Spread out bot teammate path planning

src/game/server/CMakeLists.txt

@@ -1408,6 +1408,12 @@ target_sources_grouped(
     FILES
     neo/bot/neo_bot.cpp
     neo/bot/neo_bot.h
+    neo/bot/neo_bot_path_compute.cpp
+    neo/bot/neo_bot_path_compute.h
+    neo/bot/neo_bot_path_cost.cpp
+    neo/bot/neo_bot_path_cost.h
+    neo/bot/neo_bot_path_reservation.cpp
+    neo/bot/neo_bot_path_reservation.h
     neo/bot/neo_bot_body.cpp
     neo/bot/neo_bot_body.h
     neo/bot/neo_bot_contextual_query_interface.h

src/game/server/neo/bot/behavior/nav_entities/neo_bot_nav_ent_destroy_entity.cpp

@@ -3,6 +3,7 @@
 #include "neo_player.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/nav_entities/neo_bot_nav_ent_destroy_entity.h"
+#include "bot/neo_bot_path_compute.h"
 
 extern ConVar neo_bot_path_lookahead_range;
 
@@ -133,8 +134,7 @@ ActionResult< CNEOBot >	CNEOBotNavEntDestroyEntity::Update( CNEOBot *me, float i
 	{
 		m_repathTimer.Start( RandomFloat( 1.0f, 2.0f ) );
 
-		CNEOBotPathCost cost( me, FASTEST_ROUTE );
-		m_path.Compute( me, target->GetAbsOrigin(), cost );
+		CNEOBotPathCompute( me, m_path, target->GetAbsOrigin(), FASTEST_ROUTE );
 	}
 
 	m_path.Update( me );

src/game/server/neo/bot/behavior/nav_entities/neo_bot_nav_ent_move_to.cpp

@@ -3,6 +3,7 @@
 #include "neo_player.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/nav_entities/neo_bot_nav_ent_move_to.h"
+#include "bot/neo_bot_path_compute.h"
 
 extern ConVar neo_bot_path_lookahead_range;
 
@@ -90,8 +91,7 @@ ActionResult< CNEOBot >	CNEOBotNavEntMoveTo::Update( CNEOBot *me, float interval
 			{
 				m_repathTimer.Start( RandomFloat( 1.0f, 2.0f ) );
 
-				CNEOBotPathCost cost( me, FASTEST_ROUTE );
-				m_path.Compute( me, m_goalPosition, cost );
+				CNEOBotPathCompute( me, m_path, m_goalPosition, FASTEST_ROUTE );
 			}
 
 			// move into position

src/game/server/neo/bot/behavior/neo_bot_approach_object.cpp

@@ -5,6 +5,7 @@
 #include "neo_player.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_approach_object.h"
+#include "bot/neo_bot_path_compute.h"
 
 extern ConVar neo_bot_path_lookahead_range;
 
@@ -53,8 +54,7 @@ ActionResult< CNEOBot >	CNEOBotApproachObject::Update( CNEOBot *me, float interv
 	{
 		m_repathTimer.Start( RandomFloat( 1.0f, 2.0f ) );
 
-		CNEOBotPathCost cost( me, FASTEST_ROUTE );
-		m_path.Compute( me, m_loot->GetAbsOrigin(), cost );
+		CNEOBotPathCompute( me, m_path, m_loot->GetAbsOrigin(), FASTEST_ROUTE );
 	}
 
 	// move to the loot

src/game/server/neo/bot/behavior/neo_bot_attack.cpp

@@ -4,6 +4,7 @@
 #include "team_control_point_master.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_attack.h"
+#include "bot/neo_bot_path_compute.h"
 
 #include "nav_mesh.h"
 
@@ -80,13 +81,11 @@ ActionResult< CNEOBot >	CNEOBotAttack::Update( CNEOBot *me, float interval )
 
 			if ( isUsingCloseRangeWeapon )
 			{
-				CNEOBotPathCost cost( me, FASTEST_ROUTE );
-				m_chasePath.Update( me, threat->GetEntity(), cost );
+				CNEOBotPathUpdateChase( me, m_chasePath, threat->GetEntity(), FASTEST_ROUTE );
 			}
 			else
 			{
-				CNEOBotPathCost cost( me, DEFAULT_ROUTE );
-				m_chasePath.Update( me, threat->GetEntity(), cost );
+				CNEOBotPathUpdateChase( me, m_chasePath, threat->GetEntity(), DEFAULT_ROUTE );
 			}
 		}
 		else
@@ -115,13 +114,11 @@ ActionResult< CNEOBot >	CNEOBotAttack::Update( CNEOBot *me, float interval )
 
 				if ( isUsingCloseRangeWeapon )
 				{
-					CNEOBotPathCost cost( me, FASTEST_ROUTE );
-					m_path.Compute( me, threat->GetLastKnownPosition(), cost );
+					CNEOBotPathCompute( me, m_path, threat->GetLastKnownPosition(), FASTEST_ROUTE );
 				}
 				else
 				{
-					CNEOBotPathCost cost( me, DEFAULT_ROUTE );
-					m_path.Compute( me, threat->GetLastKnownPosition(), cost );
+					CNEOBotPathCompute( me, m_path, threat->GetLastKnownPosition(), DEFAULT_ROUTE );
 				}
 			}
 		}

src/game/server/neo/bot/behavior/neo_bot_behavior.cpp

@@ -154,6 +154,8 @@ ActionResult< CNEOBot >	CNEOBotMainAction::Update( CNEOBot *me, float interval )
 		me->m_flLastShouldAimTime = gpGlobals->curtime;
 	}
 	me->m_qPrevShouldAim = qDirectShouldAimQuery;
+
+	me->RepathIfFriendlyBlockingLineOfFire();
 
 	return Continue();
 }

src/game/server/neo/bot/behavior/neo_bot_get_ammo.cpp

@@ -4,6 +4,7 @@
 #include "neo_gamerules.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_get_ammo.h"
+#include "bot/neo_bot_path_compute.h"
 #include "items.h"
 
 extern ConVar neo_bot_path_lookahead_range;
@@ -116,9 +117,8 @@ bool CNEOBotGetAmmo::IsPossible( CNEOBot *me )
 		NDebugOverlay::Cross3D( closestAmmo->WorldSpaceCenter(), 5.0f, 255, 255, 0, true, 999.9 );
 	}
 
-	CNEOBotPathCost cost( me, FASTEST_ROUTE );
 	PathFollower path;
-	if ( !path.Compute( me, closestAmmo->WorldSpaceCenter(), cost ) || !path.IsValid() || path.GetResult() != Path::COMPLETE_PATH )
+	if ( !CNEOBotComputePath( me, path, closestAmmo->WorldSpaceCenter(), FASTEST_ROUTE ) || !path.IsValid() || path.GetResult() != Path::COMPLETE_PATH )
 	{
 		if ( me->IsDebugging( NEXTBOT_BEHAVIOR ) )
 		{
@@ -153,8 +153,7 @@ ActionResult< CNEOBot >	CNEOBotGetAmmo::OnStart( CNEOBot *me, Action< CNEOBot >
 
 	m_ammo = s_possibleAmmo;
 
-	CNEOBotPathCost cost( me, FASTEST_ROUTE );
-	if ( !m_path.Compute( me, m_ammo->WorldSpaceCenter(), cost ) || !m_path.IsValid() || m_path.GetResult() != Path::COMPLETE_PATH )
+	if ( !CNEOBotComputePath( me, m_path, m_ammo->WorldSpaceCenter(), FASTEST_ROUTE ) || !m_path.IsValid() || m_path.GetResult() != Path::COMPLETE_PATH )
 	{
 		return Done( "No path to ammo!" );
 	}

src/game/server/neo/bot/behavior/neo_bot_get_health.cpp

@@ -3,6 +3,7 @@
 #include "bot/neo_bot.h"
 //#include "item_healthkit.h"
 #include "bot/behavior/neo_bot_get_health.h"
+#include "bot/neo_bot_path_compute.h"
 
 extern ConVar neo_bot_path_lookahead_range;
 extern ConVar neo_bot_health_critical_ratio;
@@ -138,9 +139,8 @@ bool CNEOBotGetHealth::IsPossible( CNEOBot *me )
 		return false;
 	}
 
-	CNEOBotPathCost cost( me, FASTEST_ROUTE );
 	PathFollower path;
-	if ( !path.Compute( me, closestHealth->WorldSpaceCenter(), cost ) || !path.IsValid() || path.GetResult() != Path::COMPLETE_PATH )
+	if ( !CNEOBotPathCompute( me, path, closestHealth->WorldSpaceCenter(), FASTEST_ROUTE ) || !path.IsValid() || path.GetResult() != Path::COMPLETE_PATH )
 	{
 		if ( me->IsDebugging( NEXTBOT_BEHAVIOR ) )
 		{
@@ -175,8 +175,7 @@ ActionResult< CNEOBot >	CNEOBotGetHealth::OnStart( CNEOBot *me, Action< CNEOBot
 	m_healthKit = s_possibleHealth;
 	m_isGoalCharger = m_healthKit->ClassMatches( "*charger*" );
 
-	CNEOBotPathCost cost( me, SAFEST_ROUTE );
-	if ( !m_path.Compute( me, m_healthKit->WorldSpaceCenter(), cost ) )
+	if (!CNEOBotPathCompute(me, m_path, m_healthKit->WorldSpaceCenter(), SAFEST_ROUTE))
 	{
 		return Done( "No path to health!" );
 	}
@@ -212,8 +211,7 @@ ActionResult< CNEOBot >	CNEOBotGetHealth::Update( CNEOBot *me, float interval )
 	{
 		// this can occur if we overshoot the health kit's location
 		// because it is momentarily gone
-		CNEOBotPathCost cost( me, SAFEST_ROUTE );
-		if ( !m_path.Compute( me, m_healthKit->WorldSpaceCenter(), cost ) )
+		if ( !CNEOBotPathCompute( me, m_path, m_healthKit->WorldSpaceCenter(), SAFEST_ROUTE ) )
 		{
 			return Done( "No path to health!" );
 		}

src/game/server/neo/bot/behavior/neo_bot_melee_attack.cpp

@@ -1,6 +1,7 @@
 #include "cbase.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_melee_attack.h"
+#include "bot/neo_bot_path_compute.h"
 
 #include "nav_mesh.h"
 
@@ -59,8 +60,7 @@ ActionResult< CNEOBot >	CNEOBotMeleeAttack::Update( CNEOBot *me, float interval
 	me->PressFireButton();
 
 	// chase them down
-	CNEOBotPathCost cost( me, FASTEST_ROUTE );
-	m_path.Update( me, threat->GetEntity(), cost );
+	CNEOBotPathUpdateChase( me, m_path, threat->GetEntity(), FASTEST_ROUTE );
 
 	return Continue();
 }

src/game/server/neo/bot/behavior/neo_bot_move_to_vantage_point.cpp

@@ -2,6 +2,7 @@
 #include "neo_player.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_move_to_vantage_point.h"
+#include "bot/neo_bot_path_compute.h"
 
 #include "nav_mesh.h"
 
@@ -46,8 +47,7 @@ ActionResult< CNEOBot >	CNEOBotMoveToVantagePoint::Update( CNEOBot *me, float in
 	{
 		m_repathTimer.Start( 1.0f );
 
-		CNEOBotPathCost cost( me, FASTEST_ROUTE );
-		if ( !m_path.Compute( me, m_vantageArea->GetCenter(), cost ) )
+		if ( !CNEOBotPathCompute( me, m_path, m_vantageArea->GetCenter(), FASTEST_ROUTE ) )
 		{
 			return Done( "No path to vantage point exists" );
 		}

src/game/server/neo/bot/behavior/neo_bot_retreat_to_cover.cpp

@@ -4,6 +4,7 @@
 #include "neo_player.h"
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_retreat_to_cover.h"
+#include "bot/neo_bot_path_compute.h"
 
 extern ConVar neo_bot_path_lookahead_range;
 ConVar neo_bot_retreat_to_cover_range( "neo_bot_retreat_to_cover_range", "1000", FCVAR_CHEAT );
@@ -235,8 +236,7 @@ ActionResult< CNEOBot >	CNEOBotRetreatToCover::Update( CNEOBot *me, float interv
 		{
 			m_repathTimer.Start( RandomFloat( 0.3f, 0.5f ) );
 
-			CNEOBotPathCost cost( me, RETREAT_ROUTE );
-			m_path.Compute( me, m_coverArea->GetCenter(), cost );
+			CNEOBotPathCompute( me, m_path, m_coverArea->GetCenter(), RETREAT_ROUTE );
 		}
 
 		m_path.Update( me );

src/game/server/neo/bot/behavior/neo_bot_seek_and_destroy.cpp

@@ -5,6 +5,7 @@
 #include "bot/neo_bot.h"
 #include "bot/behavior/neo_bot_attack.h"
 #include "bot/behavior/neo_bot_seek_and_destroy.h"
+#include "bot/neo_bot_path_compute.h"
 #include "nav_mesh.h"
 #include "neo_ghost_cap_point.h"
 
@@ -365,11 +366,10 @@ void CNEOBotSeekAndDestroy::RecomputeSeekPath( CNEOBot *me )
 			CBaseEntity* pClosestWeapon = pWeapons[i];
 			if ( pClosestWeapon )
 			{
-				CNEOBotPathCost cost( me, SAFEST_ROUTE );
 				m_hTargetEntity = pClosestWeapon;
 				m_bGoingToTargetEntity = true;
 				m_vGoalPos = pClosestWeapon->WorldSpaceCenter();
-				if ( m_path.Compute( me, m_vGoalPos, cost, 0.0f, true, true ) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH )
+				if ( CNEOBotPathCompute( me, m_path, m_vGoalPos, SAFEST_ROUTE ) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH )
 					return;
 			}
 		}
@@ -482,8 +482,7 @@ void CNEOBotSeekAndDestroy::RecomputeSeekPath( CNEOBot *me )
 				}
 			}
 			m_bGoingToTargetEntity = true;
-			CNEOBotPathCost cost(me, bQuickToGoalPos ? FASTEST_ROUTE : SAFEST_ROUTE);
-			if (m_path.Compute(me, m_vGoalPos, cost, 0.0f, true, true) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH)
+			if ( CNEOBotPathCompute( me, m_path, m_vGoalPos, bQuickToGoalPos ? FASTEST_ROUTE : SAFEST_ROUTE ) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH )
 			{
 				return;
 			}
@@ -508,11 +507,10 @@ void CNEOBotSeekAndDestroy::RecomputeSeekPath( CNEOBot *me )
 		{
 			for ( int i = 0; i < 10; i++ )
 			{
-				CNEOBotPathCost cost( me, SAFEST_ROUTE );
 				m_hTargetEntity = pSpawns[RandomInt( 0, pSpawns.Size() - 1 )];
 				m_bGoingToTargetEntity = true;
 				m_vGoalPos = m_hTargetEntity->WorldSpaceCenter();
-				if ( m_path.Compute( me, m_vGoalPos, cost, 0.0f, true, true ) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH )
+				if ( CNEOBotPathCompute( me, m_path, m_vGoalPos, SAFEST_ROUTE ) && m_path.IsValid() && m_path.GetResult() == Path::COMPLETE_PATH )
 					return;
 			}
 		}
@@ -522,10 +520,9 @@ void CNEOBotSeekAndDestroy::RecomputeSeekPath( CNEOBot *me )
 	{
 		// No spawns we can get to? Just wander... somewhere!
 
-		CNEOBotPathCost cost( me, SAFEST_ROUTE );
 		Vector vWanderPoint = TheNavAreas[RandomInt( 0, TheNavAreas.Size() - 1 )]->GetCenter();
 		m_vGoalPos = vWanderPoint;
-		if ( m_path.Compute( me, vWanderPoint, cost ) )
+		if ( CNEOBotPathCompute( me, m_path, vWanderPoint, SAFEST_ROUTE ) )
 			return;
 	}
 
@@ -560,8 +557,7 @@ EventDesiredResult< CNEOBot > CNEOBotSeekAndDestroy::OnCommandApproach( CNEOBot*
 	m_bOverrideApproach = true;
 	m_vOverrideApproach = pos;
 
-	CNEOBotPathCost cost( me, SAFEST_ROUTE );
-	m_path.Compute( me, m_vOverrideApproach, cost );
+	CNEOBotPathCompute( me, m_path, m_vOverrideApproach, SAFEST_ROUTE );
 
 	return TryContinue();
 }