limboai/bt/bt_state.cpp

164 lines
6.1 KiB
C++

/**
* bt_state.cpp
* =============================================================================
* Copyright 2021-2024 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 "bt_state.h"
#include "../util/limbo_compat.h"
#include "../util/limbo_string_names.h"
#ifdef LIMBOAI_MODULE
#include "core/debugger/engine_debugger.h"
#endif // LIMBOAI_MODULE
#ifdef LIMBOAI_GDEXTENSION
#include <godot_cpp/classes/engine_debugger.hpp>
#endif // LIMBOAI_GDEXTENSION
void BTState::set_behavior_tree(const Ref<BehaviorTree> &p_tree) {
if (Engine::get_singleton()->is_editor_hint()) {
if (behavior_tree.is_valid() && behavior_tree->is_connected(LW_NAME(plan_changed), callable_mp(this, &BTState::_update_blackboard_plan))) {
behavior_tree->disconnect(LW_NAME(plan_changed), callable_mp(this, &BTState::_update_blackboard_plan));
}
if (p_tree.is_valid()) {
p_tree->connect(LW_NAME(plan_changed), callable_mp(this, &BTState::_update_blackboard_plan));
}
behavior_tree = p_tree;
} else {
behavior_tree = p_tree;
}
_update_blackboard_plan();
}
void BTState::set_scene_root_hint(Node *p_scene_root) {
ERR_FAIL_NULL_MSG(p_scene_root, "BTState: Failed to set scene root hint - scene root is null.");
ERR_FAIL_COND_MSG(bt_instance.is_valid(), "BTState: Scene root hint shouldn't be set after initialization. This change will not affect the current behavior tree instance.");
scene_root_hint = p_scene_root;
}
#ifdef DEBUG_ENABLED
void BTState::_set_monitor_performance(bool p_monitor) {
monitor_performance = p_monitor;
if (bt_instance.is_valid()) {
bt_instance->set_monitor_performance(monitor_performance);
}
}
#endif // DEBUG_ENABLED
void BTState::_update_blackboard_plan() {
if (get_blackboard_plan().is_null()) {
set_blackboard_plan(memnew(BlackboardPlan));
} else if (!RESOURCE_IS_BUILT_IN(get_blackboard_plan())) {
WARN_PRINT_ED("BTState: Using external resource for derived blackboard plan is not supported. Converted to built-in resource.");
set_blackboard_plan(get_blackboard_plan()->duplicate());
} else {
get_blackboard_plan()->set_base_plan(behavior_tree.is_valid() ? behavior_tree->get_blackboard_plan() : nullptr);
}
}
void BTState::_setup() {
LimboState::_setup();
ERR_FAIL_COND_MSG(behavior_tree.is_null(), "BTState: BehaviorTree is not assigned.");
Node *scene_root = scene_root_hint ? scene_root_hint : get_owner();
ERR_FAIL_NULL_MSG(scene_root, "BTState: Initialization failed - unable to establish scene root. This is likely due to BTState not being owned by a scene node. Check BTState.set_scene_root_hint().");
bt_instance = behavior_tree->instantiate(get_agent(), get_blackboard(), this);
ERR_FAIL_COND_MSG(bt_instance.is_null(), "BTState: Initialization failed - failed to instantiate behavior tree.");
#ifdef DEBUG_ENABLED
bt_instance->register_with_debugger();
bt_instance->set_monitor_performance(monitor_performance);
#endif
}
void BTState::_exit() {
if (bt_instance.is_valid()) {
bt_instance->get_root_task()->abort();
} else {
ERR_PRINT_ONCE("BTState: BehaviorTree is not assigned.");
}
LimboState::_exit();
}
void BTState::_update(double p_delta) {
GDVIRTUAL_CALL(_update, p_delta);
if (!is_active()) {
// Bail out if a transition happened in the meantime.
return;
}
ERR_FAIL_NULL(bt_instance);
BT::Status status = bt_instance->update(p_delta);
if (status == BTTask::SUCCESS) {
get_root()->dispatch(success_event, Variant());
} else if (status == BTTask::FAILURE) {
get_root()->dispatch(failure_event, Variant());
}
emit_signal(LW_NAME(updated), p_delta);
}
void BTState::_notification(int p_notification) {
switch (p_notification) {
#ifdef DEBUG_ENABLED
case NOTIFICATION_ENTER_TREE: {
if (bt_instance.is_valid()) {
bt_instance->register_with_debugger();
bt_instance->set_monitor_performance(monitor_performance);
}
} break;
#endif // DEBUG_ENABLED
case NOTIFICATION_EXIT_TREE: {
#ifdef DEBUG_ENABLED
if (bt_instance.is_valid()) {
bt_instance->unregister_with_debugger();
bt_instance->set_monitor_performance(false);
}
#endif // DEBUG_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
if (behavior_tree.is_valid() && behavior_tree->is_connected(LW_NAME(plan_changed), callable_mp(this, &BTState::_update_blackboard_plan))) {
behavior_tree->disconnect(LW_NAME(plan_changed), callable_mp(this, &BTState::_update_blackboard_plan));
}
}
} break;
}
}
void BTState::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_behavior_tree", "behavior_tree"), &BTState::set_behavior_tree);
ClassDB::bind_method(D_METHOD("get_behavior_tree"), &BTState::get_behavior_tree);
ClassDB::bind_method(D_METHOD("get_bt_instance"), &BTState::get_bt_instance);
ClassDB::bind_method(D_METHOD("set_success_event", "event"), &BTState::set_success_event);
ClassDB::bind_method(D_METHOD("get_success_event"), &BTState::get_success_event);
ClassDB::bind_method(D_METHOD("set_failure_event", "event"), &BTState::set_failure_event);
ClassDB::bind_method(D_METHOD("get_failure_event"), &BTState::get_failure_event);
ClassDB::bind_method(D_METHOD("set_scene_root_hint", "scene_root"), &BTState::set_scene_root_hint);
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "behavior_tree", PROPERTY_HINT_RESOURCE_TYPE, "BehaviorTree"), "set_behavior_tree", "get_behavior_tree");
ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "success_event"), "set_success_event", "get_success_event");
ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "failure_event"), "set_failure_event", "get_failure_event");
#ifdef DEBUG_ENABLED
ClassDB::bind_method(D_METHOD("_set_monitor_performance", "enable"), &BTState::_set_monitor_performance);
ClassDB::bind_method(D_METHOD("_get_monitor_performance"), &BTState::_get_monitor_performance);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "monitor_performance"), "_set_monitor_performance", "_get_monitor_performance");
#endif // DEBUG_ENABLED
}
BTState::BTState() {
success_event = LW_NAME(EVENT_SUCCESS);
failure_event = LW_NAME(EVENT_FAILURE);
}