Bots spread out about their objective and keep to it

Each bot has a direction of its own (the golden angle on from the last):
far from a shared goal (the enemy's flag, the ball, the hill) it comes by
a way of its own, out to its side of the straight way, straight only for
the last 10 world units; holding a place it takes a spot of its own: on
the hill, about its flag's stand (every other guard ahead of it towards
the enemy's), about a teammate it escorts. With no way to its spot it
takes the point itself. A bot with an objective no longer leaves it in a
fight for a weapon close by.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

port/linux/game/bots.c

@@ -32,6 +32,12 @@ In the objective games a bot plays for the objective, fighting on the way:
 - king of the hill: to the hill, and around in it;
 - oddball: to the ball (taken as a weapon is), hunting whoever carries it;
   with it, away from the enemy, striking those who come near.
+
+In a game of teams a bot plays with its team: it holds its fire while a
+teammate is in the line of it, takes on first the enemies near its
+teammates (people above all), escorts a teammate who carries the enemy's
+flag or the ball, and, with nothing to do, every other bot keeps near the
+nearest person on its team.
 */
 
 #include "cseries.h"
@@ -111,6 +117,12 @@ struct bot
 	real sidestep;
 	/* whether it walks to a point this tick (not only weaving in a fight) */
 	boolean walking;
+	/* the paths to its goal not found in a row, and goals given up for a
+	while on that account: following a person, a thing to pick up */
+	short path_failures;
+	long follow_again_time;
+	long ignored_item_index;
+	long ignored_item_time;
 	real wander_yaw;
 	short weave_phase;
 	/* where it is going, and the way there */
@@ -127,6 +139,8 @@ struct bot
 	/* the objective, as it played it this tick: where it goes, whom it
 	hunts first, and whether it carries the flag or ball (no firing) */
 	boolean has_objective;
+	/* the objective is a place to hold (the hill, its own flag's stand) */
+	boolean holding;
 	real_point3d objective;
 	long objective_unit_index;
 	boolean carrying;
@@ -232,6 +246,124 @@ static boolean bot_can_see(
 		from, &vector, unit_index, &collision);
 }
 
+/* ---------- the team */
+
+/* whether a player is a person (on a machine of its own, not a bot's) */
+static boolean bot_player_is_person(
+	struct player_datum const *player)
+{
+	return !network_game_server_is_bot_machine(player->network_player_data.machine_index);
+}
+
+/* how much nearer an enemy at this point counts for being near the bot's
+teammates: up to 10 world units for one by a person, 6 by a bot */
+static real bot_threat_to_team(
+	struct player_datum const *player,
+	real_point3d const *enemy)
+{
+	real threat = 0.0f;
+	short index;
+
+	for (index = 0; index < MAXIMUM_TRACKED_PLAYERS; index++)
+	{
+		struct player_datum *mate = distributed_player(index);
+		long unit_index;
+		real_point3d head;
+		real distance;
+		real most;
+
+		if (!mate || mate == player || mate->team_index != player->team_index)
+			continue;
+		unit_index = distributed_living_unit(mate);
+		if (unit_index == NONE)
+			continue;
+		unit_get_camera_position(unit_index, &head);
+		distance = distance3d(enemy, &head);
+		most = bot_player_is_person(mate) ? 10.0f : 6.0f;
+		if (distance < 12.0f)
+			threat = MAX(threat, most * (1.0f - distance / 12.0f));
+	}
+	return threat;
+}
+
+/* whether a teammate stands in the line of fire to a point (nearer than
+it, within 0.8 world units of the line) */
+static boolean bot_teammate_in_line(
+	struct player_datum const *player,
+	real_point3d const *eye,
+	real_point3d const *target)
+{
+	real_vector3d line;
+	real length;
+	short index;
+
+	if (!game_engine_has_teams())
+		return FALSE;
+	vector_from_points3d(eye, target, &line);
+	length = magnitude3d(&line);
+	if (length < 0.01f)
+		return FALSE;
+	for (index = 0; index < MAXIMUM_TRACKED_PLAYERS; index++)
+	{
+		struct player_datum *mate = distributed_player(index);
+		long unit_index;
+		real_point3d center;
+		real_vector3d offset;
+		real along;
+		real_point3d nearest;
+
+		if (!mate || mate == player || mate->team_index != player->team_index)
+			continue;
+		unit_index = distributed_living_unit(mate);
+		if (unit_index == NONE)
+			continue;
+		unit_get_camera_position(unit_index, &center);
+		center.z -= 0.25f;
+		vector_from_points3d(eye, &center, &offset);
+		along = dot_product3d(&offset, &line) / length;
+		if (along <= 0.0f || along >= length)
+			continue;
+		nearest.x = eye->x + line.i * along / length;
+		nearest.y = eye->y + line.j * along / length;
+		nearest.z = eye->z + line.k * along / length;
+		if (distance3d(&nearest, &center) < 0.8f)
+			return TRUE;
+	}
+	return FALSE;
+}
+
+/* the nearest person on the bot's team, alive (NONE: none) */
+static long bot_nearest_person(
+	struct player_datum const *player,
+	real_point3d const *position)
+{
+	long best = NONE;
+	real best_distance = 40.0f;
+	short index;
+
+	for (index = 0; index < MAXIMUM_TRACKED_PLAYERS; index++)
+	{
+		struct player_datum *mate = distributed_player(index);
+		long unit_index;
+		real_point3d origin;
+		real distance;
+
+		if (!mate || mate == player || mate->team_index != player->team_index || !bot_player_is_person(mate))
+			continue;
+		unit_index = distributed_living_unit(mate);
+		if (unit_index == NONE)
+			continue;
+		object_get_origin(unit_index, &origin);
+		distance = distance3d(position, &origin);
+		if (distance < best_distance)
+		{
+			best_distance = distance;
+			best = unit_index;
+		}
+	}
+	return best;
+}
+
 /* the nearest enemy unit the bot can see, or NONE */
 static long bot_find_target(
 	struct player_datum const *player,
@@ -256,6 +388,11 @@ static long bot_find_target(
 			continue;
 		unit_get_camera_position(unit_index, &head);
 		distance = distance3d(eye, &head);
+		if (distance >= bots.sight_range)
+			continue;
+		/* (one near a teammate counts as nearer: helped first) */
+		if (teams)
+			distance -= bot_threat_to_team(player, &head);
 		if (distance < best_distance && bot_can_see(player->unit_index, eye, &head))
 		{
 			best = unit_index;
@@ -299,6 +436,7 @@ static boolean bot_find_path(
 	if (goal_surface == NONE)
 	{
 		bots.fail_goal++;
+		bot->path_failures++;
 		return FALSE;
 	}
 	/* (a little wider than a biped: paths that keep off walls and corners) */
@@ -333,9 +471,11 @@ static boolean bot_find_path(
 		bot->path.valid = FALSE;
 		bots.paths_failed++;
 		bots.fail_search++;
+		bot->path_failures++;
 		return FALSE;
 	}
 	bots.paths_found += bot->path.valid != FALSE;
+	bot->path_failures = 0;
 	return bot->path.valid;
 }
 
@@ -776,6 +916,88 @@ static boolean bots_ctf_base(
 	return FALSE;
 }
 
+/* near a teammate who carries something, a few world units off on the bot's
+side of it (an escort, not on the carrier's heels) */
+static void bot_escort_point(
+	real_point3d const *position,
+	real_point3d const *carried,
+	real_point3d *point)
+{
+	real dx = position->x - carried->x;
+	real dy = position->y - carried->y;
+	real length = (real)sqrt(dx * dx + dy * dy);
+
+	*point = *carried;
+	if (length > 0.01f)
+	{
+		point->x += dx / length * 2.5f;
+		point->y += dy / length * 2.5f;
+	}
+}
+
+/* Bots with one place to go spread out: each has a direction of its own
+(the golden angle on from the last bot's), a place of its own about a
+point to hold, and comes to a point from far off by a way of its own,
+wide of the others', going straight to it only for the last stretch. */
+
+static real bot_spread_angle(
+	long player_index)
+{
+	return (real)DATUM_INDEX_TO_ABSOLUTE_INDEX(player_index) * 2.39996f;
+}
+
+/* the bot's place about a point (radius: world units) */
+static void bot_spot_around(
+	real_point3d const *center,
+	long player_index,
+	real radius,
+	real_point3d *spot)
+{
+	real angle = bot_spread_angle(player_index);
+
+	*spot = *center;
+	spot->x += (real)cos(angle) * radius;
+	spot->y += (real)sin(angle) * radius;
+}
+
+/* its place about a point, or the point itself when there is no way to the
+place (in a wall, past a ledge) */
+static void bot_hold_spot(
+	struct bot const *bot,
+	real_point3d const *center,
+	real radius,
+	real_point3d *spot)
+{
+	if (bot->path_failures >= 3)
+		*spot = *center;
+	else
+		bot_spot_around(center, bot->player_index, radius, spot);
+}
+
+/* where it heads for a point from where it is: from far off, out to a side
+of the straight way (its own side and width), in from 10 world units */
+static void bot_approach(
+	struct bot const *bot,
+	real_point3d const *position,
+	real_point3d const *goal,
+	real_point3d *point)
+{
+	long index = DATUM_INDEX_TO_ABSOLUTE_INDEX(bot->player_index);
+	real dx = goal->x - position->x;
+	real dy = goal->y - position->y;
+	real distance = (real)sqrt(dx * dx + dy * dy);
+	real side = (index & 1 ? 1.0f : -1.0f) * (3.0f + (real)((index >> 1) % 3) * 1.5f);
+	real share;
+
+	*point = *goal;
+	/* (no way to the side: straight) */
+	if (distance < 10.0f || bot->path_failures >= 2)
+		return;
+	share = MIN((distance - 10.0f) / 10.0f, 1.0f);
+	point->x += -dy / distance * side * share;
+	point->y += dx / distance * side * share;
+}
+
 /* what the objective asks of the bot now (bot->has_objective and the rest) */
 static void bot_play_objective_now(
 	struct bot *bot,
@@ -809,6 +1031,7 @@ static void bot_play_objective_now(
 	short index;
 
 	bot->has_objective = FALSE;
+	bot->holding = FALSE;
 	bot->objective_unit_index = NONE;
 	bot->carrying = FALSE;
 	if (type == game_engine_king)
@@ -823,13 +1046,12 @@ static void bot_play_objective_now(
 			dx = center.x - position->x;
 			dy = center.y - position->y;
 			bot->has_objective = TRUE;
-			bot->objective = center;
-			/* (on the hill: about in it, not on its middle) */
-			if (dx * dx + dy * dy < 1.5f * 1.5f)
-			{
-				bot->objective.x += (real)cos(bot->weave_phase * 0.05f) * 1.0f;
-				bot->objective.y += (real)sin(bot->weave_phase * 0.05f) * 1.0f;
-			}
+			bot->holding = TRUE;
+			/* (near: a place of its own on the hill; far: a way of its own) */
+			if (dx * dx + dy * dy < 6.0f * 6.0f)
+				bot_hold_spot(bot, &center, 1.2f, &bot->objective);
+			else
+				bot_approach(bot, position, &center, &bot->objective);
 		}
 		return;
 	}
@@ -876,23 +1098,42 @@ static void bot_play_objective_now(
 			bot->objective = own->position;
 			return;
 		}
-		/* (every third guards its own) */
+		/* (every third guards its own: about the stand, or, every other one
+		of them, ahead of it towards the enemy's) */
 		if ((DATUM_INDEX_TO_ABSOLUTE_INDEX(player_index) % 3) == 2 && bots_ctf_base(player->team_index, &base))
 		{
+			real_point3d enemy_base;
+
 			bot->has_objective = TRUE;
-			bot->objective = base;
-			if (distance3d(position, &base) < 4.0f)
+			bot->holding = TRUE;
+			if (((DATUM_INDEX_TO_ABSOLUTE_INDEX(player_index) / 3) & 1) &&
+				bots_ctf_base((player->team_index + 1) % 2, &enemy_base))
 			{
-				bot->objective.x += (real)cos(bot->weave_phase * 0.03f) * 3.0f;
-				bot->objective.y += (real)sin(bot->weave_phase * 0.03f) * 3.0f;
+				real dx = enemy_base.x - base.x;
+				real dy = enemy_base.y - base.y;
+				real length = (real)sqrt(dx * dx + dy * dy);
+
+				bot->objective = base;
+				if (length > 0.01f)
+				{
+					bot->objective.x += dx / length * 7.0f;
+					bot->objective.y += dy / length * 7.0f;
+				}
+			}
+			else
+			{
+				bot_hold_spot(bot, &base, 3.0f, &bot->objective);
 			}
 			return;
 		}
-		/* theirs: to take it, or to cover its carrier */
+		/* theirs: to take it, or to escort the teammate carrying it */
 		if (enemy)
 		{
 			bot->has_objective = TRUE;
-			bot->objective = enemy->position;
+			if (enemy->carrier_player_index != NONE)
+				bot_hold_spot(bot, &enemy->position, 3.0f, &bot->objective);
+			else
+				bot_approach(bot, position, &enemy->position, &bot->objective);
 		}
 		return;
 	}
@@ -911,13 +1152,20 @@ static void bot_play_objective_now(
 				bot->carrying = TRUE;
 				return;
 			}
-			/* (one a teammate carries: not to be chased) */
+			/* (one a teammate carries: escorted, not chased) */
 			if (item->carrier_player_index != NONE && game_engine_has_teams())
 			{
 				struct player_datum *carrier = player_try_and_get(item->carrier_player_index);
 
 				if (carrier && carrier->team_index == player->team_index)
+				{
+					if (!nearest)
+					{
+						bot->has_objective = TRUE;
+						bot_hold_spot(bot, &item->position, 3.0f, &bot->objective);
+					}
 					continue;
+				}
 			}
 			distance = distance3d(position, &item->position);
 			if (distance < nearest_distance)
@@ -929,7 +1177,7 @@ static void bot_play_objective_now(
 		if (nearest)
 		{
 			bot->has_objective = TRUE;
-			bot->objective = nearest->position;
+			bot_approach(bot, position, &nearest->position, &bot->objective);
 			if (nearest->carrier_player_index != NONE)
 			{
 				struct player_datum *carrier = player_try_and_get(nearest->carrier_player_index);
@@ -976,6 +1224,7 @@ static void bot_think(
 	real wanted_yaw;
 	real wanted_pitch = 0.0f;
 	boolean firing = FALSE;
+	boolean following = FALSE;
 	real moved;
 
 	csmemset(action, 0, sizeof(*action));
@@ -1097,13 +1346,13 @@ static void bot_think(
 		}
 		bot->weave_phase++;
 		/* (a good weapon or powerup close by: taken in the fight too) */
-		if (!bot->carrying && (game_time_get() - bot->item_look_time >= ITEM_LOOK_TICKS / 2 ||
+		if (!bot->carrying && !bot->has_objective && (game_time_get() - bot->item_look_time >= ITEM_LOOK_TICKS / 2 ||
 			game_time_get() < bot->item_look_time))
 		{
 			bot->item_look_time = game_time_get();
 			bot->item_index = bot_find_item(unit, &position, 10.0f, 4.0f);
 		}
-		if (bot->item_index != NONE && !bot->carrying && object_try_and_get(bot->item_index) &&
+		if (bot->item_index != NONE && !bot->carrying && !bot->has_objective && object_try_and_get(bot->item_index) &&
 			bot_item_worth(unit, bot->item_index) > 0.0f)
 		{
 			real_point3d item_position;
@@ -1153,6 +1402,13 @@ static void bot_think(
 		firing = !bot->carrying && distance < BOT_FIRE_RANGE &&
 			fabsf(bot_angle_difference(wanted_yaw, bot->yaw)) < BOT_FIRE_CONE &&
 			fabsf(wanted_pitch - bot->pitch) < BOT_FIRE_CONE;
+		/* (a teammate in the line of fire: held, and a step aside for a
+		clear shot) */
+		if (firing && bot_teammate_in_line(player, &eye, &head))
+		{
+			firing = FALSE;
+			action->throttle.j = (bot->weave_phase / 30) & 1 ? 1.0f : -1.0f;
+		}
 		/* (a melee blow when it is upon it) */
 		if (distance < 1.0f)
 			SET_FLAG(action->control_flags, _unit_control_use_equipment_bit, TRUE);
@@ -1201,6 +1457,8 @@ static void bot_think(
 			long item = bot_find_item(unit, &position, BOT_ITEM_RANGE, 0.0f);
 
 			bot->item_look_time = game_time_get();
+			if (item == bot->ignored_item_index && game_time_get() - bot->ignored_item_time < 600)
+				item = NONE;
 			if (item != bot->item_index)
 			{
 				bot->item_index = item;
@@ -1215,8 +1473,16 @@ static void bot_think(
 		}
 		if (bot->item_index != NONE && !bot->has_objective)
 		{
-			/* (taken or gone: on) */
-			if (!object_try_and_get(bot->item_index) || bot_item_worth(unit, bot->item_index) <= 0.0f)
+			/* (taken or gone, or no way to it: on) */
+			if (bot->path_failures >= 3)
+			{
+				bot->ignored_item_index = bot->item_index;
+				bot->ignored_item_time = game_time_get();
+				bot->path_failures = 0;
+				bot->item_index = NONE;
+				bot->has_goal = FALSE;
+			}
+			else if (!object_try_and_get(bot->item_index) || bot_item_worth(unit, bot->item_index) <= 0.0f)
 			{
 				bot->item_index = NONE;
 				bot->has_goal = FALSE;
@@ -1229,12 +1495,56 @@ static void bot_think(
 					bot_take_item(bot, player, unit, action);
 			}
 		}
+		/* (in a team, every other bot with nothing to do keeps near the
+		nearest person on its team) */
+		following = FALSE;
+		if (bot->item_index == NONE && !bot->has_objective && game_engine_has_teams() &&
+			(DATUM_INDEX_TO_ABSOLUTE_INDEX(bot->player_index) & 1) == 0 &&
+			game_time_get() >= bot->follow_again_time)
+		{
+			long person = bot_nearest_person(player, &position);
+
+			if (person != NONE)
+			{
+				real_point3d origin;
+
+				following = TRUE;
+				object_get_origin(person, &origin);
+				/* (near: where it is, not on top of them) */
+				if (distance3d(&position, &origin) > 6.0f)
+					bot_escort_point(&position, &origin, &bot->goal);
+				else
+					bot->goal = position;
+				bot->has_goal = TRUE;
+				bot->goal_time = game_time_get();
+				/* (no way to them, as up where only a teleporter goes: not for
+				ten seconds) */
+				if (bot->path_failures >= 3)
+				{
+					bot->follow_again_time = game_time_get() + 300;
+					bot->path_failures = 0;
+					following = FALSE;
+				}
+			}
+		}
 		/* hunts, or roams: along its way, looking where it goes */
-		if (bot->item_index == NONE && !bot->has_objective &&
-			(!bot->has_goal || game_time_get() - bot->goal_time > 90 ||
+		if (bot->item_index == NONE && !bot->has_objective && !following &&
+			(!bot->has_goal || game_time_get() - bot->goal_time > 90 || bot->path_failures >= 3 ||
 				distance3d(&position, &bot->goal) < BOT_GOAL_RADIUS))
 		{
+			boolean unreachable = bot->path_failures >= 3;
+
 			bot_choose_goal(bot, player, &position);
+			/* (no way to the last: somewhere near at random instead) */
+			if (unreachable)
+			{
+				real angle = bot_random() * 2.0f * _pi;
+
+				bot->goal = position;
+				bot->goal.x += (real)cos(angle) * 6.0f;
+				bot->goal.y += (real)sin(angle) * 6.0f;
+			}
+			bot->path_failures = 0;
 		}
 		wanted_yaw = bot->wander_yaw;
 		if (bot_next_point(bot, player->unit_index, &position, &point))
@@ -1363,6 +1673,7 @@ static struct bot *bot_get(
 		free_bot->player_index = player_index;
 		free_bot->target_unit_index = NONE;
 		free_bot->item_index = NONE;
+		free_bot->ignored_item_index = NONE;
 	}
 	return free_bot;
 }