fix: low-skilled bots aiming overflows on ladders (ref #543)

nav: ignore first collision if we are in ladder node (by @commandcobra7).
bot: backported csbot function to check is enemy behind smoke.
bot: added ``yb_smoke_grenade_checks`` to control which method to use (2-csbot, 1-podbot, 0-disabled).

ext/crlib

@@ -1 +1 @@
-Subproject commit 2d7a426b69102e3c6c07f2503240ed21f69c1143
+Subproject commit 3596ac42ccc21d93d7fe2a937870d76e944f7f07

inc/manager.h

@@ -126,6 +126,7 @@ public:
    bool isTeamStacked (int team);
    bool kickRandom (bool decQuota = true, Team fromTeam = Team::Unassigned);
    bool hasCustomCSDMSpawnEntities ();
+   bool isLineBlockedBySmoke (const Vector &from, const Vector &to, float grenadeBloat = 1.0f);
 
 public:
    const Array <edict_t *> &getActiveGrenades () {

inc/yapb.h

@@ -427,6 +427,7 @@ private:
    bool isEnemyInSight (Vector &endPos);
    bool isEnemyNoticeable (float range);
    bool isCreature ();
+   bool isOnLadderPath ();
 
    void doPlayerAvoidance (const Vector &normal);
    void selectCampButtons (int index);
@@ -877,6 +878,7 @@ extern ConVar cv_grenadier_mode;
 extern ConVar cv_ignore_enemies_after_spawn_time;
 extern ConVar cv_camping_time_min;
 extern ConVar cv_camping_time_max;
+extern ConVar cv_smoke_grenade_checks;
 
 extern ConVar mp_freezetime;
 extern ConVar mp_roundtime;

src/botlib.cpp

@@ -38,6 +38,7 @@ ConVar cv_pickup_custom_items ("pickup_custom_items", "0", "Allows or disallows
 ConVar cv_pickup_ammo_and_kits ("pickup_ammo_and_kits", "0", "Allows bots pickup mod items like ammo, health kits and suits.");
 ConVar cv_pickup_best ("pickup_best", "1", "Allows or disallows bots to pickup best weapons.");
 ConVar cv_ignore_objectives ("ignore_objectives", "0", "Allows or disallows bots to do map objectives, i.e. plant/defuse bombs, and saves hostages.");
+ConVar cv_smoke_grenade_checks ("smoke_grenade_checks", "2", "Affect bot's vision by smoke clouds.", true, 0.0f, 2.0f);
 
 // game console variables
 ConVar mp_c4timer ("mp_c4timer", nullptr, Var::GameRef);
@@ -131,7 +132,7 @@ void Bot::avoidGrenades () {
             }
          }
       }
-      else if ((pent->v.flags & FL_ONGROUND) && model == kSmokeModelName) {
+      else if (cv_smoke_grenade_checks.int_ () == 1 && (pent->v.flags & FL_ONGROUND) && model == kSmokeModelName) {
          if (isInFOV (pent->v.origin - getEyesPos ()) < pev->fov / 3.0f) {
             const auto &entOrigin = game.getEntityOrigin (pent);
             const auto &betweenUs = (entOrigin - pev->origin).normalize_apx ();

src/combat.cpp

@@ -215,6 +215,13 @@ bool Bot::checkBodyParts (edict_t *target) {
 }
 
 bool Bot::seesEnemy (edict_t *player) {
+   auto isBehindSmokeClouds = [&] (const Vector &pos) {
+      if (cv_smoke_grenade_checks.int_ () == 2) {
+         return bots.isLineBlockedBySmoke (getEyesPos (), pos);
+      }
+      return false;
+   };
+
    if (game.isNullEntity (player)) {
       return false;
    }
@@ -224,7 +231,11 @@ bool Bot::seesEnemy (edict_t *player) {
       ignoreFieldOfView = true;
    }
 
-   if ((ignoreFieldOfView || isInViewCone (player->v.origin)) && frustum.check (m_viewFrustum, player) && checkBodyParts (player)) {
+   if ((ignoreFieldOfView || isInViewCone (player->v.origin))
+       && frustum.check (m_viewFrustum, player)
+       && !isBehindSmokeClouds (player->v.origin)
+       && checkBodyParts (player)) {
+
       m_seeEnemyTime = game.time ();
       m_lastEnemy = player;
       m_lastEnemyOrigin = m_enemyOrigin;
@@ -1379,7 +1390,7 @@ void Bot::attackMovement () {
       const bool alreadyDucking = m_duckTime > game.time () || isDucking ();
 
       if (alreadyDucking) {
-         m_duckTime = game.time () + m_frameInterval * 2.0f;
+         m_duckTime = game.time () + m_frameInterval * 3.0f;
       }
       else if ((distance > 768.0f && hasPrimaryWeapon ())
                && (m_enemyParts & (Visibility::Head | Visibility::Body))
@@ -1390,7 +1401,7 @@ void Bot::attackMovement () {
 
          if (vistab.visible (m_currentNodeIndex, enemyNearestIndex, VisIndex::Crouch)
              && vistab.visible (enemyNearestIndex, m_currentNodeIndex, VisIndex::Crouch)) {
-            m_duckTime = game.time () + m_frameInterval * 2.0f;
+            m_duckTime = game.time () + m_frameInterval * 3.0f;
          }
       }
       m_moveSpeed = 0.0f;

src/manager.cpp

@@ -2149,3 +2149,118 @@ void BotThreadWorker::startup (int workers) {
    // start up the worker
    m_botWorker.startup (static_cast <size_t> (requestedThreads));
 }
+
+bool BotManager::isLineBlockedBySmoke (const Vector &from, const Vector &to, float grenadeBloat) {
+   if (m_activeGrenades.empty ()) {
+      return false;
+   }
+   constexpr auto kSmokeGrenadeRadius = 115;
+
+   // distance along line of sight covered by smoke
+   float totalSmokedLength = 0.0f;
+
+   Vector sightDir = to - from;
+   const float sightLength = sightDir.normalizeInPlace ();
+
+   for (auto pent : m_activeGrenades) {
+      if (game.isNullEntity (pent)) {
+         continue;
+      }
+
+      // need drawn models
+      if (pent->v.effects & EF_NODRAW) {
+         continue;
+      }
+
+      // smoke must be on a ground
+      if (!(pent->v.flags & FL_ONGROUND)) {
+         continue;
+      }
+
+      // must be a smoke grenade
+      if (!util.isModel (pent, kSmokeModelName)) {
+         continue;
+      }
+
+      const float smokeRadiusSq = cr::sqrf (kSmokeGrenadeRadius) * cr::sqrf (grenadeBloat);
+      const Vector &smokeOrigin = game.getEntityOrigin (pent);
+
+      Vector toGrenade = smokeOrigin - from;
+      float alongDist = toGrenade | sightDir;
+
+      // compute closest point to grenade along line of sight ray
+      Vector close;
+
+      // constrain closest point to line segment
+      if (alongDist < 0.0f) {
+         close = from;
+      }
+      else if (alongDist >= sightLength) {
+         close = to;
+      }
+      else {
+         close = from + sightDir * alongDist;
+      }
+
+      // if closest point is within smoke radius, the line overlaps the smoke cloud
+      Vector toClose = close - smokeOrigin;
+      float lengthSq = toClose.lengthSq ();
+
+      if (lengthSq < smokeRadiusSq) {
+         // some portion of the ray intersects the cloud
+
+         const float fromSq = toGrenade.lengthSq ();
+         const float toSq = (smokeOrigin - to).lengthSq ();
+
+         if (fromSq < smokeRadiusSq) {
+            if (toSq < smokeRadiusSq) {
+               // both 'from' and 'to' lie within the cloud
+               // entire length is smoked
+               totalSmokedLength += (to - from).length ();
+            }
+            else {
+               // 'from' is inside the cloud, 'to' is outside
+               // compute half of total smoked length as if ray crosses entire cloud chord
+               float halfSmokedLength = cr::sqrtf (smokeRadiusSq - lengthSq);
+
+               if (alongDist > 0.0f) {
+                  // ray goes thru 'close'
+                  totalSmokedLength += halfSmokedLength + (close - from).length ();
+               }
+               else {
+                  // ray starts after 'close'
+                  totalSmokedLength += halfSmokedLength - (close - from).length ();
+               }
+
+            }
+         }
+         else if (toSq < smokeRadiusSq) {
+            // 'from' is outside the cloud, 'to' is inside
+            // compute half of total smoked length as if ray crosses entire cloud chord
+            const float halfSmokedLength = cr::sqrtf (smokeRadiusSq - lengthSq);
+            Vector v = to - smokeOrigin;
+
+            if ((v | sightDir) > 0.0f) {
+               // ray goes thru 'close'
+               totalSmokedLength += halfSmokedLength + (close - to).length ();
+            }
+            else {
+               // ray ends before 'close'
+               totalSmokedLength += halfSmokedLength - (close - to).length ();
+            }
+         }
+         else {
+            // 'from' and 'to' lie outside of the cloud - the line of sight completely crosses it
+            // determine the length of the chord that crosses the cloud
+            const float smokedLength = 2.0f * cr::sqrtf (smokeRadiusSq - lengthSq);
+            totalSmokedLength += smokedLength;
+         }
+      }
+   }
+  
+   // define how much smoke a bot can see thru
+   const float maxSmokedLength = 0.7f * kSmokeGrenadeRadius;
+
+   // return true if the total length of smoke-covered line-of-sight is too much
+   return (totalSmokedLength > maxSmokedLength);
+}

src/navigate.cpp

@@ -555,7 +555,7 @@ void Bot::checkTerrain (float movedDistance, const Vector &dirNormal) {
       // not stuck yet
       else {
          // test if there's something ahead blocking the way
-         if (!isOnLadder () && isBlockedForward (dirNormal, &tr)) {
+         if (!isOnLadderPath () && !isOnLadder () && isBlockedForward (dirNormal, &tr)) {
             if (cr::fzero (m_firstCollideTime)) {
                m_firstCollideTime = game.time () + 0.2f;
             }
@@ -3151,6 +3151,15 @@ bool Bot::isReachableNode (int index) {
    return false;
 }
 
+bool Bot::isOnLadderPath () {
+   const auto prevNodeIndex = m_previousNodes[0];
+
+   // bot entered ladder path
+   return (m_pathFlags & NodeFlag::Ladder)
+      && graph.exists (prevNodeIndex)
+      && (graph[prevNodeIndex].flags & NodeFlag::Ladder);
+}
+
 void Bot::findShortestPath (int srcIndex, int destIndex) {
    // this function finds the shortest path from source index to destination index
 

src/vision.cpp

@@ -226,9 +226,12 @@ 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 (64.0f) && nextPath.origin.z > m_pathOrigin.z + 30.0f) {
+         if ((nextPath.flags & NodeFlag::Ladder) && m_destOrigin.distanceSq (pev->origin) < cr::sqrf (128.0f) && nextPath.origin.z > m_pathOrigin.z + 26.0f) {
             m_lookAt = nextPath.origin;
          }
+         else {
+            m_lookAt = m_destOrigin;
+         }
       }
 
       // try to look at last victim for a little, maybe there's some one else
@@ -399,13 +402,19 @@ void Bot::updateLookAngles () {
       updateBodyAngles ();
       return;
    }
-   const float aimSkill = cr::clamp (static_cast <float> (m_difficulty), 1.0f, 4.0f) * 25.0f;
+   float aimSkill = cr::clamp (static_cast <float> (m_difficulty), 1.0f, 4.0f) * 25.0f;
+
+   // do not slowdown while on ladder
+   if (isOnLadderPath () || isOnLadder ()) {
+      aimSkill = 100.0f;
+   }
+   const bool importantAimFlags = (m_aimFlags & (AimFlags::Enemy | AimFlags::Entity | AimFlags::Grenade));
 
    float accelerate = aimSkill * 30.0f;
    float stiffness = aimSkill * 2.0f;
    float damping = aimSkill * 0.25f;
 
-   if (((m_aimFlags & (AimFlags::Enemy | AimFlags::Entity | AimFlags::Grenade)) || m_wantsToFire) && m_difficulty > Difficulty::Normal) {
+   if ((importantAimFlags || m_wantsToFire) && m_difficulty > Difficulty::Normal) {
       if (m_difficulty == Difficulty::Expert) {
          accelerate += 600.0f;
       }
@@ -414,8 +423,29 @@ void Bot::updateLookAngles () {
    }
    m_idealAngles = pev->v_angle;
 
-   const float angleDiffPitch = cr::anglesDifference (direction.x, m_idealAngles.x);
+   float angleDiffPitch = cr::anglesDifference (direction.x, m_idealAngles.x);
-   const float angleDiffYaw = cr::anglesDifference (direction.y, m_idealAngles.y);
+   float angleDiffYaw = cr::anglesDifference (direction.y, m_idealAngles.y);
+
+   // prevent reverse facing angles  when navigating normally
+   if (m_difficulty < Difficulty::Easy && m_moveToGoal && !importantAimFlags && !m_pathOrigin.empty ()) {
+      const float forward = (m_pathOrigin - pev->origin).yaw ();
+
+      if (!cr::fzero (forward)) {
+         const float current = cr::wrapAngle (pev->v_angle.y - forward);
+         const float target = cr::wrapAngle (direction.y - forward);
+
+         if (current * target < 0.0f) {
+            if (cr::abs (current - target) >= 180.0f) {
+               if (angleDiffYaw > 0.0f) {
+                  angleDiffYaw -= 360.0f;
+               }
+               else {
+                  angleDiffYaw += 360.0f;
+               }
+            }
+         }
+      }
+   }
 
    if (cr::abs (angleDiffYaw) < 1.0f) {
       m_lookYawVel = 0.0f;