300 lines
11 KiB
C++
300 lines
11 KiB
C++
/**
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* bt_player.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_player.h"
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#include "../editor/debugger/limbo_debugger.h"
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#include "../util/limbo_compat.h"
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#include "../util/limbo_string_names.h"
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#ifdef LIMBOAI_MODULE
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#include "core/config/engine.h"
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#include "core/debugger/engine_debugger.h"
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#include "core/error/error_macros.h"
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#include "core/io/resource_loader.h"
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#include "core/object/class_db.h"
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#include "core/os/memory.h"
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#include "core/string/string_name.h"
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#include "core/variant/variant.h"
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#include "main/performance.h"
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#define IS_DEBUGGER_ACTIVE() (EngineDebugger::is_active())
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#define GET_TICKS_USEC() (OS::get_singleton()->get_ticks_usec())
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#endif // ! LIMBOAI_MODULE
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#ifdef LIMBOAI_GDEXTENSION
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#include <godot_cpp/classes/engine_debugger.hpp>
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#include <godot_cpp/classes/performance.hpp>
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#include <godot_cpp/classes/time.hpp>
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#define IS_DEBUGGER_ACTIVE() (EngineDebugger::get_singleton()->is_active())
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#define GET_TICKS_USEC() (Time::get_singleton()->get_ticks_usec())
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#endif // ! LIMBOAI_GDEXTENSION
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VARIANT_ENUM_CAST(BTPlayer::UpdateMode);
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void BTPlayer::_load_tree() {
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#ifdef DEBUG_ENABLED
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if (tree_instance.is_valid() && IS_DEBUGGER_ACTIVE()) {
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LimboDebugger::get_singleton()->unregister_bt_instance(tree_instance, get_path());
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}
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#endif
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tree_instance.unref();
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ERR_FAIL_COND_MSG(!behavior_tree.is_valid(), "BTPlayer: Initialization failed - needs a valid behavior tree.");
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ERR_FAIL_COND_MSG(!behavior_tree->get_root_task().is_valid(), "BTPlayer: Initialization failed - behavior tree has no valid root task.");
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Node *agent = GET_NODE(this, agent_node);
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ERR_FAIL_NULL_MSG(agent, vformat("BTPlayer: Initialization failed - can't get agent with path '%s'.", agent_node));
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Node *scene_root = get_owner();
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ERR_FAIL_NULL_MSG(scene_root, "BTPlayer: Initialization failed - can't get scene root (make sure the BTPlayer's owner property is set).");
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tree_instance = behavior_tree->instantiate(agent, blackboard, scene_root);
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#ifdef DEBUG_ENABLED
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if (IS_DEBUGGER_ACTIVE()) {
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LimboDebugger::get_singleton()->register_bt_instance(tree_instance, get_path());
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}
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#endif
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}
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void BTPlayer::_update_blackboard_plan() {
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if (blackboard_plan.is_null()) {
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blackboard_plan = Ref<BlackboardPlan>(memnew(BlackboardPlan));
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} else if (!RESOURCE_IS_BUILT_IN(blackboard_plan)) {
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WARN_PRINT_ED("BTPlayer: Using external resource for derived blackboard plan is not supported. Converted to built-in resource.");
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blackboard_plan = blackboard_plan->duplicate();
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}
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blackboard_plan->set_base_plan(behavior_tree.is_valid() ? behavior_tree->get_blackboard_plan() : nullptr);
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}
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void BTPlayer::set_behavior_tree(const Ref<BehaviorTree> &p_tree) {
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if (Engine::get_singleton()->is_editor_hint()) {
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if (behavior_tree.is_valid() && behavior_tree->is_connected(LW_NAME(plan_changed), callable_mp(this, &BTPlayer::_update_blackboard_plan))) {
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behavior_tree->disconnect(LW_NAME(plan_changed), callable_mp(this, &BTPlayer::_update_blackboard_plan));
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}
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if (p_tree.is_valid()) {
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p_tree->connect(LW_NAME(plan_changed), callable_mp(this, &BTPlayer::_update_blackboard_plan));
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}
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behavior_tree = p_tree;
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_update_blackboard_plan();
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} else {
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behavior_tree = p_tree;
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if (get_owner()) {
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_load_tree();
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}
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}
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}
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void BTPlayer::set_agent_node(const NodePath &p_agent_node) {
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agent_node = p_agent_node;
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if (tree_instance.is_valid()) {
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ERR_PRINT("BTPlayer: Agent node cannot be set after the behavior tree is instantiated. This change will not affect the behavior tree instance.");
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}
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}
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void BTPlayer::set_blackboard_plan(const Ref<BlackboardPlan> &p_plan) {
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blackboard_plan = p_plan;
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_update_blackboard_plan();
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}
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void BTPlayer::set_update_mode(UpdateMode p_mode) {
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update_mode = p_mode;
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set_active(active);
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}
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void BTPlayer::set_active(bool p_active) {
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active = p_active;
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bool is_not_editor = !Engine::get_singleton()->is_editor_hint();
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set_process(update_mode == UpdateMode::IDLE && active && is_not_editor);
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set_physics_process(update_mode == UpdateMode::PHYSICS && active && is_not_editor);
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set_process_input(active && is_not_editor);
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}
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void BTPlayer::update(double p_delta) {
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if (!tree_instance.is_valid()) {
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ERR_PRINT_ONCE(vformat("BTPlayer doesn't have a behavior tree with a valid root task to execute (owner: %s)", get_owner()));
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return;
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}
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#ifdef DEBUG_ENABLED
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double start = GET_TICKS_USEC();
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#endif
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if (active) {
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last_status = tree_instance->execute(p_delta);
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emit_signal(LimboStringNames::get_singleton()->updated, last_status);
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if (last_status == BTTask::SUCCESS || last_status == BTTask::FAILURE) {
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emit_signal(LimboStringNames::get_singleton()->behavior_tree_finished, last_status);
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}
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}
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#ifdef DEBUG_ENABLED
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double end = GET_TICKS_USEC();
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update_time_acc += (end - start);
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update_time_n += 1.0;
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#endif
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}
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void BTPlayer::restart() {
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tree_instance->abort();
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set_active(true);
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}
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#ifdef DEBUG_ENABLED
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void BTPlayer::_set_monitor_performance(bool p_monitor_performance) {
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monitor_performance = p_monitor_performance;
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if (!get_owner() && monitor_performance) {
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// Don't add custom monitor if not in scene.
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return;
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}
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if (monitor_performance) {
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_add_custom_monitor();
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} else {
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_remove_custom_monitor();
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}
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}
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void BTPlayer::_add_custom_monitor() {
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if (monitor_id == StringName()) {
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monitor_id = vformat("LimboAI/update_ms|%s_%s_%s", get_owner()->get_name(), get_name(),
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String(itos(get_instance_id())).md5_text().substr(0, 4));
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}
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if (!Performance::get_singleton()->has_custom_monitor(monitor_id)) {
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PERFORMANCE_ADD_CUSTOM_MONITOR(monitor_id, callable_mp(this, &BTPlayer::_get_mean_update_time_msec));
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}
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}
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void BTPlayer::_remove_custom_monitor() {
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if (monitor_id != StringName() && Performance::get_singleton()->has_custom_monitor(monitor_id)) {
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Performance::get_singleton()->remove_custom_monitor(monitor_id);
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}
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}
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double BTPlayer::_get_mean_update_time_msec() {
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if (update_time_n) {
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double mean_time_msec = (update_time_acc * 0.001) / update_time_n;
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update_time_acc = 0.0;
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update_time_n = 0.0;
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return mean_time_msec;
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}
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return 0.0;
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}
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#endif // ! DEBUG_ENABLED
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void BTPlayer::_notification(int p_notification) {
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switch (p_notification) {
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case NOTIFICATION_PROCESS: {
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Variant time = get_process_delta_time();
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update(time);
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} break;
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case NOTIFICATION_PHYSICS_PROCESS: {
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Variant time = get_physics_process_delta_time();
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update(time);
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} break;
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case NOTIFICATION_READY: {
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if (!Engine::get_singleton()->is_editor_hint()) {
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if (blackboard.is_null()) {
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blackboard = Ref<Blackboard>(memnew(Blackboard));
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}
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if (blackboard_plan.is_valid()) {
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blackboard_plan->populate_blackboard(blackboard, false, this);
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}
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if (behavior_tree.is_valid()) {
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_load_tree();
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}
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} else {
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_update_blackboard_plan();
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}
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set_active(active);
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} break;
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case NOTIFICATION_ENTER_TREE: {
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#ifdef DEBUG_ENABLED
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if (tree_instance.is_valid() && IS_DEBUGGER_ACTIVE()) {
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LimboDebugger::get_singleton()->register_bt_instance(tree_instance, get_path());
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}
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if (monitor_performance) {
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_add_custom_monitor();
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}
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#endif // DEBUG_ENABLED
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} break;
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case NOTIFICATION_EXIT_TREE: {
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#ifdef DEBUG_ENABLED
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if (tree_instance.is_valid() && IS_DEBUGGER_ACTIVE()) {
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LimboDebugger::get_singleton()->unregister_bt_instance(tree_instance, get_path());
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}
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if (monitor_performance) {
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_remove_custom_monitor();
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}
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#endif // DEBUG_ENABLED
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if (Engine::get_singleton()->is_editor_hint()) {
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if (behavior_tree.is_valid() && behavior_tree->is_connected(LW_NAME(plan_changed), callable_mp(this, &BTPlayer::_update_blackboard_plan))) {
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behavior_tree->disconnect(LW_NAME(plan_changed), callable_mp(this, &BTPlayer::_update_blackboard_plan));
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}
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}
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} break;
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}
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}
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void BTPlayer::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_behavior_tree", "behavior_tree"), &BTPlayer::set_behavior_tree);
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ClassDB::bind_method(D_METHOD("get_behavior_tree"), &BTPlayer::get_behavior_tree);
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ClassDB::bind_method(D_METHOD("set_agent_node", "agent_node"), &BTPlayer::set_agent_node);
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ClassDB::bind_method(D_METHOD("get_agent_node"), &BTPlayer::get_agent_node);
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ClassDB::bind_method(D_METHOD("set_update_mode", "update_mode"), &BTPlayer::set_update_mode);
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ClassDB::bind_method(D_METHOD("get_update_mode"), &BTPlayer::get_update_mode);
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ClassDB::bind_method(D_METHOD("set_active", "active"), &BTPlayer::set_active);
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ClassDB::bind_method(D_METHOD("get_active"), &BTPlayer::get_active);
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ClassDB::bind_method(D_METHOD("set_blackboard", "blackboard"), &BTPlayer::set_blackboard);
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ClassDB::bind_method(D_METHOD("get_blackboard"), &BTPlayer::get_blackboard);
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ClassDB::bind_method(D_METHOD("set_blackboard_plan", "plan"), &BTPlayer::set_blackboard_plan);
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ClassDB::bind_method(D_METHOD("get_blackboard_plan"), &BTPlayer::get_blackboard_plan);
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ClassDB::bind_method(D_METHOD("update", "delta"), &BTPlayer::update);
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ClassDB::bind_method(D_METHOD("restart"), &BTPlayer::restart);
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ClassDB::bind_method(D_METHOD("get_last_status"), &BTPlayer::get_last_status);
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ClassDB::bind_method(D_METHOD("get_tree_instance"), &BTPlayer::get_tree_instance);
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "behavior_tree", PROPERTY_HINT_RESOURCE_TYPE, "BehaviorTree"), "set_behavior_tree", "get_behavior_tree");
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "agent_node"), "set_agent_node", "get_agent_node");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "update_mode", PROPERTY_HINT_ENUM, "Idle,Physics,Manual"), "set_update_mode", "get_update_mode");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "active"), "set_active", "get_active");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "blackboard", PROPERTY_HINT_NONE, "Blackboard", 0), "set_blackboard", "get_blackboard");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "blackboard_plan", PROPERTY_HINT_RESOURCE_TYPE, "BlackboardPlan", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_EDITOR_INSTANTIATE_OBJECT | PROPERTY_USAGE_ALWAYS_DUPLICATE), "set_blackboard_plan", "get_blackboard_plan");
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BIND_ENUM_CONSTANT(IDLE);
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BIND_ENUM_CONSTANT(PHYSICS);
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BIND_ENUM_CONSTANT(MANUAL);
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ADD_SIGNAL(MethodInfo("behavior_tree_finished", PropertyInfo(Variant::INT, "status")));
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ADD_SIGNAL(MethodInfo("updated", PropertyInfo(Variant::INT, "status")));
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#ifdef DEBUG_ENABLED
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ClassDB::bind_method(D_METHOD("_set_monitor_performance", "enable"), &BTPlayer::_set_monitor_performance);
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ClassDB::bind_method(D_METHOD("_get_monitor_performance"), &BTPlayer::_get_monitor_performance);
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "monitor_performance"), "_set_monitor_performance", "_get_monitor_performance");
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#endif // DEBUG_ENABLED
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}
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BTPlayer::BTPlayer() {
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blackboard = Ref<Blackboard>(memnew(Blackboard));
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agent_node = LW_NAME(node_pp);
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}
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BTPlayer::~BTPlayer() {
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}
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