waypoints.qc

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#include "waypoints.qh"

#include <common/animdecide.qh>
#include <common/constants.qh>
#include <common/debug.qh>
#include <common/gamemodes/_mod.qh>
#include <common/mapobjects/trigger/jumppads.qh>
#include <common/net_linked.qh>
#include <common/physics/player.qh>
#include <common/state.qh>
#include <common/stats.qh>
#include <common/weapons/_all.qh>
#include <lib/warpzone/common.qh>
#include <lib/warpzone/util_server.qh>
#include <server/antilag.qh>
#include <server/bot/default/bot.qh>
#include <server/bot/default/cvars.qh>
#include <server/bot/default/navigation.qh>
#include <server/items/items.qh>
#include <server/spawnpoints.qh>
#include <server/weapons/tracing.qh>

STATIC_INIT(waypoints)
{
    waypointeditor_enabled = autocvar_g_waypointeditor;
}
.entity spawnpointmodel;
void waypoint_unreachable(entity pl)
{
    IL_EACH(g_waypoints, true,
    {
        it.colormod = '0.5 0.5 0.5';
        it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
    });

    entity e2 = navigation_findnearestwaypoint(pl, false);
    if(!e2)
    {
        LOG_INFO("Can't find any waypoint nearby\n");
        return;
    }

    navigation_markroutes(pl, e2);

    int j = 0;
    int m = 0;
    IL_EACH(g_waypoints, it.wpcost >= 10000000,
    {
        LOG_INFO("unreachable: ", etos(it), " ", vtos(it.origin), "\n");
        it.colormod_z = 8;
        it.effects |= EF_NODEPTHTEST | EF_BLUE;
        j++;
        m++;
    });
    if (j) LOG_INFOF("%d waypoints cannot be reached from here in any way (marked with blue light)\n", j);
    navigation_markroutes_inverted(e2);

    j = 0;
    IL_EACH(g_waypoints, it.wpcost >= 10000000,
    {
        LOG_INFO("cannot reach me: ", etos(it), " ", vtos(it.origin), "\n");
        it.colormod_x = 8;
        if (!(it.effects & EF_NODEPTHTEST))  // not already reported before
            m++;
        it.effects |= EF_NODEPTHTEST | EF_RED;
        j++;
    });
    if (j) LOG_INFOF("%d waypoints cannot walk to here in any way (marked with red light)\n", j);
    if (m) LOG_INFOF("%d waypoints have been marked total\n", m);

    j = 0;
    IL_EACH(g_spawnpoints, true,
    {
        if (navigation_findnearestwaypoint(it, false))
        {
            if(it.spawnpointmodel)
            {
                delete(it.spawnpointmodel);
                it.spawnpointmodel = NULL;
            }
        }
        else
        {
            if(!it.spawnpointmodel)
            {
                tracebox(it.origin, PL_MIN_CONST, PL_MAX_CONST, it.origin - '0 0 512', MOVE_NOMONSTERS, NULL);
                entity e = new(spawnpointmodel);
                vector org = trace_endpos + eZ;
                setorigin(e, org);
                e.solid = SOLID_TRIGGER;
                it.spawnpointmodel = e;
            }
            LOG_INFO("spawn without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
            it.spawnpointmodel.effects |= EF_NODEPTHTEST;
            _setmodel(it.spawnpointmodel, pl.model);
            it.spawnpointmodel.frame = ANIM_idle.m_id;
            it.spawnpointmodel.skin = pl.skin;
            it.spawnpointmodel.colormap = 1024 + 68;
            it.spawnpointmodel.glowmod = '1 0 0';
            it.spawnpointmodel.angles = it.angles;
            setsize(it.spawnpointmodel, PL_MIN_CONST, PL_MAX_CONST);
            j++;
        }
    });
    if (j) LOG_INFOF("%d spawnpoints have no nearest waypoint (marked by player model)\n", j);

    j = 0;
    IL_EACH(g_items, true,
    {
        it.effects &= ~(EF_NODEPTHTEST | EF_RED | EF_BLUE);
        it.colormod = '0.5 0.5 0.5';
    });
    IL_EACH(g_items, true,
    {
        if (navigation_findnearestwaypoint(it, false))
            continue;
        LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
        it.effects |= EF_NODEPTHTEST | EF_RED;
        it.colormod_x = 8;
        j++;
    });
    if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked away from (marked with red light)\n", j);

    j = 0;
    IL_EACH(g_items, true,
    {
        if (navigation_findnearestwaypoint(it, true))
            continue;
        LOG_INFO("item without waypoint: ", etos(it), " ", vtos(it.origin), "\n");
        it.effects |= EF_NODEPTHTEST | EF_BLUE;
        it.colormod_z = 8;
        j++;
    });
    if (j) LOG_INFOF("%d items have no nearest waypoint and cannot be walked to (marked with blue light)\n", j);
}

void waypoint_getSymmetricalAxis_cmd(entity caller, bool save, int arg_idx)
{
    vector v1 = stov(argv(arg_idx++));
    vector v2 = stov(argv(arg_idx++));
    vector mid = (v1 + v2) / 2;

    float diffy = (v2.y - v1.y);
    float diffx = (v2.x - v1.x);
    if (v1.y == v2.y)
        diffy = 0.000001;
    if (v1.x == v2.x)
        diffx = 0.000001;
    float m = - diffx / diffy;
    float q = - m * mid.x + mid.y;
    if (fabs(m) <= 0.000001) m = 0;
    if (fabs(q) <= 0.000001) q = 0;

    string axis_str =  strcat(ftos(m), " ", ftos(q));
    if (save)
        cvar_set("g_waypointeditor_symmetrical_axis", axis_str);
    axis_str = strcat("\"", axis_str, "\"");
    sprint(caller, strcat("Axis of symmetry based on input points: ", axis_str, "\n"));
    if (save)
        sprint(caller, sprintf(" ^3saved to %s\n", "g_waypointeditor_symmetrical_axis"));
    if (save)
    {
        cvar_set("g_waypointeditor_symmetrical", "-2");
        sprint(caller, strcat("g_waypointeditor_symmetrical", " has been set to ",
            cvar_string("g_waypointeditor_symmetrical"), "\n"));
    }
}

void waypoint_getSymmetricalOrigin_cmd(entity caller, bool save, int arg_idx)
{
    vector org = '0 0 0';
    int ctf_flags = 0;
    for (int i = 0; i < 6; i++)
    {
        if (argv(arg_idx + i) != "")
            ctf_flags++;
    }
    if (ctf_flags < 2)
    {
        ctf_flags = 0;
        org = vec2(havocbot_middlepoint);
        if (argv(arg_idx) != "")
            sprint(caller, "WARNING: Ignoring single input point\n");
        if (havocbot_middlepoint_radius == 0)
        {
            sprint(caller, "Origin of symmetry can't be automatically determined\n");
            return;
        }
    }
    else
    {
        vector v1, v2, v3, v4, v5, v6;
        for (int i = 1; i <= ctf_flags; i++)
        {
            if (i == 1) { v1 = stov(argv(arg_idx++)); org = v1 / ctf_flags; }
            else if (i == 2) { v2 = stov(argv(arg_idx++)); org += v2 / ctf_flags; }
            else if (i == 3) { v3 = stov(argv(arg_idx++)); org += v3 / ctf_flags; }
            else if (i == 4) { v4 = stov(argv(arg_idx++)); org += v4 / ctf_flags; }
            else if (i == 5) { v5 = stov(argv(arg_idx++)); org += v5 / ctf_flags; }
            else if (i == 6) { v6 = stov(argv(arg_idx++)); org += v6 / ctf_flags; }
        }
    }

    if (fabs(org.x) <= 0.000001) org.x = 0;
    if (fabs(org.y) <= 0.000001) org.y = 0;
    string org_str = strcat(ftos(org.x), " ", ftos(org.y));
    if (save)
    {
        cvar_set("g_waypointeditor_symmetrical_origin", org_str);
        cvar_set("g_waypointeditor_symmetrical_order", ftos(ctf_flags));
    }
    org_str = strcat("\"", org_str, "\"");

    if (ctf_flags < 2)
        sprint(caller, strcat("Origin of symmetry based on flag positions: ", org_str, "\n"));
    else
        sprint(caller, strcat("Origin of symmetry based on input points: ", org_str, "\n"));
    if (save)
        sprint(caller, sprintf(" ^3saved to %s\n", "g_waypointeditor_symmetrical_origin"));

    if (ctf_flags < 2)
        sprint(caller, "Order of symmetry: 0 (autodetected)\n");
    else
        sprint(caller, strcat("Order of symmetry: ", ftos(ctf_flags), "\n"));
    if (save)
        sprint(caller, sprintf(" ^3saved to %s\n", "g_waypointeditor_symmetrical_order"));

    if (save)
    {
        if (ctf_flags < 2)
            cvar_set("g_waypointeditor_symmetrical", "0");
        else
            cvar_set("g_waypointeditor_symmetrical", "-1");
        sprint(caller, strcat("g_waypointeditor_symmetrical", " has been set to ",
            cvar_string("g_waypointeditor_symmetrical"), "\n"));
    }
}

vector waypoint_getSymmetricalPoint(vector org, int ctf_flags)
{
    vector new_org = org;
    if (fabs(autocvar_g_waypointeditor_symmetrical) == 1)
    {
        vector map_center = havocbot_middlepoint;
        if (autocvar_g_waypointeditor_symmetrical == -1)
            map_center = autocvar_g_waypointeditor_symmetrical_origin;

        new_org = Rotate(org - map_center, 360 * DEG2RAD / ctf_flags) + map_center;
    }
    else if (fabs(autocvar_g_waypointeditor_symmetrical) == 2)
    {
        float m = havocbot_symmetry_axis_m;
        float q = havocbot_symmetry_axis_q;
        if (autocvar_g_waypointeditor_symmetrical == -2)
        {
            m = autocvar_g_waypointeditor_symmetrical_axis.x;
            q = autocvar_g_waypointeditor_symmetrical_axis.y;
        }

        new_org.x = (1 / (1 + m*m)) * ((1 - m*m) * org.x + 2 * m * org.y - 2 * m * q);
        new_org.y = (1 / (1 + m*m)) * (2 * m * org.x + (m*m - 1) * org.y + 2 * q);
    }
    new_org.z = org.z;
    return new_org;
}

void crosshair_trace_waypoints(entity pl);
void waypoint_lock(entity pl)
{
    crosshair_trace_waypoints(pl);
    pl.wp_locked = trace_ent;
}

bool waypoint_has_hardwiredlinks(entity wp)
{
    if (!wp)
        return false;
    return (wp.wphw00 != NULL);
}

bool waypoint_is_hardwiredlink(entity wp_from, entity wp_to)
{
    if (!(wp_from && wp_to))
        return false;

    if (!wp_from.wphw00) return false; else if (wp_from.wphw00 == wp_to) return true;
    if (!wp_from.wphw01) return false; else if (wp_from.wphw01 == wp_to) return true;
    if (!wp_from.wphw02) return false; else if (wp_from.wphw02 == wp_to) return true;
    if (!wp_from.wphw03) return false; else if (wp_from.wphw03 == wp_to) return true;
    if (!wp_from.wphw04) return false; else if (wp_from.wphw04 == wp_to) return true;
    if (!wp_from.wphw05) return false; else if (wp_from.wphw05 == wp_to) return true;
    if (!wp_from.wphw06) return false; else if (wp_from.wphw06 == wp_to) return true;
    if (!wp_from.wphw07) return false; else if (wp_from.wphw07 == wp_to) return true;

    return false;
}

void waypoint_setupmodel(entity wp);
void waypoint_mark_hardwiredlink(entity wp_from, entity wp_to)
{
    if (!(wp_from && wp_to))
        return;

    if (!wp_from.wphw00 || wp_from.wphw00 == wp_to) { wp_from.wphw00 = wp_to; waypoint_setupmodel(wp_from); return; }
    if (!wp_from.wphw01 || wp_from.wphw01 == wp_to) { wp_from.wphw01 = wp_to; return; }
    if (!wp_from.wphw02 || wp_from.wphw02 == wp_to) { wp_from.wphw02 = wp_to; return; }
    if (!wp_from.wphw03 || wp_from.wphw03 == wp_to) { wp_from.wphw03 = wp_to; return; }
    if (!wp_from.wphw04 || wp_from.wphw04 == wp_to) { wp_from.wphw04 = wp_to; return; }
    if (!wp_from.wphw05 || wp_from.wphw05 == wp_to) { wp_from.wphw05 = wp_to; return; }
    if (!wp_from.wphw06 || wp_from.wphw06 == wp_to) { wp_from.wphw06 = wp_to; return; }
    if (!wp_from.wphw07 || wp_from.wphw07 == wp_to) { wp_from.wphw07 = wp_to; return; }

    return;
}

void waypoint_unmark_hardwiredlink(entity wp_from, entity wp_to)
{
    if (!(wp_from && wp_to))
        return;

    int removed = -1;
    if (removed < 0 && wp_from.wphw00 == wp_to) removed = 0;
    if (removed < 0 && wp_from.wphw01 == wp_to) removed = 1;
    if (removed < 0 && wp_from.wphw02 == wp_to) removed = 2;
    if (removed < 0 && wp_from.wphw03 == wp_to) removed = 3;
    if (removed < 0 && wp_from.wphw04 == wp_to) removed = 4;
    if (removed < 0 && wp_from.wphw05 == wp_to) removed = 5;
    if (removed < 0 && wp_from.wphw06 == wp_to) removed = 6;
    if (removed < 0 && wp_from.wphw07 == wp_to) removed = 7;

    if (removed >= 0)
    {
        if (removed <= 0) wp_from.wphw00 = wp_from.wphw01;
        if (removed <= 1) wp_from.wphw01 = wp_from.wphw02;
        if (removed <= 2) wp_from.wphw02 = wp_from.wphw03;
        if (removed <= 3) wp_from.wphw03 = wp_from.wphw04;
        if (removed <= 4) wp_from.wphw04 = wp_from.wphw05;
        if (removed <= 5) wp_from.wphw05 = wp_from.wphw06;
        if (removed <= 6) wp_from.wphw06 = wp_from.wphw07;
        if (removed <= 7) wp_from.wphw07 = NULL;
        if (!wp_from.wphw00)
            waypoint_setupmodel(wp_from);
    }

    return;
}

void waypoint_restore_hardwiredlinks(entity wp)
{
    if (wp.wphw00) waypoint_addlink(wp, wp.wphw00);
    if (wp.wphw01) waypoint_addlink(wp, wp.wphw01);
    if (wp.wphw02) waypoint_addlink(wp, wp.wphw02);
    if (wp.wphw03) waypoint_addlink(wp, wp.wphw03);
    if (wp.wphw04) waypoint_addlink(wp, wp.wphw04);
    if (wp.wphw05) waypoint_addlink(wp, wp.wphw05);
    if (wp.wphw06) waypoint_addlink(wp, wp.wphw06);
    if (wp.wphw07) waypoint_addlink(wp, wp.wphw07);
}

void waypoint_setupmodel(entity wp)
{
    if (waypointeditor_enabled)
    {
        // TODO: add some sort of visible box in edit mode for box waypoints
        vector m1 = wp.mins;
        vector m2 = wp.maxs;
        setmodel(wp, MDL_WAYPOINT);
        setsize(wp, m1, m2);
        wp.effects = EF_LOWPRECISION;
        if (wp.wpflags & WAYPOINTFLAG_ITEM)
            wp.colormod = '1 0 0'; // red
        else if (wp.wpflags & WAYPOINTFLAG_GENERATED)
            wp.colormod = '1 1 0'; // yellow
        else if (wp.wpflags & WAYPOINTFLAG_SUPPORT)
            wp.colormod = '0 1 0'; // green
        else if (wp.wpflags & WAYPOINTFLAG_CUSTOM_JP)
            wp.colormod = '1 0.5 0'; // orange
        else if (wp.wpflags & WAYPOINTFLAG_TELEPORT)
            wp.colormod = '1 0.5 0'; // orange
        else if (wp.wpflags & WAYPOINTFLAG_LADDER)
            wp.colormod = '1 0.5 0'; // orange
        else if (wp.wpflags & WAYPOINTFLAG_JUMP)
            wp.colormod = '1 0.5 0'; // orange
        else if (wp.wpflags & WAYPOINTFLAG_CROUCH)
            wp.colormod = '0 1 1'; // cyan
        else if (waypoint_has_hardwiredlinks(wp))
            wp.colormod = '0.5 0 1'; // purple
        else
            wp.colormod = '1 1 1';
    }
    else
        wp.model = "";
}

string waypoint_get_type_name(entity wp)
{
    if (wp.wpflags & WAYPOINTFLAG_ITEM) return "^1Item waypoint";
    else if (wp.wpflags & WAYPOINTFLAG_CROUCH) return "^5Crouch waypoint";
    else if (wp.wpflags & WAYPOINTFLAG_JUMP) return "^xf80Jump waypoint";
    else if (wp.wpflags & WAYPOINTFLAG_SUPPORT) return "^2Support waypoint";
    else if (waypoint_has_hardwiredlinks(wp)) return "^x80fHardwired waypoint";
    else if (wp.wpflags & WAYPOINTFLAG_LADDER) return "^3Ladder waypoint";
    else if (wp.wpflags & WAYPOINTFLAG_TELEPORT)
    {
        if (!wp.wpisbox) return "^3Warpzone waypoint";
        else if (wp.wpflags & WAYPOINTFLAG_CUSTOM_JP) return "^3Custom jumppad waypoint";
        else
        {
            IL_EACH(g_jumppads, boxesoverlap(wp.absmin, wp.absmax, it.absmin, it.absmax),
                { return "^3Jumppad waypoint"; });
            return "^3Teleport waypoint";
        }
    }

    return "^7Waypoint";
}

entity waypoint_get(vector m1, vector m2)
{
    if (m1 == m2)
    {
        m1 -= '8 8 8';
        m2 += '8 8 8';
    }
    IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax), { return it; });

    return NULL;
}

.float createdtime;
entity waypoint_spawn(vector m1, vector m2, float f)
{
    if(!(f & (WAYPOINTFLAG_PERSONAL | WAYPOINTFLAG_GENERATED)) && m1 == m2)
    {
        entity wp_found = waypoint_get(m1, m2);
        if (wp_found)
            return wp_found;
    }
    // spawn only one destination waypoint for teleports teleporting player to the exact same spot
    // otherwise links loaded from file would be applied only to the first destination
    // waypoint since link format doesn't specify waypoint entities but just positions
    if((f & WAYPOINTFLAG_GENERATED) && !(f & (WPFLAGMASK_NORELINK | WAYPOINTFLAG_PERSONAL)) && m1 == m2)
    {
        IL_EACH(g_waypoints, boxesoverlap(m1, m2, it.absmin, it.absmax),
        {
            return it;
        });
    }

    entity w = new(waypoint);
    IL_PUSH(g_waypoints, w);
    w.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;
    w.wpflags = f;
    w.solid = SOLID_TRIGGER;
    w.createdtime = time;
    w.origin = (m1 + m2) * 0.5;
    if (waypointeditor_enabled)
        setorigin(w, w.origin);
    else // don't link into the world, only bots are aware of waypoints
        make_pure(w);
    setsize(w, m1 - w.origin, m2 - w.origin);
    if (w.size)
        w.wpisbox = true;

    if(!w.wpisbox)
    {
        if (f & WAYPOINTFLAG_CROUCH)
            setsize(w, PL_CROUCH_MIN_CONST - '1 1 0', PL_CROUCH_MAX_CONST + '1 1 0');
        else
            setsize(w, PL_MIN_CONST - '1 1 0', PL_MAX_CONST + '1 1 0');
        if(!move_out_of_solid(w))
        {
            if(!(f & WAYPOINTFLAG_GENERATED))
            {
                LOG_TRACE("Killed a waypoint that was stuck in solid at ", vtos(w.origin));
                delete(w);
                return NULL;
            }
            else
            {
                if(autocvar_developer > 0)
                {
                    LOG_INFO("A generated waypoint is stuck in solid at ", vtos(w.origin));
                    backtrace("Waypoint stuck");
                }
            }
        }
        setsize(w, '0 0 0', '0 0 0');
    }

    waypoint_clearlinks(w);
    //waypoint_schedulerelink(w);

    waypoint_setupmodel(w);

    return w;
}

float trigger_push_get_push_time(entity this, vector endpos);
void waypoint_addlink_for_custom_jumppad(entity wp_from, entity wp_to)
{
    entity jp = NULL;
    IL_EACH(g_jumppads, boxesoverlap(wp_from.absmin, wp_from.absmax, it.absmin, it.absmax),
    {
        jp = it;
        break;
    });
    if (!jp)
        return;

    float cost = trigger_push_get_push_time(jp, wp_to.origin);
    wp_from.wp00 = wp_to;
    wp_from.wp00mincost = cost;
    jp.nearestwaypoint = wp_from;
    jp.nearestwaypointtimeout = -1;
}

bool start_wp_is_spawned;
vector start_wp_origin;
bool start_wp_is_hardwired;
bool start_wp_is_support;

void waypoint_clear_start_wp_globals(entity pl, bool warn)
{
    start_wp_is_spawned = false;
    start_wp_origin = '0 0 0';
    pl.wp_locked = NULL;
    start_wp_is_hardwired = false;
    start_wp_is_support = false;
    if (warn)
        LOG_INFO("^xf80Start waypoint has been cleared.\n");
}

void waypoint_start_hardwiredlink(entity pl, bool at_crosshair)
{
    entity wp = pl.nearestwaypoint;
    if (at_crosshair)
    {
        crosshair_trace_waypoints(pl);
        wp = trace_ent;
    }
    string err = "";
    if (start_wp_is_spawned && !start_wp_is_hardwired)
        err = "can't hardwire while in the process of creating a special link";
    else if (!wp)
    {
        if (at_crosshair)
            err = "couldn't find any waypoint at crosshair";
        else
            err = "couldn't find any waypoint nearby";
    }
    else if (wp.wpflags & WPFLAGMASK_NORELINK)
        err = "can't hardwire a waypoint with special links";

    if (err == "")
    {
        start_wp_is_hardwired = true;
        start_wp_is_spawned = true;
        start_wp_origin = wp.origin;
        pl.wp_locked = wp;
        LOG_INFOF("^x80fWaypoint %s marked as hardwired link origin.\n", vtos(wp.origin));
    }
    else
    {
        start_wp_is_hardwired = false;
        LOG_INFO("Error: ", err, "\n");
    }
}

void waypoint_spawn_fromeditor(entity pl, bool at_crosshair, bool is_jump_wp, bool is_crouch_wp, bool is_support_wp)
{
    if (WAYPOINT_VERSION < waypoint_version_loaded)
    {
        LOG_INFOF("^1Editing waypoints with a higher version number (%f) is not allowed.\n"
            "Update Xonotic to make them editable.", waypoint_version_loaded);
        return;
    }

    entity e = NULL, jp = NULL;
    vector org = pl.origin;
    if (at_crosshair)
    {
        crosshair_trace_waypoints(pl);
        org = trace_endpos;
        if (!trace_ent)
            org.z -= PL_MIN_CONST.z;
        if (!(start_wp_is_hardwired || start_wp_is_support))
            IL_EACH(g_jumppads, boxesoverlap(org + PL_MIN_CONST, org + PL_MAX_CONST, it.absmin, it.absmax),
            {
                jp = it;
                break;
            });
        if (!jp && !start_wp_is_spawned && trace_ent)
        {
            if (trace_ent.wpflags & (WAYPOINTFLAG_JUMP))
                is_jump_wp = true;
            else if (trace_ent.wpflags & (WAYPOINTFLAG_SUPPORT))
                is_support_wp = true;
        }
    }
    if (jp || is_jump_wp || is_support_wp)
    {
        if (start_wp_is_spawned)
            start_wp_is_spawned = false;
        LOG_INFO("^xf80Spawning start waypoint...\n");
    }
    int ctf_flags = havocbot_symmetry_origin_order;
    bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
               || (autocvar_g_waypointeditor_symmetrical < 0));
    if(autocvar_g_waypointeditor_symmetrical_order >= 2)
        ctf_flags = autocvar_g_waypointeditor_symmetrical_order;
    if (sym && ctf_flags < 2)
        ctf_flags = 2;
    int wp_num = ctf_flags;

    if(!PHYS_INPUT_BUTTON_CROUCH(pl) && !at_crosshair && !is_jump_wp && !is_support_wp)
    {
        // snap waypoint to item's origin if close enough
        IL_EACH(g_items, true,
        {
            vector item_org = (it.absmin + it.absmax) * 0.5;
            item_org.z = it.absmin.z - PL_MIN_CONST.z;
            if (vlen(item_org - org) < 20)
            {
                org = item_org;
                break;
            }
        });
    }

    vector start_org = '0 0 0';
    if (start_wp_is_spawned)
    {
        if (!start_wp_is_hardwired)
            LOG_INFO("^xf80Spawning destination waypoint...\n");
        start_org = start_wp_origin;
    }

    // save org as it can be modified spawning symmetrycal waypoints
    vector initial_origin = '0 0 0';
    bool initial_origin_is_set = false;

    LABEL(add_wp);

    if (jp)
    {
        e = NULL;
        IL_EACH(g_waypoints, (it.wpflags & WPFLAGMASK_NORELINK)
            && boxesoverlap(org + PL_MIN_CONST, org + PL_MAX_CONST, it.absmin, it.absmax),
        {
            e = it; break;
        });
        if (!e)
            e = waypoint_spawn(jp.absmin - PL_MAX_CONST + '1 1 1', jp.absmax - PL_MIN_CONST + '-1 -1 -1', WAYPOINTFLAG_TELEPORT);
        if (!pl.wp_locked)
            pl.wp_locked = e;
    }
    else if (is_jump_wp || is_support_wp)
    {
        int type_flag = (is_jump_wp) ? WAYPOINTFLAG_JUMP : WAYPOINTFLAG_SUPPORT;

        entity wp_found = waypoint_get(org, org);
        if (wp_found && !(wp_found.wpflags & type_flag))
        {
            LOG_INFOF("Error: can't spawn a %s waypoint over an existent waypoint of a different type\n", (is_jump_wp) ? "Jump" : "Support");
            return;
        }
        e = waypoint_spawn(org, org, type_flag);
        if (!pl.wp_locked)
            pl.wp_locked = e;
    }
    else
        e = waypoint_spawn(org, org, (is_crouch_wp) ? WAYPOINTFLAG_CROUCH : 0);
    if(!e)
    {
        LOG_INFOF("Couldn't spawn waypoint at %v\n", org);
        if (start_wp_is_spawned)
            waypoint_clear_start_wp_globals(pl, true);
        return;
    }

    if (!initial_origin_is_set)
    {
        initial_origin = e.origin;
        initial_origin_is_set = true;
    }

    entity start_wp = NULL;
    if (start_wp_is_spawned)
    {
        IL_EACH(g_waypoints, (start_wp_is_hardwired || (it.wpflags & WPFLAGMASK_NORELINK))
            && boxesoverlap(start_org, start_org, it.absmin, it.absmax),
        {
            start_wp = it; break;
        });
        if(!start_wp)
        {
            // should not happen
            LOG_INFOF("Couldn't find start waypoint at %v\n", start_org);
            waypoint_clear_start_wp_globals(pl, true);
            return;
        }
        if (start_wp_is_hardwired)
        {
            if (waypoint_is_hardwiredlink(start_wp, e))
            {
                waypoint_unmark_hardwiredlink(start_wp, e);
                waypoint_removelink(start_wp, e);
                string s = strcat(vtos(start_wp.origin), "*", vtos(e.origin));
                LOG_INFOF("^x80fRemoved hardwired link %s.\n", s);
            }
            else
            {
                if (e.createdtime == time)
                {
                    LOG_INFO("Error: hardwired links can be created only between 2 existing (and unconnected) waypoints.\n");
                    waypoint_remove(e);
                    waypoint_clear_start_wp_globals(pl, true);
                    waypoint_spawn_fromeditor(pl, at_crosshair, is_jump_wp, is_crouch_wp, is_support_wp);
                    return;
                }
                if (start_wp == e)
                {
                    LOG_INFO("Error: start and destination waypoints coincide.\n");
                    waypoint_clear_start_wp_globals(pl, true);
                    return;
                }
                if (waypoint_islinked(start_wp, e))
                {
                    LOG_INFO("Error: waypoints are already linked.\n");
                    waypoint_clear_start_wp_globals(pl, true);
                    return;
                }
                waypoint_addlink(start_wp, e);
                waypoint_mark_hardwiredlink(start_wp, e);
                string s = strcat(vtos(start_wp.origin), "*", vtos(e.origin));
                LOG_INFOF("^x80fAdded hardwired link %s.\n", s);
            }
        }
        else
        {
            if (start_wp_is_support)
            {
                if (e.SUPPORT_WP)
                {
                    LOG_INFOF("Waypoint %v has already a support waypoint, delete it first.\n", e.origin);
                    waypoint_clear_start_wp_globals(pl, true);
                    return;
                }
                // clear all links to e
                IL_EACH(g_waypoints, it != e,
                {
                    if (waypoint_islinked(it, e) && !waypoint_is_hardwiredlink(it, e))
                        waypoint_removelink(it, e);
                });
            }
            waypoint_addlink(start_wp, e);
        }
    }

    if (!(jp || is_jump_wp || is_support_wp || start_wp_is_hardwired))
        waypoint_schedulerelink(e);

    string wp_type_str = waypoint_get_type_name(e);

    bprint(strcat(wp_type_str, "^7 spawned at ", vtos(e.origin), "\n"));

    if (start_wp_is_spawned)
    {
        pl.wp_locked = NULL;
        if (!start_wp_is_hardwired)
            waypoint_schedulerelink(start_wp);
        if (start_wp.wpflags & WAYPOINTFLAG_TELEPORT)
        {
            if (start_wp.wp00_original == start_wp.wp00)
                start_wp.wpflags &= ~WAYPOINTFLAG_CUSTOM_JP;
            else
                start_wp.wpflags |= WAYPOINTFLAG_CUSTOM_JP;
        }
    }

    if (sym)
    {
        org = waypoint_getSymmetricalPoint(org, ctf_flags);
        if (jp)
        {
            IL_EACH(g_jumppads, boxesoverlap(org + PL_MIN_CONST, org + PL_MAX_CONST, it.absmin, it.absmax),
            {
                jp = it; break;
            });
        }
        if (start_wp_is_spawned)
            start_org = waypoint_getSymmetricalPoint(start_org, ctf_flags);
        if (vdist(org - pl.origin, >, 32))
        {
            if(wp_num > 2)
                wp_num--;
            else
                sym = false;
            goto add_wp;
        }
    }
    if (jp || is_jump_wp || is_support_wp)
    {
        if (!start_wp_is_spawned)
        {
            // we've just created a custom jumppad waypoint
            // the next one created by the user will be the destination waypoint
            start_wp_is_spawned = true;
            start_wp_origin = initial_origin;
            if (is_support_wp)
                start_wp_is_support = true;
        }
    }
    else if (start_wp_is_spawned)
    {
        waypoint_clear_start_wp_globals(pl, false);
    }
}

void waypoint_remove(entity wp)
{
    IL_EACH(g_waypoints, it != wp,
    {
        if (it.SUPPORT_WP == wp)
        {
            it.SUPPORT_WP = NULL;
            waypoint_schedulerelink(it); // restore incoming links
        }
        if (waypoint_islinked(it, wp))
        {
            if (waypoint_is_hardwiredlink(it, wp))
                waypoint_unmark_hardwiredlink(it, wp);
            waypoint_removelink(it, wp);
        }
    });
    delete(wp);
}

void waypoint_remove_fromeditor(entity pl)
{
    if (WAYPOINT_VERSION < waypoint_version_loaded)
    {
        LOG_INFOF("^1Editing waypoints with a higher version number (%f) is not allowed.\n"
            "Update Xonotic to make them editable.", waypoint_version_loaded);
        return;
    }

    entity e = navigation_findnearestwaypoint(pl, false);

    int ctf_flags = havocbot_symmetry_origin_order;
    bool sym = ((autocvar_g_waypointeditor_symmetrical > 0 && ctf_flags >= 2)
               || (autocvar_g_waypointeditor_symmetrical < 0));
    if(autocvar_g_waypointeditor_symmetrical_order >= 2)
        ctf_flags = autocvar_g_waypointeditor_symmetrical_order;
    if (sym && ctf_flags < 2)
        ctf_flags = 2;
    int wp_num = ctf_flags;

    LABEL(remove_wp);
    if (!e) return;

    if (e.wpflags & WAYPOINTFLAG_GENERATED)
    {
        if (start_wp_is_spawned)
            waypoint_clear_start_wp_globals(pl, true);
        return;
    }

    if (waypoint_has_hardwiredlinks(e))
    {
        LOG_INFO("Can't remove a waypoint with hardwired links, remove links with \"wpeditor hardwire\" first\n");
        return;
    }

    entity wp_sym = NULL;
    if (sym)
    {
        vector org = waypoint_getSymmetricalPoint(e.origin, ctf_flags);
        FOREACH_ENTITY_CLASS("waypoint", !(it.wpflags & WAYPOINTFLAG_GENERATED), {
            if(vdist(org - it.origin, <, 3))
            {
                wp_sym = it;
                break;
            }
        });
    }

    bprint(strcat("Waypoint removed at ", vtos(e.origin), "\n"));
    te_explosion(e.origin);
    waypoint_remove(e);

    if (sym && wp_sym)
    {
        e = wp_sym;
        if(wp_num > 2)
            wp_num--;
        else
            sym = false;
        goto remove_wp;
    }

    if (start_wp_is_spawned)
        waypoint_clear_start_wp_globals(pl, true);
}

void waypoint_removelink(entity from, entity to)
{
    if (from == to || ((from.wpflags & WPFLAGMASK_NORELINK) && !(from.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT))))
        return;

    entity fromwp31_prev = from.wp31;

    switch (waypoint_getlinknum(from, to))
    {
        // fallthrough all the way
        case  0: from.wp00 = from.wp01; from.wp00mincost = from.wp01mincost;
        case  1: from.wp01 = from.wp02; from.wp01mincost = from.wp02mincost;
        case  2: from.wp02 = from.wp03; from.wp02mincost = from.wp03mincost;
        case  3: from.wp03 = from.wp04; from.wp03mincost = from.wp04mincost;
        case  4: from.wp04 = from.wp05; from.wp04mincost = from.wp05mincost;
        case  5: from.wp05 = from.wp06; from.wp05mincost = from.wp06mincost;
        case  6: from.wp06 = from.wp07; from.wp06mincost = from.wp07mincost;
        case  7: from.wp07 = from.wp08; from.wp07mincost = from.wp08mincost;
        case  8: from.wp08 = from.wp09; from.wp08mincost = from.wp09mincost;
        case  9: from.wp09 = from.wp10; from.wp09mincost = from.wp10mincost;
        case 10: from.wp10 = from.wp11; from.wp10mincost = from.wp11mincost;
        case 11: from.wp11 = from.wp12; from.wp11mincost = from.wp12mincost;
        case 12: from.wp12 = from.wp13; from.wp12mincost = from.wp13mincost;
        case 13: from.wp13 = from.wp14; from.wp13mincost = from.wp14mincost;
        case 14: from.wp14 = from.wp15; from.wp14mincost = from.wp15mincost;
        case 15: from.wp15 = from.wp16; from.wp15mincost = from.wp16mincost;
        case 16: from.wp16 = from.wp17; from.wp16mincost = from.wp17mincost;
        case 17: from.wp17 = from.wp18; from.wp17mincost = from.wp18mincost;
        case 18: from.wp18 = from.wp19; from.wp18mincost = from.wp19mincost;
        case 19: from.wp19 = from.wp20; from.wp19mincost = from.wp20mincost;
        case 20: from.wp20 = from.wp21; from.wp20mincost = from.wp21mincost;
        case 21: from.wp21 = from.wp22; from.wp21mincost = from.wp22mincost;
        case 22: from.wp22 = from.wp23; from.wp22mincost = from.wp23mincost;
        case 23: from.wp23 = from.wp24; from.wp23mincost = from.wp24mincost;
        case 24: from.wp24 = from.wp25; from.wp24mincost = from.wp25mincost;
        case 25: from.wp25 = from.wp26; from.wp25mincost = from.wp26mincost;
        case 26: from.wp26 = from.wp27; from.wp26mincost = from.wp27mincost;
        case 27: from.wp27 = from.wp28; from.wp27mincost = from.wp28mincost;
        case 28: from.wp28 = from.wp29; from.wp28mincost = from.wp29mincost;
        case 29: from.wp29 = from.wp30; from.wp29mincost = from.wp30mincost;
        case 30: from.wp30 = from.wp31; from.wp30mincost = from.wp31mincost;
        case 31: from.wp31 = NULL; from.wp31mincost = 10000000;
    }

    if (fromwp31_prev && !from.wp31)
        waypoint_schedulerelink(from);
}

int waypoint_getlinknum(entity from, entity to)
{
    if (from.wp00 == to) return  0; if (from.wp01 == to) return  1; if (from.wp02 == to) return  2; if (from.wp03 == to) return  3;
    if (from.wp04 == to) return  4; if (from.wp05 == to) return  5; if (from.wp06 == to) return  6; if (from.wp07 == to) return  7;
    if (from.wp08 == to) return  8; if (from.wp09 == to) return  9; if (from.wp10 == to) return 10; if (from.wp11 == to) return 11;
    if (from.wp12 == to) return 12; if (from.wp13 == to) return 13; if (from.wp14 == to) return 14; if (from.wp15 == to) return 15;
    if (from.wp16 == to) return 16; if (from.wp17 == to) return 17; if (from.wp18 == to) return 18; if (from.wp19 == to) return 19;
    if (from.wp20 == to) return 20; if (from.wp21 == to) return 21; if (from.wp22 == to) return 22; if (from.wp23 == to) return 23;
    if (from.wp24 == to) return 24; if (from.wp25 == to) return 25; if (from.wp26 == to) return 26; if (from.wp27 == to) return 27;
    if (from.wp28 == to) return 28; if (from.wp29 == to) return 29; if (from.wp30 == to) return 30; if (from.wp31 == to) return 31;
    return -1;
}

bool waypoint_islinked(entity from, entity to)
{
    return (waypoint_getlinknum(from, to) >= 0);
}

void waypoint_updatecost_foralllinks()
{
    IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_TELEPORT),
    {
        if(it.wp00) it.wp00mincost = waypoint_getlinkcost(it, it.wp00);
        if(it.wp01) it.wp01mincost = waypoint_getlinkcost(it, it.wp01);
        if(it.wp02) it.wp02mincost = waypoint_getlinkcost(it, it.wp02);
        if(it.wp03) it.wp03mincost = waypoint_getlinkcost(it, it.wp03);
        if(it.wp04) it.wp04mincost = waypoint_getlinkcost(it, it.wp04);
        if(it.wp05) it.wp05mincost = waypoint_getlinkcost(it, it.wp05);
        if(it.wp06) it.wp06mincost = waypoint_getlinkcost(it, it.wp06);
        if(it.wp07) it.wp07mincost = waypoint_getlinkcost(it, it.wp07);
        if(it.wp08) it.wp08mincost = waypoint_getlinkcost(it, it.wp08);
        if(it.wp09) it.wp09mincost = waypoint_getlinkcost(it, it.wp09);
        if(it.wp10) it.wp10mincost = waypoint_getlinkcost(it, it.wp10);
        if(it.wp11) it.wp11mincost = waypoint_getlinkcost(it, it.wp11);
        if(it.wp12) it.wp12mincost = waypoint_getlinkcost(it, it.wp12);
        if(it.wp13) it.wp13mincost = waypoint_getlinkcost(it, it.wp13);
        if(it.wp14) it.wp14mincost = waypoint_getlinkcost(it, it.wp14);
        if(it.wp15) it.wp15mincost = waypoint_getlinkcost(it, it.wp15);
        if(it.wp16) it.wp16mincost = waypoint_getlinkcost(it, it.wp16);
        if(it.wp17) it.wp17mincost = waypoint_getlinkcost(it, it.wp17);
        if(it.wp18) it.wp18mincost = waypoint_getlinkcost(it, it.wp18);
        if(it.wp19) it.wp19mincost = waypoint_getlinkcost(it, it.wp19);
        if(it.wp20) it.wp20mincost = waypoint_getlinkcost(it, it.wp20);
        if(it.wp21) it.wp21mincost = waypoint_getlinkcost(it, it.wp21);
        if(it.wp22) it.wp22mincost = waypoint_getlinkcost(it, it.wp22);
        if(it.wp23) it.wp23mincost = waypoint_getlinkcost(it, it.wp23);
        if(it.wp24) it.wp24mincost = waypoint_getlinkcost(it, it.wp24);
        if(it.wp25) it.wp25mincost = waypoint_getlinkcost(it, it.wp25);
        if(it.wp26) it.wp26mincost = waypoint_getlinkcost(it, it.wp26);
        if(it.wp27) it.wp27mincost = waypoint_getlinkcost(it, it.wp27);
        if(it.wp28) it.wp28mincost = waypoint_getlinkcost(it, it.wp28);
        if(it.wp29) it.wp29mincost = waypoint_getlinkcost(it, it.wp29);
        if(it.wp30) it.wp30mincost = waypoint_getlinkcost(it, it.wp30);
        if(it.wp31) it.wp31mincost = waypoint_getlinkcost(it, it.wp31);
    });
}

float waypoint_getlinearcost(float dist)
{
    if(skill >= autocvar_bot_ai_bunnyhop_skilloffset)
        return dist / (autocvar_sv_maxspeed * 1.25);
    return dist / autocvar_sv_maxspeed;
}

float waypoint_getlinearcost_underwater(float dist)
{
    // NOTE: underwater speed factor is hardcoded in the engine too, see SV_WaterMove
    return dist / (autocvar_sv_maxspeed * 0.7);
}

float waypoint_getlinearcost_crouched(float dist)
{
    return dist / (autocvar_sv_maxspeed * 0.5);
}

float waypoint_gettravelcost(vector from, vector to, entity from_ent, entity to_ent)
{
    bool submerged_from = navigation_check_submerged_state(from_ent, from);
    bool submerged_to = navigation_check_submerged_state(to_ent, to);

    if (submerged_from && submerged_to)
        return waypoint_getlinearcost_underwater(vlen(to - from));

    if ((from_ent.wpflags & WAYPOINTFLAG_CROUCH) && (to_ent.wpflags & WAYPOINTFLAG_CROUCH))
        return waypoint_getlinearcost_crouched(vlen(to - from));

    float c = waypoint_getlinearcost(vlen(to - from));

    float height = from.z - to.z;
    if(height > jumpheight_vec.z && autocvar_sv_gravity > 0)
    {
        float height_cost; // fall cost
        if (from_ent.wpflags & WAYPOINTFLAG_JUMP)
            height_cost = jumpheight_time + sqrt((height + jumpheight_vec.z) / (autocvar_sv_gravity / 2));
        else
            height_cost = sqrt(height / (autocvar_sv_gravity / 2));
        c = waypoint_getlinearcost(vlen(vec2(to - from))); // xy distance cost
        if(height_cost > c)
            c = height_cost;
    }

    // consider half path underwater
    if (submerged_from || submerged_to)
        return (c + waypoint_getlinearcost_underwater(vlen(to - from))) / 2;

    // consider half path crouched
    if ((from_ent.wpflags & WAYPOINTFLAG_CROUCH) || (to_ent.wpflags & WAYPOINTFLAG_CROUCH))
        return (c + waypoint_getlinearcost_crouched(vlen(to - from))) / 2;

    return c;
}

float waypoint_getlinkcost(entity from, entity to)
{
    vector v1 = from.origin;
    vector v2 = to.origin;
    if (from.wpisbox)
    {
        vector m1 = from.absmin, m2 = from.absmax;
        v1.x = bound(m1.x, v2.x, m2.x);
        v1.y = bound(m1.y, v2.y, m2.y);
        v1.z = bound(m1.z, v2.z, m2.z);
    }
    if (to.wpisbox)
    {
        vector m1 = to.absmin, m2 = to.absmax;
        v2.x = bound(m1.x, v1.x, m2.x);
        v2.y = bound(m1.y, v1.y, m2.y);
        v2.z = bound(m1.z, v1.z, m2.z);
    }
    return waypoint_gettravelcost(v1, v2, from, to);
}

// add a new link to the spawnfunc_waypoint, replacing the furthest link it already has
// if c == -1 automatically determine cost of the link
void waypoint_addlink_customcost(entity from, entity to, float c)
{
    if (from == to || waypoint_islinked(from, to))
        return;
    if (c == -1 && (from.wpflags & WPFLAGMASK_NORELINK) && !(from.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT)))
        return;

    if(c == -1)
        c = waypoint_getlinkcost(from, to);

    if (from.wp31mincost < c) return;
    if (from.wp30mincost < c) {from.wp31 = to;from.wp31mincost = c;return;} from.wp31 = from.wp30;from.wp31mincost = from.wp30mincost;
    if (from.wp29mincost < c) {from.wp30 = to;from.wp30mincost = c;return;} from.wp30 = from.wp29;from.wp30mincost = from.wp29mincost;
    if (from.wp28mincost < c) {from.wp29 = to;from.wp29mincost = c;return;} from.wp29 = from.wp28;from.wp29mincost = from.wp28mincost;
    if (from.wp27mincost < c) {from.wp28 = to;from.wp28mincost = c;return;} from.wp28 = from.wp27;from.wp28mincost = from.wp27mincost;
    if (from.wp26mincost < c) {from.wp27 = to;from.wp27mincost = c;return;} from.wp27 = from.wp26;from.wp27mincost = from.wp26mincost;
    if (from.wp25mincost < c) {from.wp26 = to;from.wp26mincost = c;return;} from.wp26 = from.wp25;from.wp26mincost = from.wp25mincost;
    if (from.wp24mincost < c) {from.wp25 = to;from.wp25mincost = c;return;} from.wp25 = from.wp24;from.wp25mincost = from.wp24mincost;
    if (from.wp23mincost < c) {from.wp24 = to;from.wp24mincost = c;return;} from.wp24 = from.wp23;from.wp24mincost = from.wp23mincost;
    if (from.wp22mincost < c) {from.wp23 = to;from.wp23mincost = c;return;} from.wp23 = from.wp22;from.wp23mincost = from.wp22mincost;
    if (from.wp21mincost < c) {from.wp22 = to;from.wp22mincost = c;return;} from.wp22 = from.wp21;from.wp22mincost = from.wp21mincost;
    if (from.wp20mincost < c) {from.wp21 = to;from.wp21mincost = c;return;} from.wp21 = from.wp20;from.wp21mincost = from.wp20mincost;
    if (from.wp19mincost < c) {from.wp20 = to;from.wp20mincost = c;return;} from.wp20 = from.wp19;from.wp20mincost = from.wp19mincost;
    if (from.wp18mincost < c) {from.wp19 = to;from.wp19mincost = c;return;} from.wp19 = from.wp18;from.wp19mincost = from.wp18mincost;
    if (from.wp17mincost < c) {from.wp18 = to;from.wp18mincost = c;return;} from.wp18 = from.wp17;from.wp18mincost = from.wp17mincost;
    if (from.wp16mincost < c) {from.wp17 = to;from.wp17mincost = c;return;} from.wp17 = from.wp16;from.wp17mincost = from.wp16mincost;
    if (from.wp15mincost < c) {from.wp16 = to;from.wp16mincost = c;return;} from.wp16 = from.wp15;from.wp16mincost = from.wp15mincost;
    if (from.wp14mincost < c) {from.wp15 = to;from.wp15mincost = c;return;} from.wp15 = from.wp14;from.wp15mincost = from.wp14mincost;
    if (from.wp13mincost < c) {from.wp14 = to;from.wp14mincost = c;return;} from.wp14 = from.wp13;from.wp14mincost = from.wp13mincost;
    if (from.wp12mincost < c) {from.wp13 = to;from.wp13mincost = c;return;} from.wp13 = from.wp12;from.wp13mincost = from.wp12mincost;
    if (from.wp11mincost < c) {from.wp12 = to;from.wp12mincost = c;return;} from.wp12 = from.wp11;from.wp12mincost = from.wp11mincost;
    if (from.wp10mincost < c) {from.wp11 = to;from.wp11mincost = c;return;} from.wp11 = from.wp10;from.wp11mincost = from.wp10mincost;
    if (from.wp09mincost < c) {from.wp10 = to;from.wp10mincost = c;return;} from.wp10 = from.wp09;from.wp10mincost = from.wp09mincost;
    if (from.wp08mincost < c) {from.wp09 = to;from.wp09mincost = c;return;} from.wp09 = from.wp08;from.wp09mincost = from.wp08mincost;
    if (from.wp07mincost < c) {from.wp08 = to;from.wp08mincost = c;return;} from.wp08 = from.wp07;from.wp08mincost = from.wp07mincost;
    if (from.wp06mincost < c) {from.wp07 = to;from.wp07mincost = c;return;} from.wp07 = from.wp06;from.wp07mincost = from.wp06mincost;
    if (from.wp05mincost < c) {from.wp06 = to;from.wp06mincost = c;return;} from.wp06 = from.wp05;from.wp06mincost = from.wp05mincost;
    if (from.wp04mincost < c) {from.wp05 = to;from.wp05mincost = c;return;} from.wp05 = from.wp04;from.wp05mincost = from.wp04mincost;
    if (from.wp03mincost < c) {from.wp04 = to;from.wp04mincost = c;return;} from.wp04 = from.wp03;from.wp04mincost = from.wp03mincost;
    if (from.wp02mincost < c) {from.wp03 = to;from.wp03mincost = c;return;} from.wp03 = from.wp02;from.wp03mincost = from.wp02mincost;
    if (from.wp01mincost < c) {from.wp02 = to;from.wp02mincost = c;return;} from.wp02 = from.wp01;from.wp02mincost = from.wp01mincost;
    if (from.wp00mincost < c) {from.wp01 = to;from.wp01mincost = c;return;} from.wp01 = from.wp00;from.wp01mincost = from.wp00mincost;
    from.wp00 = to;from.wp00mincost = c;return;
}

void waypoint_addlink(entity from, entity to)
{
    if ((from.wpflags & WPFLAGMASK_NORELINK) && !(from.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT)))
        waypoint_addlink_for_custom_jumppad(from, to);
    else
        waypoint_addlink_customcost(from, to, -1);

    if (from.wpflags & WAYPOINTFLAG_SUPPORT)
        to.SUPPORT_WP = from;
}

// relink this spawnfunc_waypoint
// (precompile a list of all reachable waypoints from this spawnfunc_waypoint)
// (SLOW!)
void waypoint_think(entity this)
{
    vector sv = '0 0 0', sv2 = '0 0 0', ev = '0 0 0', ev2 = '0 0 0', dv;
    float sv2_height = 0, ev2_height = 0;

    bot_calculate_stepheightvec();

    int dphitcontentsmask_save = this.dphitcontentsmask;
    this.dphitcontentsmask = DPCONTENTS_SOLID | DPCONTENTS_BODY | DPCONTENTS_PLAYERCLIP | DPCONTENTS_BOTCLIP;

    bot_navigation_movemode = ((autocvar_bot_navigation_ignoreplayers) ? MOVE_NOMONSTERS : MOVE_NORMAL);

    //dprint("waypoint_think wpisbox = ", ftos(this.wpisbox), "\n");
    IL_EACH(g_waypoints, this != it,
    {
        if (boxesoverlap(this.absmin, this.absmax, it.absmin, it.absmax))
        {
            if (!(this.wpflags & WPFLAGMASK_NORELINK))
                waypoint_addlink(this, it);
            if (!(it.wpflags & WPFLAGMASK_NORELINK))
                waypoint_addlink(it, this);
        }
        else
        {
            ++relink_total;
            if(!checkpvs(this.origin, it))
            {
                ++relink_pvsculled;
                continue;
            }

            sv = set_tracewalk_dest_2(this, it.origin);
            sv2 = tracewalk_dest;
            sv2_height = tracewalk_dest_height;
            ev = set_tracewalk_dest_2(it, this.origin);
            ev2 = tracewalk_dest;
            ev2_height = tracewalk_dest_height;

            dv = ev - sv;
            dv.z = 0;
            int maxdist = 1050;
            vector m1 = PL_MIN_CONST;
            vector m2 = PL_MAX_CONST;

            if ((this.wpflags & WAYPOINTFLAG_CROUCH) || (it.wpflags & WAYPOINTFLAG_CROUCH))
            {
                m1 = PL_CROUCH_MIN_CONST;
                m2 = PL_CROUCH_MAX_CONST;
                // links from crouch wp to normal wp (and viceversa) are very short to avoid creating many links
                // that would be wasted due to rough travel cost calculation (the longer link is, the higher cost is)
                // links from crouch wp to crouch wp can be as long as normal links
                if (!((this.wpflags & WAYPOINTFLAG_CROUCH) && (it.wpflags & WAYPOINTFLAG_CROUCH)))
                    maxdist = 100;
            }

            if (vdist(dv, >=, maxdist)) // max search distance in XY
            {
                ++relink_lengthculled;
                continue;
            }

            navigation_testtracewalk = 0;

            //traceline(this.origin, it.origin, false, NULL);
            //if (trace_fraction == 1)
            if (this.wpisbox || (this.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT)) // forbid outgoing links
                || it.SUPPORT_WP) // forbid incoming links
            {
                relink_walkculled += 0.5;
            }
            else
            {
                if (tracewalk(this, sv, m1, m2, ev2, ev2_height, MOVE_NOMONSTERS))
                    waypoint_addlink(this, it);
                else
                    relink_walkculled += 0.5;
            }

            // reverse direction
            if (it.wpisbox || (it.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT)) // forbid incoming links
                || this.SUPPORT_WP) // forbid outgoing links
            {
                relink_walkculled += 0.5;
            }
            else
            {
                if (tracewalk(this, ev, m1, m2, sv2, sv2_height, MOVE_NOMONSTERS))
                    waypoint_addlink(it, this);
                else
                    relink_walkculled += 0.5;
            }
        }
    });

    // waypoint_clearlinks preserves references to old hardwired links (.wphwXX links)
    // so they can be restored here when a wp is spawned over an existing one
    waypoint_restore_hardwiredlinks(this);

    navigation_testtracewalk = 0;
    this.wplinked = true;
    this.dphitcontentsmask = dphitcontentsmask_save;

    setthink(this, func_null);
    this.nextthink = 0;
}

void waypoint_clearlinks(entity wp)
{
    // clear links to other waypoints
    float f = 10000000;
    wp.wp00 = wp.wp01 = wp.wp02 = wp.wp03 = wp.wp04 = wp.wp05 = wp.wp06 = wp.wp07 = NULL;
    wp.wp08 = wp.wp09 = wp.wp10 = wp.wp11 = wp.wp12 = wp.wp13 = wp.wp14 = wp.wp15 = NULL;
    wp.wp16 = wp.wp17 = wp.wp18 = wp.wp19 = wp.wp20 = wp.wp21 = wp.wp22 = wp.wp23 = NULL;
    wp.wp24 = wp.wp25 = wp.wp26 = wp.wp27 = wp.wp28 = wp.wp29 = wp.wp30 = wp.wp31 = NULL;

    wp.wp00mincost = wp.wp01mincost = wp.wp02mincost = wp.wp03mincost = wp.wp04mincost = wp.wp05mincost = wp.wp06mincost = wp.wp07mincost = f;
    wp.wp08mincost = wp.wp09mincost = wp.wp10mincost = wp.wp11mincost = wp.wp12mincost = wp.wp13mincost = wp.wp14mincost = wp.wp15mincost = f;
    wp.wp16mincost = wp.wp17mincost = wp.wp18mincost = wp.wp19mincost = wp.wp20mincost = wp.wp21mincost = wp.wp22mincost = wp.wp23mincost = f;
    wp.wp24mincost = wp.wp25mincost = wp.wp26mincost = wp.wp27mincost = wp.wp28mincost = wp.wp29mincost = wp.wp30mincost = wp.wp31mincost = f;

    // don't remove references to hardwired links (.wphwXX fields)

    wp.wplinked = false;
}

// tell a spawnfunc_waypoint to relink
void waypoint_schedulerelink(entity wp)
{
    if (wp == NULL)
        return;

    waypoint_setupmodel(wp);
    wp.wpisbox = vdist(wp.size, >, 0);
    wp.enemy = NULL;
    if (!(wp.wpflags & WAYPOINTFLAG_PERSONAL))
        wp.owner = NULL;
    if (!(wp.wpflags & WPFLAGMASK_NORELINK))
        waypoint_clearlinks(wp);
    // schedule an actual relink on next frame
    setthink(wp, waypoint_think);
    wp.nextthink = time;
    wp.effects = EF_LOWPRECISION;
}

// spawnfunc_waypoint map entity
spawnfunc(waypoint)
{
    IL_PUSH(g_waypoints, this);

    if (waypointeditor_enabled)
        setorigin(this, this.origin);
    else
        make_pure(this);
    // schedule a relink after other waypoints have had a chance to spawn
    waypoint_clearlinks(this);
    //waypoint_schedulerelink(this);
}

// tell all waypoints to relink
// actually this is useful only to update relink_* stats
void waypoint_schedulerelinkall()
{
    relink_total = relink_walkculled = relink_pvsculled = relink_lengthculled = 0;
    IL_EACH(g_waypoints, true,
    {
        waypoint_schedulerelink(it);
    });
    waypoint_load_hardwiredlinks();
}

#define GET_GAMETYPE_EXTENSION() ((g_race) ? ".race" : "")

// Load waypoint links from file
bool waypoint_load_links()
{
    string s;
    float file, tokens, c = 0, found;
    entity wp_from = NULL, wp_to;
    vector wp_to_pos, wp_from_pos;

    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
    file = fopen(filename, FILE_READ);

    if (gt_ext != "" && file < 0)
    {
        // if race waypoint file doesn't exist load the default one
        filename = sprintf("maps/%s.waypoints.cache", mapname);
        file = fopen(filename, FILE_READ);
    }

    if (file < 0)
    {
        LOG_TRACE("waypoint links load from ", filename, " failed");
        waypoint_schedulerelinkall();
        return false;
    }

    bool parse_comments = true;
    float ver = 0;
    string links_time = string_null;

    while ((s = fgets(file)))
    {
        if(parse_comments)
        {
            if(substring(s, 0, 2) == "//")
            {
                if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
                    ver = stof(substring(s, 19, -1));
                else if(substring(s, 2, 14) == "WAYPOINT_TIME ")
                    links_time = substring(s, 16, -1);
                continue;
            }
            else
            {
                if(ver < WAYPOINT_VERSION || links_time != waypoint_time)
                {
                    if (links_time != waypoint_time)
                        LOG_TRACE("waypoint links for this map are not made for these waypoints.");
                    else
                        LOG_TRACE("waypoint links for this map are outdated.");
                    if (g_assault)
                    {
                        LOG_TRACE("Assault waypoint links need to be manually updated in the editor");
                    }
                    else
                    {
                        LOG_TRACE("automatically updating...");
                        waypoint_schedulerelinkall();
                        fclose(file);
                        return false;
                    }
                }
                parse_comments = false;
            }
        }

        tokens = tokenizebyseparator(s, "*");

        if (tokens!=2)
        {
            // bad file format
            fclose(file);
            waypoint_schedulerelinkall(); // link all the autogenerated waypoints (teleporters)
            return false;
        }

        wp_from_pos = stov(argv(0));
        wp_to_pos   = stov(argv(1));

        // Search "from" waypoint
        if(!wp_from || wp_from.origin!=wp_from_pos)
        {
            wp_from = findradius(wp_from_pos, 1);
            found = false;
            while(wp_from)
            {
                if(vdist(wp_from.origin - wp_from_pos, <, 1))
                if(wp_from.classname == "waypoint")
                {
                    found = true;
                    break;
                }
                wp_from = wp_from.chain;
            }

            if(!found)
            {
                LOG_TRACE("waypoint_load_links: couldn't find 'from' waypoint at ", vtos(wp_from_pos));
                continue;
            }
        }

        // Search "to" waypoint
        wp_to = findradius(wp_to_pos, 1);
        found = false;
        while(wp_to)
        {
            if(vdist(wp_to.origin - wp_to_pos, <, 1))
            if(wp_to.classname == "waypoint")
            {
                found = true;
                break;
            }
            wp_to = wp_to.chain;
        }

        if(!found)
        {
            LOG_TRACE("waypoint_load_links: couldn't find 'to' waypoint at ", vtos(wp_to_pos));
            continue;
        }

        ++c;
        waypoint_addlink(wp_from, wp_to);
        if (wp_from.wp00_original && wp_from.wp00_original != wp_from.wp00)
            wp_from.wpflags |= WAYPOINTFLAG_CUSTOM_JP;
    }

    fclose(file);

    LOG_TRACE("loaded ", ftos(c), " waypoint links from ", filename);

    bool scheduled = false;
    IL_EACH(g_waypoints, it.wpflags & WAYPOINTFLAG_ITEM,
    {
        if (!it.wp00)
        {
            waypoint_schedulerelink(it);
            scheduled = true;
        }
    });
    if (scheduled)
        return false;

    botframe_cachedwaypointlinks = true;
    return true;
}

void waypoint_load_hardwiredlinks()
{
    string s;
    float file, tokens, c = 0, found;
    entity wp_from = NULL, wp_to;
    vector wp_to_pos, wp_from_pos;

    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints.hardwired", strcat(mapname, gt_ext));
    file = fopen(filename, FILE_READ);

    if (gt_ext != "" && file < 0)
    {
        // if race waypoint file doesn't exist load the default one
        filename = sprintf("maps/%s.waypoints.hardwired", mapname);
        file = fopen(filename, FILE_READ);
    }

    botframe_loadedforcedlinks = true;

    if (file < 0)
    {
        LOG_TRACE("waypoint links load from ", filename, " failed");
        return;
    }

    bool is_special = false;
    while ((s = fgets(file)))
    {
        if(substring(s, 0, 2)=="//")
            continue;

        if(substring(s, 0, 1)=="#")
            continue;

        // special links start with *, so old xonotic versions don't load them
        is_special = false;
        if (substring(s, 0, 1) == "*")
        {
            is_special = true;
            s = substring(s, 1, -1);
        }

        tokens = tokenizebyseparator(s, "*");

        if (tokens!=2)
            continue;

        wp_from_pos = stov(argv(0));
        wp_to_pos   = stov(argv(1));

        // Search "from" waypoint
        if(!wp_from || wp_from.origin!=wp_from_pos)
        {
            wp_from = findradius(wp_from_pos, 5);
            found = false;
            while(wp_from)
            {
                if(vdist(wp_from.origin - wp_from_pos, <, 5))
                if(wp_from.classname == "waypoint")
                {
                    found = true;
                    break;
                }
                wp_from = wp_from.chain;
            }

            if(!found)
            {
                s = strcat(((is_special) ? "special link " : "hardwired link "), s);
                LOG_INFO("NOTICE: Can not find origin waypoint of the ", s, ". Path skipped");
                continue;
            }
        }

        // Search "to" waypoint
        wp_to = findradius(wp_to_pos, 5);
        found = false;
        while(wp_to)
        {
            if(vdist(wp_to.origin - wp_to_pos, <, 5))
            if(wp_to.classname == "waypoint")
            {
                found = true;
                break;
            }
            wp_to = wp_to.chain;
        }

        if(!found)
        {
            s = strcat(((is_special) ? "special link " : "hardwired link "), s);
            LOG_INFO("NOTICE: Can not find destination waypoint of the ", s, ". Path skipped");
            continue;
        }

        ++c;

        if (!is_special)
        {
            waypoint_addlink(wp_from, wp_to);
            waypoint_mark_hardwiredlink(wp_from, wp_to);
        } else if (wp_from.wpflags & WPFLAGMASK_NORELINK
            && ((wp_from.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT))
                || (wp_from.wpisbox && wp_from.wpflags & WAYPOINTFLAG_TELEPORT)))
        {
            waypoint_addlink(wp_from, wp_to);
        }
    }

    fclose(file);

    LOG_TRACE("loaded ", ftos(c), " waypoint links from maps/", mapname, ".waypoints.hardwired");
}

float waypoint_get_assigned_link_cost(entity w, float i)
{
    switch(i)
    {
        case  0: return w.wp00mincost;
        case  1: return w.wp01mincost;
        case  2: return w.wp02mincost;
        case  3: return w.wp03mincost;
        case  4: return w.wp04mincost;
        case  5: return w.wp05mincost;
        case  6: return w.wp06mincost;
        case  7: return w.wp07mincost;
        case  8: return w.wp08mincost;
        case  9: return w.wp09mincost;
        case 10: return w.wp10mincost;
        case 11: return w.wp11mincost;
        case 12: return w.wp12mincost;
        case 13: return w.wp13mincost;
        case 14: return w.wp14mincost;
        case 15: return w.wp15mincost;
        case 16: return w.wp16mincost;
        case 17: return w.wp17mincost;
        case 18: return w.wp18mincost;
        case 19: return w.wp19mincost;
        case 20: return w.wp20mincost;
        case 21: return w.wp21mincost;
        case 22: return w.wp22mincost;
        case 23: return w.wp23mincost;
        case 24: return w.wp24mincost;
        case 25: return w.wp25mincost;
        case 26: return w.wp26mincost;
        case 27: return w.wp27mincost;
        case 28: return w.wp28mincost;
        case 29: return w.wp29mincost;
        case 30: return w.wp30mincost;
        case 31: return w.wp31mincost;
        default: return -1;
    }
}

entity waypoint_get_link(entity w, float i)
{
    switch(i)
    {
        case  0:return w.wp00;
        case  1:return w.wp01;
        case  2:return w.wp02;
        case  3:return w.wp03;
        case  4:return w.wp04;
        case  5:return w.wp05;
        case  6:return w.wp06;
        case  7:return w.wp07;
        case  8:return w.wp08;
        case  9:return w.wp09;
        case 10:return w.wp10;
        case 11:return w.wp11;
        case 12:return w.wp12;
        case 13:return w.wp13;
        case 14:return w.wp14;
        case 15:return w.wp15;
        case 16:return w.wp16;
        case 17:return w.wp17;
        case 18:return w.wp18;
        case 19:return w.wp19;
        case 20:return w.wp20;
        case 21:return w.wp21;
        case 22:return w.wp22;
        case 23:return w.wp23;
        case 24:return w.wp24;
        case 25:return w.wp25;
        case 26:return w.wp26;
        case 27:return w.wp27;
        case 28:return w.wp28;
        case 29:return w.wp29;
        case 30:return w.wp30;
        case 31:return w.wp31;
        default:return NULL;
    }
}

// Save all hardwired waypoint links to a file
void waypoint_save_hardwiredlinks()
{
    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints.hardwired", strcat(mapname, gt_ext));
    int file = fopen(filename, FILE_WRITE);
    if (file < 0)
    {
        LOG_TRACE("waypoint hardwired links ", filename, " creation failed");
        return;
    }

    // write hardwired links to file
    int count = 0;
    fputs(file, "// HARDWIRED LINKS\n");
    IL_EACH(g_waypoints, waypoint_has_hardwiredlinks(it),
    {
        for (int j = 0; j < 32; ++j)
        {
            entity link = waypoint_get_link(it, j);
            if (waypoint_is_hardwiredlink(it, link))
            {
                // NOTE: vtos rounds vector components to 1 decimal place
                string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
                fputs(file, s);
                ++count;
            }
        }
    });

    // write special links to file
    int count2 = 0;
    fputs(file, "\n// SPECIAL LINKS\n");
    IL_EACH(g_waypoints, it.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT | WAYPOINTFLAG_CUSTOM_JP),
    {
        for (int j = 0; j < 32; ++j)
        {
            entity link = waypoint_get_link(it, j);
            if (link)
            {
                // NOTE: vtos rounds vector components to 1 decimal place
                string s = strcat("*", vtos(it.origin), "*", vtos(link.origin), "\n");
                fputs(file, s);
                ++count2;
            }
        }
    });

    fclose(file);

    LOG_INFOF("saved %d hardwired links and %d special links to %s", count, count2, filename);
}

// Save all waypoint links to a file
void waypoint_save_links()
{
    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints.cache", strcat(mapname, gt_ext));
    int file = fopen(filename, FILE_WRITE);
    if (file < 0)
    {
        LOG_INFOF("waypoint link save to %s failed", filename);
        return;
    }

    fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
    if (waypoint_time != "")
        fputs(file, strcat("//", "WAYPOINT_TIME ", waypoint_time, "\n"));

    int c = 0;
    IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT | WAYPOINTFLAG_CUSTOM_JP)),
    {
        for(int j = 0; j < 32; ++j)
        {
            entity link = waypoint_get_link(it, j);
            if (link && !waypoint_is_hardwiredlink(it, link))
            {
                // NOTE: vtos rounds vector components to 1 decimal place
                string s = strcat(vtos(it.origin), "*", vtos(link.origin), "\n");
                fputs(file, s);
                ++c;
            }
        }
    });
    fclose(file);

    botframe_cachedwaypointlinks = true;

    LOG_INFOF("saved %d waypoint links to %s", c, filename);
}

// save waypoints to gamedir/data/maps/mapname.waypoints
void waypoint_saveall()
{
    if (WAYPOINT_VERSION < waypoint_version_loaded)
    {
        LOG_INFOF("^1Overwriting waypoints with a higher version number (%f) is not allowed.\n"
            "Update Xonotic to make them editable.", waypoint_version_loaded);
        return;
    }
    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
    int file = fopen(filename, FILE_WRITE);
    if (file < 0)
    {
        waypoint_save_links(); // save anyway?
        botframe_loadedforcedlinks = false;

        LOG_INFOF("waypoint links: save to %s failed", filename);
        return;
    }

    float sym = autocvar_g_waypointeditor_symmetrical;
    string sym_str = ftos(sym);
    if (sym == -1 || (sym == 1 && autocvar_g_waypointeditor_symmetrical_order >= 2))
    {
        if (sym == 1)
        {
            sym_str = cons(sym_str, "-");
            sym_str = cons(sym_str, "-");
        }
        else
        {
            sym_str = cons(sym_str, ftos(autocvar_g_waypointeditor_symmetrical_origin.x));
            sym_str = cons(sym_str, ftos(autocvar_g_waypointeditor_symmetrical_origin.y));
        }
        if (autocvar_g_waypointeditor_symmetrical_order >= 2)
            sym_str = cons(sym_str, ftos(autocvar_g_waypointeditor_symmetrical_order));
    }
    else if (autocvar_g_waypointeditor_symmetrical == -2)
    {
        sym_str = cons(sym_str, ftos(autocvar_g_waypointeditor_symmetrical_axis.x));
        sym_str = cons(sym_str, ftos(autocvar_g_waypointeditor_symmetrical_axis.y));
    }

    // a group of 3 comments doesn't break compatibility with older Xonotic versions
    // (they are read as a waypoint with origin '0 0 0' and flag 0 though)
    fputs(file, strcat("//", "WAYPOINT_VERSION ", ftos_decimals(WAYPOINT_VERSION, 2), "\n"));
    fputs(file, strcat("//", "WAYPOINT_SYMMETRY ", sym_str, "\n"));

    strcpy(waypoint_time, strftime(true, "%Y-%m-%d %H:%M:%S"));
    fputs(file, strcat("//", "WAYPOINT_TIME ", waypoint_time, "\n"));
    //fputs(file, strcat("//", "\n"));
    //fputs(file, strcat("//", "\n"));
    //fputs(file, strcat("//", "\n"));

    int c = 0;
    IL_EACH(g_waypoints, true,
    {
        if(it.wpflags & WAYPOINTFLAG_GENERATED)
            continue;

        string s;
        // NOTE: vtos rounds vector components to 1 decimal place
        s = strcat(vtos(it.origin + it.mins), "\n");
        s = strcat(s, vtos(it.origin + it.maxs));
        s = strcat(s, "\n");
        s = strcat(s, ftos(it.wpflags));
        s = strcat(s, "\n");
        fputs(file, s);
        c++;
    });
    fclose(file);
    waypoint_save_links();
    waypoint_save_hardwiredlinks();

    botframe_loadedforcedlinks = false;

    waypoint_version_loaded = WAYPOINT_VERSION;
    LOG_INFOF("saved %d waypoints to %s", c, filename);
}

// load waypoints from file
float waypoint_loadall()
{
    string s;
    int file, cwp, cwb, fl;
    vector m1, m2;
    cwp = 0;
    cwb = 0;

    string gt_ext = GET_GAMETYPE_EXTENSION();

    string filename = sprintf("maps/%s.waypoints", strcat(mapname, gt_ext));
    file = fopen(filename, FILE_READ);

    if (gt_ext != "" && file < 0)
    {
        // if race waypoint file doesn't exist load the default one
        filename = sprintf("maps/%s.waypoints", mapname);
        file = fopen(filename, FILE_READ);
    }

    if (file < 0)
    {
        LOG_TRACE("waypoint load from ", filename, " failed");
        return 0;
    }

    bool parse_comments = true;
    float ver = 0;
    float sym = 0;
    float sym_param1 = 0, sym_param2 = 0, sym_param3 = 0;

    while ((s = fgets(file)))
    {
        if(parse_comments)
        {
            if(substring(s, 0, 2) == "//")
            {
                if(substring(s, 2, 17) == "WAYPOINT_VERSION ")
                    ver = stof(substring(s, 19, -1));
                else if(substring(s, 2, 18) == "WAYPOINT_SYMMETRY ")
                {
                    int tokens = tokenizebyseparator(substring(s, 20, -1), " ");
                    if (tokens) { sym = stof(argv(0)); }
                    if (tokens > 1) { sym_param1 = stof(argv(1)); }
                    if (tokens > 2) { sym_param2 = stof(argv(2)); }
                    if (tokens > 3) { sym_param3 = stof(argv(3)); }
                }
                else if(substring(s, 2, 14) == "WAYPOINT_TIME ")
                    strcpy(waypoint_time, substring(s, 16, -1));
                continue;
            }
            else
            {
                if(floor(ver) < floor(WAYPOINT_VERSION))
                {
                    LOG_TRACE("waypoints for this map are outdated");
                    LOG_TRACE("please update them in the editor");
                }
                parse_comments = false;
            }
        }
        m1 = stov(s);
        s = fgets(file);
        if (!s)
            break;
        m2 = stov(s);
        s = fgets(file);
        if (!s)
            break;
        fl = stof(s);
        fl &= ~WAYPOINTFLAG_NORELINK__DEPRECATED;
        waypoint_spawn(m1, m2, fl);
        if (m1 == m2)
            cwp = cwp + 1;
        else
            cwb = cwb + 1;
    }
    fclose(file);
    waypoint_version_loaded = ver;
    LOG_TRACE("loaded ", ftos(cwp), " waypoints and ", ftos(cwb), " wayboxes from maps/", mapname, ".waypoints");

    if (waypointeditor_enabled && autocvar_g_waypointeditor_symmetrical_allowload)
    {
        string sym_str = "";
        cvar_set("g_waypointeditor_symmetrical", ftos(sym));
        if (sym == 1 && sym_param3 < 2)
            cvar_set("g_waypointeditor_symmetrical_order", "0"); // make sure this is reset if not loaded
        if (sym == -1 || (sym == 1 && sym_param3 >= 2))
        {
            string params;
            if (sym == 1)
                params = cons("-", "-");
            else
            {
                params = cons(ftos(sym_param1), ftos(sym_param2));
                cvar_set("g_waypointeditor_symmetrical_origin", params);
            }
            cvar_set("g_waypointeditor_symmetrical_order", ftos(sym_param3));
            sym_str = strcat(ftos(sym), " with origin ", params, " and order ", ftos(sym_param3));
        }
        else if (sym == -2)
        {
            string params = strcat(ftos(sym_param1), " ", ftos(sym_param2));
            cvar_set("g_waypointeditor_symmetrical_axis", params);
            sym_str = strcat(ftos(sym), " with axis ", params);
        }
        else
            sym_str = ftos(sym);
        if (sym_str != "")
            LOG_INFO("Waypoint editor: loaded symmetry ", sym_str);
        LOG_INFO(strcat("g_waypointeditor_symmetrical", " has been set to ", cvar_string("g_waypointeditor_symmetrical")));
    }

    if (WAYPOINT_VERSION < waypoint_version_loaded)
        LOG_INFOF("^1Editing waypoints with a higher version number (%f) is not allowed.\n"
            "Update Xonotic to make them editable.", waypoint_version_loaded);

    return cwp + cwb;
}

#define waypoint_fixorigin(position, tracetest_ent) \
    waypoint_fixorigin_down_dir(position, tracetest_ent, '0 0 -1')

vector waypoint_fixorigin_down_dir(vector position, entity tracetest_ent, vector down_dir)
{
    vector endpos = position + down_dir * 3000;
    tracebox(position + '0 0 1', PL_MIN_CONST, PL_MAX_CONST, endpos, MOVE_NOMONSTERS, tracetest_ent);
    if(trace_startsolid)
        tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z / 2), PL_MIN_CONST, PL_MAX_CONST, endpos, MOVE_NOMONSTERS, tracetest_ent);
    if(trace_startsolid)
        tracebox(position + '0 0 1' * (1 - PL_MIN_CONST.z), PL_MIN_CONST, PL_MAX_CONST, endpos, MOVE_NOMONSTERS, tracetest_ent);
    if(trace_fraction < 1)
        position = trace_endpos;
    return position;
}

void waypoint_spawnforitem_force(entity e, vector org)
{
    // Fix the waypoint altitude if necessary
    org = waypoint_fixorigin(org, NULL);

    // don't spawn an item spawnfunc_waypoint if it already exists
    IL_EACH(g_waypoints, true,
    {
        if(it.wpisbox)
        {
            if(boxesoverlap(org, org, it.absmin, it.absmax))
            {
                e.nearestwaypoint = it;
                return;
            }
        }
        else
        {
            if(vdist(it.origin - org, <, 16))
            {
                e.nearestwaypoint = it;
                return;
            }
        }
    });

    e.nearestwaypoint = waypoint_spawn(org, org, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_ITEM);
}

void waypoint_spawnforitem(entity e)
{
    if(!bot_waypoints_for_items)
        return;

    waypoint_spawnforitem_force(e, e.origin);
}

void waypoint_spawnforteleporter_boxes(entity e, int teleport_flag, vector org1, vector org2, vector destination1, vector destination2, float timetaken)
{
    entity w;
    entity dw;
    w = waypoint_spawn(org1, org2, WAYPOINTFLAG_GENERATED | teleport_flag);
    dw = waypoint_spawn(destination1, destination2, WAYPOINTFLAG_GENERATED);
    // one way link to the destination
    w.wp00_original = dw;
    w.wp00 = dw;
    w.wp00mincost = timetaken; // this is just for jump pads
    // the teleporter's nearest spawnfunc_waypoint is this one
    // (teleporters are not goals, so this is probably useless)
    e.nearestwaypoint = w;
    e.nearestwaypointtimeout = -1;
}

void waypoint_spawnforteleporter_wz(entity e, entity tracetest_ent)
{
    float src_angle = e.warpzone_angles.x;
    while (src_angle < -180) src_angle += 360;
    while (src_angle > 180) src_angle -= 360;

    float dest_angle = e.enemy.warpzone_angles.x;
    while (dest_angle < -180) dest_angle += 360;
    while (dest_angle > 180) dest_angle -= 360;

    // no waypoints for warpzones pointing upwards, they can't be used by the bots
    if (src_angle == -90 || dest_angle == -90)
        return;

    makevectors(e.warpzone_angles);
    vector src = (e.absmin + e.absmax) * 0.5;
    src += ((e.warpzone_origin - src) * v_forward) * v_forward + 16 * v_right;
    vector down_dir_src = -v_up;

    makevectors(e.enemy.warpzone_angles);
    vector dest = (e.enemy.absmin + e.enemy.absmax) * 0.5;
    dest += ((e.enemy.warpzone_origin - dest) * v_forward) * v_forward - 16 * v_right;
    vector down_dir_dest = -v_up;

    int extra_flag = 0;
    // don't snap to the ground waypoints for source warpzones pointing downwards
    if (src_angle != 90)
    {
        src = waypoint_fixorigin_down_dir(src, tracetest_ent, down_dir_src);
        dest = waypoint_fixorigin_down_dir(dest, tracetest_ent, down_dir_dest);
        // oblique warpzones need a jump otherwise bots gets stuck
        if (src_angle != 0)
            extra_flag = WAYPOINTFLAG_JUMP;
    }

    waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT | extra_flag, src, src, dest, dest, 0);
}

void waypoint_spawnforteleporter(entity e, vector destination, float timetaken, entity tracetest_ent)
{
    destination = waypoint_fixorigin(destination, tracetest_ent);
    waypoint_spawnforteleporter_boxes(e, WAYPOINTFLAG_TELEPORT, e.absmin - PL_MAX_CONST + '1 1 1', e.absmax - PL_MIN_CONST + '-1 -1 -1', destination, destination, timetaken);
}

entity waypoint_spawnpersonal(entity this, vector position)
{
    entity w;

    // drop the waypoint to a proper location:
    //   first move it up by a player height
    //   then move it down to hit the floor with player bbox size
    position = waypoint_fixorigin(position, this);

    w = waypoint_spawn(position, position, WAYPOINTFLAG_GENERATED | WAYPOINTFLAG_PERSONAL);
    w.nearestwaypoint = NULL;
    w.nearestwaypointtimeout = 0;
    w.owner = this;

    waypoint_schedulerelink(w);

    return w;
}

void waypoint_showlink(entity wp1, entity wp2, int display_type)
{
    if (!(wp1 && wp2))
        return;

    if (waypoint_is_hardwiredlink(wp1, wp2) || (wp1.wpflags & (WAYPOINTFLAG_JUMP | WAYPOINTFLAG_SUPPORT | WAYPOINTFLAG_CUSTOM_JP)))
        te_beam(NULL, wp1.origin, wp2.origin);
    else if (display_type == 1)
        te_lightning2(NULL, wp1.origin, wp2.origin);
}

void waypoint_showlinks_to(entity wp, int display_type)
{
    IL_EACH(g_waypoints, it != wp,
    {
        if (waypoint_islinked(it, wp))
            waypoint_showlink(it, wp, display_type);
    });
}

void waypoint_showlinks_from(entity wp, int display_type)
{
    waypoint_showlink(wp, wp.wp00, display_type); waypoint_showlink(wp, wp.wp16, display_type);
    waypoint_showlink(wp, wp.wp01, display_type); waypoint_showlink(wp, wp.wp17, display_type);
    waypoint_showlink(wp, wp.wp02, display_type); waypoint_showlink(wp, wp.wp18, display_type);
    waypoint_showlink(wp, wp.wp03, display_type); waypoint_showlink(wp, wp.wp19, display_type);
    waypoint_showlink(wp, wp.wp04, display_type); waypoint_showlink(wp, wp.wp20, display_type);
    waypoint_showlink(wp, wp.wp05, display_type); waypoint_showlink(wp, wp.wp21, display_type);
    waypoint_showlink(wp, wp.wp06, display_type); waypoint_showlink(wp, wp.wp22, display_type);
    waypoint_showlink(wp, wp.wp07, display_type); waypoint_showlink(wp, wp.wp23, display_type);
    waypoint_showlink(wp, wp.wp08, display_type); waypoint_showlink(wp, wp.wp24, display_type);
    waypoint_showlink(wp, wp.wp09, display_type); waypoint_showlink(wp, wp.wp25, display_type);
    waypoint_showlink(wp, wp.wp10, display_type); waypoint_showlink(wp, wp.wp26, display_type);
    waypoint_showlink(wp, wp.wp11, display_type); waypoint_showlink(wp, wp.wp27, display_type);
    waypoint_showlink(wp, wp.wp12, display_type); waypoint_showlink(wp, wp.wp28, display_type);
    waypoint_showlink(wp, wp.wp13, display_type); waypoint_showlink(wp, wp.wp29, display_type);
    waypoint_showlink(wp, wp.wp14, display_type); waypoint_showlink(wp, wp.wp30, display_type);
    waypoint_showlink(wp, wp.wp15, display_type); waypoint_showlink(wp, wp.wp31, display_type);
}

void crosshair_trace_waypoints(entity pl)
{
    IL_EACH(g_waypoints, true, {
        it.solid = SOLID_BSP;
        if (!it.wpisbox)
            setsize(it, '-16 -16 -16', '16 16 16');
    });

    WarpZone_crosshair_trace(pl);

    IL_EACH(g_waypoints, true, {
        it.solid = SOLID_TRIGGER;
        if (!it.wpisbox)
            setsize(it, '0 0 0', '0 0 0');
    });

    if (trace_ent.classname != "waypoint")
        trace_ent = NULL;
    else if (!trace_ent.wpisbox)
        trace_endpos = trace_ent.origin;
}

void botframe_showwaypointlinks()
{
    if (time < botframe_waypointeditorlightningtime)
        return;
    botframe_waypointeditorlightningtime = time + 0.5;
    FOREACH_CLIENT(IS_PLAYER(it) && !it.isbot,
    {
        int display_type = 0;
        if (wasfreed(it.wp_aimed))
            it.wp_aimed = NULL;
        if (wasfreed(it.wp_locked))
            it.wp_locked = NULL;
        entity head = it.wp_locked;
        if (!head)
            head = navigation_findnearestwaypoint(it, false);
        it.nearestwaypoint = head; // mainly useful for debug
        it.nearestwaypointtimeout = time + 2; // while I'm at it...
        if (IS_ONGROUND(it) || it.waterlevel > WATERLEVEL_NONE || it.wp_locked)
            display_type = 1; // default
        else if(waypoint_has_hardwiredlinks(head))
            display_type = 2; // only hardwired

        if (display_type)
        {
            //navigation_testtracewalk = true;
            //print("currently selected WP is ", etos(head), "\n");
            //navigation_testtracewalk = false;
            if (head)
            {
                te_lightning2(NULL, head.origin, it.origin);
                if(PHYS_INPUT_BUTTON_CROUCH(it))
                    waypoint_showlinks_to(head, display_type);
                else
                    waypoint_showlinks_from(head, display_type);
            }
        }
        string str;
        entity wp = NULL;
        if (vdist(vec2(it.velocity), <, autocvar_sv_maxspeed * 1.1))
        {
            crosshair_trace_waypoints(it);
            if (trace_ent)
            {
                wp = trace_ent;
                if (wp != it.wp_aimed)
                {
                    string wp_type_str = waypoint_get_type_name(wp);
                    str = sprintf("\necho Entity %d: %s^7, flags: %d, origin: %s\n", etof(wp), wp_type_str, wp.wpflags, vtos(wp.origin));
                    if (wp.wpisbox)
                        str = strcat(str, sprintf("echo \" absmin: %s, absmax: %s\"\n", vtos(wp.absmin), vtos(wp.absmax)));
                    stuffcmd(it, str);
                    str = sprintf("Entity %d: %s^7\nflags: %d\norigin: %s", etof(wp), wp_type_str, wp.wpflags, vtos(wp.origin));
                    if (wp.wpisbox)
                        str = strcat(str, sprintf(" \nabsmin: %s\nabsmax: %s", vtos(wp.absmin), vtos(wp.absmax)));
                    debug_text_3d(wp.origin, str, 0, 7, '0 0 0');
                }
            }
        }
        if (it.wp_aimed != wp)
            it.wp_aimed = wp;
    });
}

float botframe_autowaypoints_fixdown(vector v)
{
    tracebox(v, PL_MIN_CONST, PL_MAX_CONST, v + '0 0 -64', MOVE_NOMONSTERS, NULL);
    if(trace_fraction >= 1)
        return 0;
    return 1;
}

float botframe_autowaypoints_createwp(vector v, entity p, .entity fld, float f)
{
    IL_EACH(g_waypoints, boxesoverlap(v - '32 32 32', v + '32 32 32', it.absmin, it.absmax),
    {
        // if a matching spawnfunc_waypoint already exists, don't add a duplicate
        return 0;
    });

    waypoint_schedulerelink(p.(fld) = waypoint_spawn(v, v, f));
    return 1;
}

// return value:
//    1 = WP created
//    0 = no action needed
//   -1 = temp fail, try from world too
//   -2 = permanent fail, do not retry
float botframe_autowaypoints_fix_from(entity p, float walkfromwp, entity wp, .entity fld)
{
    // make it possible to go from p to wp, if we can
    // if wp is NULL, nearest is chosen

    entity w;
    vector porg;
    float t, tmin, tmax;
    vector o;
    vector save;

    if(!botframe_autowaypoints_fixdown(p.origin))
        return -2;
    porg = trace_endpos;

    if(wp)
    {
        // if any WP w fulfills wp -> w -> porg and w is closer than wp, then switch from wp to w

        // if wp -> porg, then OK
        float maxdist;
        if(navigation_waypoint_will_link(wp.origin, porg, p, porg, 0, wp.origin, 0, walkfromwp, 1050))
        {
            // we may find a better one
            maxdist = vlen(wp.origin - porg);
        }
        else
        {
            // accept any "good"
            maxdist = 2100;
        }

        float bestdist = maxdist;
        IL_EACH(g_waypoints, it != wp && !(it.wpflags & WPFLAGMASK_NORELINK),
        {
            float d = vlen(wp.origin - it.origin) + vlen(it.origin - porg);
            if(d < bestdist)
            if(navigation_waypoint_will_link(wp.origin, it.origin, p, it.origin, 0, wp.origin, 0, walkfromwp, 1050))
            if(navigation_waypoint_will_link(it.origin, porg, p, porg, 0, it.origin, 0, walkfromwp, 1050))
            {
                bestdist = d;
                p.(fld) = it;
            }
        });
        if(bestdist < maxdist)
        {
            LOG_INFO("update chain to new nearest WP ", etos(p.(fld)));
            return 0;
        }

        if(bestdist < 2100)
        {
            // we know maxdist < 2100
            // so wp -> porg is still valid
            // all is good
            p.(fld) = wp;
            return 0;
        }

        // otherwise, no existing WP can fix our issues
    }
    else
    {
        save = p.origin;
        setorigin(p, porg);
        w = navigation_findnearestwaypoint(p, walkfromwp);
        setorigin(p, save);
        if(w)
        {
            p.(fld) = w;
            return 0;
        }
    }

    tmin = 0;
    tmax = 1;
    for (;;)
    {
        if(tmax - tmin < 0.001)
        {
            // did not get a good candidate
            return -1;
        }

        t = (tmin + tmax) * 0.5;
        o = antilag_takebackorigin(p, CS(p), time - t);
        if(!botframe_autowaypoints_fixdown(o))
            return -2;
        o = trace_endpos;

        if(wp)
        {
            if(!navigation_waypoint_will_link(wp.origin, o, p, o, 0, wp.origin, 0, walkfromwp, 1050))
            {
                // we cannot walk from wp.origin to o
                // get closer to tmax
                tmin = t;
                continue;
            }
        }
        else
        {
            save = p.origin;
            setorigin(p, o);
            w = navigation_findnearestwaypoint(p, walkfromwp);
            setorigin(p, save);
            if(!w)
            {
                // we cannot walk from any WP to o
                // get closer to tmax
                tmin = t;
                continue;
            }
        }

        // if we get here, o is valid regarding waypoints
        // check if o is connected right to the player
        // we break if it succeeds, as that means o is a good waypoint location
        if(navigation_waypoint_will_link(o, porg, p, porg, 0, o, 0, walkfromwp, 1050))
            break;

        // o is no good, we need to get closer to the player
        tmax = t;
    }

    LOG_INFO("spawning a waypoint for connecting to ", etos(wp));
    botframe_autowaypoints_createwp(o, p, fld, 0);
    return 1;
}

// automatically create missing waypoints
void botframe_autowaypoints_fix(entity p, float walkfromwp, .entity fld)
{
    float r = botframe_autowaypoints_fix_from(p, walkfromwp, p.(fld), fld);
    if(r != -1)
        return;
    r = botframe_autowaypoints_fix_from(p, walkfromwp, NULL, fld);
    if(r != -1)
        return;

    LOG_INFO("emergency: got no good nearby WP to build a link from, starting a new chain");
    if(!botframe_autowaypoints_fixdown(p.origin))
        return; // shouldn't happen, caught above
    botframe_autowaypoints_createwp(trace_endpos, p, fld, WAYPOINTFLAG_PROTECTED);
}

void botframe_deleteuselesswaypoints()
{
    IL_EACH(g_items, it.bot_pickup,
    {
        // NOTE: this protects waypoints if they're the ONLY nearest
        // waypoint. That's the intention.
        navigation_findnearestwaypoint(it, false);  // Walk TO item.
        navigation_findnearestwaypoint(it, true);  // Walk FROM item.
    });
    IL_EACH(g_waypoints, true,
    {
        it.wpflags |= WAYPOINTFLAG_DEAD_END;
        it.wpflags &= ~WAYPOINTFLAG_USEFUL;
        // WP is useful if:
        if (it.wpflags & WAYPOINTFLAG_ITEM)
            it.wpflags |= WAYPOINTFLAG_USEFUL;
        if (it.wpflags & WAYPOINTFLAG_TELEPORT)
            it.wpflags |= WAYPOINTFLAG_USEFUL;
        if (it.wpflags & WAYPOINTFLAG_LADDER)
            it.wpflags |= WAYPOINTFLAG_USEFUL;
        if (it.wpflags & WAYPOINTFLAG_PROTECTED)
            it.wpflags |= WAYPOINTFLAG_USEFUL;
        // b) WP is closest WP for an item/spawnpoint/other entity
        //    This has been done above by protecting these WPs.
    });
    // c) There are w1, w, w2 so that w1 -> w, w -> w2 and not w1 -> w2.
    IL_EACH(g_waypoints, !(it.wpflags & WAYPOINTFLAG_PERSONAL),
    {
        for (int m = 0; m < 32; ++m)
        {
            entity w = waypoint_get_link(it, m);
            if (!w)
                break;
            if (w.wpflags & WAYPOINTFLAG_PERSONAL)
                continue;
            if (w.wpflags & WAYPOINTFLAG_USEFUL)
                continue;
            for (int j = 0; j < 32; ++j)
            {
                entity w2 = waypoint_get_link(w, j);
                if (!w2)
                    break;
                if (it == w2)
                    continue;
                if (w2.wpflags & WAYPOINTFLAG_PERSONAL)
                    continue;
                // If we got here, it != w2 exist with it -> w
                // and w -> w2. That means the waypoint is not
                // a dead end.
                w.wpflags &= ~WAYPOINTFLAG_DEAD_END;
                for (int k = 0; k < 32; ++k)
                {
                    if (waypoint_get_link(it, k) == w2)
                        continue;
                    // IF WE GET HERE, w is proven useful
                    // to get from it to w2!
                    w.wpflags |= WAYPOINTFLAG_USEFUL;
                    goto next;
                }
            }
LABEL(next)
        }
    });
    // d) The waypoint is a dead end. Dead end waypoints must be kept as
    //     they are needed to complete routes while autowaypointing.

    IL_EACH(g_waypoints, !(it.wpflags & (WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END)),
    {
        LOG_INFOF("Removed a waypoint at %v. Try again for more!", it.origin);
        te_explosion(it.origin);
        waypoint_remove(it);
        break;
    });

    IL_EACH(g_waypoints, true,
    {
        it.wpflags &= ~(WAYPOINTFLAG_USEFUL | WAYPOINTFLAG_DEAD_END); // temp flag
    });
}

//.entity botframe_autowaypoints_lastwp0;
.entity botframe_autowaypoints_lastwp1;
void botframe_autowaypoints()
{
    FOREACH_CLIENT(IS_PLAYER(it) && IS_REAL_CLIENT(it) && !IS_DEAD(it), {
        // going back is broken, so only fix waypoints to walk TO the player
        //botframe_autowaypoints_fix(p, false, botframe_autowaypoints_lastwp0);
        botframe_autowaypoints_fix(it, true, botframe_autowaypoints_lastwp1);
        //te_explosion(p.botframe_autowaypoints_lastwp0.origin);
    });

    if (autocvar_g_waypointeditor_auto >= 2) {
        botframe_deleteuselesswaypoints();
    }
}