Feature/badbehaviour

Engine/source/BadBehavior/composite/ActiveSelector.cpp

@@ -0,0 +1,130 @@
+//-----------------------------------------------------------------------------
+// Copyright (c) 2014 Guy Allard
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#include "ActiveSelector.h"
+
+using namespace BadBehavior;
+
+//------------------------------------------------------------------------------
+// Active selector node
+//------------------------------------------------------------------------------
+IMPLEMENT_CONOBJECT(ActiveSelector);
+
+ActiveSelector::ActiveSelector()
+   :  mRecheckFrequency(0)
+{
+}
+
+Task *ActiveSelector::createTask(SimObject &owner, BehaviorTreeRunner &runner)
+{
+   return new ActiveSelectorTask(*this, owner, runner);
+}
+
+void ActiveSelector::initPersistFields()
+{
+   addGroup( "Behavior" );
+
+   addField( "recheckFrequency", TypeS32, Offset(mRecheckFrequency, ActiveSelector),
+      "@brief The minimum time period in milliseconds to wait between re-evaluations of higher priority branches.");
+
+   endGroup( "Behavior" );
+
+   Parent::initPersistFields();
+}
+
+//------------------------------------------------------------------------------
+// Active selector task
+//------------------------------------------------------------------------------
+ActiveSelectorTask::ActiveSelectorTask(Node &node, SimObject &owner, BehaviorTreeRunner &runner)
+   : Parent(node, owner, runner),
+   mRecheckTime(0)
+{
+}
+
+void ActiveSelectorTask::onInitialize()
+{
+   Parent::onInitialize();
+
+   if(mBranches.empty())
+   {
+      for (VectorPtr<Task*>::iterator i = mChildren.begin(); i != mChildren.end(); ++i)
+      {
+         mBranches.push_back(BehaviorTreeBranch(*i));
+      }
+   }
+
+   mCurrentBranch = mBranches.begin();
+   mRunningBranch = mBranches.end();
+   mRecheckTime = 0;
+}
+
+
+Task* ActiveSelectorTask::update()
+{
+   // empty node, bail
+   if(mBranches.empty())
+   {
+      mStatus = INVALID;
+      return NULL;
+   }
+
+   // is it time to re-check higher priority branches?
+   if(Sim::getCurrentTime() >= mRecheckTime)
+   {
+      // pick highest priority branch
+      mCurrentBranch = mBranches.begin();
+
+      // determine the next recheck time
+      mRecheckTime = Sim::getCurrentTime() + static_cast<ActiveSelector *>(mNodeRep)->getRecheckFrequency();
+   }
+
+   // run a branch, if it fails move on to the next
+   for(mCurrentBranch; mCurrentBranch != mBranches.end(); ++mCurrentBranch)
+   {
+      // reset the branch if it's not the current running branch
+      if(mCurrentBranch != mRunningBranch)
+         mCurrentBranch->reset();
+
+      mStatus = mCurrentBranch->update();
+
+      if(mStatus == FAILURE) // move on to next
+         continue;
+
+      if(mStatus == RUNNING || mStatus == SUSPENDED) // track the current running branch
+         mRunningBranch = mCurrentBranch;
+
+      break;
+   }
+
+   if( (mStatus != RUNNING && mStatus != SUSPENDED) || mCurrentBranch == mBranches.end() )
+      mIsComplete = true;
+
+   return NULL;
+}
+
+Status ActiveSelectorTask::getStatus()
+{
+   if(mStatus == SUSPENDED && mCurrentBranch != mBranches.end())
+      return mCurrentBranch->getStatus(); // suspended branch may have resumed
+
+   return mStatus;
+}

Engine/source/BadBehavior/composite/ActiveSelector.h

@@ -0,0 +1,92 @@
+//-----------------------------------------------------------------------------
+// Copyright (c) 2014 Guy Allard
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#ifndef _BB_ACTIVESELECTOR_H_
+#define _BB_ACTIVESELECTOR_H_
+
+#ifndef _BB_CORE_H_
+#include "BadBehavior/core/Composite.h"
+#endif
+#ifndef _BB_BRANCH_H_
+#include "BadBehavior/core/Branch.h"
+#endif
+
+//==============================================================================
+// Active Selector
+// Re-evaluates its children from the beginning each tick. Lower priority
+// children which previously returned RUNNING are resumed if re-selected
+//
+// ***** TODO - This runs OK, but may need a bit more work
+// -- abort previously running branches?
+//
+//==============================================================================
+
+namespace BadBehavior
+{
+   //---------------------------------------------------------------------------
+   // Active selector Node
+   //---------------------------------------------------------------------------
+   class ActiveSelector : public CompositeNode
+   {
+      typedef CompositeNode Parent;
+
+   protected:
+      U32 mRecheckFrequency;
+
+   public:
+      ActiveSelector();
+
+      virtual Task *createTask(SimObject &owner, BehaviorTreeRunner &runner);
+
+      static void initPersistFields();
+
+      U32 getRecheckFrequency() const { return mRecheckFrequency; }
+
+      DECLARE_CONOBJECT(ActiveSelector);
+   };
+
+   //---------------------------------------------------------------------------
+   // Active selector Task
+   //---------------------------------------------------------------------------
+   class ActiveSelectorTask : public CompositeTask
+   {
+      typedef CompositeTask Parent;
+
+   protected:
+      Vector<BehaviorTreeBranch>::iterator mRunningBranch;
+      Vector<BehaviorTreeBranch>::iterator mCurrentBranch;
+      Vector<BehaviorTreeBranch> mBranches;
+
+      U32 mRecheckTime;
+
+      virtual void onInitialize();
+      virtual Task* update();
+
+   public:
+      ActiveSelectorTask(Node &node, SimObject &owner, BehaviorTreeRunner &runner);
+
+      Status getStatus();
+};
+
+} // namespace BadBehavior
+
+#endif

Engine/source/BadBehavior/composite/Parallel.cpp

@@ -0,0 +1,173 @@
+//-----------------------------------------------------------------------------
+// Copyright (c) 2014 Guy Allard
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#include "Parallel.h"
+
+using namespace BadBehavior;
+
+//------------------------------------------------------------------------------
+// Parallel node
+//------------------------------------------------------------------------------
+IMPLEMENT_CONOBJECT(Parallel);
+
+Parallel::Parallel() 
+   : mReturnPolicy(REQUIRE_ALL) 
+{
+}
+
+ImplementEnumType( ParallelReturnPolicy,
+   "@brief The policy to use when determining the return status of a parallel node.\n\n"
+   "@ingroup AI\n\n")
+   { Parallel::REQUIRE_ALL,  "REQUIRE_ALL",  "Will return success if all children succeed.\n"
+                                             "Will terminate and return failure if one child fails \n"},
+   { Parallel::REQUIRE_NONE, "REQUIRE_NONE", "Will return success even if all children fail.\n" },
+   { Parallel::REQUIRE_ONE,  "REQUIRE_ONE",  "Will terminate and return success when one child succeeds.\n" },
+EndImplementEnumType;
+
+void Parallel::initPersistFields()
+{
+   addGroup( "Behavior" );
+
+   addField( "returnPolicy", TYPEID< Parallel::ParallelPolicy >(), Offset(mReturnPolicy, Parallel),
+      "@brief The policy to use when deciding the return status for the parallel sequence.");
+
+   endGroup( "Behavior" );
+
+   Parent::initPersistFields();
+}
+
+Task *Parallel::createTask(SimObject &owner, BehaviorTreeRunner &runner)
+{
+   return new ParallelTask(*this, owner, runner);
+}
+
+//------------------------------------------------------------------------------
+// Parallel Task
+//------------------------------------------------------------------------------
+ParallelTask::ParallelTask(Node &node, SimObject &owner, BehaviorTreeRunner &runner)
+   : Parent(node, owner, runner),
+   mHasSuccess(false),
+   mHasFailure(false)
+{
+}
+
+void ParallelTask::onInitialize()
+{
+   Parent::onInitialize();
+
+   mHasSuccess = mHasFailure = false;
+
+   if(mBranches.empty())
+   {
+      for (VectorPtr<Task*>::iterator i = mChildren.begin(); i != mChildren.end(); ++i)
+      {
+         mBranches.push_back(BehaviorTreeBranch(*i));
+      }
+   }
+   else
+   {
+      for (Vector<BehaviorTreeBranch>::iterator it = mBranches.begin(); it != mBranches.end(); ++it)
+      {
+         it->reset();
+      }
+   }
+}
+
+Task* ParallelTask::update()
+{
+   bool hasRunning = false, hasSuspended = false,  hasResume = false;
+   for (Vector<BehaviorTreeBranch>::iterator it = mBranches.begin(); it != mBranches.end(); ++it)
+   {
+      Status s = it->getStatus();
+      if(s == INVALID || s == RUNNING || s == RESUME)
+      {
+         s = it->update();
+
+         switch(it->getStatus())
+         {
+         case SUCCESS:
+            mHasSuccess = true;
+            break;
+         case FAILURE:
+            mHasFailure = true;
+            break;
+         case RUNNING:
+            hasRunning = true;
+            break;
+         case SUSPENDED:
+            hasSuspended = true;
+            break;
+         case RESUME:
+            hasResume = true;
+            break;
+         }
+      }
+   }
+
+   switch(static_cast<Parallel *>(mNodeRep)->getReturnPolicy())
+   {
+   // REQUIRE_NONE
+   // returns SUCCESS when all children have finished irrespective of their return status.
+   case Parallel::REQUIRE_NONE:
+      mStatus = hasResume ? RESUME : ( hasRunning ? RUNNING : ( hasSuspended ? SUSPENDED : SUCCESS ) );
+      break;
+
+   // REQUIRE_ONE
+   // terminates and returns SUCCESS when any of its children succeed
+   // returns FAILURE if no children succeed
+   case Parallel::REQUIRE_ONE:
+      mStatus = mHasSuccess ? SUCCESS : ( hasResume ? RESUME : ( hasRunning ? RUNNING : ( hasSuspended ? SUSPENDED : FAILURE ) ) );
+      break;
+
+   // REQUIRE_ALL
+   // returns SUCCESS if all of its children succeed.
+   // terminates and returns failure if any of its children fail
+   case Parallel::REQUIRE_ALL:
+      mStatus = mHasFailure ? FAILURE : ( hasResume ? RESUME : ( hasRunning ? RUNNING : ( hasSuspended ? SUSPENDED : SUCCESS ) ) );
+      break;
+   }
+
+   mIsComplete = (mStatus != RUNNING && mStatus != SUSPENDED && mStatus != RESUME);
+
+   return NULL;
+}
+
+
+Status ParallelTask::getStatus()
+{
+   if(mStatus == SUSPENDED)
+   {
+      // need to check if the parallel is still suspended.
+      // A parallel will only report SUSPENDED when all of its children are suspended
+      for(Vector<BehaviorTreeBranch>::iterator it = mBranches.begin(); it != mBranches.end(); ++it)
+      {
+         switch(it->getStatus())
+         {
+         case RUNNING:
+            return RUNNING;
+         case RESUME:
+            return RESUME;
+         }
+      }
+   }
+   return mStatus;
+}