No need to require that last but one waypoint can see route goal for getting removed...

diff --git a/qcsrc/server/bot/default/navigation.qc b/qcsrc/server/bot/default/navigation.qc
index 2826aed9ea1e436b65a86c8a5d372af27528a99e..8b865fcf33e7ef895ed28e160a1e88dd4402c510 100644 (file)
--- a/qcsrc/server/bot/default/navigation.qc
+++ b/qcsrc/server/bot/default/navigation.qc
@@ -771,7 +771,7 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom
        vector v, v2;
        float v2_height;
 
-       if(!autocvar_g_waypointeditor && !ent.navigation_dynamicgoal)
+       if(!autocvar_g_waypointeditor && walkfromwp && !ent.navigation_dynamicgoal)
        {
                waypoint_clearlinks(ent); // initialize wpXXmincost fields
                IL_EACH(g_waypoints, it != ent,
@@ -779,8 +779,9 @@ entity navigation_findnearestwaypoint_withdist_except(entity ent, float walkfrom
                        if(walkfromwp && (it.wpflags & WAYPOINTFLAG_NORELINK))
                                continue;
 
-                       SET_TRACEWALK_DESTCOORDS_2(it, org, v, v2, v2_height);
-                       if(navigation_waypoint_will_link(v, org, ent, v2, v2_height, walkfromwp, 1050))
+                       SET_TRACEWALK_DESTCOORDS(it, org, v2, v2_height);
+                       if(vdist(v2 - org, <, 1050))
+                       if(tracewalk(ent, org, PL_MIN_CONST, PL_MAX_CONST, v2, v2_height, bot_navigation_movemode))
                                navigation_item_addlink(it, ent);
                });
        }
@@ -1301,6 +1302,7 @@ bool navigation_routetogoal(entity this, entity e, vector startposition)
                        if (this.goalentity.navigation_dynamicgoal || autocvar_g_waypointeditor)
                        {
                                SET_TRACEWALK_DESTCOORDS(e, nearest_wp.enemy.origin, dest, dest_height);
+                               if(vdist(dest - nearest_wp.enemy.origin, <, 1050))
                                if(tracewalk(this, nearest_wp.enemy.origin, STAT(PL_MIN, this), STAT(PL_MAX, this), dest, dest_height, bot_navigation_movemode))
                                        e = nearest_wp.enemy;
                        }