nav: re-added goal history for a round in some reworked way

inc/yapb.h

@@ -819,7 +819,7 @@ private:
    int findDefendNode (const Vector &origin);
    int findBestGoal ();
    int findBestGoalWhenBombAction ();
-   int findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive);
+   int findGoalPost (int tactic, IntArray *defensive, IntArray *offensive);
    int bestPrimaryCarried ();
    int bestSecondaryCarried ();
    int bestGrenadeCarried ();
@@ -1128,6 +1128,7 @@ public:
    Personality m_personality {}; // bots type
    Array <BotTask> m_tasks {};
    Deque <int32_t> m_msgQueue {};
+   Array <int32_t> m_goalHist {};
 
 public:
    Bot (edict_t *bot, int difficulty, int personality, int team, int skin);

src/control.cpp

@@ -211,7 +211,7 @@ int BotControl::cmdCvars () {
    }
 
    for (const auto &cvar : game.getCvars ()) {
-      if (cvar.info.empty ()) {
+      if (cvar.info.empty () || !cvar.self || !cvar.self->ptr) {
          continue;
       }
 

src/engine.cpp

@@ -678,6 +678,9 @@ void ConVar::revert () {
 
 void Game::checkCvarsBounds () {
    for (const auto &var : m_cvars) {
+      if (!var.self->ptr) {
+         continue;
+      }
 
       // read only cvar is not changeable
       if (var.type == Var::ReadOnly && !var.init.empty ()) {

src/manager.cpp

@@ -1481,6 +1481,7 @@ void Bot::newRound () {
    m_heardSoundTime = game.time ();
 
    m_msgQueue.clear ();
+   m_goalHist.clear ();
    m_ignoredBreakable.clear ();
 
    // and put buying into its message queue

src/navigate.cpp

@@ -206,7 +206,7 @@ int Bot::findBestGoalWhenBombAction () {
    return result;
 }
 
-int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
+int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offensive) {
    int goalChoices[4] = { kInvalidNodeIndex, kInvalidNodeIndex, kInvalidNodeIndex, kInvalidNodeIndex };
 
    if (tactic == 0 && !(*defensive).empty ()) { // careful goal
@@ -222,8 +222,8 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
          postprocessGoals (graph.m_campPoints, goalChoices);
       }
    }
-   else if (tactic == 2 && !(*offsensive).empty ()) { // offensive goal
+   else if (tactic == 2 && !(*offensive).empty ()) { // offensive goal
-      postprocessGoals (*offsensive, goalChoices);
+      postprocessGoals (*offensive, goalChoices);
    }
    else if (tactic == 3 && !graph.m_goalPoints.empty ()) // map goal node
    {
@@ -282,15 +282,11 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
          }
       }
    }
-
+   ensureCurrentNodeIndex ();
-   if (!graph.exists (m_currentNodeIndex)) {
-      changeNodeIndex (findNearestNode ());
-   }
 
    if (goalChoices[0] == kInvalidNodeIndex) {
       return m_chosenGoalIndex = graph.random ();
    }
-
    bool sorting = false;
 
    do {
@@ -313,16 +309,41 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
 void Bot::postprocessGoals (const IntArray &goals, int result[]) {
    // this function filters the goals, so new goal is not bot's old goal, and array of goals doesn't contains duplicate goals
 
-   int searchCount = 0;
+   int recurseCount = 0;
+
+   auto isRecentOrHistorical = [&] (int index)  -> bool {
+      if (m_prevGoalIndex == index || m_previousNodes[0] == index) {
+         return true;
+      }
+
+      // too less to choice from just return all the goals
+      if (goals.length () < 4) {
+         return false;
+      }
+
+      // check if historical goal
+      for (const auto &hg : m_goalHist) {
+         if (hg == index) {
+            return true;
+         }
+      }
+
+      for (size_t i = 0; i < 4; ++i) {
+         if (result[i] == index) {
+            return true;
+         }
+      }
+      return isOccupiedNode (index);
+   };
 
    for (int index = 0; index < 4; ++index) {
       auto goal = goals.random ();
 
-      if (searchCount <= 8 && (m_prevGoalIndex == goal || ((result[0] == goal || result[1] == goal || result[2] == goal || result[3] == goal) && goals.length () > 4)) && !isOccupiedNode (goal)) {
+      if (recurseCount <= cr::max (4, goals.length <int> ()) && isRecentOrHistorical (goal)) {
          if (index > 0) {
             index--;
          }
-         ++searchCount;
+         ++recurseCount;
          continue;
       }
       result[index] = goal;
@@ -336,6 +357,7 @@ bool Bot::hasActiveGoal () {
       return false;
    }
    else if (goal == m_currentNodeIndex) { // no nodes needed
+      m_goalHist.push (goal);
       return true;
    }
    else if (m_pathWalk.empty ()) { // no path calculated

src/tasks.cpp

@@ -67,7 +67,7 @@ void Bot::normal_ () {
 
       // reached node is a camp node
       if ((m_pathFlags & NodeFlag::Camp) && !game.is (GameFlags::CSDM) && cv_camping_allowed.bool_ () && !isKnifeMode ()) {
-         const bool allowedCampWeapon = hasPrimaryWeapon () || (hasSecondaryWeapon () && m_numFriendsLeft > game.maxClients () / 4);
+         const bool allowedCampWeapon = hasPrimaryWeapon () || (hasSecondaryWeapon () && !hasPrimaryWeapon () && m_numFriendsLeft > game.maxClients () / 6);
 
          // check if bot has got a primary weapon and hasn't camped before
          if (allowedCampWeapon && m_timeCamping + 10.0f < game.time () && !m_hasHostage) {