472 lines
14 KiB
C++
472 lines
14 KiB
C++
/**
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* bt_task.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_task.h"
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#include "../../blackboard/blackboard.h"
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#include "../../util/limbo_string_names.h"
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#include "../../util/limbo_utility.h"
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#include "../behavior_tree.h"
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#include "bt_comment.h"
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#ifdef LIMBOAI_MODULE
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#include "core/error/error_macros.h"
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#include "core/io/resource.h"
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#include "core/object/class_db.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/object/script_language.h"
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#include "core/string/ustring.h"
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#include "core/templates/hash_map.h"
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#include "core/variant/variant.h"
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#endif // LIMBOAI_MODULE
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#ifdef LIMBOAI_GDEXTENSION
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#include "godot_cpp/classes/global_constants.hpp"
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#include "godot_cpp/core/class_db.hpp"
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#include "godot_cpp/variant/dictionary.hpp"
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#include "godot_cpp/variant/string_name.hpp"
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#include "godot_cpp/variant/typed_array.hpp"
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#include "godot_cpp/variant/utility_functions.hpp"
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#include "godot_cpp/variant/variant.hpp"
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#include <godot_cpp/classes/ref.hpp>
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#include <godot_cpp/classes/script.hpp>
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#endif // LIMBOAI_GDEXTENSION
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void BT::_bind_methods() {
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BIND_ENUM_CONSTANT(FRESH);
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BIND_ENUM_CONSTANT(RUNNING);
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BIND_ENUM_CONSTANT(FAILURE);
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BIND_ENUM_CONSTANT(SUCCESS);
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}
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String BTTask::_generate_name() {
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String ret;
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// Generate name based on script path.
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Ref<Script> sc = GET_SCRIPT(this);
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if (sc.is_valid() && sc->get_path().is_absolute_path()) {
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ret = sc->get_path().get_basename().get_file().to_pascal_case();
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}
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// Generate name based on core class name.
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if (ret.is_empty()) {
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ret = get_class();
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}
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return ret.trim_prefix("BT");
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}
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Array BTTask::_get_children() const {
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Array arr;
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int num_children = get_child_count();
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arr.resize(num_children);
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for (int i = 0; i < num_children; i++) {
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arr[i] = get_child(i).ptr();
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}
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return arr;
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}
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void BTTask::_set_children(Array p_children) {
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const int num_children = p_children.size();
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int num_null = 0;
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data.children.clear();
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data.children.resize(num_children);
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for (int i = 0; i < num_children; i++) {
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Ref<BTTask> task = p_children[i];
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if (task.is_null()) {
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ERR_PRINT("Invalid BTTask reference.");
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num_null += 1;
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continue;
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}
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if (task->data.parent != nullptr && task->data.parent != this) {
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task = task->clone();
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if (task.is_null()) {
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// * BTComment::clone() returns nullptr at runtime - we omit those.
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num_null += 1;
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continue;
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}
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}
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int idx = i - num_null;
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task->data.parent = this;
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task->data.index = idx;
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data.children.set(idx, task);
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}
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if (num_null > 0) {
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data.children.resize(num_children - num_null);
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}
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}
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void BTTask::set_display_collapsed(bool p_display_collapsed) {
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data.display_collapsed = p_display_collapsed;
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}
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bool BTTask::is_displayed_collapsed() const {
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return data.display_collapsed;
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}
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String BTTask::get_task_name() {
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if (!data.custom_name.is_empty()) {
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return data.custom_name;
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}
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Ref<Script> task_script = get_script();
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if (task_script.is_valid()) {
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// ! CURSED: Currently, has_method() doesn't return true for ClassDB-registered native virtual methods. This may break in the future.
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bool has_generate_method = has_method(LW_NAME(_generate_name));
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ERR_FAIL_COND_V_MSG(has_generate_method && !task_script->is_tool(), _generate_name(), vformat("BTTask: @tool annotation is required if _generate_name is defined: %s", task_script->get_path()));
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if (task_script->is_tool() && has_generate_method) {
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String call_result;
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GDVIRTUAL_CALL(_generate_name, call_result);
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if (call_result.is_empty() || call_result == "<null>") {
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// Force reset script instance.
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set_script(Variant());
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set_script(task_script);
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// Retry.
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GDVIRTUAL_CALL(_generate_name, call_result);
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}
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ERR_FAIL_COND_V_MSG(call_result.is_empty() || call_result == "<null>", _generate_name(), vformat("BTTask: _generate_name() failed to return a proper name string (%s)", task_script->get_path()));
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return call_result;
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}
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}
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return _generate_name();
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}
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Ref<BTTask> BTTask::get_root() const {
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const BTTask *task = this;
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while (!task->is_root()) {
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task = task->data.parent;
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}
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return Ref<BTTask>(task);
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}
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void BTTask::set_custom_name(const String &p_name) {
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if (data.custom_name != p_name) {
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data.custom_name = p_name;
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emit_changed();
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}
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};
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void BTTask::initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard, Node *p_scene_root) {
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ERR_FAIL_NULL(p_agent);
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ERR_FAIL_NULL(p_blackboard);
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ERR_FAIL_NULL(p_scene_root);
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data.agent = p_agent;
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data.blackboard = p_blackboard;
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data.scene_root = p_scene_root;
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for (int i = 0; i < data.children.size(); i++) {
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get_child(i)->initialize(p_agent, p_blackboard, p_scene_root);
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}
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_setup();
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GDVIRTUAL_CALL(_setup);
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}
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Ref<BTTask> BTTask::clone() const {
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Ref<BTTask> inst = duplicate(false);
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// * Children are duplicated via children property. See _set_children().
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#ifdef LIMBOAI_MODULE
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// Make BBParam properties unique.
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List<PropertyInfo> props;
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inst->get_property_list(&props);
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HashMap<Ref<Resource>, Ref<Resource>> duplicates;
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for (List<PropertyInfo>::Element *E = props.front(); E; E = E->next()) {
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if (!(E->get().usage & PROPERTY_USAGE_STORAGE)) {
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continue;
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}
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Variant v = inst->get(E->get().name);
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if (v.is_ref_counted()) {
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Ref<RefCounted> ref = v;
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if (ref.is_valid()) {
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Ref<Resource> res = ref;
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if (res.is_valid() && res->is_class("BBParam")) {
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if (!duplicates.has(res)) {
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duplicates[res] = res->duplicate();
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}
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res = duplicates[res];
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inst->set(E->get().name, res);
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}
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}
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}
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}
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#elif LIMBOAI_GDEXTENSION
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// Make BBParam properties unique.
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TypedArray<Dictionary> props = inst->get_property_list();
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HashMap<Ref<Resource>, Ref<Resource>> duplicates;
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for (int i = 0; i < props.size(); i++) {
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Dictionary prop = props[i];
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if (!(int(prop["usage"]) & PROPERTY_USAGE_STORAGE)) {
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continue;
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}
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StringName prop_name = prop["name"];
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Variant v = inst->get(prop_name);
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if (v.get_type() == Variant::OBJECT && int(prop["hint"]) == PROPERTY_HINT_RESOURCE_TYPE) {
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Ref<RefCounted> ref = v;
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if (ref.is_valid()) {
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Ref<Resource> res = ref;
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if (res.is_valid() && res->is_class("BBParam")) {
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if (!duplicates.has(res)) {
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duplicates[res] = res->duplicate();
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}
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res = duplicates[res];
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inst->set(prop_name, res);
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}
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}
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}
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}
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#endif // LIMBOAI_MODULE & LIMBOAI_GDEXTENSION
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return inst;
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}
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BT::Status BTTask::execute(double p_delta) {
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if (data.status != RUNNING) {
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// Reset children status.
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if (data.status != FRESH) {
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for (int i = 0; i < get_child_count(); i++) {
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data.children.get(i)->abort();
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}
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}
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if (!GDVIRTUAL_CALL(_enter)) {
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_enter();
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}
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} else {
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data.elapsed += p_delta;
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}
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if (!GDVIRTUAL_CALL(_tick, p_delta, data.status)) {
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data.status = _tick(p_delta);
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}
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if (data.status != RUNNING) {
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if (!GDVIRTUAL_CALL(_exit)) {
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_exit();
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}
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data.elapsed = 0.0;
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}
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return data.status;
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}
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void BTTask::abort() {
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for (int i = 0; i < data.children.size(); i++) {
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get_child(i)->abort();
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}
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if (data.status == RUNNING) {
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if (!GDVIRTUAL_CALL(_exit)) {
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_exit();
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}
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}
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data.status = FRESH;
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data.elapsed = 0.0;
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}
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int BTTask::get_child_count_excluding_comments() const {
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int count = 0;
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for (int i = 0; i < data.children.size(); i++) {
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if (!IS_CLASS(data.children[i], BTComment)) {
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count += 1;
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}
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}
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return count;
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}
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void BTTask::add_child(Ref<BTTask> p_child) {
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ERR_FAIL_COND_MSG(p_child->get_parent().is_valid(), "p_child already has a parent!");
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p_child->data.parent = this;
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p_child->data.index = data.children.size();
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data.children.push_back(p_child);
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emit_changed();
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}
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void BTTask::add_child_at_index(Ref<BTTask> p_child, int p_idx) {
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ERR_FAIL_COND_MSG(p_child->get_parent().is_valid(), "p_child already has a parent!");
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if (p_idx < 0 || p_idx > data.children.size()) {
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p_idx = data.children.size();
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}
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p_child->data.parent = this;
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p_child->data.index = p_idx;
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data.children.insert(p_idx, p_child);
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for (int i = p_idx + 1; i < data.children.size(); i++) {
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get_child(i)->data.index = i;
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}
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emit_changed();
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}
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void BTTask::remove_child(Ref<BTTask> p_child) {
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int idx = data.children.find(p_child);
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ERR_FAIL_COND_MSG(idx == -1, "p_child not found!");
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data.children.remove_at(idx);
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p_child->data.parent = nullptr;
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p_child->data.index = -1;
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for (int i = idx; i < data.children.size(); i++) {
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get_child(i)->data.index = i;
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}
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emit_changed();
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}
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void BTTask::remove_child_at_index(int p_idx) {
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ERR_FAIL_INDEX(p_idx, get_child_count());
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data.children[p_idx]->data.parent = nullptr;
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data.children[p_idx]->data.index = -1;
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data.children.remove_at(p_idx);
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for (int i = p_idx; i < data.children.size(); i++) {
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get_child(i)->data.index = i;
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}
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emit_changed();
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}
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bool BTTask::is_descendant_of(const Ref<BTTask> &p_task) const {
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const BTTask *task = this;
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while (task != nullptr) {
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task = task->data.parent;
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if (task == p_task.ptr()) {
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return true;
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}
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}
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return false;
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}
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Ref<BTTask> BTTask::next_sibling() const {
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if (data.parent != nullptr) {
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if (get_index() != -1 && data.parent->get_child_count() > (get_index() + 1)) {
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return data.parent->get_child(get_index() + 1);
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}
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}
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return Ref<BTTask>();
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}
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PackedStringArray BTTask::_get_configuration_warnings() {
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return PackedStringArray();
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}
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PackedStringArray BTTask::get_configuration_warnings() {
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PackedStringArray ret;
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PackedStringArray warnings;
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Ref<Script> task_script = get_script();
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if (task_script.is_valid() && task_script->is_tool()) {
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GDVIRTUAL_CALL(_get_configuration_warnings, warnings); // Get script warnings.
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}
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ret.append_array(warnings);
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ret.append_array(_get_configuration_warnings());
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return ret;
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}
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void BTTask::print_tree(int p_initial_tabs) {
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String tabs = "--";
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for (int i = 0; i < p_initial_tabs; i++) {
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tabs += "--";
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}
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PRINT_LINE(vformat("%s Name: %s Instance: %s", tabs, get_task_name(), Ref<BTTask>(this)));
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for (int i = 0; i < get_child_count(); i++) {
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get_child(i)->print_tree(p_initial_tabs + 1);
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}
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}
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Ref<BehaviorTree> BTTask::editor_get_behavior_tree() {
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#ifdef TOOLS_ENABLED
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BTTask *task = this;
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while (task->data.behavior_tree_id.is_null() && task->get_parent().is_valid()) {
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task = task->data.parent;
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}
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return Object::cast_to<BehaviorTree>(ObjectDB::get_instance(task->data.behavior_tree_id));
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#else
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ERR_PRINT("BTTask::editor_get_behavior_tree: Not available in release builds.");
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return Ref<BehaviorTree>();
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#endif
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}
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#ifdef TOOLS_ENABLED
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void BTTask::editor_set_behavior_tree(const Ref<BehaviorTree> &p_bt) {
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data.behavior_tree_id = p_bt->get_instance_id();
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}
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#endif // TOOLS_ENABLED
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void BTTask::_bind_methods() {
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// Public Methods.
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ClassDB::bind_method(D_METHOD("is_root"), &BTTask::is_root);
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ClassDB::bind_method(D_METHOD("get_root"), &BTTask::get_root);
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ClassDB::bind_method(D_METHOD("initialize", "agent", "blackboard", "scene_root"), &BTTask::initialize);
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ClassDB::bind_method(D_METHOD("clone"), &BTTask::clone);
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ClassDB::bind_method(D_METHOD("execute", "delta"), &BTTask::execute);
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ClassDB::bind_method(D_METHOD("get_child", "idx"), &BTTask::get_child);
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ClassDB::bind_method(D_METHOD("get_child_count"), &BTTask::get_child_count);
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ClassDB::bind_method(D_METHOD("get_child_count_excluding_comments"), &BTTask::get_child_count_excluding_comments);
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ClassDB::bind_method(D_METHOD("add_child", "task"), &BTTask::add_child);
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ClassDB::bind_method(D_METHOD("add_child_at_index", "task", "idx"), &BTTask::add_child_at_index);
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ClassDB::bind_method(D_METHOD("remove_child", "task"), &BTTask::remove_child);
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ClassDB::bind_method(D_METHOD("remove_child_at_index", "idx"), &BTTask::remove_child_at_index);
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ClassDB::bind_method(D_METHOD("has_child", "task"), &BTTask::has_child);
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ClassDB::bind_method(D_METHOD("is_descendant_of", "task"), &BTTask::is_descendant_of);
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ClassDB::bind_method(D_METHOD("get_index"), &BTTask::get_index);
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ClassDB::bind_method(D_METHOD("next_sibling"), &BTTask::next_sibling);
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ClassDB::bind_method(D_METHOD("print_tree", "initial_tabs"), &BTTask::print_tree, Variant(0));
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ClassDB::bind_method(D_METHOD("get_task_name"), &BTTask::get_task_name);
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ClassDB::bind_method(D_METHOD("abort"), &BTTask::abort);
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ClassDB::bind_method(D_METHOD("editor_get_behavior_tree"), &BTTask::editor_get_behavior_tree);
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// Properties, setters and getters.
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ClassDB::bind_method(D_METHOD("get_agent"), &BTTask::get_agent);
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ClassDB::bind_method(D_METHOD("set_agent", "agent"), &BTTask::set_agent);
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ClassDB::bind_method(D_METHOD("get_scene_root"), &BTTask::get_scene_root);
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ClassDB::bind_method(D_METHOD("_get_children"), &BTTask::_get_children);
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ClassDB::bind_method(D_METHOD("_set_children", "children"), &BTTask::_set_children);
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ClassDB::bind_method(D_METHOD("get_blackboard"), &BTTask::get_blackboard);
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ClassDB::bind_method(D_METHOD("get_parent"), &BTTask::get_parent);
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ClassDB::bind_method(D_METHOD("get_status"), &BTTask::get_status);
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ClassDB::bind_method(D_METHOD("get_elapsed_time"), &BTTask::get_elapsed_time);
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ClassDB::bind_method(D_METHOD("get_custom_name"), &BTTask::get_custom_name);
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ClassDB::bind_method(D_METHOD("set_custom_name", "name"), &BTTask::set_custom_name);
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ADD_PROPERTY(PropertyInfo(Variant::STRING, "custom_name"), "set_custom_name", "get_custom_name");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "agent", PROPERTY_HINT_RESOURCE_TYPE, "Node", PROPERTY_USAGE_NONE), "set_agent", "get_agent");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "scene_root", PROPERTY_HINT_NODE_TYPE, "Node", PROPERTY_USAGE_NONE), "", "get_scene_root");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "blackboard", PROPERTY_HINT_RESOURCE_TYPE, "Blackboard", PROPERTY_USAGE_NONE), "", "get_blackboard");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "children", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_children", "_get_children");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "status", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NONE), "", "get_status");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "elapsed_time", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NONE), "", "get_elapsed_time");
|
|
|
|
GDVIRTUAL_BIND(_setup);
|
|
GDVIRTUAL_BIND(_enter);
|
|
GDVIRTUAL_BIND(_exit);
|
|
GDVIRTUAL_BIND(_tick, "delta");
|
|
GDVIRTUAL_BIND(_generate_name);
|
|
GDVIRTUAL_BIND(_get_configuration_warnings);
|
|
}
|
|
|
|
BTTask::BTTask() {
|
|
}
|
|
|
|
BTTask::~BTTask() {
|
|
for (int i = 0; i < get_child_count(); i++) {
|
|
ERR_FAIL_COND(!get_child(i).is_valid());
|
|
get_child(i)->data.parent = nullptr;
|
|
get_child(i).unref();
|
|
}
|
|
}
|