Implement LimboHSM

This commit is contained in:
Serhii Snitsaruk 2022-09-29 12:54:07 +02:00
parent c62ecc9084
commit b7ea9145df
7 changed files with 282 additions and 7 deletions

209
limbo_hsm.cpp Normal file
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@ -0,0 +1,209 @@
/* limbo_hsm.cpp */
#include "limbo_hsm.h"
#include "core/engine.h"
#include "core/error_macros.h"
#include "core/object.h"
#include "core/typedefs.h"
#include "core/variant.h"
#include "modules/limboai/blackboard.h"
#include "modules/limboai/limbo_state.h"
#include "modules/limboai/limbo_string_names.h"
VARIANT_ENUM_CAST(LimboHSM::UpdateMode);
void LimboHSM::set_active(bool p_active) {
ERR_FAIL_COND_MSG(agent == nullptr, "LimboHSM is not initialized.");
ERR_FAIL_COND_MSG(p_active && initial_state == nullptr, "LimboHSM has no initial substate candidate.");
if (active == p_active) {
return;
}
active = p_active;
switch (update_mode) {
case UpdateMode::IDLE: {
set_process(p_active);
set_physics_process(false);
} break;
case UpdateMode::PHYSICS: {
set_process(false);
set_physics_process(p_active);
} break;
case UpdateMode::MANUAL: {
set_process(false);
set_physics_process(false);
} break;
}
set_process_input(p_active);
if (active) {
_enter();
} else {
_exit();
}
}
void LimboHSM::_change_state(LimboState *p_state) {
ERR_FAIL_COND(p_state == nullptr);
ERR_FAIL_COND(p_state->get_parent() != this);
if (active_state) {
active_state->_exit();
}
active_state = p_state;
active_state->_enter();
emit_signal(LimboStringNames::get_singleton()->state_changed, active_state);
}
void LimboHSM::_enter() {
ERR_FAIL_COND_MSG(get_child_count() == 0, "LimboHSM has no candidate for initial substate.");
ERR_FAIL_COND(active_state != nullptr);
LimboState::_enter();
if (initial_state == nullptr) {
initial_state = Object::cast_to<LimboState>(get_child(0));
}
if (initial_state) {
_change_state(initial_state);
}
}
void LimboHSM::_exit() {
ERR_FAIL_COND(active_state == nullptr);
active_state->_exit();
active_state = nullptr;
LimboState::_exit();
}
void LimboHSM::_update(float p_delta) {
if (active) {
ERR_FAIL_COND(active_state == nullptr);
LimboState::_update(p_delta);
active_state->_update(p_delta);
}
}
void LimboHSM::add_transition(Node *p_from_state, Node *p_to_state, const String &p_event) {
ERR_FAIL_COND(p_from_state == nullptr);
ERR_FAIL_COND(p_from_state->get_parent() != this);
ERR_FAIL_COND(!p_from_state->is_class("LimboState"));
ERR_FAIL_COND(p_to_state == nullptr);
ERR_FAIL_COND(p_to_state->get_parent() != this);
ERR_FAIL_COND(!p_to_state->is_class("LimboState"));
ERR_FAIL_COND(p_event.empty());
uint64_t key = _get_transition_key(p_from_state, p_event);
transitions[key] = Object::cast_to<LimboState>(p_to_state);
}
LimboState *LimboHSM::get_leaf_state() const {
LimboHSM *hsm = const_cast<LimboHSM *>(this);
while (hsm->active_state != nullptr && hsm->active_state->is_class("LimboHSM")) {
hsm = Object::cast_to<LimboHSM>(hsm->active_state);
}
if (hsm->active_state) {
return hsm->active_state;
} else {
return hsm;
}
}
bool LimboHSM::dispatch(const String &p_event, const Variant &p_cargo) {
ERR_FAIL_COND_V(p_event.empty(), false);
bool event_consumed = false;
if (active_state) {
event_consumed = active_state->dispatch(p_event, p_cargo);
}
if (!event_consumed) {
event_consumed = LimboState::dispatch(p_event, p_cargo);
}
if (!event_consumed && active_state) {
uint64_t key = _get_transition_key(active_state, p_event);
if (transitions.has(key)) {
LimboState *to_state = transitions[key];
_change_state(to_state);
event_consumed = true;
}
}
if (!event_consumed && p_event == EVENT_FINISHED && !(get_parent()->is_class("LimboState"))) {
_exit();
}
return event_consumed;
}
void LimboHSM::initialize(Object *p_agent, const Ref<Blackboard> &p_blackboard) {
ERR_FAIL_COND(p_agent == nullptr);
ERR_FAIL_COND(!p_blackboard.is_valid());
ERR_FAIL_COND_MSG(get_child_count() == 0, "Cannot initialize LimboHSM: no candidate for initial substate.");
if (initial_state == nullptr) {
initial_state = Object::cast_to<LimboState>(get_child(0));
ERR_FAIL_COND_MSG(initial_state == nullptr, "LimboHSM: Child at index 0 is not a LimboState.");
}
LimboState::initialize(p_agent, p_blackboard);
for (int i = 0; i < get_child_count(); i++) {
LimboState *c = Object::cast_to<LimboState>(get_child(i));
if (unlikely(c == nullptr)) {
ERR_PRINT(vformat("LimboHSM: Child at index %d is not a LimboState.", i));
} else {
c->initialize(p_agent, p_blackboard);
}
}
}
void LimboHSM::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
} break;
case NOTIFICATION_PROCESS: {
if (!Engine::get_singleton()->is_editor_hint()) {
if (update_mode == UpdateMode::IDLE) {
_update(get_process_delta_time());
}
}
} break;
case NOTIFICATION_PHYSICS_PROCESS: {
if (!Engine::get_singleton()->is_editor_hint()) {
if (update_mode == UpdateMode::PHYSICS) {
_update(get_physics_process_delta_time());
}
}
} break;
}
}
void LimboHSM::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_update_mode", "p_mode"), &LimboHSM::set_update_mode);
ClassDB::bind_method(D_METHOD("get_update_mode"), &LimboHSM::get_update_mode);
ClassDB::bind_method(D_METHOD("get_active_state"), &LimboHSM::get_active_state);
ClassDB::bind_method(D_METHOD("get_leaf_state"), &LimboHSM::get_leaf_state);
ClassDB::bind_method(D_METHOD("set_active", "p_active"), &LimboHSM::set_active);
ClassDB::bind_method(D_METHOD("update", "p_delta"), &LimboHSM::update);
ClassDB::bind_method(D_METHOD("add_transition", "p_from_state", "p_to_state", "p_event"), &LimboHSM::add_transition);
BIND_ENUM_CONSTANT(IDLE);
BIND_ENUM_CONSTANT(PHYSICS);
BIND_ENUM_CONSTANT(MANUAL);
ADD_PROPERTY(PropertyInfo(Variant::INT, "update_mode", PROPERTY_HINT_ENUM, "Idle, Physics, Manual"), "set_update_mode", "get_update_mode");
ADD_SIGNAL(MethodInfo("state_changed", PropertyInfo(Variant::OBJECT, "p_state", PROPERTY_HINT_NONE, "", 0, "LimboState")));
}
LimboHSM::LimboHSM() {
update_mode = UpdateMode::IDLE;
active_state = nullptr;
initial_state = nullptr;
}

60
limbo_hsm.h Normal file
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@ -0,0 +1,60 @@
/* limbo_hsm.h */
#ifndef LIMBO_HSM_H
#define LIMBO_HSM_H
#include "core/object.h"
#include "limbo_state.h"
class LimboHSM : public LimboState {
GDCLASS(LimboHSM, LimboState);
public:
enum UpdateMode : unsigned int {
IDLE, // automatically call update() during NOTIFICATION_PROCESS
PHYSICS, // automatically call update() during NOTIFICATION_PHYSICS
MANUAL, // manually update state machine: user must call update(delta)
};
private:
UpdateMode update_mode;
LimboState *initial_state;
LimboState *active_state;
Map<uint64_t, LimboState *> transitions;
_FORCE_INLINE_ uint64_t _get_transition_key(Node *p_from_state, const String &p_event) {
uint64_t key = hash_djb2_one_64(Variant::OBJECT);
key = hash_djb2_one_64(Variant(p_from_state).hash(), key);
key = hash_djb2_one_64(p_event.hash(), key);
return key;
}
protected:
static void _bind_methods();
void _notification(int p_what);
virtual void _enter();
virtual void _exit();
virtual void _update(float p_delta);
void _change_state(LimboState *p_state);
public:
void set_update_mode(UpdateMode p_mode) { update_mode = p_mode; }
UpdateMode get_update_mode() const { return update_mode; }
LimboState *get_active_state() const { return active_state; };
LimboState *get_leaf_state() const;
void set_active(bool p_active);
virtual void initialize(Object *p_agent, const Ref<Blackboard> &p_blackboard);
virtual bool dispatch(const String &p_event, const Variant &p_cargo);
void update(float p_delta) { _update(p_delta); }
void add_transition(Node *p_from_state, Node *p_to_state, const String &p_event);
LimboHSM();
};
#endif // LIMBO_HSM_H

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@ -5,6 +5,7 @@
#include "core/class_db.h"
#include "core/error_macros.h"
#include "core/object.h"
#include "core/typedefs.h"
#include "core/variant.h"
#include "limbo_string_names.h"
@ -41,6 +42,9 @@ void LimboState::_enter() {
};
void LimboState::_exit() {
if (!active) {
return;
}
if (get_script_instance() &&
get_script_instance()->has_method(LimboStringNames::get_singleton()->_exit)) {
get_script_instance()->call(LimboStringNames::get_singleton()->_exit);
@ -62,12 +66,6 @@ void LimboState::initialize(Object *p_agent, const Ref<Blackboard> &p_blackboard
ERR_FAIL_COND(!p_blackboard.is_valid());
agent = p_agent;
blackboard = p_blackboard;
for (int i = 0; i < get_child_count(); i++) {
LimboState *c = Object::cast_to<LimboState>(get_child(i));
if (c) {
c->initialize(p_agent, p_blackboard);
}
}
_setup();
};

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@ -10,6 +10,7 @@
#include "scene/main/node.h"
// TODO Implement guards
class LimboHSM;
class LimboState : public Node {
GDCLASS(LimboState, Node);
@ -18,10 +19,12 @@ private:
Object *agent;
Ref<Blackboard> blackboard;
Map<String, StringName> handlers;
bool active;
// Guard *guard;
protected:
friend LimboHSM;
bool active;
static void _bind_methods();
void _notification(int p_what);
@ -48,6 +51,7 @@ public:
String event_finished() const { return EVENT_FINISHED; }
LimboState *get_root() const;
bool is_active() const { return active; }
uint32_t hash() const;
LimboState();
};

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@ -17,4 +17,5 @@ LimboStringNames::LimboStringNames() {
exited = StaticCString::create("exited");
updated = StaticCString::create("updated");
_update = StaticCString::create("_update");
state_changed = StaticCString::create("state_changed");
}

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@ -34,6 +34,7 @@ public:
StringName exited;
StringName updated;
StringName _update;
StringName state_changed;
};
#endif // LIMBO_STRING_NAMES_H

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@ -39,6 +39,7 @@
#include "bt/decorators/bt_subtree.h"
#include "bt/decorators/bt_time_limit.h"
#include "core/os/memory.h"
#include "limbo_hsm.h"
#include "limbo_state.h"
#include "limbo_string_names.h"
#include "limbo_utility.h"
@ -53,6 +54,7 @@ void register_limboai_types() {
ClassDB::register_class<Blackboard>();
ClassDB::register_class<LimboState>();
ClassDB::register_class<LimboHSM>();
ClassDB::register_class<BTTask>();
ClassDB::register_class<BehaviorTree>();