From: mand1nga <mand1nga@xonotic.org>
Date: Wed, 20 Apr 2011 07:34:23 +0000 (-0300)
Subject: Added a better handling of stuck bots. Walkability is checked for every potential...
X-Git-Tag: xonotic-v0.5.0~264^2~28^2~1^2~9
X-Git-Url: https://git.rm.cloudns.org/?a=commitdiff_plain;h=9c00831f15821273adee4870b692443feddfb09f;p=xonotic%2Fxonotic-data.pk3dir.git
Added a better handling of stuck bots. Walkability is checked for every potential goal, and this check is spread among many frames. Also bots get unstuck one at a time, preventing server lag.
---
diff --git a/qcsrc/server/bot/bot.qc b/qcsrc/server/bot/bot.qc
index 581e3f0c7..5c70af58c 100644
--- a/qcsrc/server/bot/bot.qc
+++ b/qcsrc/server/bot/bot.qc
@@ -99,6 +99,10 @@ void bot_think()
}
}
+ //
+ if(self.aistatus & AI_STATUS_STUCK)
+ navigation_unstuck();
+
// now call the current bot AI (havocbot for example)
self.bot_ai();
};
@@ -374,6 +378,8 @@ void bot_clientdisconnect()
self.playermodel_freeme = string_null;
self.playerskin_freeme = string_null;
remove(self.bot_cmd_current);
+ if(navigation_wander_owner==self)
+ navigation_wander_owner = world;
}
void bot_clientconnect()
diff --git a/qcsrc/server/bot/bot.qh b/qcsrc/server/bot/bot.qh
index 9e6d447e6..b4556bb76 100644
--- a/qcsrc/server/bot/bot.qh
+++ b/qcsrc/server/bot/bot.qh
@@ -13,6 +13,7 @@ float AI_STATUS_WAYPOINT_PERSONAL_GOING = 128; // Going to a personal waypoint
float AI_STATUS_WAYPOINT_PERSONAL_REACHED = 256; // Personal waypoint reached
float AI_STATUS_JETPACK_FLYING = 512;
float AI_STATUS_JETPACK_LANDING = 1024;
+float AI_STATUS_STUCK = 2048; // bot cannot reach any useful goal
.float isbot; // true if this client is actually a bot
.float aistatus;
diff --git a/qcsrc/server/bot/navigation.qc b/qcsrc/server/bot/navigation.qc
index e460bdc57..e39c5408d 100644
--- a/qcsrc/server/bot/navigation.qc
+++ b/qcsrc/server/bot/navigation.qc
@@ -890,6 +890,9 @@ void navigation_poptouchedgoals()
// begin a goal selection session (queries spawnfunc_waypoint network)
void navigation_goalrating_start()
{
+ if(self.aistatus & AI_STATUS_STUCK)
+ return;
+
self.navigation_jetpack_goal = world;
navigation_bestrating = -1;
self.navigation_hasgoals = FALSE;
@@ -901,31 +904,21 @@ void navigation_goalrating_start()
// ends a goal selection session (updates goal stack to the best goal)
void navigation_goalrating_end()
{
+ if(self.aistatus & AI_STATUS_STUCK)
+ return;
+
navigation_routetogoal(navigation_bestgoal, self.origin);
// dprint("best goal ", self.goalcurrent.classname , "\n");
- // Hack: if it can't walk to any goal just move blindly to the first visible waypoint
+ // If the bot got stuck then try to reach the farthest waypoint
if not (self.navigation_hasgoals)
if (autocvar_bot_wander_enable)
{
- if not(autocvar_g_campaign)
- dprint(self.netname, " can't walk to any goal, going to a near waypoint\n");
-
- entity head;
-
- RandomSelection_Init();
- head = findradius(self.origin,1000);
- while(head)
+ if not(self.aistatus & AI_STATUS_STUCK)
{
- if(head.classname=="waypoint")
- if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
- if(vlen(self.origin-head.origin)>100)
- if(checkpvs(self.view_ofs,head))
- RandomSelection_Add(head, 0, string_null, 1 + (vlen(self.origin-head.origin)<500), 0);
- head = head.chain;
+ dprint(self.netname, " cannot walk to any goal\n");
+ self.aistatus |= AI_STATUS_STUCK;
}
- if(RandomSelection_chosen_ent)
- navigation_routetogoal(RandomSelection_chosen_ent, self.origin);
self.navigation_hasgoals = FALSE; // Reset this value
}
@@ -968,6 +961,90 @@ void botframe_updatedangerousobjects(float maxupdate)
}
};
+void navigation_unstuck()
+{
+ if not(navigation_wander_owner)
+ {
+ dprint(self.netname, " taking over the waypoints queue\n");
+ navigation_wander_owner = self;
+ navigation_wander_bestgoal = world;
+ navigation_wander_bestgoalrating = 0;
+ }
+
+ if(navigation_wander_owner!=self)
+ return;
+
+ if (navigation_wander_goal)
+ {
+ // evaluate the next goal on the queue
+ float d = vlen(self.origin - navigation_wander_goal.origin);
+ dprint(self.netname, " evaluating ", navigation_wander_goal.classname, " with distance ", ftos(d), "\n");
+ if(tracewalk(navigation_wander_goal, self.origin, PL_MIN, PL_MAX, navigation_wander_goal.origin, bot_navigation_movemode))
+ {
+ if( d > navigation_wander_bestgoalrating)
+ {
+ navigation_wander_bestgoalrating = d;
+ navigation_wander_bestgoal = navigation_wander_goal;
+ }
+ }
+ navigation_wander_goal = navigation_wander_goal.navigation_wander_nextgoal;
+
+ if not(navigation_wander_goal)
+ {
+ if (navigation_wander_bestgoal)
+ {
+ navigation_routetogoal(navigation_wander_bestgoal, self.origin);
+ self.bot_strategytime = time + autocvar_bot_ai_strategyinterval;
+ self.aistatus &~= AI_STATUS_STUCK;
+ }
+ else
+ {
+ dprint(self.netname, " got BADLY stuck, giving up.\n");
+ }
+
+ navigation_wander_owner = world;
+ }
+ }
+ else
+ {
+ // build a new queue
+ dprint(self.netname, " building a new wayoints queue\n");
+
+ entity first, head, prev;
+ head = findradius(self.origin, 1000);
+
+ while(head)
+ {
+ if(head.classname=="waypoint")
+ if(!(head.wpflags & WAYPOINTFLAG_GENERATED))
+ if(vlen(self.origin-head.origin)>100)
+ {
+ if (first==world)
+ {
+ first = head;
+ navigation_wander_goal = head;
+ }
+ else
+ {
+ prev = navigation_wander_goal;
+ navigation_wander_goal = head;
+ prev.navigation_wander_nextgoal = head;
+ navigation_wander_goal.navigation_wander_nextgoal = world;
+ }
+ }
+
+ head = head.chain;
+ }
+
+ if (first)
+ navigation_wander_goal = first;
+ else
+ {
+ dprint(self.netname, " got BADLY stuck, giving up.\n");
+ }
+ }
+}
+
// Support for debugging tracewalk visually
void debugresetnodes()
diff --git a/qcsrc/server/bot/navigation.qh b/qcsrc/server/bot/navigation.qh
index 06bbb85c3..6355ef700 100644
--- a/qcsrc/server/bot/navigation.qh
+++ b/qcsrc/server/bot/navigation.qh
@@ -35,6 +35,12 @@ float DEBUG_NODE_WARNING = 2;
float DEBUG_NODE_FAIL = 3;
vector debuglastnode;
+entity navigation_wander_owner; // Owner of the temporary list of goals
+entity navigation_wander_goal; // Head of the temporary list of goals
+.entity navigation_wander_nextgoal;
+entity navigation_wander_bestgoal;
+float navigation_wander_bestgoalrating;
+
/*
* Functions
*/
@@ -60,6 +66,7 @@ void navigation_routerating(entity e, float f, float rangebias);
void navigation_poptouchedgoals();
void navigation_goalrating_start();
void navigation_goalrating_end();
+void navigation_unstuck();
void botframe_updatedangerousobjects(float maxupdate);