fix: crash on predicted node index use after wiped

refactor: reworked prediction to calc prediction for all bots at one job, instead of firing it for every bot

inc/vision.h

@@ -0,0 +1,65 @@
+//
+// YaPB, based on PODBot by Markus Klinge ("CountFloyd").
+// Copyright © YaPB Project Developers <yapb@jeefo.net>.
+//
+// SPDX-License-Identifier: MIT
+//
+
+#pragma once
+
+// view frustum for bots
+class Frustum : public Singleton <Frustum> {
+public:
+   struct Plane {
+      Vector normal {};
+      Vector point {};
+      float result {};
+   };
+
+   enum class PlaneSide : int {
+      Top = 0,
+      Bottom,
+      Left,
+      Right,
+      Near,
+      Far,
+      Num
+   };
+
+public:
+   using Planes = Plane[static_cast <int> (PlaneSide::Num)];
+
+private:
+   static constexpr float kFov = 75.0f;
+   static constexpr float kAspectRatio = 16.0f / 9.0f;
+   static constexpr float kMaxViewDistance = 4096.0f;
+   static constexpr float kMinViewDistance = 2.0f;
+
+private:
+   float m_farHeight; // height of the far frustum
+   float m_farWidth; // width of the far frustum
+   float m_nearHeight; // height of the near frustum
+   float m_nearWidth; // width of the near frustum
+
+public:
+   explicit Frustum () {
+      m_nearHeight = 2.0f * cr::tanf (kFov * deg2rad (1.0f) * 0.5f) * kMinViewDistance;
+      m_nearWidth = m_nearHeight * kAspectRatio;
+
+      m_farHeight = 2.0f * cr::tanf (kFov * deg2rad (1.0f) * 0.5f) * kMaxViewDistance;
+      m_farWidth = m_farHeight * kAspectRatio;
+   }
+
+public:
+   // updates bot view frustum
+   void calculate (Planes &planes, const Vector &viewAngle, const Vector &viewOffset);
+
+   // check if object inside frustum plane
+   bool isObjectInsidePlane (const Plane &plane, const Vector &center, float height, float radius) const;
+
+   // check if entity origin inside view plane
+   bool check (const Planes &planes, edict_t *ent) const;
+};
+
+// declare global frustum data
+CR_EXPOSE_GLOBAL_SINGLETON (Frustum, frustum);