Stop medics and techs waiting forever for a patient they cannot reach

.github/workflows/commit-validation.yml

@@ -327,6 +327,7 @@ jobs:
             tools/tests/renderer_vulkan_shadow_compatibility.py \
             tools/tests/renderer_vulkan_world_interaction_compatibility.py \
             tools/tests/rigid_body_recovery_diagnostics.py \
+            tools/tests/ai_medic_approach_watchdog.py \
             tools/tests/savegame_corruption_contract.py \
             tools/tests/savegame_pointer_width_safety.py \
             tools/tests/savegame_v3_contract.py \
@@ -714,6 +715,7 @@ jobs:
           python tools/tests/renderer_vulkan_shadow_compatibility.py
           python tools/tests/renderer_vulkan_world_interaction_compatibility.py
           python tools/tests/rigid_body_recovery_diagnostics.py
+          python tools/tests/ai_medic_approach_watchdog.py
           python tools/tests/savegame_corruption_contract.py
           python tools/tests/savegame_pointer_width_safety.py
           python tools/tests/savegame_v3_contract.py

.github/workflows/push-verification.yml

@@ -327,6 +327,7 @@ jobs:
             tools/tests/renderer_vulkan_shadow_compatibility.py \
             tools/tests/renderer_vulkan_world_interaction_compatibility.py \
             tools/tests/rigid_body_recovery_diagnostics.py \
+            tools/tests/ai_medic_approach_watchdog.py \
             tools/tests/savegame_corruption_contract.py \
             tools/tests/savegame_pointer_width_safety.py \
             tools/tests/savegame_v3_contract.py \
@@ -714,6 +715,7 @@ jobs:
           python tools/tests/renderer_vulkan_shadow_compatibility.py
           python tools/tests/renderer_vulkan_world_interaction_compatibility.py
           python tools/tests/rigid_body_recovery_diagnostics.py
+          python tools/tests/ai_medic_approach_watchdog.py
           python tools/tests/savegame_corruption_contract.py
           python tools/tests/savegame_pointer_width_safety.py
           python tools/tests/savegame_v3_contract.py

docs/dev/release-completion.md

@@ -10,6 +10,19 @@ completed release material here and publish curated notes in `releases/`.
 
 ## Post-0.14.000 corrections
 
+- [ ] Stop medics and techs waiting forever for a player they cannot reach
+  (#184). Choosing the player as a patient makes the healer passive and blind to
+  enemies, and the approach only ended beside a visible patient, so a player it
+  could see but not reach held it in place indefinitely, as reported for Tech Li
+  after hangar1's lift. `ai_medicApproachTimeout` (15 s, 0 disables) now abandons
+  an approach that makes no progress and holds back automatic heals for as long
+  again; a heal the player asks for is unaffected. No save-format change.
+  `ai_medic_approach_watchdog.py` keeps SP and MP aligned.
+
+Candidate AI release wording: Medics and techs no longer freeze in place when
+they cannot reach you to heal or repair you; after a short wait they carry on
+with their orders.
+
 - [x] Complete the stage-one baseline implementation and audit: use a shared
   high-resolution presentation phase for each SP/MP draw and precise OpenXR
   smooth-turn deltas; restore imported game regression coverage; reconcile

src/game/ai/AI_Medic.cpp

@@ -39,6 +39,9 @@ rvAIMedic::rvAIMedic ( void ) {
 	wasAware = false;
 	wasIgnoreEnemies = false;
 	healDebounceTime = 0;
+	approachDistance = 0.0f;
+	approachProgressTime = 0;
+	patientRetryTime = 0;
 }
 
 void rvAIMedic::InitSpawnArgsVariables( void )
@@ -143,6 +146,9 @@ void rvAIMedic::Restore( idRestoreGame *savefile ) {
 	mPostHealScript.Restore( savefile );
 
 	InitSpawnArgsVariables();
+
+	approachProgressTime = 0;
+	patientRetryTime = 0;
 }
 
 /*
@@ -282,6 +288,7 @@ void rvAIMedic::TakePatient( idPlayer* pPatient )
 	ClearEnemy();
 	lookTarget = patient;
 	healing = false;
+	approachProgressTime = 0;
 	//healedAmount = 0;
 
 	if ( pPatient && DistanceTo( pPatient ) > 250.0f && !silent ) 
@@ -444,6 +451,30 @@ bool rvAIMedic::SituationAllowsPatient( void )
 	return false;
 }
 
+/*
+================
+rvAIMedic::PatientApproachStalled
+
+True once the medic has not come closer to its patient than its best distance
+so far for ai_medicApproachTimeout seconds. Only a new best restarts the clock,
+whichever of them moved: a medic re-pathing back and forth beneath a patient it
+cannot reach keeps moving without ever closing in.
+================
+*/
+bool rvAIMedic::PatientApproachStalled( void ) {
+	const float timeoutSec = ai_medicApproachTimeout.GetFloat();
+	if ( timeoutSec <= 0.0f || !patient ) {
+		return false;
+	}
+	const float distance = DistanceTo( patient );
+	if ( approachProgressTime == 0 || distance < approachDistance - 8.0f ) {
+		approachDistance = distance;
+		approachProgressTime = gameLocal.GetTime();
+		return false;
+	}
+	return gameLocal.GetTime() - approachProgressTime > SEC2MS( timeoutSec );
+}
+
 bool rvAIMedic::AvailableToTakePatient( void )
 {
 	if ( !healDisabled )
@@ -481,7 +512,9 @@ void rvAIMedic::Think ( void ) {
 			{
 				emergencyOverride = false;
 			}
-			if ( AvailableToTakePatient() )
+			// A medic that gave up on an approach waits before it volunteers
+			// again; a heal the player asks for (TalkTo) is not held back.
+			if ( gameLocal.GetTime() >= patientRetryTime && AvailableToTakePatient() )
 			{
 				idPlayer* player = gameLocal.GetLocalPlayer();
 
@@ -616,6 +649,20 @@ stateResult_t rvAIMedic::State_Medic ( const stateParms_t& parms ) {
 
 	switch ( parms.stage ) {
 		case STAGE_MOVE:
+			// TakePatient makes the medic passive and blind to enemies, and this
+			// stage only ends on reaching the patient, so a patient it can see but
+			// never reach would hold it here for good. Give up once it stops closing
+			// the distance; the map script and its tether continue as normal.
+			if ( PatientApproachStalled() ) {
+				gameLocal.Warning( "medic '%s' made no progress toward '%s' for %g seconds (distance %.0f); giving up on the heal for now",
+					GetName(), patient->GetName(), ai_medicApproachTimeout.GetFloat(), DistanceTo( patient ) );
+				StopMove( MOVE_STATUS_DONE );
+				DropPatient();
+				patientRetryTime = gameLocal.GetTime() + SEC2MS( ai_medicApproachTimeout.GetFloat() );
+				ExecScriptFunction( mPostHealScript );
+				return SRESULT_DONE;
+			}
+
 			// Attack when we have either stopped moving or are within melee range
 			if ( move.fl.done )
 			{

src/game/ai/AI_Medic.h

@@ -69,13 +69,19 @@ class rvAIMedic : public rvAITactical {
 	bool				wasAware;
 	bool				wasIgnoreEnemies;
 
+	// Approach watchdog. Transient: a restored medic starts measuring afresh.
+	float				approachDistance;
+	int					approachProgressTime;
+	int					patientRetryTime;
+
 	void				SetHealValues					( idPlayer* player );
 
 	void				TakePatient						( idPlayer* pPatient );
 	void				DropPatient						( void );
  	bool				CheckTakePatient				( idPlayer* actor );
  	bool				SituationAllowsPatient			( void );
  	bool				AvailableToTakePatient			( void );
+	bool				PatientApproachStalled			( void );
 
 	stateResult_t		State_Medic						( const stateParms_t& parms );
 

src/game/gamesys/SysCvar.cpp

@@ -287,6 +287,7 @@ idCVar ai_disableCover(				"ai_disableCover",			"0",			CVAR_GAME | CVAR_BOOL, "d
 //cdr: use new master move functions
 idCVar ai_useRVMasterMove(			"ai_useRVMasterMove",		"0",			CVAR_GAME | CVAR_BOOL, "changes AI to use new master move function" );
 //jshepard: allow out of date AAS files to be used, for testing
+idCVar ai_medicApproachTimeout(		"ai_medicApproachTimeout",	"15",			CVAR_GAME | CVAR_FLOAT, "seconds a medic or tech may make no progress toward the player it chose to heal before it gives up and resumes its orders; 0 disables the watchdog" );
 idCVar ai_scriptedMoveTimeout(		"ai_scriptedMoveTimeout",	"30",			CVAR_GAME | CVAR_FLOAT, "seconds a scripted move may make no forward progress before it is abandoned so the map script can continue; 0 disables the watchdog" );
 idCVar ai_allowOldAAS(				"ai_allowOldAAS",			"0",			CVAR_GAME | CVAR_BOOL, "allows AI to use most recent AAS file, even if it is not up-to-date. Enable only for testing.");
 // twhitaker: debugging support for eye focus

src/game/gamesys/SysCvar.h

@@ -144,6 +144,7 @@ extern idCVar	ai_debugHelpers;
 extern idCVar	ai_useRVMasterMove;
 //jshepard: allow old AAS files
 extern idCVar	ai_scriptedMoveTimeout;
+extern idCVar	ai_medicApproachTimeout;
 extern idCVar	ai_allowOldAAS;
 // twhitaker: debugging support for eye focus
 extern idCVar	ai_debugEyeFocus;

src/mpgame/ai/AI_Medic.cpp

@@ -39,6 +39,9 @@ rvAIMedic::rvAIMedic ( void ) {
 	wasAware = false;
 	wasIgnoreEnemies = false;
 	healDebounceTime = 0;
+	approachDistance = 0.0f;
+	approachProgressTime = 0;
+	patientRetryTime = 0;
 }
 
 void rvAIMedic::InitSpawnArgsVariables( void )
@@ -143,6 +146,9 @@ void rvAIMedic::Restore( idRestoreGame *savefile ) {
 	mPostHealScript.Restore( savefile );
 
 	InitSpawnArgsVariables();
+
+	approachProgressTime = 0;
+	patientRetryTime = 0;
 }
 
 /*
@@ -282,6 +288,7 @@ void rvAIMedic::TakePatient( idPlayer* pPatient )
 	ClearEnemy();
 	lookTarget = patient;
 	healing = false;
+	approachProgressTime = 0;
 	//healedAmount = 0;
 
 	if ( pPatient && DistanceTo( pPatient ) > 250.0f && !silent ) 
@@ -444,6 +451,30 @@ bool rvAIMedic::SituationAllowsPatient( void )
 	return false;
 }
 
+/*
+================
+rvAIMedic::PatientApproachStalled
+
+True once the medic has not come closer to its patient than its best distance
+so far for ai_medicApproachTimeout seconds. Only a new best restarts the clock,
+whichever of them moved: a medic re-pathing back and forth beneath a patient it
+cannot reach keeps moving without ever closing in.
+================
+*/
+bool rvAIMedic::PatientApproachStalled( void ) {
+	const float timeoutSec = ai_medicApproachTimeout.GetFloat();
+	if ( timeoutSec <= 0.0f || !patient ) {
+		return false;
+	}
+	const float distance = DistanceTo( patient );
+	if ( approachProgressTime == 0 || distance < approachDistance - 8.0f ) {
+		approachDistance = distance;
+		approachProgressTime = gameLocal.GetTime();
+		return false;
+	}
+	return gameLocal.GetTime() - approachProgressTime > SEC2MS( timeoutSec );
+}
+
 bool rvAIMedic::AvailableToTakePatient( void )
 {
 	if ( !healDisabled )
@@ -481,7 +512,9 @@ void rvAIMedic::Think ( void ) {
 			{
 				emergencyOverride = false;
 			}
-			if ( AvailableToTakePatient() )
+			// A medic that gave up on an approach waits before it volunteers
+			// again; a heal the player asks for (TalkTo) is not held back.
+			if ( gameLocal.GetTime() >= patientRetryTime && AvailableToTakePatient() )
 			{
 				idPlayer* player = gameLocal.GetLocalPlayer();
 
@@ -616,6 +649,20 @@ stateResult_t rvAIMedic::State_Medic ( const stateParms_t& parms ) {
 
 	switch ( parms.stage ) {
 		case STAGE_MOVE:
+			// TakePatient makes the medic passive and blind to enemies, and this
+			// stage only ends on reaching the patient, so a patient it can see but
+			// never reach would hold it here for good. Give up once it stops closing
+			// the distance; the map script and its tether continue as normal.
+			if ( PatientApproachStalled() ) {
+				gameLocal.Warning( "medic '%s' made no progress toward '%s' for %g seconds (distance %.0f); giving up on the heal for now",
+					GetName(), patient->GetName(), ai_medicApproachTimeout.GetFloat(), DistanceTo( patient ) );
+				StopMove( MOVE_STATUS_DONE );
+				DropPatient();
+				patientRetryTime = gameLocal.GetTime() + SEC2MS( ai_medicApproachTimeout.GetFloat() );
+				ExecScriptFunction( mPostHealScript );
+				return SRESULT_DONE;
+			}
+
 			// Attack when we have either stopped moving or are within melee range
 			if ( move.fl.done )
 			{

src/mpgame/ai/AI_Medic.h

@@ -69,13 +69,19 @@ class rvAIMedic : public rvAITactical {
 	bool				wasAware;
 	bool				wasIgnoreEnemies;
 
+	// Approach watchdog. Transient: a restored medic starts measuring afresh.
+	float				approachDistance;
+	int					approachProgressTime;
+	int					patientRetryTime;
+
 	void				SetHealValues					( idPlayer* player );
 
 	void				TakePatient						( idPlayer* pPatient );
 	void				DropPatient						( void );
  	bool				CheckTakePatient				( idPlayer* actor );
  	bool				SituationAllowsPatient			( void );
  	bool				AvailableToTakePatient			( void );
+	bool				PatientApproachStalled			( void );
 
 	stateResult_t		State_Medic						( const stateParms_t& parms );
 

src/mpgame/gamesys/SysCvar.cpp

@@ -390,6 +390,7 @@ idCVar ai_disableCover(				"ai_disableCover",			"0",			CVAR_GAME | CVAR_BOOL, "d
 //cdr: use new master move functions
 idCVar ai_useRVMasterMove(			"ai_useRVMasterMove",		"0",			CVAR_GAME | CVAR_BOOL, "changes AI to use new master move function" );
 //jshepard: allow out of date AAS files to be used, for testing
+idCVar ai_medicApproachTimeout(		"ai_medicApproachTimeout",	"15",			CVAR_GAME | CVAR_FLOAT, "seconds a medic or tech may make no progress toward the player it chose to heal before it gives up and resumes its orders; 0 disables the watchdog" );
 idCVar ai_scriptedMoveTimeout(		"ai_scriptedMoveTimeout",	"30",			CVAR_GAME | CVAR_FLOAT, "seconds a scripted move may make no forward progress before it is abandoned so the map script can continue; 0 disables the watchdog" );
 idCVar ai_allowOldAAS(				"ai_allowOldAAS",			"0",			CVAR_GAME | CVAR_BOOL, "allows AI to use most recent AAS file, even if it is not up-to-date. Enable only for testing.");
 // twhitaker: debugging support for eye focus

src/mpgame/gamesys/SysCvar.h

@@ -143,6 +143,7 @@ extern idCVar	ai_debugHelpers;
 extern idCVar	ai_useRVMasterMove;
 //jshepard: allow old AAS files
 extern idCVar	ai_scriptedMoveTimeout;
+extern idCVar	ai_medicApproachTimeout;
 extern idCVar	ai_allowOldAAS;
 // twhitaker: debugging support for eye focus
 extern idCVar	ai_debugEyeFocus;