269 lines
8.2 KiB
C++
269 lines
8.2 KiB
C++
/**
|
|
* limbo_hsm.cpp
|
|
* =============================================================================
|
|
* Copyright 2021-2023 Serhii Snitsaruk
|
|
*
|
|
* Use of this source code is governed by an MIT-style
|
|
* license that can be found in the LICENSE file or at
|
|
* https://opensource.org/licenses/MIT.
|
|
* =============================================================================
|
|
*/
|
|
|
|
#include "limbo_hsm.h"
|
|
|
|
#ifdef LIMBOAI_MODULE
|
|
#include "core/config/engine.h"
|
|
#include "core/error/error_macros.h"
|
|
#include "core/object/class_db.h"
|
|
#include "core/object/object.h"
|
|
#include "core/typedefs.h"
|
|
#include "core/variant/callable.h"
|
|
#include "core/variant/variant.h"
|
|
#endif // LIMBOAI_MODULE
|
|
|
|
VARIANT_ENUM_CAST(LimboHSM::UpdateMode);
|
|
|
|
void LimboHSM::set_active(bool p_active) {
|
|
ERR_FAIL_COND_MSG(agent == nullptr, "LimboHSM is not initialized.");
|
|
ERR_FAIL_COND_MSG(p_active && initial_state == nullptr, "LimboHSM has no initial substate candidate.");
|
|
|
|
if (active == p_active) {
|
|
return;
|
|
}
|
|
|
|
active = p_active;
|
|
switch (update_mode) {
|
|
case UpdateMode::IDLE: {
|
|
set_process(p_active);
|
|
set_physics_process(false);
|
|
} break;
|
|
case UpdateMode::PHYSICS: {
|
|
set_process(false);
|
|
set_physics_process(p_active);
|
|
} break;
|
|
case UpdateMode::MANUAL: {
|
|
set_process(false);
|
|
set_physics_process(false);
|
|
} break;
|
|
}
|
|
set_process_input(p_active);
|
|
|
|
if (active) {
|
|
_do_enter();
|
|
} else {
|
|
_do_exit();
|
|
}
|
|
}
|
|
|
|
void LimboHSM::_change_state(LimboState *p_state) {
|
|
ERR_FAIL_COND(p_state == nullptr);
|
|
ERR_FAIL_COND(p_state->get_parent() != this);
|
|
|
|
if (active_state) {
|
|
active_state->_do_exit();
|
|
}
|
|
|
|
active_state = p_state;
|
|
active_state->_do_enter();
|
|
|
|
emit_signal(LimboStringNames::get_singleton()->state_changed, active_state);
|
|
}
|
|
|
|
void LimboHSM::_do_enter() {
|
|
ERR_FAIL_COND_MSG(get_child_count() == 0, "LimboHSM has no candidate for initial substate.");
|
|
ERR_FAIL_COND(active_state != nullptr);
|
|
ERR_FAIL_COND_MSG(initial_state == nullptr, "LimboHSM: Initial state is not set.");
|
|
|
|
LimboState::_do_enter();
|
|
_change_state(initial_state);
|
|
}
|
|
|
|
void LimboHSM::_do_exit() {
|
|
ERR_FAIL_COND(active_state == nullptr);
|
|
active_state->_do_exit();
|
|
active_state = nullptr;
|
|
LimboState::_do_exit();
|
|
}
|
|
|
|
void LimboHSM::_do_update(double p_delta) {
|
|
if (active) {
|
|
ERR_FAIL_COND(active_state == nullptr);
|
|
LimboState::_do_update(p_delta);
|
|
active_state->_do_update(p_delta);
|
|
}
|
|
}
|
|
|
|
void LimboHSM::update(double p_delta) {
|
|
_do_update(p_delta);
|
|
}
|
|
|
|
void LimboHSM::add_transition(Node *p_from_state, Node *p_to_state, const String &p_event) {
|
|
ERR_FAIL_COND(p_from_state != nullptr && p_from_state->get_parent() != this);
|
|
ERR_FAIL_COND(p_from_state != nullptr && !p_from_state->is_class("LimboState"));
|
|
ERR_FAIL_COND(p_to_state == nullptr);
|
|
ERR_FAIL_COND(p_to_state->get_parent() != this);
|
|
ERR_FAIL_COND(!p_to_state->is_class("LimboState"));
|
|
ERR_FAIL_COND(p_event.is_empty());
|
|
|
|
uint64_t key = _get_transition_key(p_from_state, p_event);
|
|
transitions[key] = Object::cast_to<LimboState>(p_to_state);
|
|
}
|
|
|
|
LimboState *LimboHSM::get_leaf_state() const {
|
|
LimboHSM *hsm = const_cast<LimboHSM *>(this);
|
|
while (hsm->active_state != nullptr && hsm->active_state->is_class("LimboHSM")) {
|
|
hsm = Object::cast_to<LimboHSM>(hsm->active_state);
|
|
}
|
|
if (hsm->active_state) {
|
|
return hsm->active_state;
|
|
} else {
|
|
return hsm;
|
|
}
|
|
}
|
|
|
|
void LimboHSM::set_initial_state(LimboState *p_state) {
|
|
ERR_FAIL_COND(p_state == nullptr || !p_state->is_class("LimboState"));
|
|
initial_state = Object::cast_to<LimboState>(p_state);
|
|
}
|
|
|
|
bool LimboHSM::dispatch(const String &p_event, const Variant &p_cargo) {
|
|
ERR_FAIL_COND_V(p_event.is_empty(), false);
|
|
|
|
bool event_consumed = false;
|
|
|
|
if (active_state) {
|
|
event_consumed = active_state->dispatch(p_event, p_cargo);
|
|
}
|
|
|
|
if (!event_consumed) {
|
|
event_consumed = LimboState::dispatch(p_event, p_cargo);
|
|
}
|
|
|
|
if (!event_consumed && active_state) {
|
|
uint64_t key = _get_transition_key(active_state, p_event);
|
|
LimboState *to_state = nullptr;
|
|
if (transitions.has(key)) {
|
|
to_state = transitions[key];
|
|
}
|
|
if (to_state == nullptr) {
|
|
// Get ANYSTATE transition.
|
|
key = _get_transition_key(nullptr, p_event);
|
|
if (transitions.has(key)) {
|
|
to_state = transitions[key];
|
|
}
|
|
}
|
|
if (to_state != nullptr) {
|
|
bool permitted = true;
|
|
if (to_state->guard_callable.is_valid()) {
|
|
Variant ret;
|
|
|
|
#ifdef LIMBOAI_MODULE
|
|
Callable::CallError ce;
|
|
to_state->guard_callable.callp(nullptr, 0, ret, ce);
|
|
if (unlikely(ce.error != Callable::CallError::CALL_OK)) {
|
|
ERR_PRINT_ONCE("LimboHSM: Error calling substate's guard callable: " + Variant::get_callable_error_text(to_state->guard_callable, nullptr, 0, ce));
|
|
}
|
|
#elif LIMBOAI_GDEXTENSION
|
|
ret = to_state->guard_callable.call();
|
|
#endif
|
|
|
|
if (unlikely(ret.get_type() != Variant::BOOL)) {
|
|
ERR_PRINT_ONCE(vformat("State guard callable %s returned non-boolean value (%s).", to_state->guard_callable, to_state));
|
|
} else {
|
|
permitted = bool(ret);
|
|
}
|
|
}
|
|
if (permitted) {
|
|
_change_state(to_state);
|
|
event_consumed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!event_consumed && p_event == LW_NAME(EVENT_FINISHED) && !(get_parent() && get_parent()->is_class("LimboState"))) {
|
|
_do_exit();
|
|
}
|
|
|
|
return event_consumed;
|
|
}
|
|
|
|
void LimboHSM::initialize(Node *p_agent, const Ref<Blackboard> &p_parent_scope) {
|
|
ERR_FAIL_COND(p_agent == nullptr);
|
|
if (!p_parent_scope.is_null()) {
|
|
blackboard->set_parent_scope(p_parent_scope);
|
|
}
|
|
_initialize(p_agent, nullptr);
|
|
|
|
if (initial_state == nullptr) {
|
|
initial_state = Object::cast_to<LimboState>(get_child(0));
|
|
}
|
|
}
|
|
|
|
void LimboHSM::_initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard) {
|
|
ERR_FAIL_COND(p_agent == nullptr);
|
|
ERR_FAIL_COND_MSG(agent != nullptr, "LimboAI: HSM already initialized.");
|
|
ERR_FAIL_COND_MSG(get_child_count() == 0, "Cannot initialize LimboHSM: no candidate for initial substate.");
|
|
|
|
if (initial_state == nullptr) {
|
|
initial_state = Object::cast_to<LimboState>(get_child(0));
|
|
ERR_FAIL_COND_MSG(initial_state == nullptr, "LimboHSM: Child at index 0 is not a LimboState.");
|
|
}
|
|
|
|
LimboState::_initialize(p_agent, p_blackboard);
|
|
|
|
for (int i = 0; i < get_child_count(); i++) {
|
|
LimboState *c = Object::cast_to<LimboState>(get_child(i));
|
|
if (unlikely(c == nullptr)) {
|
|
ERR_PRINT(vformat("LimboHSM: Child at index %d is not a LimboState.", i));
|
|
} else {
|
|
c->_initialize(agent, blackboard);
|
|
}
|
|
}
|
|
}
|
|
|
|
void LimboHSM::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_POST_ENTER_TREE: {
|
|
} break;
|
|
case NOTIFICATION_PROCESS: {
|
|
_do_update(get_process_delta_time());
|
|
} break;
|
|
case NOTIFICATION_PHYSICS_PROCESS: {
|
|
_do_update(get_physics_process_delta_time());
|
|
} break;
|
|
}
|
|
}
|
|
|
|
void LimboHSM::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_update_mode", "p_mode"), &LimboHSM::set_update_mode);
|
|
ClassDB::bind_method(D_METHOD("get_update_mode"), &LimboHSM::get_update_mode);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_initial_state", "p_state"), &LimboHSM::set_initial_state);
|
|
ClassDB::bind_method(D_METHOD("get_initial_state"), &LimboHSM::get_initial_state);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_active_state"), &LimboHSM::get_active_state);
|
|
ClassDB::bind_method(D_METHOD("get_leaf_state"), &LimboHSM::get_leaf_state);
|
|
ClassDB::bind_method(D_METHOD("set_active", "p_active"), &LimboHSM::set_active);
|
|
ClassDB::bind_method(D_METHOD("update", "p_delta"), &LimboHSM::update);
|
|
ClassDB::bind_method(D_METHOD("add_transition", "p_from_state", "p_to_state", "p_event"), &LimboHSM::add_transition);
|
|
ClassDB::bind_method(D_METHOD("anystate"), &LimboHSM::anystate);
|
|
|
|
ClassDB::bind_method(D_METHOD("initialize", "p_agent", "p_parent_scope"), &LimboHSM::initialize, Variant());
|
|
|
|
BIND_ENUM_CONSTANT(IDLE);
|
|
BIND_ENUM_CONSTANT(PHYSICS);
|
|
BIND_ENUM_CONSTANT(MANUAL);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "update_mode", PROPERTY_HINT_ENUM, "Idle, Physics, Manual"), "set_update_mode", "get_update_mode");
|
|
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "ANYSTATE", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0), "", "anystate");
|
|
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "initial_state", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0), "set_initial_state", "get_initial_state");
|
|
|
|
ADD_SIGNAL(MethodInfo("state_changed", PropertyInfo(Variant::OBJECT, "p_state", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0)));
|
|
}
|
|
|
|
LimboHSM::LimboHSM() {
|
|
update_mode = UpdateMode::PHYSICS;
|
|
active_state = nullptr;
|
|
initial_state = nullptr;
|
|
}
|