEBUG_NODE_FAIL);

        //print("tracewalk: ", vtos(start), " is a bad start\n");
        return false;
    }

    vector end2 = end;
    if(end_height)
        end2.z += end_height;

    vector fixed_end = end;
    vector move;

    if (flatdist > 0 && WETFEET(org))
    {
        if (SUBMERGED(org))
            nav_action = NAV_SWIM_UNDERWATER;
        else
        {
            // tracebox down by player's height
            // useful to know if water level is so low that bot can still walk
            tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
            if (SUBMERGED(trace_endpos))
            {
                org = trace_endpos;
                nav_action = NAV_SWIM_UNDERWATER;
            }
            else
                nav_action = NAV_WALK;
        }
    }
    else
        nav_action =  NAV_WALK;

    // Movement loop
    while (true)
    {
        if (flatdist <= 0)
        {
            bool success = true;
            if (org.z > end2.z + 1)
            {
                tracebox(org, m1, m2, end2, movemode, e);
                org = trace_endpos;
                if (org.z > end2.z + 1)
                    success = false;
            }
            else if (org.z < end.z - 1)
            {
                tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
                if (SUBMERGED(trace_endpos))
                {
                    vector v = trace_endpos;
                    tracebox(v, m1, m2, end, movemode, e);
                    if(trace_endpos.z >= end.z - 1)
                    {
                        RESURFACE_LIMITED(v, trace_endpos.z);
                        trace_endpos = v;
                    }
                }
                else if (trace_endpos.z > org.z - jumpheight_vec.z)
                    tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
                org = trace_endpos;
                if (org.z < end.z - 1)
                    success = false;
            }

            if (success)
            {
                // Succeeded
                if(autocvar_bot_debug_tracewalk)
                {
                    debugnode(e, org);
                    debugnodestatus(org, DEBUG_NODE_SUCCESS);
                }

                //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
                return true;
            }
        }

        if(autocvar_bot_debug_tracewalk)
            debugnode(e, org);

        if (flatdist <= 0)
            break;

        if (stepdist > flatdist)
            stepdist = flatdist;
        if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
        {
            // can't use movement direction here to calculate move because of
            // precision errors especially when direction has a high enough z value
            //water_dir = normalize(water_end - org);
            //move = org + water_dir * stepdist;
            fixed_end.z = bound(end.z, org.z, end2.z);
            if (stepdist == flatdist) {
                move = fixed_end;
                flatdist = 0;
            } else {
                move = org + (fixed_end - org) * (stepdist / flatdist);
                flatdist = vlen(vec2(fixed_end - move));
            }
        }
        else // horiz. direction
        {
            flatdist -= stepdist;
            move = org + flatdir * stepdist;
        }

        if(nav_action == NAV_SWIM_ONWATER)
        {
            tracebox(org, m1, m2, move, movemode, e); // swim

            // hit something
            if (trace_fraction < 1)
            {
                // stepswim
                tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);

                if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
                {
                    org = trace_endpos;
                    if(navigation_checkladders(e, org, m1, m2, end, end2, movemode))
                    {
                        if(autocvar_bot_debug_tracewalk)
                        {
                            debugnode(e, org);
                            debugnodestatus(org, DEBUG_NODE_SUCCESS);
                        }

                        //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
                        return true;
                    }

                    if(autocvar_bot_debug_tracewalk)
                        debugnodestatus(org, DEBUG_NODE_FAIL);

                    return false;
                    //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
                }

                //succesful stepswim

                if (flatdist <= 0)
                {
                    org = trace_endpos;
                    continue;
                }

                if (org.z <= move.z) // going horiz.
                {
                    tracebox(trace_endpos, m1, m2, move, movemode, e);
                    org = trace_endpos;
                    nav_action = NAV_WALK;
                    continue;
                }
            }

            if (org.z <= move.z) // going horiz.
            {
                org = trace_endpos;
                nav_action = NAV_SWIM_ONWATER;
            }
            else // going down
            {
                org = trace_endpos;
                if (SUBMERGED(org))
                    nav_action = NAV_SWIM_UNDERWATER;
                else
                    nav_action = NAV_SWIM_ONWATER;
            }
        }
        else if(nav_action == NAV_SWIM_UNDERWATER)
        {
            if (move.z >= org.z) // swimming upwards or horiz.
            {
                tracebox(org, m1, m2, move, movemode, e); // swim

                bool stepswum = false;

                // hit something
                if (trace_fraction < 1)
                {
                    // stepswim
                    vector stepswim_move = move + stepheightvec;
                    if (flatdist > 0 && stepswim_move.z > end2.z + stepheightvec.z) // don't allow stepswim to go higher than destination
                        stepswim_move.z = end2.z;

                    tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);

                    // hit something
                    if (trace_startsolid)
                    {
                        if(autocvar_bot_debug_tracewalk)
                            debugnodestatus(org, DEBUG_NODE_FAIL);

                        //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
                        return false;
                    }

                    if (trace_fraction < 1)
                    {
                        float org_z_prev = org.z;
                        RESURFACE_LIMITED(org, end2.z);
                        if(org.z == org_z_prev)
                        {
                            if(autocvar_bot_debug_tracewalk)
                                debugnodestatus(org, DEBUG_NODE_FAIL);

                            //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
                            return false;
                        }
                        if(SUBMERGED(org))
                            nav_action = NAV_SWIM_UNDERWATER;
                        else
                            nav_action = NAV_SWIM_ONWATER;

                        // we didn't advance horiz. in this step, flatdist decrease should be reverted
                        // but we can't do it properly right now... apply this workaround instead
                        if (flatdist <= 0)
                            flatdist = 1;

                        continue;
                    }

                    //succesful stepswim

                    if (flatdist <= 0)
                    {
                        org = trace_endpos;
                        continue;
                    }

                    stepswum = true;
                }

                if (!WETFEET(trace_endpos))
                {
                    tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
                    // if stepswum we'll land on the obstacle, avoid the SUBMERGED check
                    if (!stepswum && SUBMERGED(trace_endpos))
                    {
                        RESURFACE_LIMITED(trace_endpos, end2.z);
                        org = trace_endpos;
                        nav_action = NAV_SWIM_ONWATER;
                        continue;
                    }

                    // not submerged
                    org = trace_endpos;
                    nav_action = NAV_WALK;
                    continue;
                }

                // wetfeet
                org = trace_endpos;
                nav_action = NAV_SWIM_UNDERWATER;
                continue;
            }
            else //if (move.z < org.z) // swimming downwards
            {
                tracebox(org, m1, m2, move, movemode, e); // swim

                // hit something
                if (trace_fraction < 1)
                {
                    // stepswim
                    tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);

                    // hit something
                    if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
                    {
                        if(autocvar_bot_debug_tracewalk)
                            debugnodestatus(move, DEBUG_NODE_FAIL);

                        //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
                        return false;
                    }

                    //succesful stepswim

                    if (flatdist <= 0)
                    {
                        org = trace_endpos;
                        continue;
                    }

                    if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
                    {
                        // stepswim caused upwards direction
                        tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
                        if (!SUBMERGED(trace_endpos))
                        {
                            org = trace_endpos;
                            nav_action = NAV_WALK;
                            continue;
                        }
                    }
                }

                org = trace_endpos;
                nav_action = NAV_SWIM_UNDERWATER;
                continue;
            }
        }
        else if(nav_action == NAV_WALK)
        {
            // walk
            tracebox(org, m1, m2, move, movemode, e);

            if(autocvar_bot_debug_tracewalk)
                debugnode(e, trace_endpos);

            // hit something
            if (trace_fraction < 1)
            {
                // check if we can walk over this obstacle, possibly by jumpstepping
                tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
                if (trace_fraction < 1 || trace_startsolid)
                {
                    if (trace_startsolid) // hit ceiling above org
                    {
                        // reduce stepwalk height
                        tracebox(org, m1, m2, org + stepheightvec, movemode, e);
                        tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
                    }
                    else //if (trace_fraction < 1)
                    {
                        tracebox(org + jumpstepheightvec, m1, m2, move + jumpstepheightvec, movemode, e);
                        if (trace_startsolid) // hit ceiling above org
                        {
                            // reduce jumpstepwalk height
                            tracebox(org, m1, m2, org + jumpstepheightvec, movemode, e);
                            tracebox(trace_endpos, m1, m2, move + eZ * (trace_endpos.z - move.z), movemode, e);
                        }
                    }

                    if (trace_fraction < 1)
                    {
                        vector v = trace_endpos;
                        v.z = org.z + jumpheight_vec.z;
                        if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
                        {
                            if(autocvar_bot_debug_tracewalk)
                            {
                                debugnode(e, v);
                                debugnodestatus(v, DEBUG_NODE_SUCCESS);
                            }

                            //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
                            return true;
                        }

                        if(autocvar_bot_debug_tracewalk)
                            debugnodestatus(trace_endpos, DEBUG_NODE_WARNING);

                        traceline( org, move, movemode, e);

                        if ( trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
                        {
                            vector nextmove;
                            move = trace_endpos;
                            while(trace_ent.classname == "door_rotating" || trace_ent.classname == "door")
                            {
                                nextmove = move + (flatdir * stepdist);
                                traceline( move, nextmove, movemode, e);
                                move = nextmove;
                            }
                            flatdist = vlen(vec2(end - move));
                        }
                        else
                        {
                            if(autocvar_bot_debug_tracewalk)
                                debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);

                            //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
                            //te_explosion(trace_endpos);
                            //print(ftos(e.dphitcontentsmask), "\n");
                            return false; // failed
                        }
                    }
                    else
                        move = trace_endpos;
                }
                else
                    move = trace_endpos;
            }
            else
                move = trace_endpos;

            // trace down from stepheight as far as possible and move there,
            // if this starts in solid we try again without the stepup, and
            // if that also fails we assume it is a wall
            // (this is the same logic as the Quake walkmove function used)
            tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);

            org = trace_endpos;

            if (!ignorehazards)
            {
                if (IN_LAVA(org))
                {
                    if(autocvar_bot_debug_tracewalk)
                    {
                        debugnode(e, trace_endpos);
                        debugnodestatus(org, DEBUG_NODE_FAIL);
                    }

                    //print("tracewalk: ", vtos(start), " hits a hazard when trying to reach ", vtos(end), "\n");
                    return false;
                }
            }

            if (flatdist <= 0)
            {
                if(move.z >= end2.z && org.z < end2.z)
                    org.z = end2.z;
                continue;
            }

            if(org.z > move.z - 1 || !SUBMERGED(org))
            {
                nav_action = NAV_WALK;
                continue;
            }

            // ended up submerged while walking
            if(autocvar_bot_debug_tracewalk)
                debugnode(e, org);

            RESURFACE_LIMITED(org, move.z);
            nav_action = NAV_SWIM_ONWATER;
            continue;
        }
    }

    //print("tracewalk: ", vtos(start), " did not arrive at ", vtos(end), " but at ", vtos(org), "\n");

    // moved but didn't arrive at the intended destination
    if(autocvar_bot_debug_tracewalk)
        debugnodestatus(org, DEBUG_NODE_FAIL);

    return false;
}

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Variable Documentation

blacklisted

float blacklisted

Definition at line 75 of file navigation.qh.

bot_basewaypoint

entity bot_basewaypoint

Definition at line 93 of file navigation.qh.

BOT_BUNNYHOP_WP_DETECTION_RANGE

const float BOT_BUNNYHOP_WP_DETECTION_RANGE = 100

Definition at line 91 of file navigation.qh.

Referenced by navigation_get_really_close_waypoint(), and navigation_poptouchedgoals().

bot_navigation_movemode

float bot_navigation_movemode

Definition at line 7 of file navigation.qh.

Referenced by bot_serverframe(), havocbot_movetogoal(), navigation_get_really_close_waypoint(), navigation_routetogoal(), navigation_shortenpath(), navigation_unstuck(), navigation_waypoint_will_link(), and waypoint_think().

bot_waypoint_queue_bestgoal

entity bot_waypoint_queue_bestgoal

Definition at line 88 of file navigation.qh.

Referenced by navigation_unstuck().

bot_waypoint_queue_bestgoalrating

float bot_waypoint_queue_bestgoalrating

Definition at line 89 of file navigation.qh.

Referenced by navigation_unstuck().

bot_waypoint_queue_goal

entity bot_waypoint_queue_goal

Definition at line 86 of file navigation.qh.

Referenced by navigation_unstuck().

bot_waypoint_queue_nextgoal

entity bot_waypoint_queue_nextgoal

Definition at line 87 of file navigation.qh.

bot_waypoint_queue_owner

entity bot_waypoint_queue_owner

Definition at line 85 of file navigation.qh.

Referenced by bot_clientdisconnect(), bot_think(), and navigation_unstuck().

DEBUG_NODE_FAIL

const float DEBUG_NODE_FAIL = 3

Definition at line 82 of file navigation.qh.

Referenced by debugnodestatus(), and tracewalk().

DEBUG_NODE_SUCCESS

const float DEBUG_NODE_SUCCESS = 1

Definition at line 80 of file navigation.qh.

Referenced by debugnodestatus(), and tracewalk().

DEBUG_NODE_WARNING

const float DEBUG_NODE_WARNING = 2

Definition at line 81 of file navigation.qh.

Referenced by debugnodestatus(), and tracewalk().

debuglastnode

vector debuglastnode

Definition at line 83 of file navigation.qh.

Referenced by debugnode(), and debugresetnodes().

goalcurrent

entity goalcurrent

Definition at line 19 of file navigation.qh.

Referenced by debuggoalstack(), havocbot_ai(), havocbot_aim(), havocbot_bunnyhop(), havocbot_moveto(), havocbot_movetogoal(), navigation_clearroute(), navigation_get_really_close_waypoint(), navigation_goalrating_end(), navigation_poproute(), navigation_poptouchedgoals(), navigation_pushroute(), navigation_routetogoal(), and navigation_shortenpath().

goalcurrent_distance_2d

float goalcurrent_distance_2d

Definition at line 30 of file navigation.qh.

Referenced by havocbot_checkgoaldistance(), havocbot_movetogoal(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalcurrent_distance_time

float goalcurrent_distance_time

Definition at line 31 of file navigation.qh.

Referenced by havocbot_checkgoaldistance(), havocbot_movetogoal(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalcurrent_distance_z

float goalcurrent_distance_z

Definition at line 29 of file navigation.qh.

Referenced by havocbot_checkgoaldistance(), havocbot_movetogoal(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalcurrent_prev

entity goalcurrent_prev

Definition at line 28 of file navigation.qh.

Referenced by havocbot_ai(), havocbot_bunnyhop(), havocbot_movetogoal(), navigation_clearroute(), navigation_get_really_close_waypoint(), navigation_poproute(), and navigation_pushroute().

goalentity

entity goalentity

Definition at line 34 of file navigation.qh.

goalentity_lock_timeout

float goalentity_lock_timeout

Definition at line 35 of file navigation.qh.

goalentity_shouldbefrozen

bool goalentity_shouldbefrozen

Definition at line 36 of file navigation.qh.

Referenced by havocbot_movetogoal(), navigation_clearroute(), and navigation_goalrating_end().

goalstack01

entity goalstack01

Definition at line 19 of file navigation.qh.

Referenced by debuggoalstack(), havocbot_bunnyhop(), havocbot_movetogoal(), navigation_clearroute(), navigation_poproute(), navigation_poptouchedgoals(), navigation_pushroute(), and navigation_shortenpath().

goalstack02

entity goalstack02

Definition at line 19 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), navigation_poptouchedgoals(), and navigation_pushroute().

goalstack03

entity goalstack03

Definition at line 19 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), navigation_poptouchedgoals(), and navigation_pushroute().

goalstack04

entity goalstack04

Definition at line 20 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack05

entity goalstack05

Definition at line 20 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack06

entity goalstack06

Definition at line 20 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack07

entity goalstack07

Definition at line 20 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack08

entity goalstack08

Definition at line 21 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack09

entity goalstack09

Definition at line 21 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack10

entity goalstack10

Definition at line 21 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack11

entity goalstack11

Definition at line 21 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack12

entity goalstack12

Definition at line 22 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack13

entity goalstack13

Definition at line 22 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack14

entity goalstack14

Definition at line 22 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack15

entity goalstack15

Definition at line 22 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack16

entity goalstack16

Definition at line 23 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack17

entity goalstack17

Definition at line 23 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack18

entity goalstack18

Definition at line 23 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack19

entity goalstack19

Definition at line 23 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack20

entity goalstack20

Definition at line 24 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack21

entity goalstack21

Definition at line 24 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack22

entity goalstack22

Definition at line 24 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack23

entity goalstack23

Definition at line 24 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack24

entity goalstack24

Definition at line 25 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack25

entity goalstack25

Definition at line 25 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack26

entity goalstack26

Definition at line 25 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack27

entity goalstack27

Definition at line 25 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack28

entity goalstack28

Definition at line 26 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack29

entity goalstack29

Definition at line 26 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack30

entity goalstack30

Definition at line 26 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_poproute(), and navigation_pushroute().

goalstack31

entity goalstack31

Definition at line 26 of file navigation.qh.

Referenced by debuggoalstack(), navigation_clearroute(), navigation_goalrating_end(), navigation_goalrating_start(), navigation_poproute(), and navigation_pushroute().

jumpheight_time

float jumpheight_time

Definition at line 13 of file navigation.qh.

Referenced by bot_calculate_stepheightvec(), and waypoint_gettravelcost().

jumpheight_vec

vector jumpheight_vec

Definition at line 12 of file navigation.qh.

Referenced by bot_calculate_stepheightvec(), havocbot_movetogoal(), navigation_poptouchedgoals(), tracewalk(), and waypoint_gettravelcost().

jumpstepheightvec

vector jumpstepheightvec

Definition at line 10 of file navigation.qh.

Referenced by bot_calculate_stepheightvec(), func_ladder_think(), havocbot_movetogoal(), and tracewalk().

lastteleport_origin

vector lastteleport_origin

Definition at line 73 of file navigation.qh.

lastteleporttime

float lastteleporttime

Definition at line 72 of file navigation.qh.

nav_submerged_state

int nav_submerged_state

Definition at line 99 of file navigation.qh.

navigation_bestgoal

entity navigation_bestgoal

Definition at line 15 of file navigation.qh.

Referenced by havocbot_goalrating_waypoints(), navigation_goalrating_end(), navigation_goalrating_start(), and navigation_routerating().

navigation_bestrating

float navigation_bestrating

Definition at line 6 of file navigation.qh.

Referenced by navigation_goalrating_start(), and navigation_routerating().

navigation_dynamicgoal

bool navigation_dynamicgoal

Definition at line 94 of file navigation.qh.

navigation_jetpack_goal

entity navigation_jetpack_goal

Definition at line 77 of file navigation.qh.

Referenced by havocbot_movetogoal(), navigation_goalrating_start(), navigation_routerating(), and navigation_routetogoal().

navigation_jetpack_point

vector navigation_jetpack_point

Definition at line 78 of file navigation.qh.

Referenced by havocbot_movetogoal(), and navigation_routerating().

navigation_testtracewalk

float navigation_testtracewalk

Definition at line 8 of file navigation.qh.

Referenced by navigation_findnearestwaypoint_withdist_except(), and waypoint_think().

nearestwaypoint

entity nearestwaypoint

Definition at line 38 of file navigation.qh.

nearestwaypointtimeout

float nearestwaypointtimeout

Definition at line 39 of file navigation.qh.

stepheightvec

vector stepheightvec

Definition at line 11 of file navigation.qh.

Referenced by bot_calculate_stepheightvec(), func_ladder_think(), havocbot_movetogoal(), tracewalk(), and trigger_push_touch().

tracewalk_dest

vector tracewalk_dest

Definition at line 66 of file navigation.qh.

Referenced by havocbot_movetogoal(), navigation_findnearestwaypoint_withdist_except(), navigation_get_really_close_waypoint(), navigation_routetogoal(), navigation_shortenpath(), navigation_unstuck(), set_tracewalk_dest(), set_tracewalk_dest_2(), and waypoint_think().

tracewalk_dest_height

float tracewalk_dest_height

Definition at line 67 of file navigation.qh.

Referenced by havocbot_movetogoal(), navigation_findnearestwaypoint_withdist_except(), navigation_get_really_close_waypoint(), navigation_routetogoal(), navigation_shortenpath(), navigation_unstuck(), set_tracewalk_dest(), set_tracewalk_dest_2(), and waypoint_think().

wp_goal_prev0

entity wp_goal_prev0

Definition at line 69 of file navigation.qh.

Referenced by navigation_routetogoal().

wp_goal_prev1

entity wp_goal_prev1

Definition at line 70 of file navigation.qh.

Referenced by navigation_routetogoal().