limboai/bt/tasks/bt_task.h

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/**
* bt_task.h
* =============================================================================
* Copyright 2021-2023 Serhii Snitsaruk
*
* Use of this source code is governed by an MIT-style
* license that can be found in the LICENSE file or at
* https://opensource.org/licenses/MIT.
* =============================================================================
*/
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#ifndef BTTASK_H
#define BTTASK_H
#ifdef LIMBOAI_MODULE
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#include "modules/limboai/blackboard/blackboard.h"
#include "modules/limboai/util/limbo_string_names.h"
#include "modules/limboai/util/limbo_task_db.h"
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#include "core/config/engine.h"
#include "core/error/error_macros.h"
#include "core/io/resource.h"
#include "core/math/math_funcs.h"
#include "core/object/object.h"
#include "core/object/ref_counted.h"
#include "core/os/memory.h"
#include "core/string/ustring.h"
#include "core/templates/vector.h"
#include "core/typedefs.h"
#include "core/variant/array.h"
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#include "core/variant/binder_common.h"
#include "core/variant/dictionary.h"
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#include "scene/resources/texture.h"
#endif // LIMBOAI_MODULE
#ifdef LIMBOAI_GDEXTENSION
#include "blackboard/blackboard.h"
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#include "util/limbo_compat.h"
#include "util/limbo_string_names.h"
#include "util/limbo_task_db.h"
#include <godot_cpp/classes/engine.hpp>
#include <godot_cpp/classes/resource.hpp>
#include <godot_cpp/core/object.hpp>
#include <godot_cpp/templates/vector.hpp>
using namespace godot;
#endif // LIMBOAI_GDEXTENSION
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/**
* Base class for BTTask.
* Note: In order to properly return Status in the _tick virtual method (GDVIRTUAL1R...)
* we must do VARIANT_ENUM_CAST for Status enum before the actual BTTask class declaration.
*/
class BT : public Resource {
GDCLASS(BT, Resource);
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public:
enum Status {
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FRESH,
RUNNING,
FAILURE,
SUCCESS,
};
protected:
static void _bind_methods();
};
VARIANT_ENUM_CAST(BT::Status)
class BTTask : public BT {
GDCLASS(BTTask, BT);
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private:
friend class BehaviorTree;
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// Avoid namespace pollution in derived classes.
struct Data {
int index = -1;
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String custom_name;
Node *agent = nullptr;
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Ref<Blackboard> blackboard;
BTTask *parent = nullptr;
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Vector<Ref<BTTask>> children;
Status status = FRESH;
double elapsed = 0.0;
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} data;
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Array _get_children() const;
void _set_children(Array children);
protected:
static void _bind_methods();
virtual String _generate_name();
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virtual void _setup() {}
virtual void _enter() {}
virtual void _exit() {}
virtual Status _tick(double p_delta) { return FAILURE; }
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#ifdef LIMBOAI_MODULE
GDVIRTUAL0RC(String, _generate_name);
GDVIRTUAL0(_setup);
GDVIRTUAL0(_enter);
GDVIRTUAL0(_exit);
GDVIRTUAL1R(Status, _tick, double);
GDVIRTUAL0RC(PackedStringArray, _get_configuration_warning);
#endif // LIMBOAI_MODULE
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public:
// TODO: GDExtension doesn't have this method hmm...
#ifdef LIMBOAI_MODULE
virtual bool editor_can_reload_from_file() override { return false; }
#endif // LIMBOAI_MODULE
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_FORCE_INLINE_ Node *get_agent() const { return data.agent; }
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void set_agent(Node *p_agent) { data.agent = p_agent; }
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String get_custom_name() const { return data.custom_name; }
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void set_custom_name(const String &p_name);
String get_task_name();
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Ref<BTTask> get_root() const;
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virtual Ref<BTTask> clone() const;
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virtual void initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard);
virtual PackedStringArray get_configuration_warnings();
Status execute(double p_delta);
void abort();
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_FORCE_INLINE_ Ref<BTTask> get_parent() const { return Ref<BTTask>(data.parent); }
_FORCE_INLINE_ bool is_root() const { return data.parent == nullptr; }
_FORCE_INLINE_ Ref<Blackboard> get_blackboard() const { return data.blackboard; }
_FORCE_INLINE_ Status get_status() const { return data.status; }
_FORCE_INLINE_ double get_elapsed_time() const { return data.elapsed; };
_FORCE_INLINE_ Ref<BTTask> get_child(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, data.children.size(), nullptr);
return data.children.get(p_idx);
}
_FORCE_INLINE_ int get_child_count() const { return data.children.size(); }
int get_child_count_excluding_comments() const;
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void add_child(Ref<BTTask> p_child);
void add_child_at_index(Ref<BTTask> p_child, int p_idx);
void remove_child(Ref<BTTask> p_child);
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void remove_child_at_index(int p_idx);
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_FORCE_INLINE_ bool has_child(const Ref<BTTask> &p_child) const { return data.children.find(p_child) != -1; }
_FORCE_INLINE_ int get_index() const { return data.index; }
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bool is_descendant_of(const Ref<BTTask> &p_task) const;
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Ref<BTTask> next_sibling() const;
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void print_tree(int p_initial_tabs = 0);
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BTTask();
~BTTask();
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};
#endif // BTTASK_H