add beehave

2025-01-28 13:53:59 +08:00
parent d6b69c14ac
commit 144a01556d
112 changed files with 6075 additions and 205 deletions
@@ -0,0 +1,122 @@
+@tool
+@icon("../../icons/simple_parallel.svg")
+class_name SimpleParallelComposite extends Composite
+
+## Simple Parallel nodes will attampt to execute all chidren at same time and
+## can only have exactly two children. First child as primary node, second
+## child as secondary node.
+## This node will always report primary node's state, and continue tick while
+## primary node return 'RUNNING'. The state of secondary node will be ignored
+## and executed like a subtree.
+## If primary node return 'SUCCESS' or 'FAILURE', this node will interrupt
+## secondary node and return primary node's result.
+## If this node is running under delay mode, it will wait seconday node
+## finish its action after primary node terminates.
+
+#how many times should secondary node repeat, zero means loop forever
+@export var secondary_node_repeat_count: int = 0
+
+#wether to wait secondary node finish its current action after primary node finished
+@export var delay_mode: bool = false
+
+var delayed_result := SUCCESS
+var main_task_finished: bool = false
+var secondary_node_running: bool = false
+var secondary_node_repeat_left: int = 0
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings: PackedStringArray = super._get_configuration_warnings()
+
+	if get_child_count() != 2:
+		warnings.append("SimpleParallel should have exactly two child nodes.")
+
+	if not get_child(0) is ActionLeaf:
+		warnings.append("SimpleParallel should have an action leaf node as first child node.")
+
+	return warnings
+
+
+func tick(actor, blackboard: Blackboard):
+	for c in get_children():
+		var node_index: int = c.get_index()
+		if node_index == 0 and not main_task_finished:
+			if c != running_child:
+				c.before_run(actor, blackboard)
+
+			var response: int = c.tick(actor, blackboard)
+			if can_send_message(blackboard):
+				BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response, blackboard.get_debug_data())
+
+			delayed_result = response
+			match response:
+				SUCCESS, FAILURE:
+					_cleanup_running_task(c, actor, blackboard)
+					c.after_run(actor, blackboard)
+					main_task_finished = true
+					if not delay_mode:
+						if secondary_node_running:
+							get_child(1).interrupt(actor, blackboard)
+						_reset()
+						return delayed_result
+				RUNNING:
+					running_child = c
+					if c is ActionLeaf:
+						blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+
+		elif node_index == 1:
+			if secondary_node_repeat_count == 0 or secondary_node_repeat_left > 0:
+				if not secondary_node_running:
+					c.before_run(actor, blackboard)
+				var subtree_response = c.tick(actor, blackboard)
+				if subtree_response != RUNNING:
+					secondary_node_running = false
+					c.after_run(actor, blackboard)
+					if delay_mode and main_task_finished:
+						_reset()
+						return delayed_result
+					elif secondary_node_repeat_left > 0:
+						secondary_node_repeat_left -= 1
+				else:
+					secondary_node_running = true
+
+	return RUNNING
+
+
+func before_run(actor: Node, blackboard: Blackboard) -> void:
+	secondary_node_repeat_left = secondary_node_repeat_count
+	super(actor, blackboard)
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	if not main_task_finished:
+		get_child(0).interrupt(actor, blackboard)
+	if secondary_node_running:
+		get_child(1).interrupt(actor, blackboard)
+	_reset()
+	super(actor, blackboard)
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	_reset()
+	super(actor, blackboard)
+
+
+func _reset() -> void:
+	main_task_finished = false
+	secondary_node_running = false
+
+
+## Changes `running_action` and `running_child` after the node finishes executing.
+func _cleanup_running_task(finished_action: Node, actor: Node, blackboard: Blackboard):
+	var blackboard_name = str(actor.get_instance_id())
+	if finished_action == running_child:
+		running_child = null
+		if finished_action == blackboard.get_value("running_action", null, blackboard_name):
+			blackboard.set_value("running_action", null, blackboard_name)
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SimpleParallelComposite")
+	return classes