Refactor composite and decorator classes

bt/composites/bt_random_selector.cpp

@@ -4,19 +4,19 @@
 
 void BTRandomSelector::_enter() {
 	last_running_idx = 0;
-	if (_indicies.size() != get_child_count()) {
+	if (indicies.size() != get_child_count()) {
-		_indicies.resize(get_child_count());
+		indicies.resize(get_child_count());
 		for (int i = 0; i < get_child_count(); i++) {
-			_indicies.set(i, i);
+			indicies.set(i, i);
 		}
 	}
-	_indicies.shuffle();
+	indicies.shuffle();
 }
 
 int BTRandomSelector::_tick(float p_delta) {
 	int status = FAILURE;
 	for (int i = last_running_idx; i < get_child_count(); i++) {
-		status = get_child(_indicies[i])->execute(p_delta);
+		status = get_child(indicies[i])->execute(p_delta);
 		if (status != FAILURE) {
 			last_running_idx = i;
 			break;

bt/composites/bt_random_selector.h

@@ -11,7 +11,7 @@ class BTRandomSelector : public BTComposite {
 
 private:
 	int last_running_idx = 0;
-	Array _indicies;
+	Array indicies;
 
 protected:
 	virtual void _enter() override;

bt/composites/bt_random_sequence.cpp

@@ -4,19 +4,19 @@
 
 void BTRandomSequence::_enter() {
 	last_running_idx = 0;
-	if (_indicies.size() != get_child_count()) {
+	if (indicies.size() != get_child_count()) {
-		_indicies.resize(get_child_count());
+		indicies.resize(get_child_count());
 		for (int i = 0; i < get_child_count(); i++) {
-			_indicies.set(i, i);
+			indicies.set(i, i);
 		}
 	}
-	_indicies.shuffle();
+	indicies.shuffle();
 }
 
 int BTRandomSequence::_tick(float p_delta) {
 	int status = SUCCESS;
 	for (int i = last_running_idx; i < get_child_count(); i++) {
-		status = get_child(_indicies[i])->execute(p_delta);
+		status = get_child(indicies[i])->execute(p_delta);
 		if (status != SUCCESS) {
 			last_running_idx = i;
 			break;

bt/composites/bt_random_sequence.h

@@ -11,7 +11,7 @@ class BTRandomSequence : public BTComposite {
 
 private:
 	int last_running_idx = 0;
-	Array _indicies;
+	Array indicies;
 
 protected:
 	virtual void _enter() override;

bt/conditions/bt_condition.cpp

@@ -8,7 +8,7 @@ String BTCondition::get_configuration_warning() const {
 		warning += "\n";
 	}
 	if (get_child_count() != 0) {
-		warning += "Condition can't have child tasks.\n";
+		warning += "Condition task can't have child tasks.\n";
 	}
 	return warning;
 }

bt/decorators/bt_cooldown.cpp

@@ -33,17 +33,17 @@ int BTCooldown::_tick(float p_delta) {
 
 void BTCooldown::_chill() {
 	get_blackboard()->set_var(cooldown_state_var, true);
-	if (_timer.is_valid()) {
+	if (timer.is_valid()) {
-		_timer->set_time_left(duration);
+		timer->set_time_left(duration);
 	} else {
-		_timer = SceneTree::get_singleton()->create_timer(duration, process_pause);
+		timer = SceneTree::get_singleton()->create_timer(duration, process_pause);
-		_timer->connect("timeout", callable_mp(this, &BTCooldown::_on_timeout), CONNECT_ONE_SHOT);
+		timer->connect("timeout", callable_mp(this, &BTCooldown::_on_timeout), CONNECT_ONE_SHOT);
 	}
 }
 
 void BTCooldown::_on_timeout() {
 	get_blackboard()->set_var(cooldown_state_var, false);
-	_timer.unref();
+	timer.unref();
 }
 
 void BTCooldown::_bind_methods() {

bt/decorators/bt_cooldown.h

@@ -17,7 +17,7 @@ private:
 	bool trigger_on_failure = false;
 	String cooldown_state_var = "";
 
-	Ref<SceneTreeTimer> _timer = nullptr;
+	Ref<SceneTreeTimer> timer = nullptr;
 
 	void _chill();
 	void _on_timeout();

bt/decorators/bt_new_scope.cpp

@@ -12,15 +12,6 @@ void BTNewScope::initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard)
 
 	Ref<Blackboard> bb = memnew(Blackboard);
 
-	// if (blackboard_data.empty()) {
-	// 	bb->set_parent_scope(p_blackboard);
-	// } else {
-	// 	Ref<Blackboard> ro = memnew(Blackboard);
-	// 	ro->set_data(blackboard_data);
-	// 	ro->set_parent_scope(p_blackboard);
-	// 	bb->set_parent_scope(ro);
-	// }
-
 	bb->set_data(blackboard_data.duplicate());
 	bb->set_parent_scope(p_blackboard);
 

bt/decorators/bt_repeat.cpp

@@ -9,7 +9,7 @@ String BTRepeat::_generate_name() const {
 }
 
 void BTRepeat::_enter() {
-	_cur_iteration = 1;
+	cur_iteration = 1;
 }
 
 int BTRepeat::_tick(float p_delta) {
@@ -19,10 +19,10 @@ int BTRepeat::_tick(float p_delta) {
 		return RUNNING;
 	} else if (status == FAILURE && abort_on_failure) {
 		return FAILURE;
-	} else if (_cur_iteration >= times) {
+	} else if (cur_iteration >= times) {
 		return SUCCESS;
 	} else {
-		_cur_iteration += 1;
+		cur_iteration += 1;
 		return RUNNING;
 	}
 }

bt/decorators/bt_repeat.h

@@ -12,7 +12,7 @@ class BTRepeat : public BTDecorator {
 private:
 	int times = 1;
 	bool abort_on_failure = false;
-	int _cur_iteration = 0;
+	int cur_iteration = 0;
 
 protected:
 	static void _bind_methods();

bt/decorators/bt_run_limit.cpp

@@ -9,10 +9,10 @@ String BTRunLimit::_generate_name() const {
 int BTRunLimit::_tick(float p_delta) {
 	ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
 	if (get_child(0)->get_status() != RUNNING) {
-		if (_num_runs >= run_limit) {
+		if (num_runs >= run_limit) {
 			return FAILURE;
 		}
-		_num_runs += 1;
+		num_runs += 1;
 	}
 	return get_child(0)->execute(p_delta);
 }

bt/decorators/bt_run_limit.h

@@ -11,7 +11,7 @@ class BTRunLimit : public BTDecorator {
 
 private:
 	int run_limit = 1;
-	int _num_runs = 0;
+	int num_runs = 0;
 
 protected:
 	static void _bind_methods();

bt/decorators/bt_time_limit.cpp

@@ -7,14 +7,14 @@ String BTTimeLimit::_generate_name() const {
 }
 
 void BTTimeLimit::_enter() {
-	_time_passed = 0.0;
+	time_passed = 0.0;
 }
 
 int BTTimeLimit::_tick(float p_delta) {
 	ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
-	_time_passed += p_delta;
+	time_passed += p_delta;
 	int status = get_child(0)->execute(p_delta);
-	if (status == RUNNING and _time_passed >= time_limit) {
+	if (status == RUNNING and time_passed >= time_limit) {
 		get_child(0)->cancel();
 		return FAILURE;
 	}

bt/decorators/bt_time_limit.h

@@ -11,7 +11,7 @@ class BTTimeLimit : public BTDecorator {
 
 private:
 	float time_limit = 5.0;
-	float _time_passed = 0.0;
+	float time_passed = 0.0;
 
 protected:
 	static void _bind_methods();

test/ai/trees/waypoints.tres

@@ -1,4 +1,4 @@
-[gd_resource type="BehaviorTree" load_steps=8 format=3 uid="uid://cjkqi41oagagd"]
+[gd_resource type="BehaviorTree" load_steps=9 format=3 uid="uid://cjkqi41oagagd"]
 
 [ext_resource type="Script" path="res://ai/tasks/arrive_pos.gd" id="1_rhs33"]
 [ext_resource type="Script" path="res://ai/tasks/play_animation.gd" id="2_dg0ss"]
@@ -22,8 +22,12 @@ children = [SubResource("BTSequence_a2ng0")]
 array_var = "waypoints"
 save_var = "wp"
 
-[sub_resource type="BTSelector" id="BTSelector_5dclr"]
+[sub_resource type="BTCooldown" id="BTCooldown_gen0l"]
 children = [SubResource("BTForEach_0cp04")]
+duration = 3.0
+
+[sub_resource type="BTSelector" id="BTSelector_5dclr"]
+children = [SubResource("BTCooldown_gen0l")]
 
 [resource]
 root_task = SubResource("BTSelector_5dclr")