bot: implemented asynchronous pathfinding

nav: floyd-warshall matrices and practice updates are done asynchronously by now
add: yb_threadpool_workers cvar, that controls number of worker threads bot will use
add: cv_autovacate_keep_slots, the amount of slots to keep by auto vacate
aim: enemy prediction is now done asynchronously by now
bot: minor fixes and refactoring, including analyze suspend mistake (ref #441)

note: the master builds are now NOT production ready, please test before installing on real servers!

ext/hlsdk/const.h

@@ -15,10 +15,10 @@
 
 #ifndef CONST_H
 #define CONST_H
-//
-// Constants shared by the engine and dlls
-// This header file included by engine files and DLL files.
-// Most came from server.h
+ //
+ // Constants shared by the engine and dlls
+ // This header file included by engine files and DLL files.
+ // Most came from server.h
 
 #define INTERFACE_VERSION 140
 
@@ -842,7 +842,7 @@ typedef enum {
    missile = 2
 } IGNORE_MONSTERS;
 
-typedef enum { 
+typedef enum {
    ignore_glass = 1,
    dont_ignore_glass = 0
 } IGNORE_GLASS;

ext/hlsdk/eiface.h

@@ -54,7 +54,7 @@ typedef struct usercmd_s {
    byte	msec;           // Duration in ms of command
    vec3_t	viewangles;     // Command view angles.
 
-// intended velocities
+   // intended velocities
    float	forwardmove;    // Forward velocity.
    float	sidemove;       // Sideways velocity.
    float	upmove;         // Upward velocity.
@@ -63,7 +63,7 @@ typedef struct usercmd_s {
    byte    impulse;          // Impulse command issued.
    byte	weaponselect;	// Current weapon id
 
-// Experimental player impact stuff.
+   // Experimental player impact stuff.
    int		impact_index;
    vec3_t	impact_position;
 } usercmd_t;

ext/hlsdk/extdll.h

@@ -39,11 +39,9 @@ class string_t final : public cr::DenyCopying {
    estring_t offset;
 
 public:
-   explicit string_t () : offset (0)
-   { }
+   explicit string_t () : offset (0) {}
 
-   string_t (int offset) : offset (offset)
-   { }
+   string_t (int offset) : offset (offset) {}
 
    ~string_t () = default;
 

ext/hlsdk/meta_api.h

@@ -29,7 +29,7 @@
  *
  */
 
-// Simplified version by Wei Mingzhi
+ // Simplified version by Wei Mingzhi
 
 #ifndef META_API_H
 #define META_API_H

ext/hlsdk/metamod.h

@@ -29,7 +29,7 @@
  *
  */
 
-// Simplified version by Wei Mingzhi
+ // Simplified version by Wei Mingzhi
 
 #ifndef METAMOD_H
 #define METAMOD_H

ext/hlsdk/model.h

@@ -13,7 +13,7 @@
  *
  ****/
 
-// stripped down version of com_model.h & pm_info.h
+ // stripped down version of com_model.h & pm_info.h
 
 #ifndef MODEL_H
 #define MODEL_H
@@ -103,7 +103,7 @@ typedef struct msurface_s {
 } msurface_t;
 
 typedef struct cache_user_s {
-   void* data; // extradata
+   void *data; // extradata
 } cache_user_t;
 
 typedef struct hull_s {
@@ -166,7 +166,7 @@ typedef struct physent_s {
    char name[32]; // name of model, or "player" or "world".
    int player;
    vec3_t origin; // model's origin in world coordinates.
-   struct model_s* model; // only for bsp models
+   struct model_s *model; // only for bsp models
 } physent_t;
 
 typedef struct playermove_s {

ext/hlsdk/physint.h

@@ -48,117 +48,114 @@ GNU General Public License for more details.
 #define LUMP_SAVE_NO_DATA		7
 #define LUMP_SAVE_CORRUPTED		8
 
-typedef struct areanode_s
-{
-	int		axis;		// -1 = leaf node
-	float		dist;
-	struct areanode_s	*children[2];
-	link_t		trigger_edicts;
-	link_t		solid_edicts;
-	link_t		portal_edicts;
+typedef struct areanode_s {
+   int		axis;		// -1 = leaf node
+   float		dist;
+   struct areanode_s *children[2];
+   link_t		trigger_edicts;
+   link_t		solid_edicts;
+   link_t		portal_edicts;
 } areanode_t;
 
-typedef struct server_physics_api_s
-{
-	// unlink edict from old position and link onto new
-	void		( *pfnLinkEdict) ( edict_t *ent, qboolean touch_triggers );
-	double		( *pfnGetServerTime )( void ); // unclamped
-	double		( *pfnGetFrameTime )( void );	// unclamped
-	void*		( *pfnGetModel )( int modelindex );
-	areanode_t*	( *pfnGetHeadnode )( void ); // AABB tree for all physic entities
-	int		( *pfnServerState )( void );
-	void		( *pfnHost_Error )( const char *error, ... );	// cause Host Error
-// ONLY ADD NEW FUNCTIONS TO THE END OF THIS STRUCT.  INTERFACE VERSION IS FROZEN AT 6
-	struct triangleapi_s *pTriAPI;	// draw coliisions etc. Only for local system
-
-	// draw debug messages (must be called from DrawOrthoTriangles). Only for local system
-	int		( *pfnDrawConsoleString )( int x, int y, char *string );
-	void		( *pfnDrawSetTextColor )( float r, float g, float b );
-	void		( *pfnDrawConsoleStringLen )( const char *string, int *length, int *height );
-	void		( *Con_NPrintf )( int pos, const char *fmt, ... );
-	void		( *Con_NXPrintf )( struct con_nprint_s *info, const char *fmt, ... );
-	const char	*( *pfnGetLightStyle )( int style ); // read custom appreance for selected lightstyle
-	void		( *pfnUpdateFogSettings )( unsigned int packed_fog );
-	char		**(*pfnGetFilesList)( const char *pattern, int *numFiles, int gamedironly );
-	struct msurface_s	*(*pfnTraceSurface)( edict_t *pTextureEntity, const float *v1, const float *v2 );
-	const byte	*(*pfnGetTextureData)( unsigned int texnum );
-
-	// static allocations
-	void		*(*pfnMemAlloc)( size_t cb, const char *filename, const int fileline );
-	void		(*pfnMemFree)( void *mem, const char *filename, const int fileline );
-
-	// trace & contents
-	int		(*pfnMaskPointContents)( const float *pos, int groupmask );
-	struct trace_t		(*pfnTrace)( const float *p0, float *mins, float *maxs, const float *p1, int type, edict_t *e );
-   struct trace_t		(*pfnTraceNoEnts)( const float *p0, float *mins, float *maxs, const float *p1, int type, edict_t *e );
-	int		(*pfnBoxInPVS)( const float *org, const float *boxmins, const float *boxmaxs );
-
-	// message handler (missed function to write raw bytes)
-	void		(*pfnWriteBytes)( const byte *bytes, int count );
-
-	// BSP lump management
-	int		(*pfnCheckLump)( const char *filename, const int lump, int *lumpsize );
-	int		(*pfnReadLump)( const char *filename, const int lump, void **lumpdata, int *lumpsize );
-	int		(*pfnSaveLump)( const char *filename, const int lump, void *lumpdata, int lumpsize );
-
-	// FS tools
-	int		(*pfnSaveFile)( const char *filename, const void *data, int len );
-	const byte	*(*pfnLoadImagePixels)( const char *filename, int *width, int *height );
-
-	const char*	(*pfnGetModelName)( int modelindex );
+typedef struct server_physics_api_s {
+   // unlink edict from old position and link onto new
+   void		(*pfnLinkEdict) (edict_t *ent, qboolean touch_triggers);
+   double		(*pfnGetServerTime)(void); // unclamped
+   double		(*pfnGetFrameTime)(void);	// unclamped
+   void *(*pfnGetModel)(int modelindex);
+   areanode_t *(*pfnGetHeadnode)(void); // AABB tree for all physic entities
+   int		(*pfnServerState)(void);
+   void		(*pfnHost_Error)(const char *error, ...);	// cause Host Error
+   // ONLY ADD NEW FUNCTIONS TO THE END OF THIS STRUCT.  INTERFACE VERSION IS FROZEN AT 6
+   struct triangleapi_s *pTriAPI;	// draw coliisions etc. Only for local system
+
+   // draw debug messages (must be called from DrawOrthoTriangles). Only for local system
+   int		(*pfnDrawConsoleString)(int x, int y, char *string);
+   void		(*pfnDrawSetTextColor)(float r, float g, float b);
+   void		(*pfnDrawConsoleStringLen)(const char *string, int *length, int *height);
+   void		(*Con_NPrintf)(int pos, const char *fmt, ...);
+   void		(*Con_NXPrintf)(struct con_nprint_s *info, const char *fmt, ...);
+   const char *(*pfnGetLightStyle)(int style); // read custom appreance for selected lightstyle
+   void		(*pfnUpdateFogSettings)(unsigned int packed_fog);
+   char **(*pfnGetFilesList)(const char *pattern, int *numFiles, int gamedironly);
+   struct msurface_s *(*pfnTraceSurface)(edict_t *pTextureEntity, const float *v1, const float *v2);
+   const byte *(*pfnGetTextureData)(unsigned int texnum);
+
+   // static allocations
+   void *(*pfnMemAlloc)(size_t cb, const char *filename, const int fileline);
+   void		(*pfnMemFree)(void *mem, const char *filename, const int fileline);
+
+   // trace & contents
+   int		(*pfnMaskPointContents)(const float *pos, int groupmask);
+   struct trace_t (*pfnTrace)(const float *p0, float *mins, float *maxs, const float *p1, int type, edict_t *e);
+   struct trace_t (*pfnTraceNoEnts)(const float *p0, float *mins, float *maxs, const float *p1, int type, edict_t *e);
+   int		(*pfnBoxInPVS)(const float *org, const float *boxmins, const float *boxmaxs);
+
+   // message handler (missed function to write raw bytes)
+   void		(*pfnWriteBytes)(const byte *bytes, int count);
+
+   // BSP lump management
+   int		(*pfnCheckLump)(const char *filename, const int lump, int *lumpsize);
+   int		(*pfnReadLump)(const char *filename, const int lump, void **lumpdata, int *lumpsize);
+   int		(*pfnSaveLump)(const char *filename, const int lump, void *lumpdata, int lumpsize);
+
+   // FS tools
+   int		(*pfnSaveFile)(const char *filename, const void *data, int len);
+   const byte *(*pfnLoadImagePixels)(const char *filename, int *width, int *height);
+
+   const char *(*pfnGetModelName)(int modelindex);
 } server_physics_api_t;
 
 // physic callbacks
-typedef struct physics_interface_s
-{
-	int		version;
-	// passed through pfnCreate (0 is attempt to create, -1 is reject)
-	int		( *SV_CreateEntity )( edict_t *pent, const char *szName );
-	// run custom physics for each entity (return 0 to use built-in engine physic)
-	int		( *SV_PhysicsEntity	)( edict_t *pEntity );
-	// spawn entities with internal mod function e.g. for re-arrange spawn order (0 - use engine parser, 1 - use mod parser)
-	int		( *SV_LoadEntities )( const char *mapname, char *entities );
-	// update conveyor belt for clients
-	void		( *SV_UpdatePlayerBaseVelocity )( edict_t *ent );
-	// The game .dll should return 1 if save game should be allowed
-	int		( *SV_AllowSaveGame )( void );
-// ONLY ADD NEW FUNCTIONS TO THE END OF THIS STRUCT.  INTERFACE VERSION IS FROZEN AT 6
-	// override trigger area checking and touching
-	int		( *SV_TriggerTouch )( edict_t *pent, edict_t *trigger );
-	// some engine features can be enabled only through this function
-	unsigned int	( *SV_CheckFeatures )( void );
-	// used for draw debug collisions for custom physic engine etc
-	void		( *DrawDebugTriangles )( void );
-	// used for draw debug overlay (textured)
-	void		( *DrawNormalTriangles )( void );
-	// used for draw debug messages (2d mode)
-	void		( *DrawOrthoTriangles )( void );
-	// tracing entities with SOLID_CUSTOM mode on a server (not used by pmove code)
-	void		( *ClipMoveToEntity)( edict_t *ent, const float *start, float *mins, float *maxs, const float *end, trace_t *trace );
-	// tracing entities with SOLID_CUSTOM mode on a server (only used by pmove code)
-	void		( *ClipPMoveToEntity)( struct physent_s *pe, const float *start, float *mins, float *maxs, const float *end, struct pmtrace_s *tr );
-	// called at end the frame of SV_Physics call
-	void		( *SV_EndFrame )( void );
-	// obsolete
-	void		(*pfnPrepWorldFrame)( void );
-	// called through save\restore process
-	void		(*pfnCreateEntitiesInRestoreList)( SAVERESTOREDATA *pSaveData, int levelMask, qboolean create_world );
-	// allocate custom string (e.g. using user implementation of stringtable, not engine strings)
-	string_t		(*pfnAllocString)( const char *szValue );
-	// make custom string (e.g. using user implementation of stringtable, not engine strings)
-	string_t		(*pfnMakeString)( const char *szValue );
-	// read custom string (e.g. using user implementation of stringtable, not engine strings)
-	const char*	(*pfnGetString)( string_t iString );
-	// helper for restore custom decals that have custom message (e.g. Paranoia)
-	int		(*pfnRestoreDecal)( struct decallist_s *entry, edict_t *pEdict, qboolean adjacent );
-	// handle custom trigger touching for player
-	void		(*PM_PlayerTouch)( struct playermove_s *ppmove, edict_t *client );
-	// alloc or destroy model custom data (called only for dedicated servers, otherwise using an client version)
-	void		(*Mod_ProcessUserData)( struct model_s *mod, qboolean create, const byte *buffer );
-	// select BSP-hull for trace with specified mins\maxs
-	void		*(*SV_HullForBsp)( edict_t *ent, const float *mins, const float *maxs, float *offset );
-	// handle player custom think function
-	int		(*SV_PlayerThink)( edict_t *ent, float frametime, double time );
+typedef struct physics_interface_s {
+   int		version;
+   // passed through pfnCreate (0 is attempt to create, -1 is reject)
+   int		(*SV_CreateEntity)(edict_t *pent, const char *szName);
+   // run custom physics for each entity (return 0 to use built-in engine physic)
+   int		(*SV_PhysicsEntity)(edict_t *pEntity);
+   // spawn entities with internal mod function e.g. for re-arrange spawn order (0 - use engine parser, 1 - use mod parser)
+   int		(*SV_LoadEntities)(const char *mapname, char *entities);
+   // update conveyor belt for clients
+   void		(*SV_UpdatePlayerBaseVelocity)(edict_t *ent);
+   // The game .dll should return 1 if save game should be allowed
+   int		(*SV_AllowSaveGame)(void);
+   // ONLY ADD NEW FUNCTIONS TO THE END OF THIS STRUCT.  INTERFACE VERSION IS FROZEN AT 6
+      // override trigger area checking and touching
+   int		(*SV_TriggerTouch)(edict_t *pent, edict_t *trigger);
+   // some engine features can be enabled only through this function
+   unsigned int	(*SV_CheckFeatures)(void);
+   // used for draw debug collisions for custom physic engine etc
+   void		(*DrawDebugTriangles)(void);
+   // used for draw debug overlay (textured)
+   void		(*DrawNormalTriangles)(void);
+   // used for draw debug messages (2d mode)
+   void		(*DrawOrthoTriangles)(void);
+   // tracing entities with SOLID_CUSTOM mode on a server (not used by pmove code)
+   void		(*ClipMoveToEntity)(edict_t *ent, const float *start, float *mins, float *maxs, const float *end, trace_t *trace);
+   // tracing entities with SOLID_CUSTOM mode on a server (only used by pmove code)
+   void		(*ClipPMoveToEntity)(struct physent_s *pe, const float *start, float *mins, float *maxs, const float *end, struct pmtrace_s *tr);
+   // called at end the frame of SV_Physics call
+   void		(*SV_EndFrame)(void);
+   // obsolete
+   void		(*pfnPrepWorldFrame)(void);
+   // called through save\restore process
+   void		(*pfnCreateEntitiesInRestoreList)(SAVERESTOREDATA *pSaveData, int levelMask, qboolean create_world);
+   // allocate custom string (e.g. using user implementation of stringtable, not engine strings)
+   string_t (*pfnAllocString)(const char *szValue);
+   // make custom string (e.g. using user implementation of stringtable, not engine strings)
+   string_t (*pfnMakeString)(const char *szValue);
+   // read custom string (e.g. using user implementation of stringtable, not engine strings)
+   const char *(*pfnGetString)(string_t iString);
+   // helper for restore custom decals that have custom message (e.g. Paranoia)
+   int		(*pfnRestoreDecal)(struct decallist_s *entry, edict_t *pEdict, qboolean adjacent);
+   // handle custom trigger touching for player
+   void		(*PM_PlayerTouch)(struct playermove_s *ppmove, edict_t *client);
+   // alloc or destroy model custom data (called only for dedicated servers, otherwise using an client version)
+   void		(*Mod_ProcessUserData)(struct model_s *mod, qboolean create, const byte *buffer);
+   // select BSP-hull for trace with specified mins\maxs
+   void *(*SV_HullForBsp)(edict_t *ent, const float *mins, const float *maxs, float *offset);
+   // handle player custom think function
+   int		(*SV_PlayerThink)(edict_t *ent, float frametime, double time);
 } physics_interface_t;
 
 #endif//PHYSINT_H

inc/engine.h

@@ -146,6 +146,9 @@ class Game final : public Singleton <Game> {
    // initialize levels
    void levelInitialize (edict_t *entities, int max);
 
+   // shutdown levels
+   void levelShutdown ();
+
    // display world line
    void drawLine (edict_t *ent, const Vector &start, const Vector &end, int width, int noise, const Color &color, int brightness, int speed, int life, DrawLine type = DrawLine::Simple);
 
@@ -688,8 +691,7 @@ class EntityLinkage : public Singleton <EntityLinkage> {
    int close (DLSYM_HANDLE module) {
       if (m_self.handle () == module) {
          disable ();
-
-         return  m_dlclose (module);
+         return m_dlclose (module);
       }
       return m_dlclose (module);
    }

inc/graph.h

@@ -153,7 +153,6 @@ class BotGraph final : public Singleton <BotGraph> {
    int m_lastJumpNode {};
    int m_findWPIndex {};
    int m_facingAtIndex {};
-   int m_highestDamage[kGameTeamNum] {};
    int m_autoSaveCount {};
 
    float m_timeJumpStarted {};
@@ -265,14 +264,6 @@ class BotGraph final : public Singleton <BotGraph> {
       return m_paths.length () / 2;
    }
 
-   int getHighestDamageForTeam (int team) const {
-      return cr::max (1, m_highestDamage[team]);
-   }
-
-   void setHighestDamageForTeam (int team, int value) {
-      m_highestDamage[team] = value;
-   }
-
    StringRef getAuthor () const {
       return m_graphAuthor;
    }