133 lines
4.2 KiB
C++
133 lines
4.2 KiB
C++
/**
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* bt_probability_selector.cpp
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* =============================================================================
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* Copyright 2021-2024 Serhii Snitsaruk
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*
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* Use of this source code is governed by an MIT-style
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* license that can be found in the LICENSE file or at
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* https://opensource.org/licenses/MIT.
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* =============================================================================
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*/
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#include "bt_probability_selector.h"
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#include "../../../util/limbo_compat.h"
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double BTProbabilitySelector::get_weight(int p_index) const {
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ERR_FAIL_INDEX_V(p_index, get_child_count(), 0.0);
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ERR_FAIL_COND_V(IS_CLASS(get_child(p_index), BTComment), 0.0);
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return _get_weight(p_index);
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}
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void BTProbabilitySelector::set_weight(int p_index, double p_weight) {
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ERR_FAIL_INDEX(p_index, get_child_count());
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ERR_FAIL_COND(IS_CLASS(get_child(p_index), BTComment));
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_set_weight(p_index, p_weight);
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}
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double BTProbabilitySelector::get_probability(int p_index) const {
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ERR_FAIL_INDEX_V(p_index, get_child_count(), 0.0);
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ERR_FAIL_COND_V(IS_CLASS(get_child(p_index), BTComment), 0.0);
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double total = _get_total_weight();
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return total == 0.0 ? 0.0 : _get_weight(p_index) / total;
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}
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void BTProbabilitySelector::set_probability(int p_index, double p_probability) {
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ERR_FAIL_INDEX(p_index, get_child_count());
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ERR_FAIL_COND(p_probability < 0.0);
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ERR_FAIL_COND(p_probability >= 1.0);
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ERR_FAIL_COND(IS_CLASS(get_child(p_index), BTComment));
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double others_total = _get_total_weight() - _get_weight(p_index);
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double others_probability = 1.0 - p_probability;
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if (others_total == 0.0) {
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_set_weight(p_index, p_probability > 0.0 ? 1.0 : 0.0);
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} else {
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double new_total = others_total / others_probability;
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_set_weight(p_index, new_total - others_total);
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}
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}
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bool BTProbabilitySelector::has_probability(int p_index) const {
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ERR_FAIL_INDEX_V(p_index, get_child_count(), false);
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return !IS_CLASS(get_child(p_index), BTComment);
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}
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void BTProbabilitySelector::set_abort_on_failure(bool p_abort_on_failure) {
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abort_on_failure = p_abort_on_failure;
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emit_changed();
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}
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bool BTProbabilitySelector::get_abort_on_failure() const {
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return abort_on_failure;
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}
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void BTProbabilitySelector::_enter() {
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_select_task();
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}
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void BTProbabilitySelector::_exit() {
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failed_tasks.clear();
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selected_task.unref();
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}
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BT::Status BTProbabilitySelector::_tick(double p_delta) {
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while (selected_task.is_valid()) {
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Status status = selected_task->execute(p_delta);
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if (status == FAILURE) {
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if (abort_on_failure) {
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return FAILURE;
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}
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failed_tasks.insert(selected_task);
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_select_task();
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} else { // RUNNING or SUCCESS
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return status;
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}
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}
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return FAILURE;
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}
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void BTProbabilitySelector::_select_task() {
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selected_task.unref();
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double remaining_tasks_weight = _get_total_weight();
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for (const Ref<BTTask> &task : failed_tasks) {
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remaining_tasks_weight -= _get_weight(task);
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}
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double roll = RAND_RANGE(0.0, remaining_tasks_weight);
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for (int i = 0; i < get_child_count(); i++) {
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Ref<BTTask> task = get_child(i);
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if (failed_tasks.has(task)) {
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continue;
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}
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double weight = _get_weight(i);
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if (weight == 0) {
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continue;
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}
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if (roll > weight) {
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roll -= weight;
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continue;
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}
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selected_task = task;
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break;
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}
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}
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//***** Godot
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void BTProbabilitySelector::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_weight", "child_idx"), &BTProbabilitySelector::get_weight);
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ClassDB::bind_method(D_METHOD("set_weight", "child_idx", "weight"), &BTProbabilitySelector::set_weight);
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ClassDB::bind_method(D_METHOD("get_total_weight"), &BTProbabilitySelector::get_total_weight);
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ClassDB::bind_method(D_METHOD("get_probability", "child_idx"), &BTProbabilitySelector::get_probability);
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ClassDB::bind_method(D_METHOD("set_probability", "child_idx", "probability"), &BTProbabilitySelector::set_probability);
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ClassDB::bind_method(D_METHOD("has_probability", "child_idx"), &BTProbabilitySelector::has_probability);
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ClassDB::bind_method(D_METHOD("get_abort_on_failure"), &BTProbabilitySelector::get_abort_on_failure);
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ClassDB::bind_method(D_METHOD("set_abort_on_failure", "enable"), &BTProbabilitySelector::set_abort_on_failure);
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "abort_on_failure"), "set_abort_on_failure", "get_abort_on_failure");
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}
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