Fix and integrate BT

game/systems/s_ai.c

@@ -1,41 +1,47 @@
 #include "systems.h"
 
 #include "../game_state.h"
+#include "../ai_actions.h"
 
-#include "../unit_ai.h"
-#include "../unit_actions.h"
 
-void handleUnitActionsSystem(ecs_iter_t *it) {
-    Game       *game   = ecs_singleton_get_mut(ECS, Game);
-    UnitAction *action = ecs_field(it, UnitAction, 1);
+void updateAISystem(ecs_iter_t *it) {
+    Game       *game  = ecs_singleton_get_mut(ECS, Game);
+    BzBTState  *state = ecs_field(it, BzBTState, 1);
+
+    f32 dt = GetFrameTime();
 
     for (i32 i = 0; i < it->count; i++) {
         ecs_entity_t entity = it->entities[i];
-        handleAction(entity, &action[i], game);
+        if (state[i].root == NULL) {
+            // No behaviour
+            continue;
+        }
+        if (ecs_has(ECS, entity, AIBlackboard)) {
+            AIBlackboard *blackboard = ecs_get_mut(ECS, entity, AIBlackboard);
+            blackboard->entity = entity;
+            state[i].userData = blackboard;
+        }
+        bzBTExecute(&state[i], dt);
     }
 }
 
-void updateUnitAISystem(ecs_iter_t *it) {
-    Game       *game   = ecs_singleton_get_mut(ECS, Game);
-    UnitAI     *unitAI = ecs_field(it, UnitAI, 1);
-    UnitAction *action = ecs_field(it, UnitAction, 2);
+void setAIBehaviour(ecs_entity_t entity, const BzBTNode *root,
+                    const AIBlackboard *blackboard) {
+    Game *game = ecs_singleton_get_mut(ECS, Game);
+    BZ_ASSERT(ecs_has(ECS, entity, BzBTState));
+    BZ_ASSERT(!blackboard || ecs_has(ECS, entity, AIBlackboard));
 
-    for (i32 i = 0; i < it->count; i++) {
-        ecs_entity_t entity = it->entities[i];
-
-        Action *firstAction = action[i].first;
-        unitAI[i].action = firstAction;
-
-        updateUnitAI(entity, &unitAI[i], game);
+    if (blackboard) {
+        AIBlackboard *b = ecs_get_mut(ECS, entity, AIBlackboard);
+        *b = *blackboard;
+        if (b->proximity < 2.0f)
+            b->proximity = 2.0f;
     }
-}
 
-void updateUnitActionsSystem(ecs_iter_t *it) {
-    Game       *game   = ecs_singleton_get_mut(ECS, Game);
-    UnitAction *action = ecs_field(it, UnitAction, 1);
-
-    for (i32 i = 0; i < it->count; i++) {
-        ecs_entity_t entity = it->entities[i];
-        updateAction(&action[i], game);
-    }
+    BzBTState *state = ecs_get_mut(ECS, entity, BzBTState);
+    bzBTDestroyState(state);
+    *state = bzBTCreateState(&(BzBTStateDesc) {
+        .root = root,
+        .pool = game->pools.btNodeState
+    });
 }

game/systems/s_input.c

@@ -4,8 +4,6 @@
 #include "../input.h"
 #include "../buildings.h"
 #include "../pathfinding.h"
-#include "../unit_ai.h"
-#include "../unit_actions.h"
 
 #include <rlImGui.h>
 #include <raymath.h>
@@ -92,12 +90,22 @@ void inputUnitAction(Game *game, InputState *input) {
                 for (i32 i = 0; i < it.count; i++) {
                     const ecs_entity_t entity = it.entities[i];
                     const Position target = *ecs_get(ECS, taskEntity, Position);
+                    setAIBehaviour(entity, game->BTs.workerHarvest, &(AIBlackboard) {
+                        .as.worker = {
+                                .harvestType = RES_WOOD,
+                                .harvestTarget = taskEntity,
+                                .harvestPos = target,
+                        },
+                        .proximity = 6.0f,
+                    });
+                    /*
                     setUnitAI(entity, game, &(const UnitAI) {
                         .type = AI_WORKER_HARVEST,
                         .as.workerHarvest.resource = RES_WOOD,
                         .as.workerHarvest.target = taskEntity,
                         .as.workerHarvest.targetPosition = target
                     });
+                     */
                     //addAction(entity, game, &(const Action) {
                     //    .type = ACTION_MOVE_TO,
                     //    .as.moveTo.target = target,
@@ -128,12 +136,18 @@ void inputUnitAction(Game *game, InputState *input) {
         while (ecs_iter_next(&it)) {
             for (i32 i = 0; i < it.count; i++) {
                 const ecs_entity_t entity = it.entities[i];
+                setAIBehaviour(entity, game->BTs.moveTo, &(AIBlackboard) {
+                    .moveToPos = target,
+                    .proximity = 6.0f,
+                });
+                /*
                 clearActions(entity, game);
                 addAction(entity, game, &(const Action) {
                     .type = ACTION_MOVE_TO,
                     .as.moveTo.target = target,
                     .as.moveTo.proximityThreshold = 6.0f,
                 });
+                 */
             }
         }
         ecs_defer_end(ECS);

game/systems/systems.c

@@ -114,10 +114,7 @@ void setupSystems() {
     ECS_SYSTEM(ECS, entityFollowPath, EcsOnUpdate, Path);
     ECS_SYSTEM(ECS, entityUpdateArms, EcsOnUpdate, Position, Velocity, Rotation, Orientation, Arms);
 
-    ECS_SYSTEM(ECS, handleUnitActionsSystem, EcsOnUpdate, UnitAction);
-    ECS_SYSTEM(ECS, updateUnitAISystem, EcsOnUpdate, UnitAI, UnitAction);
-    // Needs to be called after AI update, since it removes finished actions
-    ECS_SYSTEM(ECS, updateUnitActionsSystem, EcsOnUpdate, UnitAction);
+    ECS_SYSTEM(ECS, updateAISystem, EcsOnUpdate, BzBTState);
 
     ECS_SYSTEM(ECS, updateAnimationState, EcsOnUpdate, Animation, TextureRegion);
     ECS_SYSTEM(ECS, updateAnimation, EcsOnUpdate, Animation, TextureRegion);

game/systems/systems.h

@@ -4,6 +4,7 @@
 #include <flecs.h>
 
 #include "../components.h"
+#include "../ai_actions.h"
 
 typedef struct Game Game;
 
@@ -19,22 +20,12 @@ bool entitySetPath(const ecs_entity_t entity, const Vector2 target, Game *game);
 
 /*
  * 0: Game (singleton)
- * 1: UnitAction
+ * 1: BzBTState
  */
-void handleUnitActionsSystem(ecs_iter_t *it);
+void updateAISystem(ecs_iter_t *it);
 
-/*
- * 0: Game (singleton)
- * 1: UnitAI
- * 2: UnitAction
- */
-void updateUnitAISystem(ecs_iter_t *it);
-
-/*
- * 0: Game (singleton)
- * 1: UnitAction
- */
-void updateUnitActionsSystem(ecs_iter_t *it);
+void setAIBehaviour(ecs_entity_t entity, const BzBTNode *root,
+                    const AIBlackboard *blackboard);
 
 
 /**********************************