Add elapsed, timing info and improve drawing

bt/actions/bt_random_wait.cpp

@@ -10,13 +10,11 @@ String BTRandomWait::_generate_name() const {
 }
 
 void BTRandomWait::_enter() {
-	time_passed = 0.0;
 	duration = Math::random(min_duration, max_duration);
 }
 
 int BTRandomWait::_tick(double p_delta) {
-	time_passed += p_delta;
+	if (get_elapsed_time() < duration) {
-	if (time_passed < duration) {
 		return RUNNING;
 	} else {
 		return SUCCESS;

bt/actions/bt_random_wait.h

@@ -13,7 +13,6 @@ private:
 	double min_duration = 1.0;
 	double max_duration = 2.0;
 
-	double time_passed = 0.0;
 	double duration = 0.0;
 
 protected:

bt/actions/bt_wait.cpp

@@ -10,13 +10,8 @@ String BTWait::_generate_name() const {
 	return vformat("Wait %s sec", Math::snapped(duration, 0.001));
 }
 
-void BTWait::_enter() {
-	time_passed = 0.0;
-}
-
 int BTWait::_tick(double p_delta) {
-	time_passed += p_delta;
+	if (get_elapsed_time() < duration) {
-	if (time_passed < duration) {
 		return RUNNING;
 	} else {
 		return SUCCESS;

bt/actions/bt_wait.h

@@ -12,13 +12,10 @@ class BTWait : public BTAction {
 private:
 	double duration = 1.0;
 
-	double time_passed = 0.0;
-
 protected:
 	static void _bind_methods();
 
 	virtual String _generate_name() const override;
-	virtual void _enter() override;
 	virtual int _tick(double p_delta) override;
 
 public:

bt/bt_task.cpp

@@ -132,20 +132,28 @@ Ref<BTTask> BTTask::clone() const {
 
 int BTTask::execute(double p_delta) {
 	if (status != RUNNING) {
+		// Reset children status.
+		if (status != FRESH) {
+			for (int i = 0; i < get_child_count(); i++) {
+				children.get(i)->cancel();
+			}
+		}
 		if (!GDVIRTUAL_CALL(_enter)) {
 			_enter();
 		}
+	} else {
+		elapsed += p_delta;
 	}
 
 	if (!GDVIRTUAL_CALL(_tick, p_delta, status)) {
 		status = _tick(p_delta);
 	}
-	last_tick_usec = Engine::get_singleton()->get_frame_ticks();
 
 	if (status != RUNNING) {
 		if (!GDVIRTUAL_CALL(_exit)) {
 			_exit();
 		}
+		elapsed = 0.0;
 	}
 	return status;
 }
@@ -160,6 +168,7 @@ void BTTask::cancel() {
 		}
 	}
 	status = FRESH;
+	elapsed = 0.0;
 }
 
 Ref<BTTask> BTTask::get_child(int p_idx) const {
@@ -277,13 +286,12 @@ void BTTask::_bind_methods() {
 	// Properties, setters and getters.
 	ClassDB::bind_method(D_METHOD("get_agent"), &BTTask::get_agent);
 	ClassDB::bind_method(D_METHOD("set_agent", "p_agent"), &BTTask::set_agent);
-
 	ClassDB::bind_method(D_METHOD("_get_children"), &BTTask::_get_children);
 	ClassDB::bind_method(D_METHOD("_set_children", "p_children"), &BTTask::_set_children);
-
 	ClassDB::bind_method(D_METHOD("get_blackboard"), &BTTask::get_blackboard);
 	ClassDB::bind_method(D_METHOD("get_parent"), &BTTask::get_parent);
 	ClassDB::bind_method(D_METHOD("get_status"), &BTTask::get_status);
+	ClassDB::bind_method(D_METHOD("get_elapsed_time"), &BTTask::get_elapsed_time);
 
 	ADD_PROPERTY(PropertyInfo(Variant::STRING, "custom_name"), "set_custom_name", "get_custom_name");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "agent", PROPERTY_HINT_RESOURCE_TYPE, "Node", 0), "set_agent", "get_agent");
@@ -291,6 +299,7 @@ void BTTask::_bind_methods() {
 	// ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "parent", PROPERTY_HINT_RESOURCE_TYPE, "BTTask", 0), "", "get_parent");
 	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "children", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_children", "_get_children");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "status", PROPERTY_HINT_NONE, "", 0), "", "get_status");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "elapsed_time"), "", "get_elapsed_time");
 
 	GDVIRTUAL_BIND(_setup);
 	GDVIRTUAL_BIND(_enter);
@@ -312,7 +321,7 @@ BTTask::BTTask() {
 	parent = nullptr;
 	children = Vector<Ref<BTTask>>();
 	status = FRESH;
-	last_tick_usec = 0;
+	elapsed = 0.0;
 }
 
 BTTask::~BTTask() {

bt/bt_task.h

@@ -33,7 +33,7 @@ private:
 	BTTask *parent;
 	Vector<Ref<BTTask>> children;
 	int status;
-	int last_tick_usec;
+	double elapsed;
 
 	Array _get_children() const;
 	void _set_children(Array children);
@@ -76,7 +76,7 @@ public:
 	int execute(double p_delta);
 	void cancel();
 	int get_status() const { return status; }
-	int get_last_tick_usec() const { return last_tick_usec; }
+	double get_elapsed_time() const { return elapsed; };
 
 	Ref<BTTask> get_child(int p_idx) const;
 	int get_child_count() const;

bt/decorators/bt_delay.cpp

@@ -12,14 +12,9 @@ String BTDelay::_generate_name() const {
 	return vformat("Delay %s sec", Math::snapped(seconds, 0.001));
 }
 
-void BTDelay::_enter() {
-	time_passed = 0.0;
-}
-
 int BTDelay::_tick(double p_delta) {
 	ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
-	time_passed += p_delta;
+	if (get_elapsed_time() <= seconds) {
-	if (time_passed <= seconds) {
 		return RUNNING;
 	}
 	return get_child(0)->execute(p_delta);

bt/decorators/bt_delay.h

@@ -11,13 +11,11 @@ class BTDelay : public BTDecorator {
 
 private:
 	double seconds = 1.0;
-	double time_passed = 0.0;
 
 protected:
 	static void _bind_methods();
 
 	virtual String _generate_name() const override;
-	virtual void _enter() override;
 	virtual int _tick(double p_delta) override;
 
 public:

bt/decorators/bt_time_limit.cpp

@@ -7,15 +7,10 @@ String BTTimeLimit::_generate_name() const {
 	return vformat("TimeLimit %s sec", Math::snapped(time_limit, 0.001));
 }
 
-void BTTimeLimit::_enter() {
-	time_passed = 0.0;
-}
-
 int BTTimeLimit::_tick(double p_delta) {
 	ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
-	time_passed += p_delta;
 	int status = get_child(0)->execute(p_delta);
-	if (status == RUNNING and time_passed >= time_limit) {
+	if (status == RUNNING and get_elapsed_time() >= time_limit) {
 		get_child(0)->cancel();
 		return FAILURE;
 	}

bt/decorators/bt_time_limit.h

@@ -11,13 +11,11 @@ class BTTimeLimit : public BTDecorator {
 
 private:
 	double time_limit = 5.0;
-	double time_passed = 0.0;
 
 protected:
 	static void _bind_methods();
 
 	virtual String _generate_name() const override;
-	virtual void _enter() override;
 	virtual int _tick(double p_delta) override;
 
 public:

debugger/behavior_tree_data.cpp

@@ -9,6 +9,7 @@ BehaviorTreeData::BehaviorTreeData(const Ref<BTTask> &p_instance) {
 	// Flatten tree into list depth first
 	List<Ref<BTTask>> stack;
 	stack.push_back(p_instance);
+	int id = 0;
 	while (stack.size()) {
 		Ref<BTTask> task = stack[0];
 		stack.pop_front();
@@ -19,20 +20,23 @@ BehaviorTreeData::BehaviorTreeData(const Ref<BTTask> &p_instance) {
 		}
 
 		tasks.push_back(TaskData(
+				id,
 				task->get_task_name(),
 				num_children,
 				task->get_status(),
-				task->get_last_tick_usec(),
+				task->get_elapsed_time(),
 				task->get_class()));
+		id += 1;
 	}
 }
 
 void BehaviorTreeData::serialize(Array &p_arr) {
 	for (const TaskData &td : tasks) {
+		p_arr.push_back(td.id);
 		p_arr.push_back(td.name);
 		p_arr.push_back(td.num_children);
 		p_arr.push_back(td.status);
-		p_arr.push_back(td.last_tick_usec);
+		p_arr.push_back(td.elapsed_time);
 		p_arr.push_back(td.type_name);
 	}
 }
@@ -42,13 +46,14 @@ void BehaviorTreeData::deserialize(const Array &p_arr) {
 
 	int idx = 0;
 	while (p_arr.size() > idx) {
-		ERR_FAIL_COND(p_arr.size() < 5);
+		ERR_FAIL_COND(p_arr.size() < 6);
-		ERR_FAIL_COND(p_arr[idx].get_type() != Variant::STRING);
+		ERR_FAIL_COND(p_arr[idx].get_type() != Variant::INT);
-		ERR_FAIL_COND(p_arr[idx + 1].get_type() != Variant::INT);
+		ERR_FAIL_COND(p_arr[idx + 1].get_type() != Variant::STRING);
 		ERR_FAIL_COND(p_arr[idx + 2].get_type() != Variant::INT);
 		ERR_FAIL_COND(p_arr[idx + 3].get_type() != Variant::INT);
-		ERR_FAIL_COND(p_arr[idx + 4].get_type() != Variant::STRING);
+		ERR_FAIL_COND(p_arr[idx + 4].get_type() != Variant::FLOAT);
-		tasks.push_back(TaskData(p_arr[idx], p_arr[idx + 1], p_arr[idx + 2], p_arr[idx + 3], p_arr[idx + 4]));
+		ERR_FAIL_COND(p_arr[idx + 5].get_type() != Variant::STRING);
-		idx += 5;
+		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]));
+		idx += 6;
 	}
 }

debugger/behavior_tree_data.h

@@ -9,20 +9,21 @@
 class BehaviorTreeData {
 public:
 	struct TaskData {
+		int id = 0;
 		String name;
-		// ObjectID object_id;
 		int num_children = 0;
 		int status = 0;
-		int last_tick_usec = 0;
+		double elapsed_time = 0.0;
 		String type_name;
 		// String script_path;
 		// String resource_path;
 
-		TaskData(const String &p_name, int p_num_children, int p_status, int p_last_tick_usec, const String &p_type_name) {
+		TaskData(int p_id, const String &p_name, int p_num_children, int p_status, double p_elapsed_time, const String &p_type_name) {
+			id = p_id;
 			name = p_name;
 			num_children = p_num_children;
 			status = p_status;
-			last_tick_usec = p_last_tick_usec;
+			elapsed_time = p_elapsed_time;
 			type_name = p_type_name;
 		}
 

debugger/behavior_tree_view.cpp

@@ -3,12 +3,51 @@
 #include "behavior_tree_view.h"
 #include "behavior_tree_data.h"
 #include "core/math/color.h"
+#include "core/math/math_defs.h"
+#include "core/object/callable_method_pointer.h"
+#include "core/typedefs.h"
+#include "editor/editor_scale.h"
 #include "modules/limboai/bt/bt_task.h"
 #include "modules/limboai/limbo_utility.h"
+#include "scene/resources/style_box.h"
+
+void BehaviorTreeView::_draw_running_status(Object *p_obj, Rect2 p_rect) {
+	p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
+	sbf_running.draw(tree->get_canvas_item(), p_rect);
+}
+
+void BehaviorTreeView::_draw_success_status(Object *p_obj, Rect2 p_rect) {
+	p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
+	sbf_success.draw(tree->get_canvas_item(), p_rect);
+}
+
+void BehaviorTreeView::_draw_failure_status(Object *p_obj, Rect2 p_rect) {
+	p_rect = p_rect.grow_side(SIDE_LEFT, p_rect.get_position().x);
+	sbf_failure.draw(tree->get_canvas_item(), p_rect);
+}
+
+void BehaviorTreeView::_item_collapsed(Object *p_obj) {
+	TreeItem *item = Object::cast_to<TreeItem>(p_obj);
+	if (!item) {
+		return;
+	}
+	int id = item->get_metadata(0);
+	bool collapsed = item->is_collapsed();
+	if (!collapsed_ids.has(id) && collapsed) {
+		collapsed_ids.push_back(item->get_metadata(0));
+	} else if (collapsed_ids.has(id) && !collapsed) {
+		collapsed_ids.erase(id);
+	}
+}
 
 void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
+	// Remember selected.
+	int selected_id = -1;
+	if (tree->get_selected()) {
+		selected_id = tree->get_selected()->get_metadata(0);
+	}
+
 	tree->clear();
-	int recent_tick_usec = -1;
 	TreeItem *parent = nullptr;
 	List<Pair<TreeItem *, int>> parents;
 	for (const BehaviorTreeData::TaskData &task_data : p_data.tasks) {
@@ -24,24 +63,28 @@ void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
 		}
 
 		TreeItem *item = tree->create_item(parent);
+		// Do this first because it resets properties of the cell...
+		item->set_cell_mode(0, TreeItem::CELL_MODE_CUSTOM);
+
+		item->set_metadata(0, task_data.id);
 		item->set_text(0, task_data.name);
 		item->set_icon(0, LimboUtility::get_singleton()->get_task_icon(task_data.type_name));
+		item->set_text(1, rtos(Math::snapped(task_data.elapsed_time, 0.01)));
 
-		// First task in list is the root task and has most recent tick time.
+		if (task_data.status == BTTask::SUCCESS) {
-		if (recent_tick_usec == -1) {
+			item->set_custom_draw(0, this, SNAME("_draw_success_status"));
-			recent_tick_usec = task_data.last_tick_usec;
+		} else if (task_data.status == BTTask::FAILURE) {
+			item->set_custom_draw(0, this, SNAME("_draw_failure_status"));
+		} else if (task_data.status == BTTask::RUNNING) {
+			item->set_custom_draw(0, this, SNAME("_draw_running_status"));
 		}
-		// Item BG color depends on age of the task status.
+
-		int timediff = recent_tick_usec - task_data.last_tick_usec;
+		if (task_data.id == selected_id) {
-		if (timediff <= 300000) {
+			tree->set_selected(item);
-			float alpha = (300000 - timediff) / 300000.0;
+		}
-			if (task_data.status == BTTask::SUCCESS) {
+
-				item->set_custom_bg_color(0, Color(0, 0.5, 0, alpha));
+		if (collapsed_ids.has(task_data.id)) {
-			} else if (task_data.status == BTTask::FAILURE) {
+			item->set_collapsed(true);
-				item->set_custom_bg_color(0, Color(0.5, 0, 0, alpha));
-			} else if (task_data.status == BTTask::RUNNING) {
-				item->set_custom_bg_color(0, Color(0.5, 0.5, 0, alpha));
-			}
 		}
 
 		// Add in front of parents stack if it expects children.
@@ -53,13 +96,40 @@ void BehaviorTreeView::update_tree(const BehaviorTreeData &p_data) {
 
 void BehaviorTreeView::clear() {
 	tree->clear();
+	collapsed_ids.clear();
+}
+
+void BehaviorTreeView::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("_draw_running_status"), &BehaviorTreeView::_draw_running_status);
+	ClassDB::bind_method(D_METHOD("_draw_success_status"), &BehaviorTreeView::_draw_success_status);
+	ClassDB::bind_method(D_METHOD("_draw_failure_status"), &BehaviorTreeView::_draw_failure_status);
+	ClassDB::bind_method(D_METHOD("_item_collapsed"), &BehaviorTreeView::_item_collapsed);
 }
 
 BehaviorTreeView::BehaviorTreeView() {
 	tree = memnew(Tree);
 	add_child(tree);
-	tree->set_columns(1);
+	tree->set_columns(2);
 	tree->set_column_expand(0, true);
+	tree->set_column_expand(1, false);
+	tree->set_column_custom_minimum_width(1, 40.0 * EDSCALE);
 	tree->set_anchor(SIDE_RIGHT, ANCHOR_END);
 	tree->set_anchor(SIDE_BOTTOM, ANCHOR_END);
+
+	sbf_running.set_border_color(Color(1.0, 1.0, 0.0));
+	sbf_running.set_bg_color(Color(1.0, 1.0, 0, 0.1));
+	sbf_running.set_border_width(SIDE_LEFT, 4.0);
+	sbf_running.set_border_width(SIDE_RIGHT, 4.0);
+
+	sbf_success.set_border_color(Color(0.0, 0.8, 0.0));
+	sbf_success.set_bg_color(Color(0.0, 0.8, 0.0, 0.1));
+	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));
 }

debugger/behavior_tree_view.h

@@ -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

register_types.cpp

@@ -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);