Name and document pathfinding functions

src/include/constants.h

@@ -53,6 +53,7 @@
 #define ALIGN16(val)        ((((val) + 0xf) | 0xf) ^ 0xf)
 #define ALIGN64(val)        (((((u32)(val)) + 0x3f) | 0x3f) ^ 0x3f)
 #define ARRAYCOUNT(a)       (s32)(sizeof(a) / sizeof(a[0]))
+#define CHRNAVSEED(chr)     ((g_Vars.lvframe60 >> 9) * 128 + chr->chrnum * 8)
 #define CHRRACE(chr)        (chr ? chr->race : RACE_HUMAN)
 #define CRASH()             *(u8 *)0 = 69
 #define CYCLES_PER_FRAME    ((s32) OS_CPU_COUNTER / (PAL ? 50 : 60))
@@ -3446,12 +3447,12 @@
 #define PSTYPE_FOOTSTEP    16
 #define PSTYPE_CHRSHOOT    17
 
-#define QUADRANT_BACK          0x01
-#define QUADRANT_SIDE1         0x02
-#define QUADRANT_SIDE2         0x04
-#define QUADRANT_FRONT         0x08
-#define QUADRANT_2NDWPTOTARGET 0x10 // second waypoint on route to target
-#define QUADRANT_20            0x20
+#define QUADRANT_BACK           0x01
+#define QUADRANT_SIDE1          0x02
+#define QUADRANT_SIDE2          0x04
+#define QUADRANT_FRONT          0x08
+#define QUADRANT_TOWARDSTARGET  0x10
+#define QUADRANT_AWAYFROMTARGET 0x20
 
 #define QUIP_ATTACK1            0
 #define QUIP_ATTACK2            1

src/include/game/padhalllv.h

@@ -4,28 +4,28 @@
 #include "data.h"
 #include "types.h"
 
-void waypointSetHashThing(s32 hash1, s32 hash2);
+void navSetSeed(u32 upper, u32 lower);
 struct waypoint *waypointFindClosestToPos(struct coord *pos, s16 *rooms);
-struct waygroup *func0f114810(s32 *groupnums, s32 value, u32 mask);
-void func0f114958(s32 *groupnums, s32 value, u32 mask);
-bool func0f1149b0(struct waygroup *group, s32 arg1, u32 mask);
-bool func0f114a2c(struct waygroup *from, struct waygroup *to, struct waygroup *groups, s32 arg3, u32 mask);
-bool func0f114aec(struct waygroup *from, struct waygroup *to, struct waygroup *groups);
-struct waypoint *func0f114b7c(s32 *pointnums, s32 arg1, s32 groupnum, u32 mask);
-void func0f114ccc(s32 *pointnums, s32 value, s32 groupnum, u32 mask);
-bool func0f114d34(s32 *pointnums, s32 arg1, s32 groupnum, u32 mask);
-void func0f114de0(struct waypoint *from, struct waypoint *to, s32 arg2, u32 mask);
-void func0f114ee4(struct waypoint *from, struct waypoint *to);
-s32 func0f114f70(struct waypoint *from, struct waypoint *to, struct waypoint **arr, s32 arrlen);
-void func0f11505c(struct waygroup *arg0, struct waygroup *arg1, struct waypoint **arg2, struct waypoint **arg3);
-s32 waypointFindRoute(struct waypoint *from, struct waypoint *to, struct waypoint **arr, s32 arrlen);
-void func0f115390(void);
-struct waypoint *func0f1153c4(s32 *pointnums, s32 arg1);
-struct waygroup *func0f1154cc(s32 *groupnums, s32 arg1);
-struct waypoint *func0f1155e0(struct waypoint *pointa, struct waypoint *pointb);
-void waypointDisableSegmentInDirection(struct waypoint *a, struct waypoint *b);
-void waypointEnableSegmentInDirection(struct waypoint *a, struct waypoint *b);
-void waypointDisableSegment(struct waypoint *a, struct waypoint *b);
-void waypointEnableSegment(struct waypoint *a, struct waypoint *b);
+struct waygroup *waygroupChooseNeighbour(s32 *groupnums, s32 step, u32 ignoremask);
+void waygroupSetStepIfUndiscovered(s32 *groupnums, s32 step, u32 ignoremask);
+bool waygroupDiscoverOneStep(struct waygroup *group, s32 step, u32 ignoremask);
+bool waygroupDiscoverSteps(struct waygroup *from, struct waygroup *to, struct waygroup *groups, bool discoverall, u32 ignoremask);
+bool waygroupFindRoute(struct waygroup *from, struct waygroup *to, struct waygroup *groups);
+struct waypoint *waypointChooseNeighbour(s32 *pointnums, s32 step, s32 groupnum, u32 ignoremask);
+void waypointSetStepIfUndiscovered(s32 *pointnums, s32 value, s32 groupnum, u32 ignoremask);
+bool waypointDiscoverOneStep(s32 *pointnums, s32 step, s32 groupnum, u32 ignoremask);
+void waypointDiscoverSteps(struct waypoint *from, struct waypoint *to, bool discoverall, u32 ignoremask);
+void waypointFindRoute(struct waypoint *from, struct waypoint *to);
+s32 waypointCollectLocal(struct waypoint *from, struct waypoint *to, struct waypoint **arr, s32 arrlen);
+void waypointFindSegmentIntoGroup(struct waygroup *fromgroup, struct waygroup *togroup, struct waypoint **frompoint, struct waypoint **topoint);
+s32 navFindRoute(struct waypoint *from, struct waypoint *to, struct waypoint **arr, s32 arrlen);
+void waypointResetAllSteps(void);
+struct waypoint *waypointFindRandomAtStep(s32 *pointnums, s32 step);
+struct waygroup *waygroupFindRandomAtStep(s32 *groupnums, s32 step);
+struct waypoint *navChooseRetreatPoint(struct waypoint *chrpoint, struct waypoint *targetpoint);
+void navDisableSegmentInDirection(struct waypoint *a, struct waypoint *b);
+void navEnableSegmentInDirection(struct waypoint *a, struct waypoint *b);
+void navDisableSegment(struct waypoint *a, struct waypoint *b);
+void navEnableSegment(struct waypoint *a, struct waypoint *b);
 
 #endif

src/include/types.h

@@ -684,14 +684,14 @@ union modelrwdata {
 struct waygroup {
 	s32 *neighbours;
 	s32 *waypoints;
-	s32 unk08;
+	s32 step;
 };
 
 struct waypoint {
 	s32 padnum;
 	s32 *neighbours; // most significant two bits are booleans, remaining bits are waypoint index
 	s32 groupnum;
-	s32 unk0c;
+	s32 step;
 };
 
 struct aibot {