355 lines
18 KiB
C#
355 lines
18 KiB
C#
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#if GRAPH_DESIGNER
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/// ---------------------------------------------
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/// Behavior Designer
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/// Copyright (c) Opsive. All Rights Reserved.
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/// https://www.opsive.com
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/// ---------------------------------------------
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namespace Opsive.BehaviorDesigner.Runtime.Tasks.Composites
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{
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using Opsive.BehaviorDesigner.Runtime.Components;
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using Opsive.BehaviorDesigner.Runtime.Utility;
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using Opsive.GraphDesigner.Runtime;
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using Opsive.Shared.Utility;
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using Unity.Collections;
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using Unity.Entities;
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using Unity.Burst;
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using UnityEngine;
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using System;
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/// <summary>
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/// A node representation of the priority selector task.
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/// </summary>
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[NodeIcon("cea0f2b6cee06a742bb35dcc40202e8e", "744afc2640950e045961296f1d5800d7")]
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[NodeDescription("Similar to the selector task, the priority selector task will return success as soon as a child task returns success. " +
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"Instead of running the tasks sequentially from left to right within the tree, the priority selector will ask the task what its priority is to determine the order. " +
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"The higher priority tasks have a higher chance at being run first.")]
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public struct PrioritySelector : ILogicNode, IParentNode, ITaskComponentData, IComposite, ISavableTask, ICloneable
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{
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[Tooltip("The index of the node.")]
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[SerializeField] ushort m_Index;
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[Tooltip("The parent index of the node. ushort.MaxValue indicates no parent.")]
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[SerializeField] ushort m_ParentIndex;
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[Tooltip("The sibling index of the node. ushort.MaxValue indicates no sibling.")]
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[SerializeField] ushort m_SiblingIndex;
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private ushort m_ComponentIndex;
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public ushort Index { get => m_Index; set => m_Index = value; }
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public ushort ParentIndex { get => m_ParentIndex; set => m_ParentIndex = value; }
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public ushort SiblingIndex { get => m_SiblingIndex; set => m_SiblingIndex = value; }
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public ushort RuntimeIndex { get; set; }
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public int MaxChildCount { get { return int.MaxValue; } }
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public ComponentType Tag { get => typeof(PrioritySelectorTag); }
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public System.Type SystemType { get => typeof(PrioritySelectorTaskSystem); }
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/// <summary>
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/// Adds the IBufferElementData to the entity.
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/// </summary>
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/// <param name="world">The world that the entity exists.</param>
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/// <param name="entity">The entity that the IBufferElementData should be assigned to.</param>
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public void AddBufferElement(World world, Entity entity)
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{
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DynamicBuffer<PrioritySelectorComponent> buffer;
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if (world.EntityManager.HasBuffer<PrioritySelectorComponent>(entity)) {
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buffer = world.EntityManager.GetBuffer<PrioritySelectorComponent>(entity);
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} else {
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buffer = world.EntityManager.AddBuffer<PrioritySelectorComponent>(entity);
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}
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buffer.Add(new PrioritySelectorComponent() {
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Index = RuntimeIndex,
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});
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m_ComponentIndex = (ushort)(buffer.Length - 1);
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}
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/// <summary>
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/// Clears the IBufferElementData from the entity.
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/// </summary>
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/// <param name="world">The world that the entity exists.</param>
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/// <param name="entity">The entity that the IBufferElementData should be cleared from.</param>
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public void ClearBufferElement(World world, Entity entity)
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{
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DynamicBuffer<PrioritySelectorComponent> buffer;
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if (world.EntityManager.HasBuffer<PrioritySelectorComponent>(entity)) {
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buffer = world.EntityManager.GetBuffer<PrioritySelectorComponent>(entity);
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buffer.Clear();
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}
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}
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/// <summary>
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/// Specifies the type of reflection that should be used to save the task.
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/// </summary>
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/// <param name="index">The index of the sub-task. This is used for the task set allowing each contained task to have their own save type.</param>
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public MemberVisibility GetSaveReflectionType(int index) { return MemberVisibility.None; }
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/// <summary>
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/// Returns the current task state.
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/// </summary>
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/// <param name="world">The DOTS world.</param>
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/// <param name="entity">The DOTS entity.</param>
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/// <returns>The current task state.</returns>
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public object Save(World world, Entity entity)
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{
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var prioritySelectorComponents = world.EntityManager.GetBuffer<PrioritySelectorComponent>(entity);
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var prioritySelectorComponent = prioritySelectorComponents[m_ComponentIndex];
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// Save the active child and array order.
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var saveData = new object[2];
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saveData[0] = prioritySelectorComponent.ActiveRelativeChildIndex;
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if (prioritySelectorComponent.Priorities.IsCreated) {
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saveData[1] = prioritySelectorComponent.Priorities.ToArray();
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}
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return saveData;
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}
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/// <summary>
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/// Loads the previous task state.
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/// </summary>
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/// <param name="saveData">The previous task state.</param>
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/// <param name="world">The DOTS world.</param>
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/// <param name="entity">The DOTS entity.</param>
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public void Load(object saveData, World world, Entity entity)
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{
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var prioritySelectorComponents = world.EntityManager.GetBuffer<PrioritySelectorComponent>(entity);
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var prioritySelectorComponent = prioritySelectorComponents[m_ComponentIndex];
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// saveData is the active child and array order.
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var taskSaveData = (object[])saveData;
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prioritySelectorComponent.ActiveRelativeChildIndex = (ushort)taskSaveData[0];
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if (taskSaveData[1] != null) {
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prioritySelectorComponent.Priorities = new NativeArray<PrioritySelectorComponent.PriorityItem>((PrioritySelectorComponent.PriorityItem[])taskSaveData[1], Allocator.Persistent);
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}
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prioritySelectorComponents[m_ComponentIndex] = prioritySelectorComponent;
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}
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/// <summary>
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/// Creates a deep clone of the component.
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/// </summary>
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/// <returns>A deep clone of the component.</returns>
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public object Clone()
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{
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var clone = Activator.CreateInstance<PrioritySelector>();
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clone.Index = Index;
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clone.ParentIndex = ParentIndex;
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clone.SiblingIndex = SiblingIndex;
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return clone;
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}
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}
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/// <summary>
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/// The DOTS data structure for the PrioritySelector class.
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/// </summary>
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public struct PrioritySelectorComponent : IBufferElementData
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{
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[Tooltip("The index of the node.")]
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public ushort Index;
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[Tooltip("The relative index of the child that is currently active.")]
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public ushort ActiveRelativeChildIndex;
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[Tooltip("The latest priority values for each child task.")]
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public NativeArray<PriorityItem> Priorities;
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/// <summary>
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/// Joins the task index with the priority value.
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/// </summary>
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public struct PriorityItem : IComparable<PriorityItem>
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{
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[Tooltip("The index of the task.")]
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public ushort TaskIndex;
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[Tooltip("The index of the PriorityValueComponent. A value of ushort.MaxValue indicates that there is not a corresponding PriorityValueComponent to this element.")]
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public ushort PriorityValueIndex;
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[Tooltip("The priority value.")]
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public float Value;
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/// <summary>
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/// Compares the current PriorityItem to the other PriorityItem.
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/// </summary>
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/// <param name="other">The other PriorityItem.</param>
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/// <returns>The comparison between the current PriorityItem and the other PriorityItem.</returns>
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public int CompareTo(PriorityItem other)
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{
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// The higher the value the lower the item is in the array.
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return other.Value.CompareTo(Value);
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}
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}
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}
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/// <summary>
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/// DOTS structure that contains the most recently priority of the task.
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/// </summary>
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public struct PriorityValueComponent : IBufferElementData
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{
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[Tooltip("The index of the task.")]
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public ushort Index;
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[Tooltip("The current priority value. The higher the value the more likely it will be selected.")]
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public float Value;
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}
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/// <summary>
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/// A DOTS tag indicating when a PrioritySelector node is active.
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/// </summary>
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public struct PrioritySelectorTag : IComponentData, IEnableableComponent { }
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/// <summary>
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/// Runs the PrioritySelector logic.
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/// </summary>
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[DisableAutoCreation]
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public partial struct PrioritySelectorTaskSystem : ISystem
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{
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/// <summary>
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/// Updates the logic.
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/// </summary>
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/// <param name="state">The current state of the system.</param>
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[BurstCompile]
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private void OnUpdate(ref SystemState state)
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{
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var hasPriorityValueComponent = false;
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foreach (var (branchComponents, taskComponents, prioritySelectorComponents, priorityValueComponents) in
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SystemAPI.Query<DynamicBuffer<BranchComponent>, DynamicBuffer<TaskComponent>, DynamicBuffer<PrioritySelectorComponent>, DynamicBuffer<PriorityValueComponent>>().WithAll<PrioritySelectorTag, EvaluationComponent>()) {
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hasPriorityValueComponent = true;
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for (int i = 0; i < prioritySelectorComponents.Length; ++i) {
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var prioritySelectorComponent = prioritySelectorComponents[i];
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var taskComponent = taskComponents[prioritySelectorComponent.Index];
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var branchComponent = branchComponents[taskComponent.BranchIndex];
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// Do not continue if there will be an interrupt.
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if (branchComponent.InterruptType != InterruptType.None) {
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continue;
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}
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var prioritySelectorComponentsBuffer = prioritySelectorComponents;
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var taskComponentsBuffer = taskComponents;
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var branchComponentBuffer = branchComponents;
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if (taskComponent.Status == TaskStatus.Queued) {
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taskComponent.Status = TaskStatus.Running;
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taskComponentsBuffer[taskComponent.Index] = taskComponent;
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// Initialize the priority value array.
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NativeArray<PrioritySelectorComponent.PriorityItem> priorities;
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if (prioritySelectorComponent.Priorities.Length == 0) {
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var childCount = TraversalUtility.GetImmediateChildCount(ref taskComponent, ref taskComponentsBuffer);
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priorities = new NativeArray<PrioritySelectorComponent.PriorityItem>(childCount, Allocator.Persistent);
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// Match the PriorityValueComponent with the child index.
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var childIndex = (ushort)(taskComponent.Index + 1);
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for (ushort j = 0; j < childCount; ++j) {
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priorities[j] = new PrioritySelectorComponent.PriorityItem() { TaskIndex = childIndex, PriorityValueIndex = ushort.MaxValue, Value = float.MinValue };
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for (ushort k = 0; k < priorityValueComponents.Length; ++k) {
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var priorityValueComponent = priorityValueComponents[k];
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if (priorityValueComponent.Index == childIndex) {
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var priorityItem = priorities[j];
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priorityItem.PriorityValueIndex = k;
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priorities[j] = priorityItem;
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break;
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}
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}
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childIndex = taskComponents[childIndex].SiblingIndex;
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}
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prioritySelectorComponent.Priorities = priorities;
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}
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// Determine the child order when the task starts.
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priorities = prioritySelectorComponent.Priorities;
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for (ushort j = 0; j < priorities.Length; ++j) {
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var valueIndex = priorities[j].PriorityValueIndex;
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// The task may not have a matching PriorityValueComponent.
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if (valueIndex == ushort.MaxValue) {
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continue;
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}
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var priorityItem = priorities[j];
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priorityItem.Value = priorityValueComponents[valueIndex].Value;
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priorities[j] = priorityItem;
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}
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priorities.Sort();
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prioritySelectorComponent.Priorities = priorities;
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prioritySelectorComponentsBuffer[i] = prioritySelectorComponent;
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prioritySelectorComponent.ActiveRelativeChildIndex = 0;
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branchComponent.NextIndex = prioritySelectorComponent.Priorities[prioritySelectorComponent.ActiveRelativeChildIndex].TaskIndex;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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// Start the child.
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var nextChildTaskComponent = taskComponents[branchComponent.NextIndex];
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nextChildTaskComponent.Status = TaskStatus.Queued;
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taskComponentsBuffer[branchComponent.NextIndex] = nextChildTaskComponent;
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} else if (taskComponent.Status != TaskStatus.Running) {
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continue;
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}
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// The prioritySelector task is currently active. Check the first child.
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var childTaskComponent = taskComponents[prioritySelectorComponent.Priorities[prioritySelectorComponent.ActiveRelativeChildIndex].TaskIndex];
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if (childTaskComponent.Status == TaskStatus.Queued || childTaskComponent.Status == TaskStatus.Running) {
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// The child should keep running.
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continue;
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}
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// Switch to the next highest priority. If no more priority values exist the task should act as a normal selector.
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if (prioritySelectorComponent.ActiveRelativeChildIndex == prioritySelectorComponent.Priorities.Length - 1 ||
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childTaskComponent.Status == TaskStatus.Success) {
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// There are no more children or the child succeeded. The selector task should end.
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taskComponent.Status = childTaskComponent.Status;
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prioritySelectorComponent.ActiveRelativeChildIndex = 0;
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taskComponentsBuffer[prioritySelectorComponent.Index] = taskComponent;
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branchComponent.NextIndex = taskComponent.ParentIndex;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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} else {
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// The child task returned failure. Move onto the next task.
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prioritySelectorComponent.ActiveRelativeChildIndex++;
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var nextIndex = prioritySelectorComponent.Priorities[prioritySelectorComponent.ActiveRelativeChildIndex].TaskIndex;
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var nextTaskComponent = taskComponents[nextIndex];
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nextTaskComponent.Status = TaskStatus.Queued;
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taskComponentsBuffer[nextIndex] = nextTaskComponent;
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branchComponent.NextIndex = nextIndex;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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}
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prioritySelectorComponentsBuffer[i] = prioritySelectorComponent;
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}
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}
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// Special case where the PrioritySelectorComponent has no PriorityValueComponent children.
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if (!hasPriorityValueComponent) {
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foreach (var (prioritySelectorComponents, taskComponents, branchComponents) in
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SystemAPI.Query<DynamicBuffer<PrioritySelectorComponent>, DynamicBuffer<TaskComponent>, DynamicBuffer<BranchComponent>>().WithAll<PrioritySelectorTag, EvaluationComponent>()) {
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for (int i = 0; i < prioritySelectorComponents.Length; ++i) {
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var prioritySelectorComponent = prioritySelectorComponents[i];
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var taskComponent = taskComponents[prioritySelectorComponent.Index];
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// If there are no values then the selector should return failure.
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if (taskComponent.Status == TaskStatus.Queued && prioritySelectorComponent.Priorities.Length == 0) {
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taskComponent.Status = TaskStatus.Failure;
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var taskComponentsBuffer = taskComponents;
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taskComponentsBuffer[prioritySelectorComponent.Index] = taskComponent;
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var branchComponent = branchComponents[taskComponent.BranchIndex];
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branchComponent.NextIndex = taskComponent.ParentIndex;
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var branchComponentBuffer = branchComponents;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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}
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}
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}
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}
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|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// The task has been destroyed.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="state">The current state of the system.</param>
|
|||
|
|
private void OnDestroy(ref SystemState state)
|
|||
|
|
{
|
|||
|
|
foreach (var prioritySelectorComponents in SystemAPI.Query<DynamicBuffer<PrioritySelectorComponent>>()) {
|
|||
|
|
for (int i = 0; i < prioritySelectorComponents.Length; ++i) {
|
|||
|
|
prioritySelectorComponents[i].Priorities.Dispose();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
#endif
|