Add elapsed, timing info and improve drawing
This commit is contained in:
parent
9abfeadc21
commit
ded2ed2fef
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@ -10,13 +10,11 @@ String BTRandomWait::_generate_name() const {
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}
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void BTRandomWait::_enter() {
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time_passed = 0.0;
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duration = Math::random(min_duration, max_duration);
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}
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int BTRandomWait::_tick(double p_delta) {
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time_passed += p_delta;
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if (time_passed < duration) {
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if (get_elapsed_time() < duration) {
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return RUNNING;
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} else {
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return SUCCESS;
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@ -13,7 +13,6 @@ private:
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double min_duration = 1.0;
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double max_duration = 2.0;
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double time_passed = 0.0;
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double duration = 0.0;
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protected:
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@ -10,13 +10,8 @@ String BTWait::_generate_name() const {
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return vformat("Wait %s sec", Math::snapped(duration, 0.001));
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}
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void BTWait::_enter() {
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time_passed = 0.0;
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}
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int BTWait::_tick(double p_delta) {
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time_passed += p_delta;
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if (time_passed < duration) {
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if (get_elapsed_time() < duration) {
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return RUNNING;
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} else {
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return SUCCESS;
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@ -12,13 +12,10 @@ class BTWait : public BTAction {
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private:
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double duration = 1.0;
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double time_passed = 0.0;
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protected:
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static void _bind_methods();
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virtual String _generate_name() const override;
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virtual void _enter() override;
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virtual int _tick(double p_delta) override;
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public:
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@ -132,20 +132,28 @@ Ref<BTTask> BTTask::clone() const {
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int BTTask::execute(double p_delta) {
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if (status != RUNNING) {
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// Reset children status.
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if (status != FRESH) {
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for (int i = 0; i < get_child_count(); i++) {
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children.get(i)->cancel();
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}
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}
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if (!GDVIRTUAL_CALL(_enter)) {
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_enter();
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}
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} else {
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elapsed += p_delta;
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}
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if (!GDVIRTUAL_CALL(_tick, p_delta, status)) {
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status = _tick(p_delta);
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}
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last_tick_usec = Engine::get_singleton()->get_frame_ticks();
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if (status != RUNNING) {
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if (!GDVIRTUAL_CALL(_exit)) {
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_exit();
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}
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elapsed = 0.0;
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}
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return status;
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}
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@ -160,6 +168,7 @@ void BTTask::cancel() {
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}
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}
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status = FRESH;
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elapsed = 0.0;
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}
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Ref<BTTask> BTTask::get_child(int p_idx) const {
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@ -277,13 +286,12 @@ void BTTask::_bind_methods() {
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// Properties, setters and getters.
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ClassDB::bind_method(D_METHOD("get_agent"), &BTTask::get_agent);
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ClassDB::bind_method(D_METHOD("set_agent", "p_agent"), &BTTask::set_agent);
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ClassDB::bind_method(D_METHOD("_get_children"), &BTTask::_get_children);
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ClassDB::bind_method(D_METHOD("_set_children", "p_children"), &BTTask::_set_children);
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ClassDB::bind_method(D_METHOD("get_blackboard"), &BTTask::get_blackboard);
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ClassDB::bind_method(D_METHOD("get_parent"), &BTTask::get_parent);
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ClassDB::bind_method(D_METHOD("get_status"), &BTTask::get_status);
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ClassDB::bind_method(D_METHOD("get_elapsed_time"), &BTTask::get_elapsed_time);
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ADD_PROPERTY(PropertyInfo(Variant::STRING, "custom_name"), "set_custom_name", "get_custom_name");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "agent", PROPERTY_HINT_RESOURCE_TYPE, "Node", 0), "set_agent", "get_agent");
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@ -291,6 +299,7 @@ void BTTask::_bind_methods() {
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// ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "parent", PROPERTY_HINT_RESOURCE_TYPE, "BTTask", 0), "", "get_parent");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "children", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_children", "_get_children");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "status", PROPERTY_HINT_NONE, "", 0), "", "get_status");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "elapsed_time"), "", "get_elapsed_time");
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GDVIRTUAL_BIND(_setup);
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GDVIRTUAL_BIND(_enter);
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@ -312,7 +321,7 @@ BTTask::BTTask() {
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parent = nullptr;
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children = Vector<Ref<BTTask>>();
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status = FRESH;
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last_tick_usec = 0;
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elapsed = 0.0;
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}
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BTTask::~BTTask() {
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@ -33,7 +33,7 @@ private:
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BTTask *parent;
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Vector<Ref<BTTask>> children;
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int status;
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int last_tick_usec;
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double elapsed;
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Array _get_children() const;
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void _set_children(Array children);
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@ -76,7 +76,7 @@ public:
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int execute(double p_delta);
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void cancel();
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int get_status() const { return status; }
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int get_last_tick_usec() const { return last_tick_usec; }
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double get_elapsed_time() const { return elapsed; };
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Ref<BTTask> get_child(int p_idx) const;
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int get_child_count() const;
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@ -12,14 +12,9 @@ String BTDelay::_generate_name() const {
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return vformat("Delay %s sec", Math::snapped(seconds, 0.001));
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}
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void BTDelay::_enter() {
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time_passed = 0.0;
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}
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int BTDelay::_tick(double p_delta) {
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ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
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time_passed += p_delta;
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if (time_passed <= seconds) {
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if (get_elapsed_time() <= seconds) {
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return RUNNING;
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}
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return get_child(0)->execute(p_delta);
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@ -11,13 +11,11 @@ class BTDelay : public BTDecorator {
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private:
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double seconds = 1.0;
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double time_passed = 0.0;
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protected:
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static void _bind_methods();
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virtual String _generate_name() const override;
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virtual void _enter() override;
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virtual int _tick(double p_delta) override;
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public:
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@ -7,15 +7,10 @@ String BTTimeLimit::_generate_name() const {
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return vformat("TimeLimit %s sec", Math::snapped(time_limit, 0.001));
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}
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void BTTimeLimit::_enter() {
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time_passed = 0.0;
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}
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int BTTimeLimit::_tick(double p_delta) {
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ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
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time_passed += p_delta;
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int status = get_child(0)->execute(p_delta);
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if (status == RUNNING and time_passed >= time_limit) {
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if (status == RUNNING and get_elapsed_time() >= time_limit) {
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get_child(0)->cancel();
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return FAILURE;
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}
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@ -11,13 +11,11 @@ class BTTimeLimit : public BTDecorator {
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private:
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double time_limit = 5.0;
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double time_passed = 0.0;
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protected:
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static void _bind_methods();
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virtual String _generate_name() const override;
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virtual void _enter() override;
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virtual int _tick(double p_delta) override;
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public:
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@ -9,6 +9,7 @@ BehaviorTreeData::BehaviorTreeData(const Ref<BTTask> &p_instance) {
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// Flatten tree into list depth first
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List<Ref<BTTask>> stack;
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stack.push_back(p_instance);
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int id = 0;
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while (stack.size()) {
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Ref<BTTask> task = stack[0];
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stack.pop_front();
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@ -19,20 +20,23 @@ BehaviorTreeData::BehaviorTreeData(const Ref<BTTask> &p_instance) {
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}
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tasks.push_back(TaskData(
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id,
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task->get_task_name(),
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num_children,
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task->get_status(),
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task->get_last_tick_usec(),
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task->get_elapsed_time(),
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task->get_class()));
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id += 1;
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}
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}
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void BehaviorTreeData::serialize(Array &p_arr) {
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for (const TaskData &td : tasks) {
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p_arr.push_back(td.id);
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p_arr.push_back(td.name);
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p_arr.push_back(td.num_children);
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p_arr.push_back(td.status);
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p_arr.push_back(td.last_tick_usec);
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p_arr.push_back(td.elapsed_time);
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p_arr.push_back(td.type_name);
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}
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}
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@ -42,13 +46,14 @@ void BehaviorTreeData::deserialize(const Array &p_arr) {
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int idx = 0;
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while (p_arr.size() > idx) {
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ERR_FAIL_COND(p_arr.size() < 5);
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ERR_FAIL_COND(p_arr[idx].get_type() != Variant::STRING);
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ERR_FAIL_COND(p_arr[idx + 1].get_type() != Variant::INT);
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ERR_FAIL_COND(p_arr.size() < 6);
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ERR_FAIL_COND(p_arr[idx].get_type() != Variant::INT);
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ERR_FAIL_COND(p_arr[idx + 1].get_type() != Variant::STRING);
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ERR_FAIL_COND(p_arr[idx + 2].get_type() != Variant::INT);
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ERR_FAIL_COND(p_arr[idx + 3].get_type() != Variant::INT);
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ERR_FAIL_COND(p_arr[idx + 4].get_type() != Variant::STRING);
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tasks.push_back(TaskData(p_arr[idx], p_arr[idx + 1], p_arr[idx + 2], p_arr[idx + 3], p_arr[idx + 4]));
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idx += 5;
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ERR_FAIL_COND(p_arr[idx + 4].get_type() != Variant::FLOAT);
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ERR_FAIL_COND(p_arr[idx + 5].get_type() != Variant::STRING);
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tasks.push_back(TaskData(p_arr[idx], p_arr[idx + 1], p_arr[idx + 2], p_arr[idx + 3], p_arr[idx + 4], p_arr[idx + 5]));
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idx += 6;
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}
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}
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@ -9,20 +9,21 @@
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class BehaviorTreeData {
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public:
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struct TaskData {
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int id = 0;
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String name;
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// ObjectID object_id;
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int num_children = 0;
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int status = 0;
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int last_tick_usec = 0;
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double elapsed_time = 0.0;
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String type_name;
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// String script_path;
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// String resource_path;
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TaskData(const String &p_name, int p_num_children, int p_status, int p_last_tick_usec, const String &p_type_name) {
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TaskData(int p_id, const String &p_name, int p_num_children, int p_status, double p_elapsed_time, const String &p_type_name) {
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id = p_id;
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name = p_name;
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num_children = p_num_children;
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status = p_status;
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last_tick_usec = p_last_tick_usec;
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elapsed_time = p_elapsed_time;
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type_name = p_type_name;
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}
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@ -3,12 +3,51 @@
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#include "behavior_tree_view.h"
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#include "behavior_tree_data.h"
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#include "core/math/color.h"
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#include "core/math/math_defs.h"
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#include "core/object/callable_method_pointer.h"
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#include "core/typedefs.h"
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#include "editor/editor_scale.h"
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#include "modules/limboai/bt/bt_task.h"
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#include "modules/limboai/limbo_utility.h"
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#include "scene/resources/style_box.h"
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void BehaviorTreeView::_draw_running_status(Object *p_obj, Rect2 p_rect) {
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p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
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sbf_running.draw(tree->get_canvas_item(), p_rect);
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}
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void BehaviorTreeView::_draw_success_status(Object *p_obj, Rect2 p_rect) {
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p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
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sbf_success.draw(tree->get_canvas_item(), p_rect);
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}
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void BehaviorTreeView::_draw_failure_status(Object *p_obj, Rect2 p_rect) {
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p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
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sbf_failure.draw(tree->get_canvas_item(), p_rect);
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}
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void BehaviorTreeView::_item_collapsed(Object *p_obj) {
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TreeItem *item = Object::cast_to<TreeItem>(p_obj);
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if (!item) {
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return;
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}
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int id = item->get_metadata(0);
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bool collapsed = item->is_collapsed();
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if (!collapsed_ids.has(id) && collapsed) {
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collapsed_ids.push_back(item->get_metadata(0));
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} else if (collapsed_ids.has(id) && !collapsed) {
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collapsed_ids.erase(id);
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}
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}
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void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
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// Remember selected.
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int selected_id = -1;
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if (tree->get_selected()) {
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selected_id = tree->get_selected()->get_metadata(0);
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}
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tree->clear();
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int recent_tick_usec = -1;
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TreeItem *parent = nullptr;
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List<Pair<TreeItem *, int>> parents;
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for (const BehaviorTreeData::TaskData &task_data : p_data.tasks) {
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@ -24,24 +63,28 @@ void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
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}
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TreeItem *item = tree->create_item(parent);
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// Do this first because it resets properties of the cell...
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item->set_cell_mode(0, TreeItem::CELL_MODE_CUSTOM);
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item->set_metadata(0, task_data.id);
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item->set_text(0, task_data.name);
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item->set_icon(0, LimboUtility::get_singleton()->get_task_icon(task_data.type_name));
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item->set_text(1, rtos(Math::snapped(task_data.elapsed_time, 0.01)));
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// First task in list is the root task and has most recent tick time.
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if (recent_tick_usec == -1) {
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recent_tick_usec = task_data.last_tick_usec;
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if (task_data.status == BTTask::SUCCESS) {
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item->set_custom_draw(0, this, SNAME("_draw_success_status"));
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} else if (task_data.status == BTTask::FAILURE) {
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item->set_custom_draw(0, this, SNAME("_draw_failure_status"));
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} else if (task_data.status == BTTask::RUNNING) {
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item->set_custom_draw(0, this, SNAME("_draw_running_status"));
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}
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// Item BG color depends on age of the task status.
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int timediff = recent_tick_usec - task_data.last_tick_usec;
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if (timediff <= 300000) {
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float alpha = (300000 - timediff) / 300000.0;
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if (task_data.status == BTTask::SUCCESS) {
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item->set_custom_bg_color(0, Color(0, 0.5, 0, alpha));
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} else if (task_data.status == BTTask::FAILURE) {
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item->set_custom_bg_color(0, Color(0.5, 0, 0, alpha));
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} else if (task_data.status == BTTask::RUNNING) {
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item->set_custom_bg_color(0, Color(0.5, 0.5, 0, alpha));
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}
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if (task_data.id == selected_id) {
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tree->set_selected(item);
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}
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if (collapsed_ids.has(task_data.id)) {
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item->set_collapsed(true);
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}
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// Add in front of parents stack if it expects children.
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@ -53,13 +96,40 @@ void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
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void BehaviorTreeView::clear() {
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tree->clear();
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collapsed_ids.clear();
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}
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void BehaviorTreeView::_bind_methods() {
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ClassDB::bind_method(D_METHOD("_draw_running_status"), &BehaviorTreeView::_draw_running_status);
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ClassDB::bind_method(D_METHOD("_draw_success_status"), &BehaviorTreeView::_draw_success_status);
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ClassDB::bind_method(D_METHOD("_draw_failure_status"), &BehaviorTreeView::_draw_failure_status);
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ClassDB::bind_method(D_METHOD("_item_collapsed"), &BehaviorTreeView::_item_collapsed);
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}
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BehaviorTreeView::BehaviorTreeView() {
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tree = memnew(Tree);
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add_child(tree);
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tree->set_columns(1);
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tree->set_columns(2);
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tree->set_column_expand(0, true);
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tree->set_column_expand(1, false);
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tree->set_column_custom_minimum_width(1, 40.0 * EDSCALE);
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tree->set_anchor(SIDE_RIGHT, ANCHOR_END);
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tree->set_anchor(SIDE_BOTTOM, ANCHOR_END);
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sbf_running.set_border_color(Color(1.0, 1.0, 0.0));
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sbf_running.set_bg_color(Color(1.0, 1.0, 0, 0.1));
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sbf_running.set_border_width(SIDE_LEFT, 4.0);
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sbf_running.set_border_width(SIDE_RIGHT, 4.0);
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sbf_success.set_border_color(Color(0.0, 0.8, 0.0));
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sbf_success.set_bg_color(Color(0.0, 0.8, 0.0, 0.1));
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sbf_success.set_border_width(SIDE_LEFT, 4.0);
|
||||
sbf_success.set_border_width(SIDE_RIGHT, 4.0);
|
||||
|
||||
sbf_failure.set_border_color(Color(1.0, 0.0, 0.0));
|
||||
sbf_failure.set_bg_color(Color(1.0, 0.0, 0.0, 0.1));
|
||||
sbf_failure.set_border_width(SIDE_LEFT, 4.0);
|
||||
sbf_failure.set_border_width(SIDE_RIGHT, 4.0);
|
||||
|
||||
tree->connect(SNAME("item_collapsed"), callable_mp(this, &BehaviorTreeView::_item_collapsed));
|
||||
}
|
||||
|
|
|
@ -8,18 +8,31 @@
|
|||
#include "core/object/object.h"
|
||||
#include "scene/gui/control.h"
|
||||
#include "scene/gui/tree.h"
|
||||
#include "scene/resources/style_box.h"
|
||||
|
||||
class BehaviorTreeView : public Control {
|
||||
GDCLASS(BehaviorTreeView, Control);
|
||||
|
||||
private:
|
||||
Tree *tree;
|
||||
StyleBoxFlat sbf_running;
|
||||
StyleBoxFlat sbf_success;
|
||||
StyleBoxFlat sbf_failure;
|
||||
Vector<int> collapsed_ids;
|
||||
|
||||
void _draw_success_status(Object *p_obj, Rect2 p_rect);
|
||||
void _draw_running_status(Object *p_obj, Rect2 p_rect);
|
||||
void _draw_failure_status(Object *p_obj, Rect2 p_rect);
|
||||
void _item_collapsed(Object *p_obj);
|
||||
|
||||
protected:
|
||||
static void _bind_methods();
|
||||
|
||||
public:
|
||||
BehaviorTreeView();
|
||||
|
||||
void update_tree(const BehaviorTreeData &p_data);
|
||||
void clear();
|
||||
|
||||
BehaviorTreeView();
|
||||
};
|
||||
|
||||
#endif // BEHAVIOR_TREE_VIEW
|
|
@ -73,6 +73,7 @@
|
|||
#include "bt/decorators/bt_time_limit.h"
|
||||
#include "core/os/memory.h"
|
||||
#include "core/string/print_string.h"
|
||||
#include "debugger/behavior_tree_view.h"
|
||||
#include "limbo_hsm.h"
|
||||
#include "limbo_state.h"
|
||||
#include "limbo_string_names.h"
|
||||
|
@ -167,6 +168,8 @@ void initialize_limboai_module(ModuleInitializationLevel p_level) {
|
|||
GDREGISTER_CLASS(BBVector3Array);
|
||||
GDREGISTER_CLASS(BBVariant);
|
||||
|
||||
GDREGISTER_CLASS(BehaviorTreeView);
|
||||
|
||||
_limbo_utility = memnew(LimboUtility);
|
||||
GDREGISTER_CLASS(LimboUtility);
|
||||
|
||||
|
|
Loading…
Reference in New Issue