Slight improvements to wepaon pickup but doesn't work ideally yet

Author: Causeless

Data/Base.rte/AI/HumanBehaviors.lua

@@ -665,6 +665,7 @@ function HumanBehaviors.WeaponSearch(AI, Owner, Abort)
 			local prevMoveTarget, prevSceneWaypoint;
 			if Owner.MOMoveTarget and MovableMan:ValidMO(Owner.MOMoveTarget) then
 				prevMoveTarget = Owner.MOMoveTarget;
+				Owner.MOMoveTarget = nil;
 			else
 				prevSceneWaypoint = SceneMan:MovePointToGround(Owner:GetLastAIWaypoint(), Owner.Height/5, 4); -- last wpt or current pos
 			end
@@ -780,6 +781,7 @@ function HumanBehaviors.ToolSearch(AI, Owner, Abort)
 			local prevMoveTarget, prevSceneWaypoint;
 			if Owner.MOMoveTarget and MovableMan:ValidMO(Owner.MOMoveTarget) then
 				prevMoveTarget = Owner.MOMoveTarget;
+				Owner.MOMoveTarget = nil;
 			else
 				prevSceneWaypoint = SceneMan:MovePointToGround(Owner:GetLastAIWaypoint(), Owner.Height/5, 4); -- last wpt or current pos
 			end

Data/Base.rte/AI/NativeHumanAI.lua

@@ -723,6 +723,12 @@ function NativeHumanAI:CreateGoldDigBehavior(Owner)
 end
 
 function NativeHumanAI:CreateBrainSearchBehavior(Owner)
+  	if self.PickupHD then
+		-- We're currently trying to pickup a weapon, do that instead
+		self.Target = nil;
+		return;
+	end
+
 	self.NextBehavior = coroutine.create(SharedBehaviors.BrainSearch);
 	self.NextCleanup = nil;
 	self.NextBehaviorName = "BrainSearch";
@@ -760,8 +766,13 @@ function NativeHumanAI:CreateAttackBehavior(Owner)
 	self.ReloadTimer:Reset();
 	self.TargetLostTimer:Reset();
 
+	if self.PickupHD then
+		-- We're currently trying to pickup a weapon, do that instead
+		self.Target = nil;
+		return;
+	end
+		
 	local dist = SceneMan:ShortestDistance(Owner.Pos, self.Target.Pos, false);
-
 	if IsADoor(self.Target) and Owner.AIMode ~= Actor.AIMODE_SQUAD then
 		--TODO: Include other explosive weapons with varying effective ranges!
 		if Owner:EquipDeviceInGroup("Tools - Breaching", true) then

Data/Base.rte/AI/SharedBehaviors.lua

@@ -120,7 +120,7 @@ function SharedBehaviors.FaceAlarm(AI, Owner, Abort)
 end
 
 -- find the closest enemy brain
-function SharedBehaviors.BrainSearch(AI, Owner, Abort)
+function SharedBehaviors.BrainSearch(AI, Owner, Abort) 
 	if AI.PlayerPreferredHD then
 		Owner:EquipNamedDevice(AI.PlayerPreferredHD, true);
 	end
@@ -145,9 +145,6 @@ function SharedBehaviors.BrainSearch(AI, Owner, Abort)
 	end
 
 	if #Brains > 0 then
-		local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
-		if _abrt then return true end
-
 		if #Brains == 1 then
 			if MovableMan:IsActor(Brains[1]) then
 				Owner:ClearAIWaypoints();
@@ -214,9 +211,6 @@ function SharedBehaviors.BrainSearch(AI, Owner, Abort)
 						minDist = score;
 						ClosestBrain = Act;
 					end
-
-					local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
-					if _abrt then return true end
 				end
 			end
 

Source/Entities/Actor.cpp

@@ -655,8 +655,9 @@ void Actor::RestDetection() {
 }
 
 void Actor::AddAIMOWaypoint(const MovableObject* pMOWaypoint) {
-	if (g_MovableMan.ValidMO(pMOWaypoint))
+	if (g_MovableMan.ValidMO(pMOWaypoint) && (m_Waypoints.empty() || m_Waypoints.back().second != pMOWaypoint)) {
 		m_Waypoints.push_back(std::pair<Vector, const MovableObject*>(pMOWaypoint->GetPos(), pMOWaypoint));
+	}
 }
 
 void Actor::AlarmPoint(const Vector& alarmPoint) {