//
 // HPB_bot - botman's High Ping Bastard bot
 //
 // (http://planethalflife.com/botman/)
 //
 // waypoint.h
 //
 ifndef WAYPOINT_H
 define WAYPOINT_H
 include 
 define MAX_WAYPOINTS 1024
 define REACHABLE_RANGE 400.0
 // defines for waypoint flags field (32 bits are available)
 define W_FL_TEAM        ((1<<0) + (1<<1))  /* allow for 4 teams (0-3) */
 define W_FL_TEAM_SPECIFIC (1<<2)  /* waypoint only for specified team */
 define W_FL_CROUCH      (1<<3)  /* must crouch to reach this waypoint */
 define W_FL_LADDER      (1<<4)  /* waypoint on a ladder */
 define W_FL_LIFT        (1<<5)  /* wait for lift to be down before approaching this waypoint */
 define W_FL_DOOR        (1<<6)  /* wait for door to open */
 define W_FL_HEALTH      (1<<7)  /* health kit (or wall mounted) location */
 define W_FL_ARMOR       (1<<8)  /* armor (or HEV) location */
 define W_FL_AMMO        (1<<9)  /* ammo location */
 define W_FL_SNIPER      (1<<10) /* sniper waypoint (a good sniper spot) */
 define W_FL_TFC_FLAG    (1<<11) /* flag position (or hostage or president) */
 define W_FL_FLF_CAP     (1<<11) /* Front Line Force capture point */
 define W_FL_TFC_FLAG_GOAL (1<<12) /* flag return position (or rescue zone) */
 define W_FL_FLF_DEFEND  (1<<12) /* Front Line Force defend point */
 define W_FL_PRONE       (1<<13) /* go prone (laying down) */
 define W_FL_AIMING      (1<<14) /* aiming waypoint */
 define W_FL_DELETED     (1<<31) /* used by waypoint allocation code */
 define WAYPOINT_VERSION 4
 // define the waypoint file header structure…
 typedef struct {
    char filetype[8];  // should be "HPB_bot\0"
    int  waypoint_file_version;
    int  waypoint_file_flags;  // not currently used
    int  number_of_waypoints;
    char mapname[32];  // name of map for these waypoints
 } WAYPOINT_HDR;
 // define the structure for waypoints…
 typedef struct {
    int    flags;    // button, lift, flag, health, ammo, etc.
    Vector origin;   // location
 } WAYPOINT;
 define WAYPOINT_UNREACHABLE   USHRT_MAX
 define WAYPOINT_MAX_DISTANCE (USHRT_MAX-1)
 define MAX_PATH_INDEX 4
 // define the structure for waypoint paths (paths are connections between
 // two waypoint nodes that indicates the bot can get from point A to point B.
 // note that paths DON'T have to be two-way.  sometimes they are just one-way
 // connections between two points.  There is an array called "paths" that
 // contains head pointers to these structures for each waypoint index.
 typedef struct path {
    short int index[MAX_PATH_INDEX];  // indexes of waypoints (index -1 means not used)
    struct path *next;   // link to next structure
 } PATH;
 // waypoint function prototypes…
 void WaypointInit(void);
 int  WaypointFindPath(PATH **pPath, int *path_index, int waypoint_index, int team);
 int  WaypointFindNearest(edict_t *pEntity, float distance, int team);
 int  WaypointFindNearest(Vector v_src, edict_t *pEntity, float range, int team);
 int  WaypointFindNearestGoal(edict_t *pEntity, int src, int team, int flags);
 int  WaypointFindNearestGoal(Vector v_src, edict_t *pEntity, float range, int team, int flags);
 int  WaypointFindRandomGoal(edict_t *pEntity, int team, int flags);
 int  WaypointFindRandomGoal(Vector v_src, edict_t *pEntity, float range, int team, int flags);
 int  WaypointFindNearestAiming(Vector v_origin);
 void WaypointAdd(edict_t *pEntity);
 void WaypointAddAiming(edict_t *pEntity);
 void WaypointDelete(edict_t *pEntity);
 void WaypointCreatePath(edict_t *pEntity, int cmd);
 void WaypointRemovePath(edict_t *pEntity, int cmd);
 bool WaypointLoad(edict_t *pEntity);
 void WaypointSave(void);
 bool WaypointReachable(Vector v_srv, Vector v_dest, edict_t *pEntity);
 int  WaypointFindReachable(edict_t *pEntity, float range, int team);
 void WaypointPrintInfo(edict_t *pEntity);
 void WaypointThink(edict_t *pEntity);
 void WaypointFloyds(short *shortest_path, short *from_to);
 void WaypointRouteInit(void);
 unsigned short WaypointRouteFromTo(int src, int dest, int team);
 int  WaypointDistanceFromTo(int src, int dest, int team);
 endif // WAYPOINT_H