102 lines
2.8 KiB
C++
102 lines
2.8 KiB
C++
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/**
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* bt_probability_selector.cpp
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* =============================================================================
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* Copyright 2021-2023 Serhii Snitsaruk
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*
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* Use of this source code is governed by an MIT-style
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* license that can be found in the LICENSE file or at
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* https://opensource.org/licenses/MIT.
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* =============================================================================
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*/
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#include "bt_probability_selector.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "core/error/error_macros.h"
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double BTProbabilitySelector::get_weight(int p_index) const {
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return _get_weight(p_index);
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}
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void BTProbabilitySelector::set_weight(int p_index, double p_weight) {
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_set_weight(p_index, p_weight);
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}
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double BTProbabilitySelector::get_probability(int p_index) const {
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ERR_FAIL_INDEX_V(p_index, get_child_count(), 0.0);
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return _get_weight(p_index) / _get_total_weight();
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}
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void BTProbabilitySelector::set_probability(int p_index, double p_probability) {
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ERR_FAIL_INDEX(p_index, get_child_count());
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ERR_FAIL_COND(p_probability < 0.0);
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ERR_FAIL_COND(p_probability > 1.0);
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ERR_FAIL_COND(p_probability > 0.99 && get_child_count() > 1);
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double others_total = _get_total_weight() - _get_weight(p_index);
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double others_probability = 1.0 - p_probability;
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double new_total = others_total / others_probability;
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_set_weight(p_index, new_total - others_total);
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}
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void BTProbabilitySelector::_enter() {
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_select_task();
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}
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void BTProbabilitySelector::_exit() {
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failed_tasks.clear();
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selected_task.unref();
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}
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BT::Status BTProbabilitySelector::_tick(double p_delta) {
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while (selected_task.is_valid()) {
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Status status = selected_task->execute(p_delta);
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if (status == FAILURE) {
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failed_tasks.insert(selected_task);
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_select_task();
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} else { // RUNNING or SUCCESS
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return status;
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}
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}
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return FAILURE;
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}
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void BTProbabilitySelector::_select_task() {
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selected_task.unref();
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double remaining_tasks_weight = _get_total_weight();
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for (const Ref<BTTask> &task : failed_tasks) {
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remaining_tasks_weight -= _get_weight(task);
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}
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double roll = Math::random(0.0, remaining_tasks_weight);
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for (int i = 0; i < get_child_count(); i++) {
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Ref<BTTask> task = get_child(i);
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if (failed_tasks.has(task)) {
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continue;
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}
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double weight = _get_weight(i);
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if (weight == 0) {
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continue;
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}
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if (roll > weight) {
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roll -= weight;
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continue;
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}
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selected_task = task;
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break;
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}
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}
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//***** Godot
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void BTProbabilitySelector::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_weight", "p_index"), &BTProbabilitySelector::get_weight);
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ClassDB::bind_method(D_METHOD("set_weight", "p_index", "p_weight"), &BTProbabilitySelector::set_weight);
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ClassDB::bind_method(D_METHOD("get_probability", "p_index"), &BTProbabilitySelector::get_probability);
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ClassDB::bind_method(D_METHOD("set_probability", "p_index", "p_probability"), &BTProbabilitySelector::set_probability);
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}
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