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Polish up behaviour tree, add docs

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This commit is contained in:
Klemen Plestenjak
2024-01-11 09:33:51 +01:00
parent 36d8bac7c4
commit 25a3229bb2
5 changed files with 192 additions and 37 deletions
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44
engine/breeze/ai/behaviour_tree.c
View File

@@ -61,9 +61,9 @@ const char *bzBTNodeTypeToStr(BzBTNodeType type) {
return "SELECTOR";
case BZ_BT_COMP_SEQUENCE:
return "SEQUENCE";
case BZ_BT_COMP_P_SELECTOR:
case BZ_BT_COMP_PSELECTOR:
return "P_SELECTOR";
case BZ_BT_COMP_P_SEQUENCE:
case BZ_BT_COMP_PSEQUENCE:
return "P_SEQUENCE";
case BZ_BT_DECOR_DUMMY:
return "DUMMY";
@@ -124,17 +124,17 @@ void bzBTDestroyRoot(BzObjectPool *nodePool, BzBTNode *node) {
bzObjectPoolRelease(nodePool, node);
}
BzBTNode *bzBTCompSelector(BzObjectPool *nodePool, BzBTNode *parent, bool parallel) {
BzBTNodeType type = parallel ?
BZ_BT_COMP_P_SELECTOR :
BZ_BT_COMP_SELECTOR;
return bzBTNodeMake(nodePool, parent, type);
BzBTNode *bzBTCompSelector(BzObjectPool *nodePool, BzBTNode *parent) {
return bzBTNodeMake(nodePool, parent, BZ_BT_COMP_SELECTOR);
}
BzBTNode *bzBTCompSequence(BzObjectPool *nodePool, BzBTNode *parent, bool parallel) {
BzBTNodeType type = parallel ?
BZ_BT_COMP_P_SEQUENCE :
BZ_BT_COMP_SEQUENCE;
return bzBTNodeMake(nodePool, parent, type);
BzBTNode *bzBTCompSequence(BzObjectPool *nodePool, BzBTNode *parent) {
return bzBTNodeMake(nodePool, parent, BZ_BT_COMP_SEQUENCE);
}
BzBTNode *bzBTCompPSelector(BzObjectPool *nodePool, BzBTNode *parent) {
return bzBTNodeMake(nodePool, parent, BZ_BT_COMP_PSELECTOR);
}
BzBTNode *bzBTCompPSequence(BzObjectPool *nodePool, BzBTNode *parent) {
return bzBTNodeMake(nodePool, parent, BZ_BT_COMP_PSEQUENCE);
}
BzBTNode *bzBTDecorDummy(BzObjectPool *nodePool, BzBTNode *parent) {
@@ -220,9 +220,9 @@ BzBTNode *bzBTCompStateGetRunningChild(const BzBTNodeState *state) {
BZ_ASSERT(state->node);
BzBTNodeType type = state->node->type;
bool isComposite = type == BZ_BT_COMP_SELECTOR ||
type == BZ_BT_COMP_P_SELECTOR ||
type == BZ_BT_COMP_PSELECTOR ||
type == BZ_BT_COMP_SEQUENCE ||
type == BZ_BT_COMP_P_SEQUENCE;
type == BZ_BT_COMP_PSEQUENCE;
BZ_ASSERT(isComposite);
return state->as.composite.running;
}
@@ -384,8 +384,8 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
BzBTExecState *state, BzObjectPool *statePool) {
BzBTNodeState *nodeState = getNodeState(node, state);
bool isParallel = node->type == BZ_BT_COMP_P_SEQUENCE ||
node->type == BZ_BT_COMP_P_SELECTOR;
bool isParallel = node->type == BZ_BT_COMP_PSEQUENCE ||
node->type == BZ_BT_COMP_PSELECTOR;
BzBTNode *start = node->first;
if (!isParallel && nodeState)
@@ -419,12 +419,12 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
}
switch (node->type) {
case BZ_BT_COMP_SELECTOR:
case BZ_BT_COMP_P_SELECTOR:
case BZ_BT_COMP_PSELECTOR:
if (childReturn.status == BZ_BT_SUCCESS)
execReturn.status = BZ_BT_SUCCESS;
break;
case BZ_BT_COMP_SEQUENCE:
case BZ_BT_COMP_P_SEQUENCE:
case BZ_BT_COMP_PSEQUENCE:
if (childReturn.status == BZ_BT_FAIL)
execReturn.status = BZ_BT_FAIL;
break;
@@ -441,12 +441,12 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
}
switch (node->type) {
case BZ_BT_COMP_SELECTOR:
case BZ_BT_COMP_P_SELECTOR:
case BZ_BT_COMP_PSELECTOR:
if (numFailed == numChildren)
execReturn.status = BZ_BT_FAIL;
break;
case BZ_BT_COMP_SEQUENCE:
case BZ_BT_COMP_P_SEQUENCE:
case BZ_BT_COMP_PSEQUENCE:
if (numSuccessful == numChildren)
execReturn.status = BZ_BT_SUCCESS;
break;
@@ -585,8 +585,8 @@ static inline BzBTExecReturn bzBTExecuteNode(const BzBTNode *node, f32 dt,
switch (node->type) {
case BZ_BT_COMP_SELECTOR:
case BZ_BT_COMP_SEQUENCE:
case BZ_BT_COMP_P_SELECTOR:
case BZ_BT_COMP_P_SEQUENCE:
case BZ_BT_COMP_PSELECTOR:
case BZ_BT_COMP_PSEQUENCE:
execReturn = bzBTExecuteComposite(node, dt, state, statePool);
break;
case BZ_BT_DECOR_DUMMY:

169
engine/breeze/ai/behaviour_tree.h
View File

@@ -18,8 +18,8 @@ typedef enum BzBTNodeType {
// Composite
BZ_BT_COMP_SELECTOR,
BZ_BT_COMP_SEQUENCE,
BZ_BT_COMP_P_SELECTOR,
BZ_BT_COMP_P_SEQUENCE,
BZ_BT_COMP_PSELECTOR,
BZ_BT_COMP_PSEQUENCE,
// Decorator
BZ_BT_DECOR_DUMMY,
BZ_BT_DECOR_SUCCESS,
@@ -56,26 +56,166 @@ typedef struct BzBTStateDesc {
void *userData;
} BzBTStateDesc;
/**
* @brief Useful for allocating BzBTNode pools.
* @return size of BzBTNode
*/
size_t bzBTGetNodeSize();
/**
* @brief Useful for allocating BzBTNodeState pools.
* @return size of BzBTNodeState
*/
size_t bzBTGetNodeStateSize();
/**
* @brief Utility function for converting enum type to human readable string.
* @return human-readable node type
*/
const char *bzBTNodeTypeToStr(BzBTNodeType type);
/**
* @brief Starting point of BT.
* @param nodePool pool
* @return allocated node
*/
BzBTNode *bzBTMakeRoot(BzObjectPool *nodePool);
void bzBTDestroyRoot(BzObjectPool *nodePool, BzBTNode *node);
/**
* @brief Recursively cleans up BT.
* @param nodePool pool
* @param node BT root
*/
void bzBTDestroyRoot(BzObjectPool *nodePool, BzBTNode *node);
BzBTNode *bzBTCompSelector(BzObjectPool *nodePool, BzBTNode *parent, bool parallel);
BzBTNode *bzBTCompSequence(BzObjectPool *nodePool, BzBTNode *parent, bool parallel);
/**
* @brief Execute all children in turn until one fails.
*
* Execution is BZ_BT_SUCCESS, if all children are ran successfully.
* Child execution, does not progress unless child finishes (no BZ_BT_RUNNING status).
*
* @param nodePool pool
* @param parent parent of the composite
* @return allocated composite
*/
BzBTNode *bzBTCompSelector(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Execute all children in turn until first one succeeds.
*
* Execution is BZ_BT_FAIL, if no children are ran successfully.
* Child execution is blocking -> it does not progress unless child
* finishes (is not BZ_BT_RUNNING).
*
* @param nodePool pool
* @param parent parent of the composite
* @return allocated composite
*/
BzBTNode *bzBTCompSequence(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Execute all children in turn until one fails.
*
* Execution is BZ_BT_SUCCESS, if all children are ran successfully.
* Children are executed in non-blocking way in the order of BT.
*
* @param nodePool pool
* @param parent parent of the composite
* @return allocated composite
*/
BzBTNode *bzBTCompPSelector(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Execute all children in turn until first one succeeds.
*
* Execution is BZ_BT_FAIL, if no children are ran successfully.
* Children are executed in non-blocking way in the order of BT.
*
* @param nodePool pool
* @param parent parent of the composite
* @return allocated composite
*/
BzBTNode *bzBTCompPSequence(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Returns child status.
*
* Note: Useful when nesting BTs.
*
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorDummy(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Returns BZ_BT_SUCCESS, if no BZ_BT_ERROR occurred.
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorSuccess(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Returns BZ_BT_FAIL, if no BZ_BT_ERROR occurred.
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorFail(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Inverts child result.
*
* Note: Only for BZ_BT_SUCCESS and BZ_BT_FAIL. Other statuses
* are propagated up.
*
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorInvert(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Repeats child execution until it returns BZ_BT_SUCCESS.
*
* Note: BZ_BT_ERROR also causes it to return.
*
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorUntilSuccess(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Repeats child execution until it returns BZ_BT_FAIL.
*
* Note: BZ_BT_ERROR also causes it to return.
*
* @param nodePool pool
* @param parent parent of the decorator
* @return allocated decorator
*/
BzBTNode *bzBTDecorUntilFail(BzObjectPool *nodePool, BzBTNode *parent);
/**
* @brief Repeats child execution n-times.
* @param nodePool pool
* @param parent parent of the decorator
* @param n number of repeats
* @return allocated decorator
*/
BzBTNode *bzBTDecorRepeat(BzObjectPool *nodePool, BzBTNode *parent, i32 n);
/**
* @brief Delays child/sibling execution for specified ms.
*
* Note: for this to properly work, correct dt must be passed
* in when executing BT.
*
* @param nodePool pool
* @param parent parent of the decorator
* @param ms milliseconds to wait
* @return allocated decorator
*/
BzBTNode *bzBTDecorDelay(BzObjectPool *nodePool, BzBTNode *parent, f32 ms);
/**
* @brief Creates BT task.
* @param nodePool pool
* @param parent parent of the task
* @param fn function pointer for the task
* @return allocated action
*/
BzBTNode *bzBTAction(BzObjectPool *nodePool, BzBTNode *parent, BzBTActionFn fn);
// Reflection data
@@ -102,9 +242,24 @@ BzBTNode *bzBTCompStateGetRunningChild(const BzBTNodeState *state);
i32 bzBTRepeatStateGetIter(const BzBTNodeState *state);
f32 bzBTDelayStateGetElapsed(const BzBTNodeState *state);
BzBTState bzBTCreateState(const BzBTStateDesc *desc);
void bzBTDestroyState(BzBTState *state);
/**
* @brief Creates state for a given BT.
* @param desc input parameters
* @return BT state
*/
BzBTState bzBTCreateState(const BzBTStateDesc *desc);
/**
* @brief Cleans up state (does not modify BT).
* @param state state to clean up
*/
void bzBTDestroyState(BzBTState *state);
/**
* @brief Tick behaviour tree.
* @param state state of the behaviour tree
* @param dt delta time
* @return status of BT tick
*/
BzBTStatus bzBTExecute(BzBTState *state, f32 dt);
#endif //BREEZE_BEHAVIOUR_TREE_H

8
engine/tests/btree_test.c
View File

@@ -26,12 +26,12 @@ bool init(int *game) {
// delay 1s
// print "Hello, world!"
printBT = bzBTMakeRoot(nodePool);
BzBTNode *pseq = bzBTCompSelector(nodePool, printBT, true);
BzBTNode *pseq = bzBTCompPSelector(nodePool, printBT);
bzBTDecorDelay(nodePool, pseq, 2.0f);
BzBTNode *node = bzBTDecorRepeat(nodePool, pseq, 5);
BzBTNode *seq = bzBTCompSequence(nodePool, node, false);
BzBTNode *seq = bzBTCompSequence(nodePool, node);
bzBTDecorDelay(nodePool, seq, 1.0f);
node = bzBTAction(nodePool, seq, printAction);
@@ -155,9 +155,9 @@ void igVisualizeBTState(const BzBTNode *node, const BzBTNodeState *state,
}
bool isComposite = type == BZ_BT_COMP_SELECTOR ||
type == BZ_BT_COMP_P_SELECTOR ||
type == BZ_BT_COMP_PSELECTOR ||
type == BZ_BT_COMP_SEQUENCE ||
type == BZ_BT_COMP_P_SEQUENCE;
type == BZ_BT_COMP_PSEQUENCE;
while (child) {
if (hasSingleChild) igSameLine(0, 0);