Update test project with waypoints example

test/Agent.gd

@@ -1,19 +0,0 @@
-extends KinematicBody2D
-
-
-onready var bt_player: BTPlayer = $BTPlayer
-
-
-func _ready() -> void:
-	_configure_ai()
-
-
-func _configure_ai() -> void:
-	var tree := BehaviorTree.new()
-	var seq := BTSequence.new()
-	var print_task := BTPrintLine.new("Hello world!")
-	seq.add_child(print_task)
-	tree.root_task = seq
-	bt_player.behavior_tree = tree
-	print("Assigning tree second time")
-	bt_player.behavior_tree = tree

test/Agent.tscn

@@ -1,9 +0,0 @@
-[gd_scene load_steps=2 format=2]
-
-[ext_resource path="res://Agent.gd" type="Script" id=2]
-
-[node name="Agent" type="KinematicBody2D"]
-script = ExtResource( 2 )
-
-[node name="BTPlayer" type="BTPlayer" parent="."]
-active = true

test/Test.tscn

@@ -1,7 +1,7 @@
-[gd_scene load_steps=2 format=2]
+[gd_scene load_steps=2 format=3 uid="uid://pgnoaj17gaew"]
 
-[ext_resource path="res://Agent.tscn" type="PackedScene" id=1]
+[ext_resource type="PackedScene" uid="uid://c26b8c8dndtop" path="res://tests/waypoints/Agent.tscn" id="1"]
 
 [node name="Test" type="Node2D"]
 
-[node name="Agent" parent="." instance=ExtResource( 1 )]
+[node name="Agent" parent="." instance=ExtResource("1")]

test/ai/tasks/BTPrintLine.gd

@@ -1,14 +0,0 @@
-class_name BTPrintLine
-extends BTTask
-
-
-export var line: String
-
-
-func _init(p_line: String = "") -> void:
-	line = p_line
-
-
-func _tick(_delta: float) -> int:
-	print(line)
-	return SUCCESS

test/ai/tasks/arrive_pos.gd

@@ -0,0 +1,24 @@
+@tool
+extends BTAction
+@icon("res://icon.png")
+
+@export var target_position_var := "target_position"
+@export var speed_var := "speed"
+@export var tolerance := 50.0
+
+
+func _generate_name() -> String:
+	return "Arrive  pos: %s  speed: %s" % [
+		LimboUtility.decorate_var(target_position_var),
+		LimboUtility.decorate_var(speed_var),
+	]
+
+func _tick(p_delta: float) -> int:
+	var target_pos: Vector2 = blackboard.get_var(target_position_var, Vector2.ZERO)
+	if target_pos.distance_to(agent.global_position) < tolerance:
+		return SUCCESS
+	
+	var speed: float = blackboard.get_var(speed_var, 10.0)
+	var dir: Vector2 = agent.global_position.direction_to(target_pos)
+	agent.global_position += dir * speed * p_delta
+	return RUNNING

test/ai/tasks/play_animation.gd

@@ -0,0 +1,35 @@
+@tool
+extends BTAction
+
+@export var animation_name: String
+@export var player_path: NodePath
+
+var _player: AnimationPlayer
+var _finished: bool
+
+
+func _generate_name() -> String:
+	return "PlayAnimation \"%s\"" % animation_name 
+
+
+func _setup() -> void:
+	_player = agent.get_node(player_path)
+
+
+func _enter() -> void:
+	if _player.has_animation(animation_name):
+		_finished = false
+		_player.play(animation_name)
+		_player.animation_finished.connect(_on_animation_finished, CONNECT_ONE_SHOT)
+	else:
+		_finished = true
+
+
+func _tick(_delta: float) -> int:
+	if _finished:
+		return SUCCESS
+	return RUNNING
+
+
+func _on_animation_finished(_anim):
+	_finished = true

test/ai/tasks/start_animation.gd

@@ -0,0 +1,20 @@
+@tool
+extends BTAction
+
+@export var animation_name: String
+@export var player_path: NodePath
+
+var _player: AnimationPlayer
+
+
+func _generate_name() -> String:
+	return "StartAnimation \"%s\"" % animation_name 
+
+
+func _setup() -> void:
+	_player = agent.get_node(player_path)
+
+
+func _tick(p_delta: float) -> int:
+	_player.play(animation_name)
+	return SUCCESS

test/ai/trees/test.tres

@@ -1,6 +1,6 @@
-[gd_resource type="BehaviorTree" load_steps=2 format=2]
+[gd_resource type="BehaviorTree" load_steps=2 format=3 uid="uid://6l0b3cyvwy56"]
 
-[sub_resource type="BTSequence" id=1]
+[sub_resource type="BTSequence" id="1"]
 
 [resource]
-root_task = SubResource( 1 )
+root_task = SubResource("1")

test/ai/trees/waypoints_agent.tres

@@ -0,0 +1,33 @@
+[gd_resource type="BehaviorTree" load_steps=9 format=3 uid="uid://c5cp2lpww1qcc"]
+
+[ext_resource type="Script" path="res://ai/tasks/arrive_pos.gd" id="1_6wvrl"]
+[ext_resource type="Script" path="res://ai/tasks/play_animation.gd" id="2_hcuvn"]
+
+[sub_resource type="BTAction" id="BTAction_3xal7"]
+script = ExtResource("1_6wvrl")
+target_position_var = "wp"
+speed_var = "speed"
+tolerance = 50.0
+
+[sub_resource type="BTAction" id="BTAction_yq1vl"]
+script = ExtResource("2_hcuvn")
+animation_name = "bounce"
+player_path = NodePath("AnimationPlayer")
+
+[sub_resource type="BTSequence" id="BTSequence_a2ng0"]
+children = [SubResource("BTAction_3xal7"), SubResource("BTAction_yq1vl")]
+
+[sub_resource type="BTForEach" id="BTForEach_0cp04"]
+children = [SubResource("BTSequence_a2ng0")]
+array_var = "waypoints"
+save_var = "wp"
+
+[sub_resource type="BTRepeat" id="BTRepeat_xljhp"]
+children = [SubResource("BTForEach_0cp04")]
+times = 999
+
+[sub_resource type="BTSelector" id="BTSelector_5dclr"]
+children = [SubResource("BTRepeat_xljhp")]
+
+[resource]
+root_task = SubResource("BTSelector_5dclr")

test/default_env.tres

@@ -1,6 +1,6 @@
 [gd_resource type="Environment" load_steps=2 format=2]
 
-[sub_resource type="ProceduralSky" id=1]
+[sub_resource type="Sky" id=1]
 
 [resource]
 background_mode = 2

test/icon.png.import

@@ -1,8 +1,9 @@
 [remap]
 
 importer="texture"
-type="StreamTexture"
-path="res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex"
+type="CompressedTexture2D"
+uid="uid://d0mht3ntak7e5"
+path="res://.godot/imported/icon.png-487276ed1e3a0c39cad0279d744ee560.ctex"
 metadata={
 "vram_texture": false
 }
@@ -10,26 +11,24 @@ metadata={
 [deps]
 
 source_file="res://icon.png"
-dest_files=[ "res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex" ]
+dest_files=["res://.godot/imported/icon.png-487276ed1e3a0c39cad0279d744ee560.ctex"]
 
 [params]
 
 compress/mode=0
 compress/lossy_quality=0.7
-compress/hdr_mode=0
+compress/hdr_compression=1
 compress/bptc_ldr=0
 compress/normal_map=0
-flags/repeat=0
-flags/filter=true
-flags/mipmaps=false
-flags/anisotropic=false
-flags/srgb=2
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
 process/fix_alpha_border=true
 process/premult_alpha=false
-process/HDR_as_SRGB=false
-process/invert_color=false
 process/normal_map_invert_y=false
-stream=false
-size_limit=0
-detect_3d=true
-svg/scale=1.0
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

test/project.godot

@@ -6,22 +6,13 @@
 ;   [section] ; section goes between []
 ;   param=value ; assign values to parameters
 
-config_version=4
-
-_global_script_classes=[ {
-"base": "BTTask",
-"class": "BTPrintLine",
-"language": "GDScript",
-"path": "res://ai/tasks/BTPrintLine.gd"
-} ]
-_global_script_class_icons={
-"BTPrintLine": ""
-}
+config_version=5
 
 [application]
 
 config/name="LimboAI Test"
 run/main_scene="res://Test.tscn"
+config/features=PackedStringArray("4.0")
 config/icon="res://icon.png"
 
 [gui]

test/tests/waypoints/Agent.gd

@@ -0,0 +1,12 @@
+extends CharacterBody2D
+
+
+@onready var bt_player: BTPlayer = $BTPlayer
+
+
+func _ready() -> void:
+	bt_player.blackboard.set_var("waypoints", [])
+
+
+func add_waypoint(p_waypoint: Vector2) -> void:
+	(bt_player.blackboard.get_var("waypoints") as Array).append(p_waypoint)

test/tests/waypoints/Agent.tscn

@@ -0,0 +1,60 @@
+[gd_scene load_steps=7 format=3 uid="uid://c26b8c8dndtop"]
+
+[ext_resource type="Script" path="res://tests/waypoints/Agent.gd" id="1_1l3ql"]
+[ext_resource type="BehaviorTree" uid="uid://c5cp2lpww1qcc" path="res://ai/trees/waypoints_agent.tres" id="2_58ujo"]
+[ext_resource type="Texture2D" uid="uid://d0mht3ntak7e5" path="res://icon.png" id="2_xqtrc"]
+
+[sub_resource type="Animation" id="Animation_5id00"]
+length = 0.001
+tracks/0/type = "value"
+tracks/0/imported = false
+tracks/0/enabled = true
+tracks/0/path = NodePath("Sprite2D:scale")
+tracks/0/interp = 1
+tracks/0/loop_wrap = true
+tracks/0/keys = {
+"times": PackedFloat32Array(0),
+"transitions": PackedFloat32Array(1),
+"update": 0,
+"values": [Vector2(1, 1)]
+}
+
+[sub_resource type="Animation" id="Animation_4w16c"]
+resource_name = "bounce"
+tracks/0/type = "value"
+tracks/0/imported = false
+tracks/0/enabled = true
+tracks/0/path = NodePath("Sprite2D:scale")
+tracks/0/interp = 1
+tracks/0/loop_wrap = true
+tracks/0/keys = {
+"times": PackedFloat32Array(0, 0.5, 1),
+"transitions": PackedFloat32Array(1, 1, 1),
+"update": 0,
+"values": [Vector2(1, 1), Vector2(2, 2), Vector2(1, 1)]
+}
+
+[sub_resource type="AnimationLibrary" id="AnimationLibrary_l438t"]
+_data = {
+"RESET": SubResource("Animation_5id00"),
+"bounce": SubResource("Animation_4w16c")
+}
+
+[node name="Agent" type="CharacterBody2D"]
+script = ExtResource("1_1l3ql")
+
+[node name="BTPlayer" type="BTPlayer" parent="."]
+behavior_tree = ExtResource("2_58ujo")
+update_mode = 1
+active = true
+_blackboard_data = {
+"speed": 500.0
+}
+
+[node name="Sprite2D" type="Sprite2D" parent="."]
+texture = ExtResource("2_xqtrc")
+
+[node name="AnimationPlayer" type="AnimationPlayer" parent="."]
+libraries = {
+"": SubResource("AnimationLibrary_l438t")
+}

test/tests/waypoints/test_waypoints.gd

@@ -0,0 +1,17 @@
+extends Node2D
+
+@onready var agent: CharacterBody2D = $Agent
+@onready var agent_2: CharacterBody2D = $Agent2
+
+
+func _ready() -> void:
+	var waypoints: Array[Node] = $Waypoints.get_children()
+	
+	for wp in waypoints:
+		agent.add_waypoint(wp.global_position)
+	
+	waypoints.reverse()
+	for wp in waypoints:
+		agent_2.add_waypoint(wp.global_position)
+
+

test/tests/waypoints/test_waypoints.tscn

@@ -0,0 +1,32 @@
+[gd_scene load_steps=4 format=3 uid="uid://p5i7fdku3hqs"]
+
+[ext_resource type="PackedScene" uid="uid://c26b8c8dndtop" path="res://tests/waypoints/Agent.tscn" id="1_esee5"]
+[ext_resource type="Script" path="res://tests/waypoints/test_waypoints.gd" id="1_kmjjq"]
+[ext_resource type="Script" path="res://tests/waypoints/waypoint_marker.gd" id="3_1aub7"]
+
+[node name="test_waypoints" type="Node2D"]
+script = ExtResource("1_kmjjq")
+
+[node name="Waypoints" type="Node2D" parent="."]
+
+[node name="WP1" type="Marker2D" parent="Waypoints"]
+position = Vector2(283, 184)
+script = ExtResource("3_1aub7")
+
+[node name="WP2" type="Marker2D" parent="Waypoints"]
+position = Vector2(938, 100)
+script = ExtResource("3_1aub7")
+
+[node name="WP3" type="Marker2D" parent="Waypoints"]
+position = Vector2(838, 490)
+script = ExtResource("3_1aub7")
+
+[node name="WP4" type="Marker2D" parent="Waypoints"]
+position = Vector2(177, 515)
+script = ExtResource("3_1aub7")
+
+[node name="Agent" parent="." instance=ExtResource("1_esee5")]
+position = Vector2(57, 59)
+
+[node name="Agent2" parent="." instance=ExtResource("1_esee5")]
+position = Vector2(316, 590)

test/tests/waypoints/waypoint_marker.gd

@@ -0,0 +1,10 @@
+@tool
+extends Marker2D
+
+
+func _ready() -> void:
+	queue_redraw()
+
+
+func _draw() -> void:
+	draw_circle(Vector2.ZERO, 50.0, Color.CHARTREUSE)