Add BTProbabilitySelector class

This commit is contained in:
Serhii Snitsaruk 2023-09-23 20:29:17 +02:00
parent c94073fb39
commit 55e0b7404c
4 changed files with 159 additions and 0 deletions

View File

@ -0,0 +1,101 @@
/**
* bt_probability_selector.cpp
* =============================================================================
* 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.
* =============================================================================
*/
#include "bt_probability_selector.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "core/error/error_macros.h"
double BTProbabilitySelector::get_weight(int p_index) const {
return _get_weight(p_index);
}
void BTProbabilitySelector::set_weight(int p_index, double p_weight) {
_set_weight(p_index, p_weight);
}
double BTProbabilitySelector::get_probability(int p_index) const {
ERR_FAIL_INDEX_V(p_index, get_child_count(), 0.0);
return _get_weight(p_index) / _get_total_weight();
}
void BTProbabilitySelector::set_probability(int p_index, double p_probability) {
ERR_FAIL_INDEX(p_index, get_child_count());
ERR_FAIL_COND(p_probability < 0.0);
ERR_FAIL_COND(p_probability > 1.0);
ERR_FAIL_COND(p_probability > 0.99 && get_child_count() > 1);
double others_total = _get_total_weight() - _get_weight(p_index);
double others_probability = 1.0 - p_probability;
double new_total = others_total / others_probability;
_set_weight(p_index, new_total - others_total);
}
void BTProbabilitySelector::_enter() {
_select_task();
}
void BTProbabilitySelector::_exit() {
failed_tasks.clear();
selected_task.unref();
}
BT::Status BTProbabilitySelector::_tick(double p_delta) {
while (selected_task.is_valid()) {
Status status = selected_task->execute(p_delta);
if (status == FAILURE) {
failed_tasks.insert(selected_task);
_select_task();
} else { // RUNNING or SUCCESS
return status;
}
}
return FAILURE;
}
void BTProbabilitySelector::_select_task() {
selected_task.unref();
double remaining_tasks_weight = _get_total_weight();
for (const Ref<BTTask> &task : failed_tasks) {
remaining_tasks_weight -= _get_weight(task);
}
double roll = Math::random(0.0, remaining_tasks_weight);
for (int i = 0; i < get_child_count(); i++) {
Ref<BTTask> task = get_child(i);
if (failed_tasks.has(task)) {
continue;
}
double weight = _get_weight(i);
if (weight == 0) {
continue;
}
if (roll > weight) {
roll -= weight;
continue;
}
selected_task = task;
break;
}
}
//***** Godot
void BTProbabilitySelector::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_weight", "p_index"), &BTProbabilitySelector::get_weight);
ClassDB::bind_method(D_METHOD("set_weight", "p_index", "p_weight"), &BTProbabilitySelector::set_weight);
ClassDB::bind_method(D_METHOD("get_probability", "p_index"), &BTProbabilitySelector::get_probability);
ClassDB::bind_method(D_METHOD("set_probability", "p_index", "p_probability"), &BTProbabilitySelector::set_probability);
}

View File

@ -0,0 +1,55 @@
/**
* bt_probability_selector.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.
* =============================================================================
*/
#ifndef BT_PROBABILITY_SELECTOR_H
#define BT_PROBABILITY_SELECTOR_H
#include "modules/limboai/bt/tasks/bt_composite.h"
#include "core/typedefs.h"
class BTProbabilitySelector : public BTComposite {
GDCLASS(BTProbabilitySelector, BTComposite);
TASK_CATEGORY(Composites);
private:
HashSet<Ref<BTTask>> failed_tasks;
Ref<BTTask> selected_task;
void _select_task();
_FORCE_INLINE_ double _get_weight(int p_index) const { return get_child(p_index)->get_meta(SNAME("_weight_"), 1.0); }
_FORCE_INLINE_ double _get_weight(Ref<BTTask> p_task) const { return p_task->get_meta(SNAME("_weight_"), 1.0); }
_FORCE_INLINE_ void _set_weight(int p_index, double p_weight) { get_child(p_index)->set_meta(SNAME("_weight_"), Variant(p_weight)); }
_FORCE_INLINE_ double _get_total_weight() const {
double total = 0.0;
for (int i = 0; i < get_child_count(); i++) {
total += _get_weight(i);
}
return total;
}
protected:
static void _bind_methods();
virtual void _enter() override;
virtual void _exit() override;
virtual Status _tick(double p_delta) override;
public:
double get_weight(int p_index) const;
void set_weight(int p_index, double p_weight);
double get_probability(int p_index) const;
void set_probability(int p_index, double p_probability);
};
#endif // BT_PROBABILITY_SELECTOR_H

View File

@ -84,6 +84,7 @@ def get_doc_classes():
"BTPlayAnimation",
"BTPlayer",
"BTProbability",
"BTProbabilitySelector",
"BTRandomSelector",
"BTRandomSequence",
"BTRandomWait",

View File

@ -59,6 +59,7 @@
#include "bt/tasks/composites/bt_dynamic_selector.h"
#include "bt/tasks/composites/bt_dynamic_sequence.h"
#include "bt/tasks/composites/bt_parallel.h"
#include "bt/tasks/composites/bt_probability_selector.h"
#include "bt/tasks/composites/bt_random_selector.h"
#include "bt/tasks/composites/bt_random_sequence.h"
#include "bt/tasks/composites/bt_selector.h"
@ -131,6 +132,7 @@ void initialize_limboai_module(ModuleInitializationLevel p_level) {
LIMBO_REGISTER_TASK(BTParallel);
LIMBO_REGISTER_TASK(BTDynamicSequence);
LIMBO_REGISTER_TASK(BTDynamicSelector);
LIMBO_REGISTER_TASK(BTProbabilitySelector);
LIMBO_REGISTER_TASK(BTRandomSequence);
LIMBO_REGISTER_TASK(BTRandomSelector);