GoaLitiuM/FlaxEngine
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor BT nodes methods to always use context structure as input

Browse Source
This commit is contained in:
Wojtek Figat
2023-08-24 16:51:25 +02:00
parent 8c1dfb3087
commit a27cb4e215
4 changed files with 85 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
Source/Engine/AI/BehaviorKnowledge.cpp
View File

@@ -144,10 +144,17 @@ void BehaviorKnowledge::FreeMemory()
{
// Release any outstanding nodes state and memory
ASSERT_LOW_LAYER(Tree);
BehaviorUpdateContext context;
context.Behavior = Behavior;
context.Knowledge = this;
context.Memory = Memory;
context.RelevantNodes = &RelevantNodes;
context.DeltaTime = 0.0f;
context.Time = 0.0f;
for (const auto& node : Tree->Graph.Nodes)
{
if (node.Instance && node.Instance->_executionIndex != -1 && RelevantNodes[node.Instance->_executionIndex])
node.Instance->ReleaseState(Behavior, Memory);
node.Instance->ReleaseState(context);
}
Allocator::Free(Memory);
Memory = nullptr;

20
Source/Engine/AI/BehaviorTreeNode.h
View File

@@ -51,20 +51,18 @@ public:
}
/// <summary>
/// Initializes node instance state. Called when starting logic simulation for a given behavior.
/// Initializes node instance state. Called when starting logic simulation for a given behavior. Call constructor of the state container.
/// </summary>
/// <param name="behavior">Behavior to simulate.</param>
/// <param name="memory">Pointer to pre-allocated memory for this node to use (call constructor of the state container).</param>
API_FUNCTION() virtual void InitState(Behavior* behavior, void* memory)
/// <param name="context">Behavior update context data.</param>
API_FUNCTION() virtual void InitState(const BehaviorUpdateContext& context)
{
}
/// <summary>
/// Cleanups node instance state. Called when stopping logic simulation for a given behavior.
/// Cleanups node instance state. Called when stopping logic simulation for a given behavior. Call destructor of the state container.
/// </summary>
/// <param name="behavior">Behavior to simulate.</param>
/// <param name="memory">Pointer to pre-allocated memory for this node to use (call destructor of the state container).</param>
API_FUNCTION() virtual void ReleaseState(Behavior* behavior, void* memory)
/// <param name="context">Behavior update context data.</param>
API_FUNCTION() virtual void ReleaseState(const BehaviorUpdateContext& context)
{
}
@@ -73,7 +71,7 @@ public:
/// </summary>
/// <param name="context">Behavior update context data.</param>
/// <returns>Operation result enum.</returns>
API_FUNCTION() virtual BehaviorUpdateResult Update(BehaviorUpdateContext context)
API_FUNCTION() virtual BehaviorUpdateResult Update(const BehaviorUpdateContext& context)
{
return BehaviorUpdateResult::Success;
}
@@ -111,7 +109,7 @@ API_CLASS(Abstract) class FLAXENGINE_API BehaviorTreeDecorator : public Behavior
/// </summary>
/// <param name="context">Behavior update context data.</param>
/// <returns>True if can update, otherwise false to block it.</returns>
API_FUNCTION() virtual bool CanUpdate(BehaviorUpdateContext context)
API_FUNCTION() virtual bool CanUpdate(const BehaviorUpdateContext& context)
{
return true;
}
@@ -121,7 +119,7 @@ API_CLASS(Abstract) class FLAXENGINE_API BehaviorTreeDecorator : public Behavior
/// </summary>
/// <param name="context">Behavior update context data.</param>
/// <param name="result">The node update result. Can be modified by the decorator (eg. to force success).</param>
API_FUNCTION() virtual void PostUpdate(BehaviorUpdateContext context, API_PARAM(ref) BehaviorUpdateResult& result)
API_FUNCTION() virtual void PostUpdate(const BehaviorUpdateContext& context, API_PARAM(ref) BehaviorUpdateResult& result)
{
}
};

86
Source/Engine/AI/BehaviorTreeNodes.cpp
View File

@@ -93,7 +93,7 @@ void BehaviorTreeNode::BecomeRelevant(const BehaviorUpdateContext& context)
BitArray<>& relevantNodes = *(BitArray<>*)context.RelevantNodes;
ASSERT_LOW_LAYER(relevantNodes.Get(_executionIndex) == false);
relevantNodes.Set(_executionIndex, true);
InitState(context.Behavior, context.Memory);
InitState(context);
}
void BehaviorTreeNode::BecomeIrrelevant(const BehaviorUpdateContext& context)
@@ -102,7 +102,7 @@ void BehaviorTreeNode::BecomeIrrelevant(const BehaviorUpdateContext& context)
BitArray<>& relevantNodes = *(BitArray<>*)context.RelevantNodes;
ASSERT_LOW_LAYER(relevantNodes.Get(_executionIndex) == true);
relevantNodes.Set(_executionIndex, false);
ReleaseState(context.Behavior, context.Memory);
ReleaseState(context);
// Release decorators
for (BehaviorTreeDecorator* decorator : _decorators)
@@ -136,7 +136,7 @@ void BehaviorTreeCompoundNode::Init(BehaviorTree* tree)
child->Init(tree);
}
BehaviorUpdateResult BehaviorTreeCompoundNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeCompoundNode::Update(const BehaviorUpdateContext& context)
{
auto result = BehaviorUpdateResult::Success;
for (int32 i = 0; i < Children.Count() && result == BehaviorUpdateResult::Success; i++)
@@ -167,13 +167,13 @@ int32 BehaviorTreeSequenceNode::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeSequenceNode::InitState(Behavior* behavior, void* memory)
void BehaviorTreeSequenceNode::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
auto state = GetState<State>(context.Memory);
new(state)State();
}
BehaviorUpdateResult BehaviorTreeSequenceNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeSequenceNode::Update(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(context.Memory);
@@ -204,13 +204,13 @@ int32 BehaviorTreeSelectorNode::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeSelectorNode::InitState(Behavior* behavior, void* memory)
void BehaviorTreeSelectorNode::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
auto state = GetState<State>(context.Memory);
new(state)State();
}
BehaviorUpdateResult BehaviorTreeSelectorNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeSelectorNode::Update(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(context.Memory);
@@ -238,15 +238,15 @@ int32 BehaviorTreeDelayNode::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeDelayNode::InitState(Behavior* behavior, void* memory)
void BehaviorTreeDelayNode::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
if (!WaitTimeSelector.TryGet(behavior->GetKnowledge(), state->TimeLeft))
auto state = GetState<State>(context.Memory);
if (!WaitTimeSelector.TryGet(context.Knowledge, state->TimeLeft))
state->TimeLeft = WaitTime;
state->TimeLeft = Random::RandRange(Math::Max(state->TimeLeft - RandomDeviation, 0.0f), state->TimeLeft + RandomDeviation);
}
BehaviorUpdateResult BehaviorTreeDelayNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeDelayNode::Update(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(context.Memory);
state->TimeLeft -= context.DeltaTime;
@@ -258,9 +258,9 @@ int32 BehaviorTreeSubTreeNode::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeSubTreeNode::InitState(Behavior* behavior, void* memory)
void BehaviorTreeSubTreeNode::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
auto state = GetState<State>(context.Memory);
new(state)State();
const BehaviorTree* tree = Tree.Get();
if (!tree || tree->WaitForLoaded())
@@ -270,22 +270,27 @@ void BehaviorTreeSubTreeNode::InitState(Behavior* behavior, void* memory)
state->RelevantNodes.SetAll(false);
}
void BehaviorTreeSubTreeNode::ReleaseState(Behavior* behavior, void* memory)
void BehaviorTreeSubTreeNode::ReleaseState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
auto state = GetState<State>(context.Memory);
const BehaviorTree* tree = Tree.Get();
if (tree && tree->IsLoaded())
{
// Override memory with custom one for the subtree
BehaviorUpdateContext subContext = context;
subContext.Memory = state->Memory.Get();
subContext.RelevantNodes = &state->RelevantNodes;
for (const auto& node : tree->Graph.Nodes)
{
if (node.Instance && node.Instance->_executionIndex != -1 && state->RelevantNodes.HasItems() && state->RelevantNodes[node.Instance->_executionIndex])
node.Instance->ReleaseState(behavior, state->Memory.Get());
node.Instance->ReleaseState(subContext);
}
}
state->~State();
}
BehaviorUpdateResult BehaviorTreeSubTreeNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeSubTreeNode::Update(const BehaviorUpdateContext& context)
{
const BehaviorTree* tree = Tree.Get();
if (!tree || !tree->Graph.Root)
@@ -306,20 +311,21 @@ BehaviorUpdateResult BehaviorTreeSubTreeNode::Update(BehaviorUpdateContext conte
// Override memory with custom one for the subtree
auto state = GetState<State>(context.Memory);
context.Memory = state->Memory.Get();
context.RelevantNodes = &state->RelevantNodes;
BehaviorUpdateContext subContext = context;
subContext.Memory = state->Memory.Get();
subContext.RelevantNodes = &state->RelevantNodes;
// Run nested tree
return tree->Graph.Root->InvokeUpdate(context);
return tree->Graph.Root->InvokeUpdate(subContext);
}
BehaviorUpdateResult BehaviorTreeForceFinishNode::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeForceFinishNode::Update(const BehaviorUpdateContext& context)
{
context.Behavior->StopLogic(Result);
return Result;
}
void BehaviorTreeInvertDecorator::PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result)
void BehaviorTreeInvertDecorator::PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result)
{
if (result == BehaviorUpdateResult::Success)
result = BehaviorUpdateResult::Failed;
@@ -327,13 +333,13 @@ void BehaviorTreeInvertDecorator::PostUpdate(BehaviorUpdateContext context, Beha
result = BehaviorUpdateResult::Success;
}
void BehaviorTreeForceSuccessDecorator::PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result)
void BehaviorTreeForceSuccessDecorator::PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result)
{
if (result != BehaviorUpdateResult::Running)
result = BehaviorUpdateResult::Success;
}
void BehaviorTreeForceFailedDecorator::PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result)
void BehaviorTreeForceFailedDecorator::PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result)
{
if (result != BehaviorUpdateResult::Running)
result = BehaviorUpdateResult::Failed;
@@ -344,14 +350,14 @@ int32 BehaviorTreeLoopDecorator::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeLoopDecorator::InitState(Behavior* behavior, void* memory)
void BehaviorTreeLoopDecorator::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
if (!LoopCountSelector.TryGet(behavior->GetKnowledge(), state->Loops))
auto state = GetState<State>(context.Memory);
if (!LoopCountSelector.TryGet(context.Knowledge, state->Loops))
state->Loops = LoopCount;
}
void BehaviorTreeLoopDecorator::PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result)
void BehaviorTreeLoopDecorator::PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result)
{
// Continue looping only if node succeeds
if (result == BehaviorUpdateResult::Success)
@@ -375,15 +381,15 @@ int32 BehaviorTreeTimeLimitDecorator::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeTimeLimitDecorator::InitState(Behavior* behavior, void* memory)
void BehaviorTreeTimeLimitDecorator::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
if (!MaxDurationSelector.TryGet(behavior->GetKnowledge(), state->TimeLeft))
auto state = GetState<State>(context.Memory);
if (!MaxDurationSelector.TryGet(context.Knowledge, state->TimeLeft))
state->TimeLeft = MaxDuration;
state->TimeLeft = Random::RandRange(Math::Max(state->TimeLeft - RandomDeviation, 0.0f), state->TimeLeft + RandomDeviation);
}
BehaviorUpdateResult BehaviorTreeTimeLimitDecorator::Update(BehaviorUpdateContext context)
BehaviorUpdateResult BehaviorTreeTimeLimitDecorator::Update(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(context.Memory);
state->TimeLeft -= context.DeltaTime;
@@ -395,26 +401,26 @@ int32 BehaviorTreeCooldownDecorator::GetStateSize() const
return sizeof(State);
}
void BehaviorTreeCooldownDecorator::InitState(Behavior* behavior, void* memory)
void BehaviorTreeCooldownDecorator::InitState(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(memory);
auto state = GetState<State>(context.Memory);
state->EndTime = 0; // Allow to entry on start
}
void BehaviorTreeCooldownDecorator::ReleaseState(Behavior* behavior, void* memory)
void BehaviorTreeCooldownDecorator::ReleaseState(const BehaviorUpdateContext& context)
{
// Preserve the decorator's state to keep cooldown
BitArray<>& relevantNodes = behavior->GetKnowledge()->RelevantNodes;
BitArray<>& relevantNodes = *(BitArray<>*)context.RelevantNodes;
relevantNodes.Set(_executionIndex, true);
}
bool BehaviorTreeCooldownDecorator::CanUpdate(BehaviorUpdateContext context)
bool BehaviorTreeCooldownDecorator::CanUpdate(const BehaviorUpdateContext& context)
{
auto state = GetState<State>(context.Memory);
return state->EndTime <= context.Time;
}
void BehaviorTreeCooldownDecorator::PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result)
void BehaviorTreeCooldownDecorator::PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result)
{
if (result != BehaviorUpdateResult::Running)
{

44
Source/Engine/AI/BehaviorTreeNodes.h
View File

@@ -24,7 +24,7 @@ API_CLASS(Abstract) class FLAXENGINE_API BehaviorTreeCompoundNode : public Behav
public:
// [BehaviorTreeNode]
void Init(BehaviorTree* tree) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
protected:
// [BehaviorTreeNode]
@@ -41,8 +41,8 @@ API_CLASS() class FLAXENGINE_API BehaviorTreeSequenceNode : public BehaviorTreeC
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
void InitState(const BehaviorUpdateContext& context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
private:
struct State
@@ -61,8 +61,8 @@ API_CLASS() class FLAXENGINE_API BehaviorTreeSelectorNode : public BehaviorTreeC
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
void InitState(const BehaviorUpdateContext& context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
private:
struct State
@@ -111,8 +111,8 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeDelayNode : public BehaviorTr
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
void InitState(const BehaviorUpdateContext& context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
private:
struct State
@@ -136,9 +136,9 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeSubTreeNode : public Behavior
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
void ReleaseState(Behavior* behavior, void* memory) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
void InitState(const BehaviorUpdateContext& context) override;
void ReleaseState(const BehaviorUpdateContext& context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
struct State
{
@@ -160,7 +160,7 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeForceFinishNode : public Beha
public:
// [BehaviorTreeNode]
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
};
/// <summary>
@@ -172,7 +172,7 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeInvertDecorator : public Beha
public:
// [BehaviorTreeNode]
void PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result) override;
void PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result) override;
};
/// <summary>
@@ -184,7 +184,7 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeForceSuccessDecorator : publi
public:
// [BehaviorTreeNode]
void PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result) override;
void PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result) override;
};
/// <summary>
@@ -196,7 +196,7 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeForceFailedDecorator : public
public:
// [BehaviorTreeNode]
void PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result) override;
void PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result) override;
};
/// <summary>
@@ -218,8 +218,8 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeLoopDecorator : public Behavi
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
void PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result) override;
void InitState(const BehaviorUpdateContext& context) override;
void PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result) override;
struct State
{
@@ -250,8 +250,8 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeTimeLimitDecorator : public B
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
BehaviorUpdateResult Update(BehaviorUpdateContext context) override;
void InitState(const BehaviorUpdateContext& context) override;
BehaviorUpdateResult Update(const BehaviorUpdateContext& context) override;
struct State
{
@@ -282,10 +282,10 @@ API_CLASS(Sealed) class FLAXENGINE_API BehaviorTreeCooldownDecorator : public Be
public:
// [BehaviorTreeNode]
int32 GetStateSize() const override;
void InitState(Behavior* behavior, void* memory) override;
void ReleaseState(Behavior* behavior, void* memory) override;
bool CanUpdate(BehaviorUpdateContext context) override;
void PostUpdate(BehaviorUpdateContext context, BehaviorUpdateResult& result) override;
void InitState(const BehaviorUpdateContext& context) override;
void ReleaseState(const BehaviorUpdateContext& context) override;
bool CanUpdate(const BehaviorUpdateContext& context) override;
void PostUpdate(const BehaviorUpdateContext& context, BehaviorUpdateResult& result) override;
struct State
{