graph: reworked buckets so they can handle very large number of nodes

graph: reworked buckets so they can handle very large number of nodes
aim: bots should more respect headshot allow option (needs testing)
aim: incorporated never-finished changes from pr #204
nav: increased reachability timers a bit
nav: ensure buckets has enough nodes before use they
conf: introduced max recoil in difficulty config file
bot: overall fixes to jason mode, treat knife in hands and no weapons as jason mode too
bot: changed default difficulty level for bots to level 3
fix: knife attacks not working since last commit (fixes #429)
fix: hostage rescue not working since last commit (fixes #427)
refactor: use range loops for graph outside graph class when possible

inc/config.h

@@ -35,6 +35,8 @@ public:
       int32_t headshotPct {};
       int32_t seenThruPct {};
       int32_t hearThruPct {};
+      int32_t maxRecoil {};
+      Vector aimError {};
    };
 
 private:

inc/engine.h

@@ -151,6 +151,9 @@ public:
    // test line
    void testLine (const Vector &start, const Vector &end, int ignoreFlags, edict_t *ignoreEntity, TraceResult *ptr);
 
+   // test model
+   void testModel (const Vector &start, const Vector &end, int hullNumber, edict_t *entToHit, TraceResult *ptr);
+
    // trace line with channel, but allows us to store last traceline bot has fired, saving us some cpu cycles
    bool testLineChannel (TraceChannel channel, const Vector &start, const Vector &end, int ignoreFlags, edict_t *ignoreEntity, TraceResult &result);
 

inc/graph.h

@@ -259,10 +259,6 @@ public:
    friend class Bot;
 
 private:
-   struct Bucket {
-      int x, y, z;
-   };
-
    int m_editFlags {};
    int m_loadAttempts {};
    int m_cacheNodeIndex {};
@@ -297,12 +293,13 @@ private:
    IntArray m_rescuePoints {};
    IntArray m_visitedGoals {};
 
-   SmallArray <int32_t> m_buckets[kMaxBucketsInsidePos][kMaxBucketsInsidePos][kMaxBucketsInsidePos];
    SmallArray <Matrix> m_matrix {};
    SmallArray <Practice> m_practice {};
    SmallArray <Path> m_paths {};
    SmallArray <uint8_t> m_vistable {};
 
+   HashMap <int32_t, Array <int32_t>, EmptyHash <int32_t>> m_hashTable;
+
    String m_graphAuthor {};
    String m_graphModified {};
 
@@ -327,6 +324,7 @@ public:
    int getPathDist (int srcIndex, int destIndex);
    int clearConnections (int index);
    int getBspSize ();
+   int locateBucket (const Vector &pos);
 
    float calculateTravelTime (float maxSpeed, const Vector &src, const Vector &origin);
 
@@ -394,9 +392,8 @@ public:
    const char *getDataDirectory (bool isMemoryFile = false);
    const char *getOldFormatGraphName (bool isMemoryFile = false);
 
-   Bucket locateBucket (const Vector &pos);
-   IntArray searchRadius (float radius, const Vector &origin, int maxCount = -1);
-   const SmallArray <int32_t> &getNodesInBucket (const Vector &pos);
+   IntArray getNarestInRadius (float radius, const Vector &origin, int maxCount = -1);
+   const IntArray &getNodesInBucket (const Vector &pos);
 
 public:
    size_t getMaxRouteLength () const {
@@ -468,6 +465,23 @@ public:
    edict_t *getEditor () {
       return m_editor;
    }
+
+public:
+   Path *begin () {
+      return m_paths.begin ();
+   }
+
+   Path *begin () const {
+      return m_paths.begin ();
+   }
+
+   Path *end () {
+      return m_paths.end ();
+   }
+
+   Path *end () const {
+      return m_paths.end ();
+   }
 };
 
 // we're need `bots`

inc/yapb.h

@@ -467,10 +467,6 @@ constexpr int kGameMaxPlayers = 32;
 constexpr int kGameTeamNum = 2;
 constexpr int kInvalidNodeIndex = -1;
 
-constexpr int kMaxBucketSize = static_cast <int> (kMaxNodes * 0.65);
-constexpr int kMaxBucketsInsidePos = kMaxNodes * 8 / kMaxBucketSize + 1;
-constexpr int kMaxNodesInsideBucket = kMaxBucketSize / kMaxBucketsInsidePos;
-
 // weapon masks
 constexpr auto kPrimaryWeaponMask = (cr::bit (Weapon::XM1014) | cr::bit (Weapon::M3) | cr::bit (Weapon::MAC10) | cr::bit (Weapon::UMP45) | cr::bit (Weapon::MP5) | cr::bit (Weapon::TMP) | cr::bit (Weapon::P90) | cr::bit (Weapon::AUG) | cr::bit (Weapon::M4A1) | cr::bit (Weapon::SG552) | cr::bit (Weapon::AK47) | cr::bit (Weapon::Scout) | cr::bit (Weapon::SG550) | cr::bit (Weapon::AWP) | cr::bit (Weapon::G3SG1) | cr::bit (Weapon::M249) | cr::bit (Weapon::Famas) | cr::bit (Weapon::Galil));
 constexpr auto kSecondaryWeaponMask = (cr::bit (Weapon::P228) | cr::bit (Weapon::Elite) | cr::bit (Weapon::USP) | cr::bit (Weapon::Glock18) | cr::bit (Weapon::Deagle) | cr::bit (Weapon::FiveSeven));
@@ -690,6 +686,7 @@ private:
    float m_changeViewTime {}; // timestamp to change look at while at freezetime
    float m_breakableTime {}; // breakeble acquired time
    float m_jumpDistance {}; // last jump distance
+   float m_lastBadWeaponSwitchTime {}; // last time we're switched weapon as it's bad
 
    bool m_moveToGoal {}; // bot currently moving to goal??
    bool m_isStuck {}; // bot is stuck
@@ -709,6 +706,7 @@ private:
    bool m_moveToC4 {}; // ct is moving to bomb
    bool m_grenadeRequested {}; // bot requested change to grenade
    bool m_needToSendWelcomeChat {}; // bot needs to greet people on server?
+   bool m_switchedToKnifeDuringJump {}; // bot needs to revert weapon after jump?
 
    Pickup m_pickupType {}; // type of entity which needs to be used/picked up
    PathWalk m_pathWalk {}; // pointer to current node from path
@@ -778,7 +776,6 @@ private:
    float getEstimatedNodeReachTime ();
    float isInFOV (const Vector &dest);
    float getShiftSpeed ();
-   float getEnemyBodyOffsetCorrection (float distance);
    float calculateScaleFactor (edict_t *ent);
 
    bool canReplaceWeapon ();
@@ -809,6 +806,7 @@ private:
    bool reactOnEnemy ();
    bool selectBestNextNode ();
    bool hasAnyWeapons ();
+   bool isKnifeMode ();
    bool isDeadlyMove (const Vector &to);
    bool isOutOfBombTimer ();
    bool isWeaponBadAtDistance (int weaponIndex, float distance);
@@ -830,6 +828,7 @@ private:
    bool updateLiftHandling ();
    bool updateLiftStates ();
    bool canRunHeavyWeight ();
+   bool isEnemyInSight (Vector &endPos);
 
    void doPlayerAvoidance (const Vector &normal);
    void selectCampButtons (int index);
@@ -920,12 +919,13 @@ private:
    edict_t *lookupBreakable ();
    edict_t *setCorrectGrenadeVelocity (const char *model);
 
-   const Vector &getEnemyBodyOffset ();
+   Vector getEnemyBodyOffset ();
    Vector calcThrow (const Vector &start, const Vector &stop);
    Vector calcToss (const Vector &start, const Vector &stop);
    Vector isBombAudible ();
    Vector getBodyOffsetError (float distance);
    Vector getCampDirection (const Vector &dest);
+   Vector getCustomHeight (float distance);
 
    uint8_t computeMsec ();