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bot: refactor and clean up old code

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fix: crash when saving old format pwf on hlds
bot: moved sdk headers to separate submodule
nav: improved unstuck and avoidance (thanks @commandcobra7) code
bot: use correct path slashes depending on platform for all data
cfg: removed simplified chines' translation, as it's too outdated
This commit is contained in:
jeefo 2023-05-12 20:00:06 +03:00
commit 7b58d51973
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GPG key ID: 927BCA0779BEA8ED
42 changed files with 365 additions and 3805 deletions
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115
src/navigate.cpp
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@ -8,11 +8,6 @@
#include <yapb.h>
int Bot::findBestGoal () {
auto pushToHistroy = [&] (int32_t goal) -> int32_t {
m_nodeHistory.push (goal);
return goal;
};
if (m_isCreature) {
if (!graph.m_terrorPoints.empty ()) {
return graph.m_terrorPoints.random ();
@ -110,7 +105,7 @@ int Bot::findBestGoal () {
else if (game.mapIs (MapFlags::Demolition) && m_team == Team::Terrorist && bots.getRoundStartTime () + 10.0f < game.time ()) {
// send some terrorists to guard planted bomb
if (!m_defendedBomb && bots.isBombPlanted () && getCurrentTaskId () != Task::EscapeFromBomb && getBombTimeleft () >= 15.0f) {
return pushToHistroy (m_chosenGoalIndex = findDefendNode (graph.getBombOrigin ()));
return m_chosenGoalIndex = findDefendNode (graph.getBombOrigin ());
}
}
else if (game.mapIs (MapFlags::Escape)) {
@ -149,7 +144,7 @@ int Bot::findBestGoal () {
if (goalDesire > tacticChoice) {
tactic = 3;
}
return pushToHistroy (findGoalPost (tactic, defensiveNodes, offensiveNodes));
return findGoalPost (tactic, defensiveNodes, offensiveNodes);
}
int Bot::findBestGoalWhenBombAction () {
@ -365,12 +360,8 @@ void Bot::resetCollision () {
void Bot::ignoreCollision () {
resetCollision ();
m_prevTime = game.time () + 1.2f;
m_lastCollTime = game.time () + 1.5f;
m_isStuck = false;
m_lastCollTime = game.time () + m_frameInterval * 4.0f;
m_checkTerrain = false;
m_prevSpeed = m_moveSpeed;
m_prevOrigin = pev->origin;
}
void Bot::doPlayerAvoidance (const Vector &normal) {
@ -417,13 +408,13 @@ void Bot::doPlayerAvoidance (const Vector &normal) {
if (game.isNullEntity (m_hindrance)) {
return;
}
const float interval = m_frameInterval * (pev->velocity.lengthSq2d () > 0.0f ? 9.0f : 2.0f);
const float interval = m_frameInterval * (pev->velocity.lengthSq2d () > 0.0f ? 7.5f : 2.0f);
// use our movement angles, try to predict where we should be next frame
Vector right, forward;
m_moveAngles.angleVectors (&forward, &right, nullptr);
Vector predict = pev->origin + forward * m_moveSpeed * interval;
Vector predict = pev->origin + forward * pev->maxspeed * interval;
predict += right * m_strafeSpeed * interval;
predict += pev->velocity * interval;
@ -432,7 +423,7 @@ void Bot::doPlayerAvoidance (const Vector &normal) {
auto nextFrameDistance = pev->origin.distanceSq (m_hindrance->v.origin + m_hindrance->v.velocity * interval);
// is player that near now or in future that we need to steer away?
if (movedDistance <= cr::sqrf (48.0f) || (distance <= cr::sqrf (56.0f) && nextFrameDistance < distance)) {
if (movedDistance <= cr::sqrf (64.0f) || (distance <= cr::sqrf (72.0f) && nextFrameDistance < distance)) {
auto dir = (pev->origin - m_hindrance->v.origin).normalize2d_apx ();
// to start strafing, we have to first figure out if the target is on the left side or right side
@ -443,7 +434,7 @@ void Bot::doPlayerAvoidance (const Vector &normal) {
setStrafeSpeed (normal, -pev->maxspeed);
}
if (distance < cr::sqrf (76.0f)) {
if (distance < cr::sqrf (80.0f)) {
if ((dir | forward.normalize2d_apx ()) < 0.0f) {
m_moveSpeed = -pev->maxspeed;
}
@ -455,15 +446,12 @@ void Bot::checkTerrain (float movedDistance, const Vector &dirNormal) {
// if avoiding someone do not consider stuck
TraceResult tr {};
float checkSpeed = isDucking () ? 4.0f : 10.0f;
m_isStuck = false;
// standing still, no need to check?
if ((m_moveSpeed >= checkSpeed || m_strafeSpeed >= checkSpeed) && m_lastCollTime < game.time ()) {
if (m_lastCollTime < game.time () && getCurrentTaskId () != Task::Attack) {
// didn't we move enough previously?
if (movedDistance < 2.0f && m_prevSpeed >= 20.0f) {
if (movedDistance < 2.0f && (m_prevSpeed > 20.0f || m_prevVelocity < m_moveSpeed / 2)) {
m_prevTime = game.time (); // then consider being stuck
m_isStuck = true;
@ -474,7 +462,7 @@ void Bot::checkTerrain (float movedDistance, const Vector &dirNormal) {
// not stuck yet
else {
// test if there's something ahead blocking the way
if (cantMoveForward (dirNormal, &tr) && !isOnLadder ()) {
if (!isOnLadder () && cantMoveForward (dirNormal, &tr)) {
if (cr::fzero (m_firstCollideTime)) {
m_firstCollideTime = game.time () + 0.2f;
}
@ -489,19 +477,24 @@ void Bot::checkTerrain (float movedDistance, const Vector &dirNormal) {
// not stuck?
if (!m_isStuck) {
if (m_probeTime + 0.5f < game.time ()) {
if (m_probeTime + rg.get (0.5f, 1.0f) < game.time ()) {
resetCollision (); // reset collision memory if not being stuck for 0.5 secs
}
else {
// remember to keep pressing duck if it was necessary ago
// remember to keep pressing stuff if it was necessary ago
if (m_collideMoves[m_collStateIndex] == CollisionState::Duck && (isOnFloor () || isInWater ())) {
pev->button |= IN_DUCK;
}
else if (m_collideMoves[m_collStateIndex] == CollisionState::StrafeLeft) {
setStrafeSpeed (dirNormal, -pev->maxspeed);
}
else if (m_collideMoves[m_collStateIndex] == CollisionState::StrafeRight) {
setStrafeSpeed (dirNormal, pev->maxspeed);
}
}
return;
}
// bot is stuck, but not yet decided what to do?
if (m_collisionState == CollisionState::Undecided) {
uint32_t bits = 0;
@ -549,7 +542,7 @@ void Bot::checkTerrain (float movedDistance, const Vector &dirNormal) {
dirLeft = true;
}
const auto &testDir = m_moveSpeed > 0.0f ? forward : -forward;
constexpr float blockDistance = 40.0f;
constexpr float blockDistance = 32.0f;
// now check which side is blocked
src = pev->origin + right * blockDistance;
@ -784,6 +777,14 @@ void Bot::moveToGoal () {
}
}
void Bot::resetMovement () {
pev->button = 0;
m_moveSpeed = 0.0f;
m_strafeSpeed = 0.0f;
m_moveAngles = nullptr;
}
void Bot::translateInput () {
if (m_duckTime >= game.time ()) {
pev->button |= IN_DUCK;
@ -1047,18 +1048,18 @@ bool Bot::updateNavigation () {
}
}
float desiredDistance = 8.0f;
float nodeDistance = pev->origin.distance (m_pathOrigin);
float desiredDistance = cr::sqrf (8.0f);
float nodeDistance = pev->origin.distanceSq (m_pathOrigin);
// initialize the radius for a special node type, where the node is considered to be reached
if (m_pathFlags & NodeFlag::Lift) {
desiredDistance = 50.0f;
desiredDistance = cr::sqrf (50.0f);
}
else if (isDucking () || (m_pathFlags & NodeFlag::Goal)) {
desiredDistance = 25.0f;
desiredDistance = cr::sqrf (25.0f);
}
else if (m_pathFlags & NodeFlag::Ladder) {
desiredDistance = 24.0f;
else if (isOnLadder () || (m_pathFlags & NodeFlag::Ladder)) {
desiredDistance = cr::sqrf (24.0f);
}
else if (m_currentTravelFlags & PathFlag::Jump) {
desiredDistance = 0.0f;
@ -1067,13 +1068,13 @@ bool Bot::updateNavigation () {
desiredDistance = 0.0f;
}
else if (isOccupiedNode (m_path->number)) {
desiredDistance = 96.0f;
desiredDistance = cr::sqrf (96.0f);
}
else {
desiredDistance = m_path->radius;
desiredDistance = cr::max (cr::sqrf (m_path->radius), desiredDistance);
}
// check if node has a special travelflag, so they need to be reached more precisely
// check if node has a special travel flags, so they need to be reached more precisely
for (const auto &link : m_path->links) {
if (link.flags != 0) {
desiredDistance = 0.0f;
@ -1082,11 +1083,11 @@ bool Bot::updateNavigation () {
}
// needs precise placement - check if we get past the point
if (desiredDistance < 22.0f && nodeDistance < 30.0f && m_pathOrigin.distanceSq (pev->origin + pev->velocity * m_frameInterval) >= cr::sqrf (nodeDistance)) {
if (desiredDistance < cr::sqrf (22.0f) && nodeDistance < cr::sqrf (30.0f) && m_pathOrigin.distanceSq (pev->origin + pev->velocity * m_frameInterval) >= nodeDistance) {
desiredDistance = nodeDistance + 1.0f;
}
// this allows us to prevent stupid bot behaviour when he reaches almost end point of this route, but some one (other bot eg)
// this allows us to prevent stupid bot behavior when he reaches almost end point of this route, but some one (other bot eg)
// is sitting there, so the bot is unable to reach the node because of other player on it, and he starts to jumping and so on
// here we're clearing task memory data (important!), since task executor may restart goal with one from memory, so this process
// will go in cycle, and forcing bot to re-create new route.
@ -1099,7 +1100,6 @@ bool Bot::updateNavigation () {
}
if (nodeDistance < desiredDistance) {
// did we reach a destination node?
if (getTask ()->data == m_currentNodeIndex) {
if (m_chosenGoalIndex != kInvalidNodeIndex) {
@ -1126,9 +1126,9 @@ bool Bot::updateNavigation () {
// bot within 'hearable' bomb tick noises?
if (!bombOrigin.empty ()) {
float distance = bombOrigin.distance (graph[taskTarget].origin);
float distance = bombOrigin.distanceSq (graph[taskTarget].origin);
if (distance > 512.0f) {
if (distance > cr::sqrf (512.0f)) {
if (rg.chance (50) && !graph.isVisited (taskTarget)) {
pushRadioMessage (Radio::SectorClear);
}
@ -2334,7 +2334,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
};
// trace from the bot's eyes straight forward...
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (tr->flFraction < 1.0f) {
@ -2349,7 +2349,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
src = getEyesPos () + Vector (0.0f, 0.0f, -16.0f) - right * -16.0f;
forward = getEyesPos () + Vector (0.0f, 0.0f, -16.0f) + right * 16.0f + normal * 24.0f;
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2361,7 +2361,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
src = getEyesPos () + Vector (0.0f, 0.0f, -16.0f) + right * 16.0f;
forward = getEyesPos () + Vector (0.0f, 0.0f, -16.0f) - right * -16.0f + normal * 24.0f;
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2373,7 +2373,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
src = pev->origin + Vector (0.0f, 0.0f, -19.0f + 19.0f);
forward = src + Vector (0.0f, 0.0f, 10.0f) + normal * 24.0f;
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2382,7 +2382,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
src = pev->origin;
forward = src + normal * 24.0f;
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2395,7 +2395,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
forward = pev->origin + Vector (0.0f, 0.0f, -17.0f) + right * 16.0f + normal * 24.0f;
// trace from the bot's waist straight forward...
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2406,7 +2406,7 @@ bool Bot::cantMoveForward (const Vector &normal, TraceResult *tr) {
src = pev->origin + Vector (0.0f, 0.0f, -24.0f) + right * 16.0f;
forward = pev->origin + Vector (0.0f, 0.0f, -24.0f) - right * -16.0f + normal * 24.0f;
traceResult = game.testLineChannel (TraceChannel::Body, src, forward, TraceIgnore::Monsters, ent (), *tr);
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
@ -2717,7 +2717,7 @@ bool Bot::isBlockedRight () {
bool Bot::checkWallOnLeft () {
TraceResult tr {};
game.testLine (pev->origin, pev->origin - pev->angles.right () * 40.0f, TraceIgnore::Monsters, ent (), &tr);
game.testLine (pev->origin, pev->origin + -pev->angles.right () * 40.0f, TraceIgnore::Monsters, ent (), &tr);
// check if the trace hit something...
if (tr.flFraction < 1.0f) {
@ -3040,25 +3040,6 @@ bool Bot::isReachableNode (int index) {
return false;
}
bool Bot::isBannedNode (int index) {
if (graph.exists (cv_debug_goal.int_ ()) || !graph.exists (index)) {
return false;
}
const auto &bucket = graph.getNodesInBucket (graph[index].origin);
// too few nodes in bucket near location, do not ban anything
if (bucket.length <int> () <= kMaxNodeLinks) {
return false;
}
for (const auto &node : m_nodeHistory) {
if (node == index) {
return true;
}
}
return false;
}
void Bot::findShortestPath (int srcIndex, int destIndex) {
// this function finds the shortest path from source index to destination index