Rudimentary behaviour tree visualization

engine/tests/btree_test.c

@@ -5,6 +5,7 @@ BzObjectPool *nodePool = NULL;
 BzObjectPool *nodeStatePool = NULL;
 
 BzAIBTNode *printBT = NULL;
+BzAIBTState agentState;
 
 BzAIBTStatus printAction(void *data) {
     bzLogInfo("Hello, world!");
@@ -12,6 +13,7 @@ BzAIBTStatus printAction(void *data) {
 }
 
 bool init(int *game) {
+    rlImGuiSetup(true);
     nodePool = bzObjectPoolCreate(&(BzObjectPoolDesc) {
         .objectSize = bzAIBTGetNodeSize(),
     });
@@ -29,40 +31,95 @@ bool init(int *game) {
     BzAIBTNode *seq = bzAIBTCompSequence(nodePool, node, false);
 
     bzAIBTDecorDelay(nodePool, seq, 1.0f);
-    bzAIBTAction(nodePool, seq, printAction);
+    bzAIBTAction(nodePool, seq, printAction, "printAction");
 
-    BzAIBTState state = bzAIBTCreateState(&(BzAIBTStateDesc) {
+    agentState = bzAIBTCreateState(&(BzAIBTStateDesc) {
         .root = printBT,
         .pool = nodeStatePool,
         .userData = NULL
     });
 
-    BzAIBTStatus status = BZ_AIBT_RUNNING;
-
-    i32 count = 0;
-    while (status == BZ_AIBT_RUNNING) {
-        status = bzAIBTExecute(&state, 0.2f);
-        count++;
-        assert(status != BZ_AIBT_ERROR);
-    }
-    bzLogInfo("Iter: %d", count);
+    return true;
+}
+void deinit(int *game) {
 
     bzObjectPoolDestroy(nodePool);
     bzObjectPoolDestroy(nodeStatePool);
+}
 
-    return true;
+void igRenderBTNode(const BzAIBTNode *node, const BzAIBTNodeState *state, i32 depth) {
+    const BzAIBTNode *child = bzAIBTNodeChild(node);
+    BzAIBTNodeType type = bzAIBTGetNodeType(node);
+    char extraInfo[128];
+    extraInfo[0] = '\0';
+
+    bool hasState = bzAIBTNodeMatchesState(node, state);
+
+    switch (type) {
+        case BZ_AIBT_DECOR_REPEAT:
+            if (hasState) {
+                snprintf(extraInfo, sizeof(extraInfo), "(%d < %d)",
+                         bzAIBTRepeatStateGetIter(state),
+                         bzAIBTDecorGetRepeat(node));
+            } else {
+                snprintf(extraInfo, sizeof(extraInfo), "(%d)", bzAIBTDecorGetRepeat(node));
+            }
+            break;
+        case BZ_AIBT_DECOR_DELAY:
+            if (hasState) {
+                snprintf(extraInfo, sizeof(extraInfo), "(%.2f < %.2fms)",
+                         bzAIBTDelayStateGetElapsed(state),
+                         bzAIBTDecorGetDelay(node));
+            } else {
+                snprintf(extraInfo, sizeof(extraInfo), "(%.2fms)", bzAIBTDecorGetDelay(node));
+            }
+            break;
+        case BZ_AIBT_ACTION:
+            snprintf(extraInfo, sizeof(extraInfo), "(%s:%p)",
+                     bzAIBTActionGetName(node),
+                     bzAIBTActionGetFn(node));
+            break;
+        default:
+            break;
+    }
+    if (hasState)
+        state = bzAIBTNodeStateNext(state);
+
+    ImVec4 color = {1.0f, 1.0f, 1.0f, 1.0f};
+    if (hasState)
+        color = (ImVec4) {1.0f, 1.0f, 0.5f, 1.0f};
+
+    igTextColored(color, "%*s%s %s", depth * 4, "",
+                  bzAIBTNodeTypeToStr(type), extraInfo);
+    while (child) {
+        igRenderBTNode(child, state, depth + 1);
+        child = bzAIBTNodeNext(child);
+    }
+}
+
+void igRenderBT(BzAIBTState *state) {
+    const BzAIBTNode *root = state->root;
+    if (igBegin("BehaviourTree", NULL, 0)) {
+        igRenderBTNode(root, state->first, 0);
+    }
+    igEnd();
 }
 
 void render(float dt, int *game) {
     ClearBackground(WHITE);
 
+    BzAIBTStatus status = bzAIBTExecute(&agentState, dt);
+
+    rlImGuiBegin();
+    igRenderBT(&agentState);
+    igShowDemoWindow(NULL);
+    rlImGuiEnd();
 }
 
 bool bzMain(BzAppDesc *appDesc, int argc, const char **argv) {
     appDesc->init = (BzAppInitFunc) init;
+    appDesc->deinit = (BzAppDeinitFunc ) deinit;
     appDesc->render = (BzAppRenderFunc) render;
 
-    init(NULL);
-
-    return false;
+    return true;
 }