bot_navigate.cpp

/**
  * RealBot : Artificial Intelligence
  * Version : Work In Progress
  * Author  : Stefan Hendriks
  * Url     : http://realbot.bots-united.com
  **
  * DISCLAIMER
  *
  * History, Information & Credits: 
  * RealBot is based partially upon the HPB-Bot Template #3 by Botman
  * Thanks to Ditlew (NNBot), Pierre Marie Baty (RACCBOT), Tub (RB AI PR1/2/3)
  * Greg Slocum & Shivan (RB V1.0), Botman (HPB-Bot) and Aspirin (JOEBOT). And
  * everybody else who helped me with this project.
  * Storage of Visibility Table using BITS by Cheesemonster.
  *
  * Some portions of code are from other bots, special thanks (and credits) go
  * to (in no specific order):
  *
  * Pierre Marie Baty
  * Count-Floyd
  *  
  * !! BOTS-UNITED FOREVER !!
  *  
  * This project is open-source, it is protected under the GPL license;
  * By using this source-code you agree that you will ALWAYS release the
  * source-code with your project.
  *
  **/


#include <string.h>
#include <extdll.h>
#include <dllapi.h>
#include <meta_api.h>
#include <entity_state.h>

#include "bot.h"
#include "bot_weapons.h"
#include "bot_func.h"
#include "game.h"
#include "NodeMachine.h"
extern int mod_id;

extern edict_t *pHostEdict;

#define SCAN_RADIUS   45        // Radius to scan to prevent blocking with players

/**
 * Given an angle, makes sure it wraps around properly
 * @param angle
 * @return
 */
float fixAngle(float angle) {
    if (angle > 180) return (angle - 360);
    if (angle < -180) return (angle + 360);
    return angle;
}

void botFixIdealPitch(edict_t * pEdict) {
    pEdict->v.idealpitch = fixAngle(pEdict->v.idealpitch);
}

void botFixIdealYaw(edict_t * pEdict) {
    pEdict->v.ideal_yaw = fixAngle(pEdict->v.ideal_yaw);
}

bool BotCanJumpUp(cBot * pBot) {
   // What I do here is trace 3 lines straight out, one unit higher than
   // the highest normal jumping distance.  I trace once at the center of
   // the body, once at the right side, and once at the left side.  If all
   // three of these TraceLines don't hit an obstruction then I know the
   // area to jump to is clear.  I then need to trace from head level,
   // above where the bot will jump to, downward to see if there is anything
   // blocking the jump.  There could be a narrow opening that the body
   // will not fit into.  These horizontal and vertical TraceLines seem
   // to catch most of the problems with falsely trying to jump on something
   // that the bot can not get onto.

   TraceResult tr;
   Vector v_jump, v_source, v_dest;
   edict_t *pEdict = pBot->pEdict;

   // convert current view angle to vectors for TraceLine math...

   v_jump = pEdict->v.v_angle;
   v_jump.x = 0;                // reset pitch to 0 (level horizontally)
   v_jump.z = 0;                // reset roll to 0 (straight up and down)

   UTIL_MakeVectors(v_jump);

   // use center of the body first...

   // maximum jump height is 45, so check one unit above that (46)
   v_source = pEdict->v.origin + Vector(0, 0, -36 + MAX_JUMPHEIGHT);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at maximum jump height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   // now check same height to one side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * 16 + Vector(0, 0,
            -36 +
            MAX_JUMPHEIGHT);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at maximum jump height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   // now check same height on the other side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * -16 + Vector(0, 0,
            -36 +
            MAX_JUMPHEIGHT);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at maximum jump height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   // now trace from head level downward to check for obstructions...

   // start of trace is 24 units in front of bot, 72 units above head...
   v_source = pEdict->v.origin + gpGlobals->v_forward * 24;

   // offset 72 units from top of head (72 + 36)
   v_source.z = v_source.z + 108;

   // end point of trace is 99 units straight down from start...
   // (99 is 108 minus the jump limit height which is 45 - 36 = 9)
   // fix by stefan, max jump height is 63 , not 45! (using duck-jump)
   // 108 - (63-36) = 81
   v_dest = v_source + Vector(0, 0, -81);

   // trace a line straight down toward the ground...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   // now check same height to one side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * 16 +
      gpGlobals->v_forward * 24;
   v_source.z = v_source.z + 108;
   v_dest = v_source + Vector(0, 0, -81);

   // trace a line straight down toward the ground...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   // now check same height on the other side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * -16 +
      gpGlobals->v_forward * 24;
   v_source.z = v_source.z + 108;
   v_dest = v_source + Vector(0, 0, -81);

   // trace a line straight down toward the ground...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return FALSE;

   return TRUE;
}

bool BotCanDuckUnder(cBot * pBot) {
   // What I do here is trace 3 lines straight out, one unit higher than
   // the ducking height.  I trace once at the center of the body, once
   // at the right side, and once at the left side.  If all three of these
   // TraceLines don't hit an obstruction then I know the area to duck to
   // is clear.  I then need to trace from the ground up, 72 units, to make
   // sure that there is something blocking the TraceLine.  Then we know
   // we can duck under it.

   TraceResult tr;
   Vector v_duck, v_source, v_dest;
   edict_t *pEdict = pBot->pEdict;

   // convert current view angle to vectors for TraceLine math...

   v_duck = pEdict->v.v_angle;
   v_duck.x = 0;                // reset pitch to 0 (level horizontally)
   v_duck.z = 0;                // reset roll to 0 (straight up and down)

   UTIL_MakeVectors(v_duck);

   // use center of the body first...

   // duck height is 36, so check one unit above that (37)
   v_source = pEdict->v.origin + Vector(0, 0, -36 + 37);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at duck height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return false;

   // now check same height to one side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * 16 + Vector(0, 0, -36 + 37);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at duck height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return false;

   // now check same height on the other side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * -16 + Vector(0, 0,
            -36 + 37);
   v_dest = v_source + gpGlobals->v_forward * 24;

   // trace a line forward at duck height...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace hit something, return FALSE
   if (tr.flFraction < 1.0)
      return false;

   // now trace from the ground up to check for object to duck under...

   // start of trace is 24 units in front of bot near ground...
   v_source = pEdict->v.origin + gpGlobals->v_forward * 24;
   v_source.z = v_source.z - 35;        // offset to feet + 1 unit up

   // end point of trace is 72 units straight up from start...
   v_dest = v_source + Vector(0, 0, 72);

   // trace a line straight up in the air...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace didn't hit something, return FALSE
   if (tr.flFraction >= 1.0)
      return false;

   // now check same height to one side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * 16 +
      gpGlobals->v_forward * 24;
   v_source.z = v_source.z - 35;        // offset to feet + 1 unit up
   v_dest = v_source + Vector(0, 0, 72);

   // trace a line straight up in the air...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace didn't hit something, return FALSE
   if (tr.flFraction >= 1.0)
      return false;

   // now check same height on the other side of the bot...
   v_source =
      pEdict->v.origin + gpGlobals->v_right * -16 +
      gpGlobals->v_forward * 24;
   v_source.z = v_source.z - 35;        // offset to feet + 1 unit up
   v_dest = v_source + Vector(0, 0, 72);

   // trace a line straight up in the air...
   UTIL_TraceLine(v_source, v_dest, dont_ignore_monsters,
                  pEdict->v.pContainingEntity, &tr);

   // if trace didn't hit something, return FALSE
   if (tr.flFraction >= 1.0)
      return false;

   return true;
}