138 lines
3.8 KiB
C++
138 lines
3.8 KiB
C++
/**
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* bt_task.h
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* =============================================================================
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* Copyright 2021-2023 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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#ifndef BTTASK_H
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#define BTTASK_H
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#include "modules/limboai/blackboard/blackboard.h"
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#include "modules/limboai/util/limbo_task_db.h"
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#include "core/io/resource.h"
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#include "core/object/object.h"
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#include "core/object/ref_counted.h"
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#include "core/string/ustring.h"
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#include "core/templates/vector.h"
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#include "core/typedefs.h"
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#include "core/variant/array.h"
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#include "core/variant/binder_common.h"
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#include "core/variant/dictionary.h"
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#include "scene/resources/texture.h"
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/**
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* Base class for BTTask.
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* Note: In order to properly return Status in the _tick virtual method (GDVIRTUAL1R...)
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* we must do VARIANT_ENUM_CAST for Status enum before the actual BTTask class declaration.
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*/
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class BT : public Resource {
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GDCLASS(BT, Resource);
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public:
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enum Status {
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FRESH,
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RUNNING,
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FAILURE,
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SUCCESS,
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};
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protected:
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static void _bind_methods();
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};
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VARIANT_ENUM_CAST(BT::Status)
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class BTTask : public BT {
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GDCLASS(BTTask, BT);
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private:
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friend class BehaviorTree;
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// Avoid namespace pollution in derived classes.
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struct Data {
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int index = -1;
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String custom_name;
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Node *agent = nullptr;
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Ref<Blackboard> blackboard;
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BTTask *parent = nullptr;
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Vector<Ref<BTTask>> children;
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Status status = FRESH;
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double elapsed = 0.0;
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} data;
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Array _get_children() const;
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void _set_children(Array children);
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protected:
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static void _bind_methods();
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virtual String _generate_name() const;
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virtual void _setup() {}
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virtual void _enter() {}
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virtual void _exit() {}
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virtual Status _tick(double p_delta) { return FAILURE; }
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GDVIRTUAL0RC(String, _generate_name);
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GDVIRTUAL0(_setup);
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GDVIRTUAL0(_enter);
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GDVIRTUAL0(_exit);
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GDVIRTUAL1R(Status, _tick, double);
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GDVIRTUAL0RC(PackedStringArray, _get_configuration_warning);
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public:
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virtual bool editor_can_reload_from_file() override { return false; }
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_FORCE_INLINE_ Node *get_agent() const { return data.agent; }
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void set_agent(Node *p_agent) { data.agent = p_agent; }
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String get_custom_name() const { return data.custom_name; }
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void set_custom_name(const String &p_name);
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String get_task_name() const;
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Ref<BTTask> get_root() const;
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virtual Ref<BTTask> clone() const;
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virtual void initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard);
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virtual PackedStringArray get_configuration_warnings() const;
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Status execute(double p_delta);
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void abort();
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_FORCE_INLINE_ Ref<BTTask> get_parent() const { return Ref<BTTask>(data.parent); }
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_FORCE_INLINE_ bool is_root() const { return data.parent == nullptr; }
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_FORCE_INLINE_ Ref<Blackboard> get_blackboard() const { return data.blackboard; }
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_FORCE_INLINE_ Status get_status() const { return data.status; }
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_FORCE_INLINE_ double get_elapsed_time() const { return data.elapsed; };
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_FORCE_INLINE_ Ref<BTTask> get_child(int p_idx) const {
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ERR_FAIL_INDEX_V(p_idx, data.children.size(), nullptr);
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return data.children.get(p_idx);
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}
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_FORCE_INLINE_ int get_child_count() const { return data.children.size(); }
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int get_child_count_excluding_comments() const;
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void add_child(Ref<BTTask> p_child);
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void add_child_at_index(Ref<BTTask> p_child, int p_idx);
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void remove_child(Ref<BTTask> p_child);
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void remove_child_at_index(int p_idx);
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_FORCE_INLINE_ bool has_child(const Ref<BTTask> &p_child) const { return data.children.find(p_child) != -1; }
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_FORCE_INLINE_ int get_index() const { return data.index; }
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bool is_descendant_of(const Ref<BTTask> &p_task) const;
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Ref<BTTask> next_sibling() const;
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void print_tree(int p_initial_tabs = 0) const;
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BTTask();
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~BTTask();
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};
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#endif // BTTASK_H
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