fixed pathfinding problems (again)

source/basecode.cpp

@@ -3290,7 +3290,7 @@ void Bot::RunTask (void)
 
                   MakeVectors (pev->v_angle);
 
-                  m_timeCamping = GetWorldTime () + g_randGen.Float (0.3f, 0.6f);
+                  m_timeCamping = GetWorldTime () + g_randGen.Float (10.0f, 30.0f);
                   StartTask (TASK_CAMP, TASKPRI_CAMP, -1, m_timeCamping, true);
 
                   m_camp = Vector (m_currentPath->campStartX, m_currentPath->campStartY, 0.0f);
@@ -4198,7 +4198,7 @@ void Bot::RunTask (void)
                destIndex = newIndex;
          }
 
-         if (destIndex >= 0 && destIndex < g_numWaypoints && destIndex != m_currentWaypointIndex)
+         if (destIndex >= 0 && destIndex < g_numWaypoints && destIndex != m_currentWaypointIndex && m_currentWaypointIndex >= 0 && m_currentWaypointIndex < g_numWaypoints)
          {
             m_prevGoalIndex = destIndex;
             GetTask ()->data = destIndex;
@@ -4921,10 +4921,6 @@ void Bot::BotAI (void)
    m_moveAngles.ClampAngles ();
    m_moveAngles.x *= -1.0; // invert for engine
 
-#if 0 // get rid of ugly hack
-   if (yb_hardcore_mode && GetTaskId () == TASK_NORMAL && ((m_aimFlags & AIM_ENEMY) || (m_states & STATE_SEEING_ENEMY)) && !IsOnLadder ())
-      CombatFight ();
-
    if (m_difficulty == 4 && ((m_aimFlags & AIM_ENEMY) || (m_states & (STATE_SEEING_ENEMY | STATE_SUSPECT_ENEMY)) || (GetTaskId () == TASK_SEEKCOVER && (m_isReloading || m_isVIP))) && !yb_jasonmode.GetBool () && GetTaskId () != TASK_CAMP && !IsOnLadder ())
    {
       m_moveToGoal = false; // don't move to goal
@@ -4933,7 +4929,6 @@ void Bot::BotAI (void)
       if (IsValidPlayer (m_enemy))
          CombatFight ();
    }
-#endif
 
    // check if we need to escape from bomb
    if ((g_mapType & MAP_DE) && g_bombPlanted && m_notKilled && GetTaskId () != TASK_ESCAPEFROMBOMB && GetTaskId () != TASK_CAMP && OutOfBombTimer ())
@@ -6075,6 +6070,27 @@ void Bot::ReactOnSound (void)
                return;
          }
       }
+      extern ConVar yb_shoots_thru_walls;
+
+      // check if heard enemy can be seen
+      if (CheckVisibility (VARS (player), &m_lastEnemyOrigin, &m_visibility))
+      {
+         m_enemy = player;
+         m_lastEnemy = player;
+         m_enemyOrigin = m_lastEnemyOrigin;
+
+         m_states |= STATE_SEEING_ENEMY;
+         m_seeEnemyTime = GetWorldTime ();
+      }
+      else if (m_lastEnemy == player && m_seeEnemyTime + 1.0 > GetWorldTime () && yb_shoots_thru_walls.GetBool () && IsShootableThruObstacle (player->v.origin))
+      {
+         m_enemy = player;
+         m_lastEnemy = player;
+         m_lastEnemyOrigin = player->v.origin;
+
+         m_states |= STATE_SEEING_ENEMY;
+         m_seeEnemyTime = GetWorldTime ();
+      }
    }
 }
 

source/combat.cpp

@@ -962,7 +962,7 @@ void Bot::CombatFight (void)
 
    float distance = enemyOrigin.GetLength ();  // how far away is the enemy scum?
 
-   if (m_timeWaypointMove + m_frameInterval  < GetWorldTime ())
+   if (m_timeWaypointMove + m_frameInterval + 0.5f < GetWorldTime ())
    {
       int approach;
 
@@ -980,7 +980,6 @@ void Bot::CombatFight (void)
             approach = 49;
       }
 
-
       if (UsesPistol() && !((m_enemy->v.weapons & WEAPON_SECONDARY) || (m_enemy->v.weapons & (1 << WEAPON_SG550))) && !g_bombPlanted)
       {
          m_fearLevel += 0.5;

source/navigate.cpp

@@ -1525,11 +1525,22 @@ float hfunctionSquareDist (int index, int, int goalIndex)
    Path *start = g_waypoint->GetPath (index);
    Path *goal = g_waypoint->GetPath (goalIndex);
 
+#if 0
    float deltaX = fabsf (start->origin.x - goal->origin.x);
    float deltaY = fabsf (start->origin.y - goal->origin.y);
    float deltaZ = fabsf (start->origin.z - goal->origin.z);
 
    return static_cast <unsigned int> (deltaX + deltaY + deltaZ);
+#else
+   float xDist = fabsf (start->origin.x - goal->origin.x);
+   float yDist = fabsf (start->origin.y - goal->origin.y);
+   float zDist = fabsf (start->origin.z - goal->origin.z);
+
+   if (xDist > yDist)
+      return 1.4 * yDist + (xDist - yDist) + zDist;
+
+   return 1.4 * xDist + (yDist - xDist) + zDist;
+#endif
 }
 
 float hfunctionSquareDistWithHostage (int index, int startIndex, int goalIndex)
@@ -1834,6 +1845,7 @@ bool Bot::FindWaypoint (void)
             reachDistances[j] = distance;
          }
       }
+      DebugMsg ("got some waypoints...");
    }
 
    // now pick random one from choosen
@@ -1856,10 +1868,31 @@ bool Bot::FindWaypoint (void)
       i = 0;
 
       Array <int> found;
-      g_waypoint->FindInRadius (found, 1024.0f, pev->origin);
+      g_waypoint->FindInRadius (found, 256.0f, pev->origin);
+
+      DebugMsg ("doing worst case");
 
       if (!found.IsEmpty ())
-         waypointIndeces[i] = found.GetRandomElement ();
+      {
+         bool gotId = false;
+         int random = found.GetRandomElement ();;
+
+         while (!found.IsEmpty ())
+         {
+            int index = found.Pop ();
+
+            if (!g_waypoint->Reachable (this, index))
+               continue;
+
+            waypointIndeces[i] = index;
+            gotId = true;
+
+            break;
+         }
+
+         if (!gotId)
+            waypointIndeces[i] = random;
+      }
       else
          waypointIndeces[i] = g_randGen.Long (0, g_numWaypoints - 1);
    }
@@ -3275,7 +3308,7 @@ bool Bot::IsPointOccupied (int index)
          continue;
 
       // check if this waypoint is already used
-      if (IsAlive (bot->GetEntity ()) && (bot->m_currentWaypointIndex == index || bot->GetTask ()->data == index || (g_waypoint->GetPath (index)->origin - bot->pev->origin).GetLength2D () < 180.0))
+      if (IsAlive (bot->GetEntity ()) && (bot->m_currentWaypointIndex == index || bot->GetTask ()->data == index || (g_waypoint->GetPath (index)->origin - bot->pev->origin).GetLength2D () < 120.0f))
          return true;
    }
    return false;

source/waypoint.cpp

@@ -1254,25 +1254,26 @@ bool Waypoint::Reachable (Bot *bot, int index)
    float distance = (dest - src).GetLength ();
 
    // check is destination is close to us enoguh
-   if (distance >= 201) // Default: 201
+   if (distance >= 150.0f)
       return false;
 
-   if (bot->pev->waterlevel == 2 || bot->pev->waterlevel == 3)
-   {
-      float distance2D = (dest - src).GetLength2D ();
-
-      // is destination waypoint higher that source (45 is max jump height), or destination waypoint higher that source
-      if ((dest.z > src.z + 40.0 || dest.z < src.z - 75.0) && (!(m_paths[index]->flags & FLAG_LADDER) || distance2D >= 16.0))
-         return false; // unable to reach this one
-   }
-
    TraceResult tr;
    TraceLine (src, dest, true, bot->GetEntity (), &tr);
 
    // if waypoint is visible from current position (even behind head)...
    if (tr.flFraction >= 1.0)
-      return true;
+   {
+      if (bot->pev->waterlevel == 2 || bot->pev->waterlevel == 3)
+         return true;
 
+      float distance2D = (dest - src).GetLength2D ();
+
+      // is destination waypoint higher that source (62 is max jump height), or destination waypoint higher that source
+      if (((dest.z > src.z + 62.0 || dest.z < src.z - 100.0f) && (!(m_paths[index]->flags & FLAG_LADDER))) || distance2D >= 120.0f)
+         return false; // unable to reach this one
+
+      return true;
+   }
    return false;
 }