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Bots apply nav pathing penalties based on weapon limits #1805

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eca69c6
Penalize bot nav penalties based on weapon limits
sunzenshen Mar 9, 2026
824d781
Code review feedback
sunzenshen Jun 6, 2026
2ff7598
Discourage bots further from taking same paths and jumping
sunzenshen Jun 6, 2026
0d3c381
Take direct path when chasing ghoster
sunzenshen Jun 6, 2026
9aea8eb
Remove unneeded header
sunzenshen Jun 6, 2026
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29 changes: 29 additions & 0 deletions src/game/server/nav_area.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,8 +258,37 @@ CNavArea::CNavArea( void )
m_funcNavCostVector.RemoveAll();

m_nVisTestCounter = (uint32)-1;

#ifdef NEO
m_visibleAreaCount = 0;
#endif
}


#ifdef NEO
//--------------------------------------------------------------------------------------------------------------
struct CountPotentiallyVisibleAreas
{
int count;
CountPotentiallyVisibleAreas() : count(0) {}
bool operator()( CNavArea* area )
{
count++;
return true;
}
};


//--------------------------------------------------------------------------------------------------------------
void CNavArea::ComputePotentiallyVisibleAreaCount()
{
CountPotentiallyVisibleAreas counter;
const_cast<CNavArea*>(this)->ForAllPotentiallyVisibleAreas( counter );
m_visibleAreaCount = counter.count;
}
#endif


//--------------------------------------------------------------------------------------------------------------
/**
* Assumes Z is flat
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7 changes: 7 additions & 0 deletions src/game/server/nav_area.h
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Original file line number Diff line number Diff line change
Expand Up @@ -520,6 +520,10 @@ class CNavArea : protected CNavAreaCriticalData
virtual bool IsPartiallyVisible( const Vector &eye, const CBaseEntity *ignore = NULL ) const; // return true if any portion of the area is visible from given eyepoint (CPU intensive)

virtual bool IsPotentiallyVisible( const CNavArea *area ) const; // return true if given area is potentially visible from somewhere in this area (very fast)
#ifdef NEO
int GetPotentiallyVisibleAreaCount() const { return m_visibleAreaCount; }
void ComputePotentiallyVisibleAreaCount();
#endif
virtual bool IsPotentiallyVisibleToTeam( int team ) const; // return true if any portion of this area is visible to anyone on the given team (very fast)

virtual bool IsCompletelyVisible( const CNavArea *area ) const; // return true if given area is completely visible from somewhere in this area (very fast)
Expand Down Expand Up @@ -662,6 +666,9 @@ class CNavArea : protected CNavAreaCriticalData
*/

static unsigned int m_nextID; // used to allocate unique IDs
#ifdef NEO
int m_visibleAreaCount;
#endif
unsigned int m_id; // unique area ID
unsigned int m_debugid;

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8 changes: 8 additions & 0 deletions src/game/server/nav_file.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1647,6 +1647,14 @@ NavErrorType CNavMesh::PostLoad( unsigned int version )
area->PostLoad();
}

#ifdef NEO
FOR_EACH_VEC( TheNavAreas, vit )
{
CNavArea *area = TheNavAreas[ vit ];
area->ComputePotentiallyVisibleAreaCount();
}
#endif

// allow hiding spots to compute information
FOR_EACH_VEC( TheHidingSpots, hit )
{
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3 changes: 2 additions & 1 deletion src/game/server/neo/bot/behavior/neo_bot_ctg_enemy.cpp
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Expand Up @@ -49,7 +49,8 @@ ActionResult< CNEOBot > CNEOBotCtgEnemy::Update( CNEOBot *me, float interval )
// Investigate the ghost carrier's position
if ( m_repathTimer.IsElapsed() )
{
CNEOBotPathCompute( me, m_path, pGhostCarrier->GetAbsOrigin(), DEFAULT_ROUTE );
// FASTEST_ROUTE: don't waste chase time looking for cover
CNEOBotPathCompute( me, m_path, pGhostCarrier->GetAbsOrigin(), FASTEST_ROUTE );

@sunzenshen sunzenshen Jun 6, 2026

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With DEFAULT_ROUTE on this PR, bots don't chase ghost carriers fast enough as they sneak behind cover which wastes pursuit time. I decided that it's better to risk bunching up while taking the FASTEST_ROUTE, and then let the dispatch to the Attack behavior above to use DEFAULT_ROUTE when actually attacking enemies. So pursuers beeline as fast as possible to the ghoster until they contact the enemy, and then split up along different paths at that point.

m_repathTimer.Start( RandomFloat( 0.2f, 1.0f ) );
}
m_path.Update( me );
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72 changes: 68 additions & 4 deletions src/game/server/neo/bot/neo_bot_path_cost.cpp
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Expand Up @@ -9,13 +9,28 @@
extern ConVar neo_bot_path_reservation_enable;

ConVar neo_bot_path_around_friendly_cooldown("neo_bot_path_around_friendly_cooldown", "2.0", FCVAR_CHEAT,
"How often to check for friendly path dispersion", false, 0, false, 60);
"How often to check for friendly path dispersion", true, 0, true, 60);

ConVar neo_bot_path_penalty_jump_multiplier("neo_bot_path_penalty_jump_multiplier", "100.0", FCVAR_CHEAT,
"Maximum penalty multiplier for jump height changes in pathfinding", false, 0.01f, false, 1000.0f);
ConVar neo_bot_path_penalty_jump_multiplier("neo_bot_path_penalty_jump_multiplier", "100000.0", FCVAR_CHEAT,
"Maximum penalty multiplier for jump height changes in pathfinding", true, 0.01f, false, 0.0f);

@sunzenshen sunzenshen Jun 6, 2026

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Further increasing the jump penalty as I increased the path reservation penalty below.


ConVar neo_bot_path_penalty_ladder_multiplier("neo_bot_path_penalty_ladder_multiplier", "3.0", FCVAR_CHEAT,
"Penalty multiplier for ladder traversal in pathfinding", true, 0.1f, true, 100.0f);
"Penalty multiplier for ladder traversal in pathfinding", true, 0.1f, false, 0.0f);

ConVar neo_bot_path_penalty_exposure_base("neo_bot_path_penalty_exposure_base", "5.0", FCVAR_CHEAT,
"General additional penalty per visible area for bots to avoid exposed areas", true, 0.0f, false, 0.0f);

ConVar neo_bot_path_penalty_exposure_pistol("neo_bot_path_penalty_exposure_pistol", "10.0", FCVAR_CHEAT,
"Additional penalty per visible area for bots wielding pistol caliber weapons", true, 0.0f, false, 0.0f);

ConVar neo_bot_path_penalty_exposure_shotgun("neo_bot_path_penalty_exposure_shotgun", "20.0", FCVAR_CHEAT,
"Additional penalty per visible area for shotgun-wielding bots", true, 0.0f, false, 0.0f);

ConVar neo_bot_path_penalty_exposure_inverse_base_battle_rifle("neo_bot_path_penalty_exposure_inverse_base_battle_rifle", "500.0", FCVAR_CHEAT,
"Base penalty for calculating inverse traversal penalty for semi-auto battle rifles", true, 1.0f, false, 0.0f);

ConVar neo_bot_path_penalty_exposure_inverse_base_scoped("neo_bot_path_penalty_exposure_inverse_base_scoped", "1000.0", FCVAR_CHEAT,
"Base penalty for calculating inverse traversal penalty for scoped weapons", true, 1.0f, false, 0.0f);

//-------------------------------------------------------------------------------------------------
CNEOBotPathCost::CNEOBotPathCost(CNEOBot* me, RouteType routeType)
Expand Down Expand Up @@ -126,6 +141,55 @@ float CNEOBotPathCost::operator()(CNavArea* baseArea, CNavArea* fromArea, const
cost += CNEOBotPathReservations()->GetPredictedFriendlyPathCount(area->GetID(), m_me->GetTeamNumber()) * neo_bot_path_reservation_penalty.GetFloat();
cost += CNEOBotPathReservations()->GetAreaAvoidPenalty(area->GetID());

// Weapon range penalties
auto* myWeapon = assert_cast<CNEOBaseCombatWeapon*>(m_me->GetActiveWeapon());
if (myWeapon)
{
const int nWeaponBits = myWeapon->GetNeoWepBits();
if (nWeaponBits & NEO_WEP_FIREARM)
{
const int visibleAreaCount = area->GetPotentiallyVisibleAreaCount();
if (visibleAreaCount > 0)
{
constexpr int nShotgunBits = NEO_WEP_AA13 | NEO_WEP_SUPA7;
constexpr int nBattleRifleBits = NEO_WEP_M41 | NEO_WEP_M41_S;
constexpr int nPistolCaliberBits = NEO_WEP_MILSO | NEO_WEP_TACHI | NEO_WEP_KYLA
| NEO_WEP_MPN | NEO_WEP_MPN_S | NEO_WEP_JITTE | NEO_WEP_JITTE_S | NEO_WEP_SRM | NEO_WEP_SRM_S;

if (nWeaponBits & nPistolCaliberBits)
{
// Weapons that don't have max first shot accuracy
const float exposurePenalty = neo_bot_path_penalty_exposure_pistol.GetFloat();
cost += visibleAreaCount * exposurePenalty;

@sunzenshen sunzenshen Jun 6, 2026

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Changing the penalty addition to cost enhanced the effect of bots bunching up together behind cover, so I tweaked the other penalties to encourage bots to spread out if they are in the same room.

}
else if (nWeaponBits & nShotgunBits)
{
// Weapons that have spread that can't hit long range targets
const float exposurePenalty = neo_bot_path_penalty_exposure_shotgun.GetFloat();
cost += visibleAreaCount * exposurePenalty;
}
else if (nWeaponBits & nBattleRifleBits)
{
// Weapons that benefit from medium sightlines that can see many NavAreas
const float baseline_penalty = neo_bot_path_penalty_exposure_inverse_base_battle_rifle.GetFloat();
cost += baseline_penalty / visibleAreaCount;
}
else if (nWeaponBits & NEO_WEP_SCOPEDWEAPON)
{
// Weapons that benefit from long sightlines that can see many NavAreas
const float baseline_penalty = neo_bot_path_penalty_exposure_inverse_base_scoped.GetFloat();
cost += baseline_penalty / visibleAreaCount;
}
else
{
// Generally avoiding exposed areas when traversing a wide open area
const float exposurePenalty = neo_bot_path_penalty_exposure_base.GetFloat();
cost += visibleAreaCount * exposurePenalty;
}
}
}
}

if (m_routeType == SAFEST_ROUTE)
{
// NEO Jank Cheat: Incorporate enemy bot paths so that we don't run directly into their line of fire
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12 changes: 6 additions & 6 deletions src/game/server/neo/bot/neo_bot_path_reservation.cpp
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Expand Up @@ -12,13 +12,13 @@ ConVar neo_bot_path_reservation_enable("neo_bot_path_reservation_enable", "1", F
"Enable the bot path reservation system.", true, 0, true, 1);

ConVar neo_bot_path_reservation_duration("neo_bot_path_reservation_duration", "30.0", FCVAR_NONE,
"How long a path reservation lasts, in seconds.", true, 1, true, 1000000);
"How long a path reservation lasts, in seconds.", true, 1, false, 0);

ConVar neo_bot_path_reservation_distance("neo_bot_path_reservation_distance", "10000", FCVAR_NONE,
"How far along the path to reserve, in Hammer units.", true, 0, true, 1000000);
ConVar neo_bot_path_reservation_distance("neo_bot_path_reservation_distance", "100000", FCVAR_NONE,
"How far along the path to reserve, in Hammer units.", true, 0, false, 0);

ConVar neo_bot_path_reservation_penalty("neo_bot_path_reservation_penalty", "100", FCVAR_NONE,
"Pathing cost penalty for a reserved area.", true, 0, true, 1000000);
ConVar neo_bot_path_reservation_penalty("neo_bot_path_reservation_penalty", "10000", FCVAR_NONE,
"Pathing cost penalty for a reserved area.", true, 0, false, 0);

@sunzenshen sunzenshen Jun 6, 2026

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Encourage bots to spread out in a room if they are traversing the same room as other bot teammates. Otherwise bots bunch up together to take the same covered path.


ConVar neo_bot_path_reservation_friendly_penalty_enable("neo_bot_path_reservation_friendly_penalty_enable", "1", FCVAR_NONE,
"Whether to update or retrieve the area friendly reservation penalty.", true, 0, true, 1);
Expand All @@ -29,7 +29,7 @@ ConVar neo_bot_path_reservation_avoid_penalty_enable("neo_bot_path_reservation_a
ConVar neo_bot_path_reservation_killed_penalty("neo_bot_path_reservation_killed_penalty", "10", FCVAR_NONE,
"Path selection penalty added to a nav area each time a bot dies moving through that area.", true, 0, false, 0);

ConVar neo_bot_path_reservation_onstuck_penalty("neo_bot_path_reservation_onstuck_penalty", "10000", FCVAR_NONE,
ConVar neo_bot_path_reservation_onstuck_penalty("neo_bot_path_reservation_onstuck_penalty", "1000", FCVAR_NONE,

@sunzenshen sunzenshen Mar 9, 2026

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When working on ladder climbing, I noticed that the previous penalty cost was so heavy that bots would fail to climb a challenging ladder a couple times and then never touch that ladder again for the rest of the match. So I figured toning down this penalty was warranted.

"Path selection penalty added to a nav area each time a bot gets stuck moving through that area.", true, 0, false, 0);


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