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Refactor behaviour_tree (more consistent naming), fix BT visualization

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This commit is contained in:
Klemen Plestenjak
2024-01-11 07:35:58 +01:00
parent 086ee5b348
commit 2f2974fb77
4 changed files with 135 additions and 97 deletions
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36
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_PARALLEL_SELECTOR:
case BZ_BT_COMP_P_SELECTOR:
return "P_SELECTOR";
case BZ_BT_COMP_PARALLEL_SEQUENCE:
case BZ_BT_COMP_P_SEQUENCE:
return "P_SEQUENCE";
case BZ_BT_DECOR_DUMMY:
return "DUMMY";
@@ -126,13 +126,13 @@ void bzBTDestroyRoot(BzObjectPool *nodePool, BzBTNode *node) {
BzBTNode *bzBTCompSelector(BzObjectPool *nodePool, BzBTNode *parent, bool parallel) {
BzBTNodeType type = parallel ?
BZ_BT_COMP_PARALLEL_SELECTOR :
BZ_BT_COMP_P_SELECTOR :
BZ_BT_COMP_SELECTOR;
return bzBTNodeMake(nodePool, parent, type);
}
BzBTNode *bzBTCompSequence(BzObjectPool *nodePool, BzBTNode *parent, bool parallel) {
BzBTNodeType type = parallel ?
BZ_BT_COMP_PARALLEL_SEQUENCE :
BZ_BT_COMP_P_SEQUENCE :
BZ_BT_COMP_SEQUENCE;
return bzBTNodeMake(nodePool, parent, type);
}
@@ -215,9 +215,9 @@ 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_PARALLEL_SELECTOR ||
type == BZ_BT_COMP_P_SELECTOR ||
type == BZ_BT_COMP_SEQUENCE ||
type == BZ_BT_COMP_PARALLEL_SEQUENCE;
type == BZ_BT_COMP_P_SEQUENCE;
BZ_ASSERT(isComposite);
return state->as.composite.running;
}
@@ -366,8 +366,8 @@ 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_PARALLEL_SEQUENCE ||
node->type == BZ_BT_COMP_PARALLEL_SELECTOR;
bool isParallel = node->type == BZ_BT_COMP_P_SEQUENCE ||
node->type == BZ_BT_COMP_P_SELECTOR;
BzBTNode *start = node->first;
if (!isParallel && nodeState)
@@ -384,7 +384,7 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
if (childReturn.status == BZ_BT_RUNNING) {
execStateMerge(&execReturn.state, &childReturn.state);
}
BZ_ASSERT(childReturn.state.first == NULL);
BZ_ASSERT(childReturn.state.first == NULL && childReturn.state.last == NULL);
numChildren++;
switch (childReturn.status) {
case BZ_BT_RUNNING:
@@ -401,12 +401,12 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
}
switch (node->type) {
case BZ_BT_COMP_SELECTOR:
case BZ_BT_COMP_PARALLEL_SELECTOR:
case BZ_BT_COMP_P_SELECTOR:
if (childReturn.status == BZ_BT_SUCCESS)
execReturn.status = BZ_BT_SUCCESS;
break;
case BZ_BT_COMP_SEQUENCE:
case BZ_BT_COMP_PARALLEL_SEQUENCE:
case BZ_BT_COMP_P_SEQUENCE:
if (childReturn.status == BZ_BT_FAIL)
execReturn.status = BZ_BT_FAIL;
break;
@@ -415,19 +415,20 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
}
if (execReturn.status == BZ_BT_FAIL || execReturn.status == BZ_BT_SUCCESS)
break;
if (numRunning > 0 && !isParallel) {
if (numRunning > 0) {
execReturn.status = BZ_BT_RUNNING;
break;
if (!isParallel)
break;
}
}
switch (node->type) {
case BZ_BT_COMP_SELECTOR:
case BZ_BT_COMP_PARALLEL_SELECTOR:
case BZ_BT_COMP_P_SELECTOR:
if (numFailed == numChildren)
execReturn.status = BZ_BT_FAIL;
break;
case BZ_BT_COMP_SEQUENCE:
case BZ_BT_COMP_PARALLEL_SEQUENCE:
case BZ_BT_COMP_P_SEQUENCE:
if (numSuccessful == numChildren)
execReturn.status = BZ_BT_SUCCESS;
break;
@@ -450,6 +451,7 @@ static inline BzBTExecReturn bzBTExecuteComposite(const BzBTNode *node, f32 dt,
return execReturn;
}
BZ_ASSERT(execReturn.status == BZ_BT_RUNNING);
// Parallels don't utilize state but still require it for correct tree traversal.
nodeState = ensureValidNodeState(node, statePool, nodeState);
nodeState->as.composite.running = child;
execStatePushFront(&execReturn.state, nodeState);
@@ -557,8 +559,8 @@ 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_PARALLEL_SELECTOR:
case BZ_BT_COMP_PARALLEL_SEQUENCE:
case BZ_BT_COMP_P_SELECTOR:
case BZ_BT_COMP_P_SEQUENCE:
execReturn = bzBTExecuteComposite(node, dt, nodeState, statePool);
break;
case BZ_BT_DECOR_DUMMY:

4
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_PARALLEL_SELECTOR,
BZ_BT_COMP_PARALLEL_SEQUENCE,
BZ_BT_COMP_P_SELECTOR,
BZ_BT_COMP_P_SEQUENCE,
// Decorator
BZ_BT_DECOR_DUMMY,
BZ_BT_DECOR_SUCCESS,