#define IN_WATER(pos) (cont = pointcontents(pos), (cont == CONTENT_WATER || cont == CONTENT_LAVA || cont == CONTENT_SLIME))
#define SUBMERGED(pos) IN_WATER(pos + autocvar_sv_player_viewoffset)
-#define WATERFEET(pos) IN_WATER(pos + eZ * (m1.z + 1))
-
-#define RESURFACE(org) MACRO_BEGIN { \
- while(org.z + 4 < end2.z) { \
- if(!WATERFEET(org + eZ * 4)) \
- break; \
- org.z += 4; \
- } \
-} MACRO_END
+#define WETFEET(pos) IN_WATER(pos + eZ * (m1.z + 1))
+
+vector resurface_limited(vector org, float lim, vector m1)
+{
+ int cont;
+ if (WETFEET(org + eZ * (lim - org.z)))
+ org.z = lim;
+ else
+ {
+ float RES_min_h = org.z;
+ float RES_max_h = lim;
+ do {
+ org.z = 0.5 * (RES_min_h + RES_max_h);
+ if(WETFEET(org))
+ RES_min_h = org.z;
+ else
+ RES_max_h = org.z;
+ } while (RES_max_h - RES_min_h >= 1);
+ org.z = RES_min_h;
+ }
+ return org;
+}
+#define RESURFACE_LIMITED(org, lim) org = resurface_limited(org, lim, m1)
+
+#define NAV_WALK 0
+#define NAV_SWIM_ONWATER 1
+#define NAV_SWIM_UNDERWATER 2
+
// rough simulation of walking from one point to another to test if a path
// can be traveled, used for waypoint linking and havocbot
// if end_height is > 0 destination is any point in the vertical segment [end, end + end_height * eZ]
dir = normalize(dir);
float stepdist = 32;
bool ignorehazards = false;
- bool swimming = false;
- bool swimming_outwater = false;
int cont;
+ int nav_action;
// Analyze starting point
traceline(start, start, MOVE_NORMAL, e);
vector end2 = end;
if(end_height)
end2.z += end_height;
+
+ vector fixed_end = end;
+ vector move;
+
+ if (dist > 0 && WETFEET(org))
+ {
+ if (SUBMERGED(org))
+ nav_action = NAV_SWIM_UNDERWATER;
+ else
+ {
+ // tracebox down by player's height
+ // useful to know if water level is so low that bot can still walk
+ tracebox(org, m1, m2, org - eZ * (m2.z - m1.z), movemode, e);
+ if (SUBMERGED(trace_endpos))
+ {
+ org = trace_endpos;
+ nav_action = NAV_SWIM_UNDERWATER;
+ }
+ else
+ nav_action = NAV_WALK;
+ }
+ }
+ else
+ nav_action = NAV_WALK;
+
// Movement loop
- for (;;)
+ while (true)
{
- if (boxesoverlap(end, end2, org + '-1 -1 -1', org + '1 1 1'))
+ if (dist <= 0)
{
- // Succeeded
- if(autocvar_bot_debug_tracewalk)
- debugnodestatus(org, DEBUG_NODE_SUCCESS);
+ bool success = true;
+ if (org.z > end2.z + 1)
+ {
+ tracebox(org, m1, m2, end2, movemode, e);
+ org = trace_endpos;
+ if (org.z > end2.z + 1)
+ success = false;
+ }
+ else if (org.z < end.z - 1)
+ {
+ tracebox(org, m1, m2, org - jumpheight_vec, movemode, e);
+ if (SUBMERGED(trace_endpos))
+ RESURFACE_LIMITED(trace_endpos, end.z);
+ else if (trace_endpos.z > org.z - jumpheight_vec.z)
+ tracebox(trace_endpos, m1, m2, trace_endpos + jumpheight_vec, movemode, e);
+ org = trace_endpos;
+ if (org.z < end.z - 1)
+ success = false;
+ }
- //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
- return true;
+ if (success)
+ {
+ // Succeeded
+ if(autocvar_bot_debug_tracewalk)
+ {
+ debugnode(e, org);
+ debugnodestatus(org, DEBUG_NODE_SUCCESS);
+ }
+
+ //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+ return true;
+ }
}
+
if(autocvar_bot_debug_tracewalk)
debugnode(e, org);
return false;
}
}
- if ((trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK) || swimming)
+
+ if(nav_action == NAV_SWIM_UNDERWATER || (nav_action == NAV_SWIM_ONWATER && org.z > end2.z))
{
- vector water_end = end;
- water_end.z = bound(end.z, org.z, end2.z);
- vector move;
- if(swimming_outwater)
- {
- if (stepdist > dist)
- stepdist = dist;
- dist -= stepdist;
- move = org + dir * stepdist;
- }
- else
- {
- // can't use movement direction here to calculate move because of precision errors
- // especially when direction has a high enough z value
- //water_dir = normalize(water_end - org);
- //move = org + water_dir * stepdist;
-
- if (stepdist > dist)
- stepdist = dist;
- move = org + (water_end - org) * (stepdist / dist);
- dist = vlen(vec2(water_end - move));
+ // can't use movement direction here to calculate move because of
+ // precision errors especially when direction has a high enough z value
+ //water_dir = normalize(water_end - org);
+ //move = org + water_dir * stepdist;
+ fixed_end.z = bound(end.z, org.z, end2.z);
+ if (stepdist > dist)
+ stepdist = dist;
+ if (stepdist == dist) {
+ move = fixed_end;
+ dist = 0;
+ } else {
+ move = org + (fixed_end - org) * (stepdist / dist);
+ dist = vlen(vec2(fixed_end - move));
}
+ }
+ else // horiz. direction
+ {
+ if (stepdist > dist)
+ stepdist = dist;
+ dist -= stepdist;
+ move = org + dir * stepdist;
+ }
- tracebox(org, m1, m2, move, movemode, e);
- if (trace_fraction < 1) // cant swim in the current direction
+ if(nav_action == NAV_SWIM_ONWATER)
+ {
+ tracebox(org, m1, m2, move, movemode, e); // swim
+
+ // hit something
+ if (trace_fraction < 1)
{
- if(dist <= 0)
- tracebox(org + stepheightvec, m1, m2, move, movemode, e);
- else
- tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
- if (trace_startsolid)
+ // stepswim
+ tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+ if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
{
+ if(navigation_checkladders(e, trace_endpos, m1, m2, end, end2, movemode))
+ {
+ if(autocvar_bot_debug_tracewalk)
+ {
+ debugnode(e, trace_endpos);
+ debugnodestatus(trace_endpos, DEBUG_NODE_SUCCESS);
+ }
+
+ //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
+ return true;
+ }
+
if(autocvar_bot_debug_tracewalk)
- debugnodestatus(org, DEBUG_NODE_FAIL);
+ debugnodestatus(trace_endpos, DEBUG_NODE_FAIL);
return false;
- //print("tracewalk: ", vtos(start), " failed under water\n");
+ //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
}
- if (trace_fraction < 1) // cant step-swim in the current direction
+ //succesful stepswim
+
+ if (dist <= 0)
{
- if(autocvar_bot_debug_tracewalk)
- debugnodestatus(org, DEBUG_NODE_WARNING);
+ org = trace_endpos;
+ continue;
+ }
+
+ if (org.z <= move.z) // going horiz.
+ {
+ tracebox(trace_endpos, m1, m2, move, movemode, e);
+ org = trace_endpos;
+ nav_action = NAV_WALK;
+ continue;
+ }
+ }
- if(WATERFEET(org))
+ if (org.z <= move.z) // going horiz.
+ {
+ org = trace_endpos;
+ nav_action = NAV_SWIM_ONWATER;
+ }
+ else // going down
+ {
+ org = trace_endpos;
+ if (SUBMERGED(org))
+ nav_action = NAV_SWIM_UNDERWATER;
+ else
+ nav_action = NAV_SWIM_ONWATER;
+ }
+ }
+ else if(nav_action == NAV_SWIM_UNDERWATER)
+ {
+ if (move.z >= org.z) // swimming upwards or horiz.
+ {
+ tracebox(org, m1, m2, move, movemode, e); // swim
+
+ bool stepswimmed = false;
+
+ // hit something
+ if (trace_fraction < 1)
+ {
+ // stepswim
+ vector stepswim_move = move + stepheightvec;
+ if (dist > 0 && stepswim_move.z > end2.z) // don't allow stepswim to go higher than destination
+ stepswim_move.z = end2.z;
+
+ tracebox(org + stepheightvec, m1, m2, stepswim_move, movemode, e);
+
+ // hit something
+ if (trace_startsolid)
{
- RESURFACE(org);
if(autocvar_bot_debug_tracewalk)
- debugnode(e, org);
-
- move = org + dir * stepdist;
+ debugnodestatus(org, DEBUG_NODE_FAIL);
- tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+ //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+ return false;
}
- if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
+ if (trace_fraction < 1)
{
- vector v = trace_endpos - stepheightvec + jumpheight_vec;
- if(navigation_checkladders(e, v, m1, m2, end, end2, movemode))
+ float org_z_prev = org.z;
+ RESURFACE_LIMITED(org, end2.z);
+ if(org.z == org_z_prev)
{
if(autocvar_bot_debug_tracewalk)
- {
- debugnode(e, v);
- debugnodestatus(v, DEBUG_NODE_SUCCESS);
- }
+ debugnodestatus(org, DEBUG_NODE_FAIL);
- //print("tracewalk: ", vtos(start), " can reach ", vtos(end), "\n");
- return true;
+ //print("tracewalk: ", vtos(start), " can't reach ", vtos(end), "\n");
+ return false;
}
+ if(SUBMERGED(org))
+ nav_action = NAV_SWIM_UNDERWATER;
+ else
+ nav_action = NAV_SWIM_ONWATER;
- if(autocvar_bot_debug_tracewalk)
- debugnodestatus(org, DEBUG_NODE_FAIL);
+ // we didn't advance horiz. in this step, dist decrease should be reverted
+ // but we can do it properly right now... apply this workaround instead
+ if (dist <= 0)
+ dist = 1;
- return false;
- //print("tracewalk: ", vtos(start), " failed under water\n");
+ continue;
}
- // successfully jumped obstacle up out of water
- move = trace_endpos;
- tracebox(move, m1, m2, move + '0 0 -65536', movemode, e);
- if(autocvar_bot_debug_tracewalk && trace_endpos != move)
- debugnode(e, move);
- org = trace_endpos;
+ //succesful stepswim
- swimming = false;
- swimming_outwater = false;
+ if (dist <= 0)
+ {
+ org = trace_endpos;
+ continue;
+ }
- continue;
+ stepswimmed = true;
}
- }
- float height = trace_endpos.z - org.z;
+ if (!WETFEET(trace_endpos))
+ {
+ tracebox(trace_endpos, m1, m2, trace_endpos - eZ * (stepdist + (m2.z - m1.z)), movemode, e);
+ // if stepswimmed we'll land on the obstacle, avoid the SUBMERGED check
+ if (!stepswimmed && SUBMERGED(trace_endpos))
+ {
+ RESURFACE_LIMITED(trace_endpos, end2.z);
+ org = trace_endpos;
+ nav_action = NAV_SWIM_ONWATER;
+ continue;
+ }
- // successfully advanced by swimming or step-swimming
- org = trace_endpos;
+ // not submerged
+ org = trace_endpos;
+ nav_action = NAV_WALK;
+ continue;
+ }
- if(height > 0 && (swimming || !SUBMERGED(org)))
+ // wetfeet
+ org = trace_endpos;
+ nav_action = NAV_SWIM_UNDERWATER;
+ continue;
+ }
+ else //if (move.z < org.z) // swimming downwards
{
- swimming = true;
- if(!swimming_outwater && !WATERFEET(org))
+ tracebox(org, m1, m2, move, movemode, e); // swim
+
+ // hit something
+ if (trace_fraction < 1)
{
- // put it back in the water if it gets out of water
- do {
- org.z -= 4;
- if(WATERFEET(org))
- break;
- } while(org.z > height);
- swimming_outwater = true;
+ // stepswim
+ tracebox(org + stepheightvec, m1, m2, move + stepheightvec, movemode, e);
+
+ // hit something
+ if (trace_fraction < 1 || trace_startsolid) // can't jump obstacle out of water
+ {
+ if(autocvar_bot_debug_tracewalk)
+ debugnodestatus(move, DEBUG_NODE_FAIL);
+
+ //print("tracewalk: ", vtos(start), " hit something when trying to reach ", vtos(end), "\n");
+ return false;
+ }
+
+ //succesful stepswim
+
+ if (dist <= 0)
+ {
+ org = trace_endpos;
+ continue;
+ }
+
+ if (trace_endpos.z > org.z && !SUBMERGED(trace_endpos))
+ {
+ // stepswim caused upwards direction
+ tracebox(trace_endpos, m1, m2, trace_endpos - stepheightvec, movemode, e);
+ if (!SUBMERGED(trace_endpos))
+ {
+ org = trace_endpos;
+ nav_action = NAV_WALK;
+ continue;
+ }
+ }
}
+
+ org = trace_endpos;
+ nav_action = NAV_SWIM_UNDERWATER;
+ continue;
}
}
- else // if (!((trace_dpstartcontents & DPCONTENTS_LIQUIDSMASK) || swimming))
+ else if(nav_action == NAV_WALK)
{
- if (stepdist > dist)
- stepdist = dist;
- dist -= stepdist;
-
- vector move = org + dir * stepdist;
+ // walk
tracebox(org, m1, m2, move, movemode, e);
if(autocvar_bot_debug_tracewalk)
else
move = trace_endpos;
+ if (dist <= 0)
+ {
+ org = move;
+ continue;
+ }
+
// trace down from stepheight as far as possible and move there,
// if this starts in solid we try again without the stepup, and
// if that also fails we assume it is a wall
org = trace_endpos;
- if(org.z < move.z && SUBMERGED(org))
+ if(org.z > move.z - 1 || !SUBMERGED(org))
{
- // ended up underwater while walking, resurface
- if(autocvar_bot_debug_tracewalk)
- debugnode(e, org);
- RESURFACE(org);
- swimming = true;
- swimming_outwater = true;
+ nav_action = NAV_WALK;
+ continue;
}
+
+ // ended up submerged while walking
+ if(autocvar_bot_debug_tracewalk)
+ debugnode(e, org);
+
+ RESURFACE_LIMITED(org, move.z);
+ nav_action = NAV_SWIM_ONWATER;
+ continue;
}
}
projects / xonotic / xonotic-data.pk3dir.git / commitdiff