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bot_navigate.cpp
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//
// FoXBot - AI Bot for Halflife's Team Fortress Classic
//
// (http://foxbot.net)
//
// bot_navigate.cpp
//
// Copyright (C) 2003 - Tom "Redfox" Simpson
//
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 2
// of the License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
//
// See the GNU General Public License for more details at:
// http://www.gnu.org/copyleft/gpl.html
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
#include "extdll.h"
#include "util.h"
#include "cbase.h"
#include "bot.h"
#include "bot_func.h"
#include "bot_job_think.h"
#include "waypoint.h"
#include "bot_navigate.h"
#include "bot_weapons.h"
#include "list.h"
extern bot_weapon_t weapon_defs[MAX_WEAPONS];
extern edict_t* clients[32];
extern bot_t bots[32];
extern int mod_id;
extern WAYPOINT waypoints[MAX_WAYPOINTS];
extern PATH* paths[MAX_WAYPOINTS];
extern int num_waypoints; // number of waypoints currently in use
extern bool g_waypoint_on;
extern edict_t* pent_info_ctfdetect;
extern float is_team_play;
extern bool checked_teamplay;
extern int bot_use_grenades;
extern bool bot_can_use_teleporter;
// Rocket jump globals
extern int RJPoints[MAXRJWAYPOINTS][2];
int CheckTeleporterExitTime = 0;
extern int flf_bug_fix;
extern bool g_bot_debug;
extern float last_frame_time;
// bit field of waypoint types to ignore when the bot is lost
// and looking for a new current waypoint to head for
static const WPT_INT32 lostBotIgnoreFlags = 0 +
(W_FL_DELETED | W_FL_AIMING | W_FL_TFC_PL_DEFEND | W_FL_TFC_PIPETRAP | W_FL_TFC_SENTRY | W_FL_TFC_DETPACK_CLEAR |
W_FL_TFC_DETPACK_SEAL |
W_FL_SNIPER |
W_FL_TFC_TELEPORTER_ENTRANCE |
W_FL_TFC_TELEPORTER_EXIT |
W_FL_TFC_JUMP |
W_FL_LIFT |
W_FL_PATHCHECK);
int spawnAreaWP[4] = { -1, -1, -1, -1 }; // used for tracking the areas where each team spawns
extern int team_allies[4];
// FUNCTION PROTOTYPES
static int BotShouldJumpOver(bot_t* pBot);
static int BotShouldDuckUnder(bot_t* pBot);
static bool BotFallenOffCheck(bot_t* const pBot);
static bool BotEscapeWaypointTrap(bot_t* const pBot, const int goalWP);
static bool BotUpdateRoute(bot_t* pBot);
static void BotHandleLadderTraffic(bot_t* pBot);
static void BotCheckForRocketJump(bot_t* pBot);
static void BotCheckForConcJump(bot_t* pBot);
// This function allows bots to report in the waypoint they last spawned
// nearby.
// This should be run each time a bot spawns, so as to keep the information
// up to date on maps such as warpath where the spawn areas keep changing.
void BotUpdateHomeInfo(bot_t* pBot)
{
if(mod_id != TFC_DLL)
return;
// if the spawn location is totally unknown try to update it now
if(spawnAreaWP[pBot->current_team] < 0 && (pBot->f_killed_time + 15.0f) > gpGlobals->time) {
spawnAreaWP[pBot->current_team] = WaypointFindNearest_V(pBot->pEdict->v.origin, 800.0, pBot->current_team);
return;
}
// keep the spawn area info up to date
if(pBot->current_wp != -1 && (pBot->f_killed_time + 4.0f) > gpGlobals->time) {
spawnAreaWP[pBot->current_team] = pBot->current_wp;
}
}
// This function should be called each time the map changes.
// It resets the bots knowledge of where they are spawning.
void ResetBotHomeInfo(void)
{
// sanity check
if(mod_id != TFC_DLL)
return;
spawnAreaWP[0] = -1;
spawnAreaWP[1] = -1;
spawnAreaWP[2] = -1;
spawnAreaWP[3] = -1;
}
// This function should be used when the bot has just spawned and has no current
// waypoint yet, because it also updates the bots knowledge of where it spawned.
void BotFindCurrentWaypoint(bot_t* pBot)
{
Vector distance;
double distance_squared;
int min_index = -1;
double min_distance_squared = 640000.0f; // 800 * 800 = 640000
int runnerUp = -1;
TraceResult tr;
// find the nearest waypoint...
for(int index = 0; index < num_waypoints; index++) {
// skip unwanted waypoints
if(waypoints[index].flags & W_FL_DELETED || waypoints[index].flags & W_FL_AIMING ||
waypoints[index].flags & lostBotIgnoreFlags)
continue;
// skip this waypoint if it's team specific and teams don't match
if(waypoints[index].flags & W_FL_TEAM_SPECIFIC && (waypoints[index].flags & W_FL_TEAM) != pBot->current_team)
continue;
// don't give the bot the same waypoint it already has,
// some waypoints are cursed
if(index == pBot->current_wp)
continue;
// square the Manhattan distance, this way we can avoid using sqrt()
distance = waypoints[index].origin - pBot->pEdict->v.origin;
distance_squared = (distance.x * distance.x) + (distance.y * distance.y) + (distance.z * distance.z);
// if the waypoint is above the bot only remember it in case no
// other waypoint could be found(higher waypoints may be unreachable)
if((pBot->pEdict->v.origin.z + 50.0) < waypoints[index].origin.z) {
if(runnerUp == -1 && distance_squared < 640000.0) // 800 * 800 = 640000
{
// check if the waypoint is visible to the bot
UTIL_TraceLine(pBot->pEdict->v.origin, waypoints[index].origin, dont_ignore_monsters,
pBot->pEdict->v.pContainingEntity, &tr);
// it is visible, so store it
if(tr.flFraction >= 1.0)
runnerUp = index;
}
continue;
}
// if it's the nearest found so far
if(distance_squared < min_distance_squared) {
// check if the waypoint is visible to the bot
UTIL_TraceLine(pBot->pEdict->v.origin, waypoints[index].origin, dont_ignore_monsters,
pBot->pEdict->v.pContainingEntity, &tr);
// it is visible, so store it
if(tr.flFraction >= 1.0) {
min_index = index;
min_distance_squared = distance_squared;
}
}
}
if(min_index == -1)
pBot->current_wp = runnerUp;
else
pBot->current_wp = min_index;
// give the bot time to arrive at the new waypoint
pBot->f_current_wp_deadline = pBot->f_think_time + BOT_WP_DEADLINE;
// if the bot just spawned make sure it has a current waypoint
if(pBot->current_wp != -1 && (pBot->f_killed_time + 4.0) > pBot->f_think_time) {
BotUpdateHomeInfo(pBot); // if the bot just spawned, report where
// WaypointDrawBeam(INDEXENT(1), pBot->pEdict->v.origin + Vector(0, 0, 70),
// waypoints[pBot->current_wp].origin,
// 10, 2, 250, 250, 250, 200, 10);
}
}
CBaseEntity* UTIL_FindEntityInSphere(CBaseEntity* pStartEntity, const Vector& vecCenter, float flRadius)
{
edict_t* pentEntity = NULL;
if(pStartEntity != NULL)
pentEntity = pStartEntity->edict();
pentEntity = FIND_ENTITY_IN_SPHERE(pentEntity, vecCenter, flRadius);
if(!FNullEnt(pentEntity))
return CBaseEntity::Instance(pentEntity);
return NULL;
}
// This function will tell the bot to face the map coordinates indicated by v_focus
void BotSetFacing(bot_t* pBot, Vector v_focus)
{
v_focus = v_focus - (pBot->pEdict->v.origin + pBot->pEdict->v.view_ofs);
const Vector bot_angles = UTIL_VecToAngles(v_focus);
pBot->pEdict->v.ideal_yaw = bot_angles.y;
pBot->pEdict->v.idealpitch = bot_angles.x;
BotFixIdealYaw(pBot->pEdict);
BotFixIdealPitch(pBot->pEdict);
}
// This function will tell the bot to face the map coordinates
// indicated by v_focus
void BotMatchFacing(bot_t* pBot, Vector v_source, Vector v_focus)
{
v_focus = v_focus - (pBot->pEdict->v.origin + pBot->pEdict->v.view_ofs);
const Vector bot_angles = UTIL_VecToAngles(v_focus);
pBot->pEdict->v.ideal_yaw = bot_angles.y;
pBot->pEdict->v.idealpitch = bot_angles.x;
BotFixIdealYaw(pBot->pEdict);
BotFixIdealPitch(pBot->pEdict);
}
void BotFixIdealPitch(edict_t* pEdict)
{
// check for wrap around of angle...
if(pEdict->v.idealpitch > 180)
pEdict->v.idealpitch -= 360;
else if(pEdict->v.idealpitch < -180)
pEdict->v.idealpitch += 360;
}
float BotChangePitch(edict_t* pEdict, float speed)
{
float ideal = pEdict->v.idealpitch;
float current = -pEdict->v.v_angle.x;
// turn from the current v_angle pitch to the idealpitch by selecting
// the quickest way to turn to face that direction
// find the difference in the current and ideal angle
float diff = fabs(current - ideal);
// check if the bot is already facing the idealpitch direction...
if(diff <= 0.01)
return diff; // return number of degrees turned
// should keep turn speed the same under any fps...hopefully
speed *= (gpGlobals->time - last_frame_time);
speed *= 10;
// check if difference is less than the max degrees per turn
if(diff < speed)
speed = diff; // just need to turn a little bit (less than max)
// here we have four cases, both angle positive, one positive and
// the other negative, one negative and the other positive, or
// both negative. handle each case separately...
if((current >= 0) && (ideal >= 0)) // both positive
{
if(current > ideal)
current -= speed;
else
current += speed;
} else if((current >= 0) && (ideal < 0)) {
const float current_180 = current - 180;
if(current_180 > ideal)
current += speed;
else
current -= speed;
} else if((current < 0) && (ideal >= 0)) {
const float current_180 = current + 180;
if(current_180 > ideal)
current += speed;
else
current -= speed;
} else // (current < 0) && (ideal < 0) both negative
{
if(current > ideal)
current -= speed;
else
current += speed;
}
// check for wrap around of angle...
if(current > 180)
current -= 360;
else if(current < -180)
current += 360;
pEdict->v.v_angle.x = current + pEdict->v.punchangle.x;
pEdict->v.angles.x = pEdict->v.v_angle.x / 3;
pEdict->v.v_angle.x = -pEdict->v.v_angle.x;
pEdict->v.angles.z = 0;
return speed; // return number of degrees turned
}
void BotFixIdealYaw(edict_t* pEdict)
{
// check for wrap around of angle...
if(pEdict->v.ideal_yaw > 180)
pEdict->v.ideal_yaw -= 360;
else if(pEdict->v.ideal_yaw < -180)
pEdict->v.ideal_yaw += 360;
}
float BotChangeYaw(edict_t* pEdict, float speed)
{
float ideal = pEdict->v.ideal_yaw;
float current = pEdict->v.v_angle.y;
// turn from the current v_angle yaw to the ideal_yaw by selecting
// the quickest way to turn to face that direction
// find the difference in the current and ideal angle
float diff = fabs(current - ideal);
// check if the bot is already facing the ideal_yaw direction...
if(diff <= 0.01)
return diff; // return number of degrees turned
speed *= (gpGlobals->time - last_frame_time);
speed *= 10;
// check if difference is less than the max degrees per turn
if(diff < speed)
speed = diff; // just need to turn a little bit (less than max)
// here we have four cases, both angle positive, one positive and
// the other negative, one negative and the other positive, or
// both negative. handle each case separately...
if((current >= 0) && (ideal >= 0)) // both positive
{
if(current > ideal)
current -= speed;
else
current += speed;
} else if((current >= 0) && (ideal < 0)) {
const float current_180 = current - 180;
if(current_180 > ideal)
current += speed;
else
current -= speed;
} else if((current < 0) && (ideal >= 0)) {
const float current_180 = current + 180;
if(current_180 > ideal)
current += speed;
else
current -= speed;
} else // (current < 0) && (ideal < 0) both negative
{
if(current > ideal)
current -= speed;
else
current += speed;
}
// check for wrap around of angle...
if(current > 180)
current -= 360;
else if(current < -180)
current += 360;
pEdict->v.v_angle.y = current + pEdict->v.punchangle.y;
pEdict->v.angles.y = pEdict->v.v_angle.y;
pEdict->v.angles.z = 0;
return speed; // return number of degrees turned
}
// This function is useful when you are trying to steer the bot towards some
// map location without using waypoints.
// For example, this function will try to make the bot jump over or duck under obstacles.
void BotNavigateWaypointless(bot_t* pBot)
{
pBot->f_move_speed = pBot->f_max_speed;
pBot->pEdict->v.button |= IN_FORWARD;
// give the bot time to return to it's waypoint afterwards
pBot->f_current_wp_deadline = pBot->f_think_time + BOT_WP_DEADLINE;
// navigating waypointless may send the bot too far from it's current
// waypoint, so periodically try to keep it up to date
if(pBot->f_periodicAlert1 < pBot->f_think_time) {
if(!VectorsNearerThan(pBot->pEdict->v.origin, waypoints[pBot->current_wp].origin, 800.0) ||
!BotCanSeeOrigin(pBot, waypoints[pBot->current_wp].origin))
BotFindCurrentWaypoint(pBot);
}
BotFallenOffCheck(pBot);
// if not obstructed by a player is the bot obstructed by anything else?
if(BotContactThink(pBot) == NULL) {
// buoyed by water, or on a ladder?
if((pBot->pEdict->v.waterlevel > WL_FEET_IN_WATER && !(pBot->pEdict->v.flags & FL_ONGROUND)) ||
pBot->pEdict->v.movetype == MOVETYPE_FLY) {
// hopefully the bot wont get stuck
} else // not on a ladder or in some water
{
const float botVelocity = pBot->pEdict->v.velocity.Length();
// is the bot getting stuck?
if(botVelocity < 50.0) {
const int jumpResult = BotShouldJumpOver(pBot);
if(jumpResult == 2) // can the bot jump onto something?
{
pBot->pEdict->v.button |= IN_JUMP;
} else {
const int duckResult = BotShouldDuckUnder(pBot);
if(duckResult == 2) // can the bot duck under something?
{
// duck down and move forward
pBot->f_duck_time = pBot->f_think_time + 0.3;
} else // can't duck or jump - try random movement tricks
{
// some maps(e.g. hunted) have undetectable obstacles
// jumping and/or ducking can overcome some of those
if(pBot->f_periodicAlert1 < pBot->f_think_time && random_long(1, 1000) <= 501) {
if(random_long(1, 1000) <= 501)
pBot->pEdict->v.button |= IN_JUMP;
else
pBot->f_duck_time = pBot->f_think_time + random_float(0.3, 1.2);
}
// randomly switch direction to try and get unstuck
if(pBot->f_periodicAlert3 < pBot->f_think_time && random_long(1, 1000) <= 501) {
if(pBot->side_direction == SIDE_DIRECTION_RIGHT)
pBot->side_direction = SIDE_DIRECTION_LEFT;
else
pBot->side_direction = SIDE_DIRECTION_RIGHT;
}
// make sure the bot isn't stuck strafing into a wall
if(BotCheckWallOnRight(pBot))
pBot->side_direction = SIDE_DIRECTION_LEFT;
else if(BotCheckWallOnLeft(pBot))
pBot->side_direction = SIDE_DIRECTION_RIGHT;
if(pBot->side_direction == SIDE_DIRECTION_RIGHT) {
pBot->f_side_speed = pBot->f_max_speed;
pBot->pEdict->v.button |= IN_MOVERIGHT; // so crates can be pushed
} else {
pBot->f_side_speed = -pBot->f_max_speed;
pBot->pEdict->v.button |= IN_MOVELEFT; // so crates can be pushed
}
}
}
}
}
}
}
// You should call this function when pBot->goto_wp is valid and you want
// the bot to get to it.
// Set navByStrafe to TRUE if you wish the bot to navigate by using axial
// movement speeds only(i.e. without having to look at the next waypoint).
bool BotNavigateWaypoints(bot_t* pBot, bool navByStrafe)
{
if(num_waypoints < 1)
return FALSE;
// has the bot been getting stuck a little too often?
if(pBot->routeFailureTally > 1) {
BotEscapeWaypointTrap(pBot, pBot->goto_wp);
pBot->routeFailureTally = 0;
return FALSE;
}
pBot->f_move_speed = pBot->f_max_speed;
pBot->f_side_speed = 0.0;
// is it time to consider taking some kind of route shortcut?
if(pBot->f_shortcutCheckTime < pBot->f_think_time ||
(pBot->f_shortcutCheckTime - 60.0) > pBot->f_think_time) // sanity check
{
pBot->f_shortcutCheckTime = pBot->f_think_time + 1.0;
if(BotFindTeleportShortCut(pBot) == FALSE && pBot->bot_skill < 4) {
if(pBot->pEdict->v.playerclass == TFC_CLASS_MEDIC || pBot->pEdict->v.playerclass == TFC_CLASS_SCOUT)
BotCheckForConcJump(pBot);
else if(pBot->pEdict->v.playerclass == TFC_CLASS_SOLDIER)
BotCheckForRocketJump(pBot);
}
}
// try to navigate by strafing if the bot has an enemy
if(pBot->enemy.ptr != NULL)
navByStrafe = TRUE;
bool botIsSniping = FALSE;
if(pBot->pEdict->v.playerclass == TFC_CLASS_SNIPER && pBot->current_weapon.iId == TF_WEAPON_SNIPERRIFLE &&
(pBot->f_snipe_time >= pBot->f_think_time || pBot->pEdict->v.button & IN_ATTACK)) {
botIsSniping = TRUE;
}
// this bit of code checks if the bot is getting stuck whilst navigating
// or not. it does so by making sure that the bot is making some kind
// of progress towards it's waypoint
if(!botIsSniping) // this code confuses sniping snipers
{
const float waypointDistance = (pBot->pEdict->v.origin - waypoints[pBot->current_wp].origin).Length();
// if the bots waypoint has changed recently assume the bot isn't stuck
if(pBot->current_wp != pBot->curr_wp_diff) {
pBot->curr_wp_diff = pBot->current_wp;
pBot->f_progressToWaypoint = waypointDistance + 0.1;
}
// is the bot the nearest to the waypoint it's been so far?
// (add 1.0 because we want to see sizeable, significant progress)
if((waypointDistance + 1.0) < pBot->f_progressToWaypoint) {
pBot->f_progressToWaypoint = waypointDistance;
// no problem - so reset this
pBot->f_navProblemStartTime = 0.0;
} else // uh-oh - looks liek troubble!
{
// remember when the poor bots troubles began(tell us about your mother)
if(pBot->f_navProblemStartTime < 0.1)
pBot->f_navProblemStartTime = pBot->f_think_time;
}
}
BotContactThink(pBot);
// if the bot has run into some kind of movement problem try to
// handle it here
if(!botIsSniping && pBot->f_navProblemStartTime > 0.1 && (pBot->f_navProblemStartTime + 0.5) < pBot->f_think_time) {
// face the waypoint when navigation is getting hindered
// and it's been going on for too long
if(pBot->enemy.ptr == NULL || (pBot->f_navProblemStartTime + 4.0) < pBot->f_think_time)
navByStrafe = FALSE;
// buoyed by water, or on a ladder?
if((pBot->pEdict->v.waterlevel > WL_FEET_IN_WATER && !(pBot->pEdict->v.flags & FL_ONGROUND)) ||
pBot->pEdict->v.movetype == MOVETYPE_FLY) {
if((pBot->f_navProblemStartTime + 2.0) < pBot->f_think_time) {
job_struct* newJob = InitialiseNewJob(pBot, JOB_GET_UNSTUCK);
if(newJob != NULL)
SubmitNewJob(pBot, JOB_GET_UNSTUCK, newJob);
}
} else // not on a ladder or in some water
{
// if the bot is airborne, duck(useful if jumping onto something)
if(!(pBot->pEdict->v.flags & FL_ONGROUND)) {
// in case the bot forgets it is duck-jumping
if(pBot->pEdict->v.velocity.z > 0.0)
pBot->f_duck_time = pBot->f_think_time + 0.3;
} else // not airborne - time to try and get around an obstruction
{
int jumpResult = BotShouldJumpOver(pBot);
// can the bot jump over something?
if(jumpResult == 2) // 2 == jumpable
{
pBot->pEdict->v.button |= IN_JUMP;
} else // can the bot duck under something?
{
int duckResult = BotShouldDuckUnder(pBot);
if(duckResult == 2) // 2 == duckable
{
pBot->f_duck_time = pBot->f_think_time + 0.3;
}
// can't jump over, can't duck under either, but blocked by something
else if(jumpResult == 1 // 1 = blocked by something
|| duckResult == 1) {
// try to get unstuck, but not too soon
if((pBot->f_navProblemStartTime + 2.0) < pBot->f_think_time) {
job_struct* newJob = InitialiseNewJob(pBot, JOB_GET_UNSTUCK);
if(newJob != NULL)
SubmitNewJob(pBot, JOB_GET_UNSTUCK, newJob);
} else // a little too soon for calling JOB_GET_UNSTUCK
{
// randomly switch direction to try and get unstuck
if(pBot->f_periodicAlert3 < pBot->f_think_time && random_long(1, 1000) <= 501) {
// jump too(it might help occasionally)
pBot->pEdict->v.button |= IN_JUMP;
if(pBot->side_direction == SIDE_DIRECTION_RIGHT)
pBot->side_direction = SIDE_DIRECTION_LEFT;
else
pBot->side_direction = SIDE_DIRECTION_RIGHT;
}
// make sure the bot isn't stuck strafing into a wall
if(BotCheckWallOnRight(pBot))
pBot->side_direction = SIDE_DIRECTION_LEFT;
else if(BotCheckWallOnLeft(pBot))
pBot->side_direction = SIDE_DIRECTION_RIGHT;
if(pBot->side_direction == SIDE_DIRECTION_RIGHT) {
pBot->f_side_speed = pBot->f_max_speed;
pBot->pEdict->v.button |= IN_MOVERIGHT; // so crates can be pushed
} else {
pBot->f_side_speed = -pBot->f_max_speed;
pBot->pEdict->v.button |= IN_MOVELEFT; // so crates can be pushed
}
}
} else // the bot doesn't appear to be blocked by anything it can see
{
// we don't know what's stalling the bot, but we can try a
// few simple tricks(if the bots been stalled for 2 seconds or more)
if((pBot->f_navProblemStartTime + 2.0) < pBot->f_think_time) {
// if the bot is directly below it's current waypoint and not on a ladder
// then assume the bot doesn't know it's fallen off and fix it
if(pBot->pEdict->v.flags & FL_ONGROUND && pBot->pEdict->v.waterlevel != WL_HEAD_IN_WATER &&
!(waypoints[pBot->current_wp].flags & W_FL_LIFT) &&
(pBot->pEdict->v.origin.z + 60.0) < waypoints[pBot->current_wp].origin.z &&
(pBot->pEdict->v.origin - waypoints[pBot->current_wp].origin).Length2D() < 15.0) {
// UTIL_HostSay(pBot->pEdict, 0, "fixed running vertically!");
////DebugMessageOfDoom!
BotFindCurrentWaypoint(pBot);
return FALSE; // to help avoid a repetitive failure
}
// slow down for a couple of seconds(see if that helps)
if(pBot->enemy.ptr == NULL && (pBot->f_navProblemStartTime + 4.0) > pBot->f_think_time)
pBot->f_move_speed = pBot->f_max_speed / 2.0;
// some maps(e.g. hunted) have undetectable obstacles
// jumping and/or ducking can overcome some of those
if(pBot->f_periodicAlert1 < pBot->f_think_time && random_long(1, 1000) <= 501) {
if(random_long(1, 1000) <= 501)
pBot->pEdict->v.button |= IN_JUMP;
else
pBot->f_duck_time = pBot->f_think_time + random_float(0.3, 1.2);
}
}
}
}
}
}
}
// keep navigating the waypoints, unless a serious problem occurred
if(!BotHeadTowardWaypoint(pBot, navByStrafe))
return FALSE;
// allow the bot to react according to the characteristics of it's current waypoint
if(pBot->current_wp != -1) {
// remember how far the bot is from it's current waypoint
const float current_wp_distance = (waypoints[pBot->current_wp].origin - pBot->pEdict->v.origin).Length();
if(navByStrafe == FALSE) {
// slow the bot down as it approaches the final waypoint on it's route
if(pBot->current_wp == pBot->goto_wp) {
if(current_wp_distance < 70.0)
pBot->f_move_speed = pBot->f_max_speed / 4;
else if(current_wp_distance < 130.0)
pBot->f_move_speed = pBot->f_max_speed / 2;
}
// slow down if the next waypoint is a walk waypoint...
if(waypoints[pBot->current_wp].flags & W_FL_WALK && navByStrafe == FALSE)
pBot->f_move_speed = pBot->f_max_speed / 3;
}
// if the bot is approaching a lift
if(waypoints[pBot->current_wp].flags & W_FL_LIFT) {
BotUseLift(pBot);
}
// check if the bot is using a ladder
if(waypoints[pBot->current_wp].flags & W_FL_LADDER || pBot->pEdict->v.movetype == MOVETYPE_FLY) {
BotHandleLadderTraffic(pBot); // try to avoid ladder traffic jams
// if not stopping on the ladder hold the forwards key
if(pBot->f_pause_time < pBot->f_think_time || pBot->current_wp != pBot->goto_wp) {
pBot->pEdict->v.button |= IN_FORWARD;
}
}
// check if the next waypoint is a jump waypoint...
if(waypoints[pBot->current_wp].flags & W_FL_JUMP) {
if(pBot->pEdict->v.flags & FL_ONGROUND && pBot->f_pause_time < pBot->f_think_time) {
const Vector jumpPoint =
waypoints[pBot->current_wp].origin - (pBot->pEdict->v.origin + pBot->pEdict->v.view_ofs);
// pause briefly if the bot is not facing the jump waypoint enough
if(BotInFieldOfView(pBot, jumpPoint) > 20)
pBot->f_pause_time = pBot->f_think_time + 0.2;
else if(current_wp_distance < 100.0f) // otherwise jump
pBot->pEdict->v.button |= IN_JUMP;
}
if(pBot->pEdict->v.velocity.z > 0.0)
pBot->f_duck_time = pBot->f_think_time + 0.25; // for extra clearance
}
// see if the bot is about to get stuck along a blocked route
// e.g. a detpack tunnel
if(pBot->current_wp != pBot->goto_wp && (waypoints[pBot->current_wp].flags & W_FL_PATHCHECK ||
waypoints[pBot->current_wp].flags & W_FL_TFC_DETPACK_CLEAR ||
waypoints[pBot->current_wp].flags & W_FL_TFC_DETPACK_SEAL)) {
// remember if the bot is going to a goal waypoint or a route branching waypoint
int nextWP;
if(pBot->branch_waypoint == -1)
nextWP = WaypointRouteFromTo(pBot->current_wp, pBot->goto_wp, pBot->current_team);
else
nextWP = WaypointRouteFromTo(pBot->current_wp, pBot->branch_waypoint, pBot->current_team);
if(nextWP > -1 && BotPathCheck(pBot->current_wp, nextWP) == FALSE)
BotChangeRoute(pBot);
}
}
return TRUE; // all is well so far
}
// This function would probably be a good place to check to see how close
// to the current waypoint the bot is, and if the bot is close enough to
// the desired waypoint then call BotFindWaypoint to find the next one.
// Set navByStrafe to TRUE if you wish the bot to navigate by using axial
// movement speeds only(i.e. without having to look at the next waypoint).
bool BotHeadTowardWaypoint(bot_t* pBot, bool& r_navByStrafe)
{
// check if the bot is taking too long to reach it's current waypoint
if(pBot->f_current_wp_deadline < pBot->f_think_time) {
// tidy up the bots current waypoint, in case it's behind a wall
pBot->current_wp = WaypointFindNearest_S(
pBot->pEdict->v.origin, pBot->pEdict, REACHABLE_RANGE, pBot->current_team, lostBotIgnoreFlags);
pBot->f_current_wp_deadline = pBot->f_think_time + BOT_WP_DEADLINE;
++pBot->routeFailureTally; // chalk up another route failure
return FALSE; // give up
}
BotFallenOffCheck(pBot);
// if the bot has a destination waypoint and a current waypoint
if(pBot->current_wp != -1 && pBot->goto_wp != -1) {
// turn r_navByStrafe off if the bot is using a ladder unless
// it has seen an enemy recently and isn't getting seriously stuck
if(r_navByStrafe == TRUE &&
(waypoints[pBot->current_wp].flags & W_FL_LADDER || pBot->pEdict->v.movetype == MOVETYPE_FLY)) {
if(pBot->enemy.ptr == NULL)
r_navByStrafe = FALSE;
else if(pBot->f_navProblemStartTime > 0.1 && (pBot->f_navProblemStartTime + 4.0) < pBot->f_think_time)
r_navByStrafe = FALSE;
}
// if the bot is not navigating by strafing or is approaching
// a jump waypoint then face towards the current waypoint
if(r_navByStrafe == FALSE || waypoints[pBot->current_wp].flags & W_FL_JUMP) {
Vector v_direction = waypoints[pBot->current_wp].origin - pBot->pEdict->v.origin;
Vector bot_angles = UTIL_VecToAngles(v_direction);
pBot->idle_angle = bot_angles.y;
// allow bots to approach non-goal waypoints imprecisely
if(pBot->current_wp != pBot->goto_wp)
pBot->idle_angle += pBot->f_waypoint_drift;
pBot->pEdict->v.ideal_yaw = pBot->idle_angle;
pBot->pEdict->v.idealpitch = bot_angles.x;
} else // navByStrafe is active
{
// navigate towards the current waypoint using axial movement speeds only
// to do this we need to know the angle of the bots current waypoint
// from the bots view angle
// get the angle towards the bots current waypoint
Vector offset = waypoints[pBot->current_wp].origin - pBot->pEdict->v.origin;
Vector vang = UTIL_VecToAngles(offset);
vang.y -= pBot->pEdict->v.v_angle.y;
vang.y = 360.0 - vang.y;
// wrap Y if need be
if(vang.y < 0.0)
vang.y += 360.0;
else if(vang.y > 360.0)
vang.y -= 360.0;
/* // debug stuff
char msg[96];
sprintf(msg, "vang.y %f, v_angle %f",
vang.y, pBot->pEdict->v.v_angle.y);
UTIL_HostSay(pBot->pEdict, 0, msg); //DebugMessageOfDoom!*/
// is the waypoint ahead?
if(vang.y > 275.0 || vang.y < 85.0) {
// do nothing, leave the bots forward speed as it is
}
// if the waypoint is behind, go backwards
else if(vang.y > 95.0 && vang.y < 265.0)
pBot->f_move_speed = -pBot->f_move_speed;
else
pBot->f_move_speed = 0.0; // waypoint is not ahead or behind
// if the waypoint is on the left, sidestep left
if(vang.y > 185.0 && vang.y < 355.0) {
pBot->side_direction = SIDE_DIRECTION_LEFT;
pBot->f_side_speed = -(pBot->f_max_speed);
}
// if the waypoint is on the right, sidestep right
else if(vang.y > 5.0 && vang.y < 175.0) {
pBot->side_direction = SIDE_DIRECTION_RIGHT;
pBot->f_side_speed = pBot->f_max_speed;
} else
pBot->f_side_speed = 0.0; // not on left or right, don't strafe sideways
// now to handle vertical movement when swimming(or bobbing on the surface of water)
if(pBot->pEdict->v.waterlevel == WL_HEAD_IN_WATER ||
(pBot->pEdict->v.waterlevel == WL_WAIST_IN_WATER // on the surface
&& !(pBot->pEdict->v.flags & FL_ONGROUND))) {
// swim up if below the waypoint
if(pBot->pEdict->v.origin.z < (waypoints[pBot->current_wp].origin.z - 5.0)) {
// WaypointDrawBeam(INDEXENT(1), pBot->pEdict->v.origin + pBot->pEdict->v.view_ofs,
// pBot->pEdict->v.origin + Vector(0, 0, 100.0),
// 10, 2, 250, 250, 50, 200, 10);
pBot->f_vertical_speed = pBot->f_max_speed;
}
// swim down if above the waypoint
else if(pBot->pEdict->v.origin.z > (waypoints[pBot->current_wp].origin.z + 5.0)) {
// WaypointDrawBeam(INDEXENT(1), pBot->pEdict->v.origin + pBot->pEdict->v.view_ofs,
// pBot->pEdict->v.origin + Vector(0, 0, 100.0),
// 10, 2, 250, 250, 250, 200, 10);
pBot->f_vertical_speed = -pBot->f_max_speed;
}
}
}
}
if(BotUpdateRoute(pBot))
return TRUE;
else
return FALSE;
}
// BotUpdateRoute()
// Selects the next waypoint along the bot's route.
static bool BotUpdateRoute(bot_t* pBot)
{
int new_current_wp; // what pBot->current_wp might be set to
edict_t* pEdict = pBot->pEdict;
// If the bot doesn't have a current waypoint, then lets
// try sending the bot to the closest waypoint.
if(pBot->current_wp < 0) {
// UTIL_HostSay(pBot->pEdict, 0, "BotFindWaypoint, current_wp == -1"); //DebugMessageOfDoom!
// find the nearest visible waypoint
new_current_wp = WaypointFindNearest_S(
pBot->pEdict->v.origin, pEdict, REACHABLE_RANGE, pBot->current_team, lostBotIgnoreFlags);
if(new_current_wp != -1) {
pBot->current_wp = new_current_wp;
pBot->f_current_wp_deadline = pBot->f_think_time + BOT_WP_DEADLINE;
return TRUE;
} else
return FALSE; // couldn't find a current waypoint for the bot
} else // the bot already has a current waypoint
{
new_current_wp = pBot->current_wp;
// if the bot has a new goal waypoint, dump/reset the current branching waypoint
if(pBot->goto_wp != pBot->lastgoto_wp)
pBot->branch_waypoint = -1;
// if the bot took a branching route and has arrived at the branching waypoint
// then continue onwards to the goal waypoint
if(pBot->current_wp == pBot->branch_waypoint) {
// UTIL_HostSay(pBot->pEdict, 0, "resuming from sideroute"); //DebugMessageOfDoom!
pBot->branch_waypoint = -1;
}
pBot->lastgoto_wp = pBot->goto_wp; // allows us to monitor for changed goal waypoints
const float dist = (waypoints[new_current_wp].origin - pBot->pEdict->v.origin).Length();
// try to find the next waypoint on the route to the bots goal
int nextWP;
if(pBot->branch_waypoint == -1)
nextWP = WaypointRouteFromTo(pBot->current_wp, pBot->goto_wp, pBot->current_team);
else // bots current goal is a branching waypoint
nextWP = WaypointRouteFromTo(pBot->current_wp, pBot->branch_waypoint, pBot->current_team);
// figure out how near to the bot's current waypoint the bot has to be
// before it will move on the next waypoint
float needed_distance = 50.0; // standard distance for most waypoint types
bool heightCheck = TRUE; // used only when climbing ladders
if(pBot->pEdict->v.movetype == MOVETYPE_FLY) {
// if the bot is on a ladder make sure it is just above the waypoint
needed_distance = 20.0; // got to be near when on a ladder
if(pBot->pEdict->v.origin.z < waypoints[new_current_wp].origin.z ||
pBot->pEdict->v.origin.z > (waypoints[new_current_wp].origin.z + 10.0))
heightCheck = FALSE;
} else if(waypoints[new_current_wp].flags & W_FL_JUMP) {
// gotta be similar height or higher than jump waypoint
if(pBot->pEdict->v.origin.z < (waypoints[new_current_wp].origin.z - 15.0) ||
pBot->pEdict->v.flags & FL_ONGROUND)
heightCheck = FALSE;
needed_distance = 80.0;
} else if(waypoints[new_current_wp].flags & W_FL_LIFT)
needed_distance = 25.0; // some lifts are small(e.g. rock2's lifts)
else if(waypoints[new_current_wp].flags & W_FL_WALK)
needed_distance = 20.0;
bool waypointTouched = FALSE;
// if the bot's near enough to it's current waypoint, and it hasn't
// reached it's destination then pick the next waypoint on the route
if(new_current_wp != pBot->goto_wp && dist < needed_distance && heightCheck == TRUE) {
waypointTouched = TRUE;
}
// this check can solve waypoint circling problems
else if(dist < 100.0 && pBot->f_navProblemStartTime > 0.1 &&
(pBot->f_navProblemStartTime + 0.5) < pBot->f_think_time) {
if(nextWP != -1 && nextWP != pBot->goto_wp) {
const float pathDistance =
static_cast<float>(WaypointDistanceFromTo(new_current_wp, nextWP, pBot->current_team));
const float distToNext = (waypoints[nextWP].origin - pBot->pEdict->v.origin).Length();
// see if the bot is near enough to the next waypoint despite
// not touching the current waypoint
if(distToNext < pathDistance && (dist + distToNext) < (pathDistance + 50.0)) {
// WaypointDrawBeam(INDEXENT(1), pBot->pEdict->v.origin,
// pBot->pEdict->v.origin + Vector(0, 0, 100.0),
// 10, 2, 250, 250, 250, 200, 10);
waypointTouched = TRUE;
}
}
}
if(waypointTouched) {
if(nextWP != -1 && nextWP < num_waypoints) {
new_current_wp = nextWP;
pBot->routeFailureTally = 0; // all is well, reset this
} else // bot has no route to it's goal
{
++pBot->routeFailureTally; // chalk up another route failure
new_current_wp = pBot->current_wp;
}
// set the amount of time to get to the new current waypoint
if(new_current_wp != pBot->current_wp)
pBot->f_current_wp_deadline = pBot->f_think_time + BOT_WP_DEADLINE;
pBot->current_wp = new_current_wp;
// lemming check! try to stop the bot running off a cliff
/* if(nextWP != -1
&& nextWP != pBot->goto_wp
&& static_cast<int>(pBot->pEdict->v.health) < 91
&& !(waypoints[nextWP].flags & W_FL_LADDER)
&& (waypoints[nextWP].origin.z + 300.0) < pBot->pEdict->v.origin.z)
{
char msg[80];
sprintf(msg, "<Avoiding drop of height: %f>",
pBot->pEdict->v.origin.z - waypoints[nextWP].origin.z);
UTIL_HostSay(pBot->pEdict, 0, msg);//DebugMessageOfDoom!
BotChangeRoute(pBot);
}*/
// now that the bot has picked the next waypoint on the route
// to its goal, consider trying an alternate route
BotFindSideRoute(pBot);
}
return TRUE;
}
}
// This is a fairly simple function.
// If the bot is on a ladder going down, jump off if someone is on
// the ladder coming up.
static void BotHandleLadderTraffic(bot_t* pBot)
{
// only handle bots that are on ladders heading downwards
if(pBot->current_wp == -1 || pBot->pEdict->v.movetype != MOVETYPE_FLY ||
waypoints[pBot->current_wp].origin.z > pBot->pEdict->v.origin.z)