nav: improved ladder handling

fix: bots can stuck when destroying breakables

src/botlib.cpp

@@ -156,9 +156,16 @@ void Bot::avoidGrenades () {
 }
 
 void Bot::checkBreakable (edict_t *touch) {
-   m_breakableEntity = touch != nullptr ? touch : lookupBreakable ();
+   if (game.isNullEntity (touch)) {
+      m_breakableEntity = lookupBreakable ();
+   }
+   else {
+      m_breakableEntity = touch;
+      m_breakableOrigin = game.getEntityOrigin (touch);
+   }
 
-   if (game.isNullEntity (m_breakableEntity)) {
+   // re-check from previous steps
+   if (game.isNullEntity (m_breakableEntity) || m_breakableOrigin.empty ()) {
       return;
    }
    m_campButtons = pev->button & IN_DUCK;
@@ -3182,11 +3189,11 @@ void Bot::logic () {
 
    // are we allowed to check blocking terrain (and react to it)?
    if (m_checkTerrain) {
-      doPlayerAvoidance (dirNormal);
-      checkTerrain (movedDistance, dirNormal);
-
       // check for breakables around bots movement direction
       checkBreakable (nullptr);
+
+      doPlayerAvoidance (dirNormal);
+      checkTerrain (movedDistance, dirNormal);
    }
 
    // check the darkness

src/navigate.cpp

@@ -1113,7 +1113,7 @@ bool Bot::updateNavigation () {
       }
    }
 
-   float desiredDistanceSq = cr::sqrf (8.0f);
+   float desiredDistanceSq = cr::sqrf (4.0f);
    const float nodeDistanceSq = pev->origin.distanceSq (m_pathOrigin);
 
    // initialize the radius for a special node type, where the node is considered to be reached
@@ -1128,8 +1128,8 @@ bool Bot::updateNavigation () {
          desiredDistanceSq = cr::sqrf (128.0f);
       }
    }
-   else if (isOnLadder () || (m_pathFlags & NodeFlag::Ladder)) {
+   else if (m_pathFlags & NodeFlag::Ladder) {
-      desiredDistanceSq = cr::sqrf (14.0f);
+      desiredDistanceSq = cr::sqrf (8.0f);
    }
    else if (m_currentTravelFlags & PathFlag::Jump) {
       desiredDistanceSq = 0.0f;
@@ -1709,7 +1709,12 @@ bool Bot::findNextBestNode () {
 }
 
 float Bot::getEstimatedNodeReachTime () {
-   float estimatedTime = 3.5f;
+   const bool longTermReachability = (m_pathFlags & NodeFlag::Crouch)
+      || (m_pathFlags & NodeFlag::Ladder)
+      || (pev->button & IN_DUCK)
+      || (m_oldButtons & IN_DUCK);
+
+   float estimatedTime = longTermReachability ? 8.5f : 3.5f;
 
    // if just fired at enemy, increase reachability
    if (m_shootTime + 0.15f < game.time ()) {
@@ -1720,14 +1725,9 @@ float Bot::getEstimatedNodeReachTime () {
    if (graph.exists (m_currentNodeIndex) && graph.exists (m_previousNodes[0])) {
       const float distanceSq = graph[m_previousNodes[0]].origin.distanceSq (graph[m_currentNodeIndex].origin);
 
-      // caclulate estimated time
+      // calculate estimated time
       estimatedTime = 5.0f * (distanceSq / cr::sqrf (m_moveSpeed + 1.0f));
 
-      const bool longTermReachability = (m_pathFlags & NodeFlag::Crouch)
-         || (m_pathFlags & NodeFlag::Ladder)
-         || (pev->button & IN_DUCK)
-         || (m_oldButtons & IN_DUCK);
-
       // check for special nodes, that can slowdown our movement
       if (longTermReachability) {
          estimatedTime *= 2.0f;

src/support.cpp

@@ -230,7 +230,7 @@ bool BotSupport::isHostageEntity (edict_t *ent) {
 }
 
 bool BotSupport::isShootableBreakable (edict_t *ent) {
-   if (game.isNullEntity (ent)) {
+   if (game.isNullEntity (ent) || ent == game.getStartEntity ()) {
       return false;
    }
    const auto limit = cv_breakable_health_limit.float_ ();

src/tasks.cpp

@@ -1459,6 +1459,9 @@ void Bot::shootBreakable_ () {
       m_checkTerrain = true;
       m_moveToGoal = true;
 
+      m_breakableOrigin = nullptr;
+      m_breakableEntity = nullptr;
+
       completeTask ();
    }
 }

src/vision.cpp

@@ -226,7 +226,7 @@ void Bot::setAimDirection () {
       if (onLadder && m_pathWalk.hasNext ()) {
          const auto &nextPath = graph[m_pathWalk.next ()];
 
-         if ((nextPath.flags & NodeFlag::Ladder) && m_destOrigin.distanceSq (pev->origin) < cr::sqrf (128.0f) && nextPath.origin.z > m_pathOrigin.z + 30.0f) {
+         if ((nextPath.flags & NodeFlag::Ladder) && m_destOrigin.distanceSq (pev->origin) < cr::sqrf (64.0f) && nextPath.origin.z > m_pathOrigin.z + 30.0f) {
             m_lookAt = nextPath.origin;
          }
       }