411 lines
17 KiB
C#
411 lines
17 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
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{
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using Opsive.BehaviorDesigner.Runtime;
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using Opsive.GraphDesigner.Runtime;
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using Opsive.GraphDesigner.Runtime.Variables;
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using Opsive.Shared.Utility;
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using System;
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using System.Collections.Generic;
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using Unity.Entities;
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using UnityEngine;
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using static Opsive.BehaviorDesigner.Runtime.BehaviorTreeData;
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/// <summary>
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/// The StackedTask task allows for multiple tasks to be added to a single node.
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/// </summary>
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[HideInFilterWindow]
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[NodeIcon("e0a8f1df788b6274a9a24003859dfa7e")]
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public abstract class StackedTask : Task, ILogicNode, IStackedNode
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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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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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/// <summary>
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/// Specifies how the tasks should be compared.
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/// </summary>
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public enum ComparisonType
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{
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Sequence, // AND.
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Selector // OR.
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}
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[Tooltip("The tasks that should run.")]
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[SerializeField] protected Task[] m_Tasks;
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[Tooltip("Specifies if the tasks should be traversed with an AND (Sequence) or an OR (Selector).")]
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[SerializeField] protected ComparisonType m_ComparisonType;
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private ushort m_ActiveIndex;
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private bool[] m_TaskStarted;
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private bool[] m_TaskEnded;
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public ushort ActiveIndex { get => m_ActiveIndex; }
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public object[] Nodes { get => m_Tasks; }
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public Task[] Tasks { get => m_Tasks; set => m_Tasks = value; }
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/// <summary>
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/// Adds the object to the action array.
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/// </summary>
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/// <param name="obj">The object that should be added.</param>
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public void Add(object obj)
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{
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Task task;
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if (obj is System.Reflection.MethodInfo) {
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// A delegate action needs to be created.
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var methodInfo = obj as System.Reflection.MethodInfo;
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var parameters = methodInfo.GetParameters();
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var types = new Type[(parameters != null ? parameters.Length : 0) + ((methodInfo.ReturnType != typeof(void)) ? 1 : 0)];
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if (parameters != null) {
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for (int i = 0; i < parameters.Length; ++i) {
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types[i] = parameters[i].ParameterType;
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}
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}
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Type baseType;
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if (methodInfo.ReturnType == typeof(void)) {
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if (parameters != null && parameters.Length > 0) {
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if (parameters.Length == 1) { baseType = typeof(TaskDelegate<>); }
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else if (parameters.Length == 2) { baseType = typeof(TaskDelegate<,>); }
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else if (parameters.Length == 3) { baseType = typeof(TaskDelegate<,,>); }
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else if (parameters.Length == 4) { baseType = typeof(TaskDelegate<,,,>); }
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else if (parameters.Length == 5) { baseType = typeof(TaskDelegate<,,,,>); }
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else if (parameters.Length == 6) { baseType = typeof(TaskDelegate<,,,,,>); }
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else if (parameters.Length == 7) { baseType = typeof(TaskDelegate<,,,,,,>); }
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else if (parameters.Length == 8) { baseType = typeof(TaskDelegate<,,,,,,,>); }
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else if (parameters.Length == 9) { baseType = typeof(TaskDelegate<,,,,,,,,>); }
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else if (parameters.Length == 10) { baseType = typeof(TaskDelegate<,,,,,,,,,>); }
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else { Debug.LogError($"Error: Unable to create TaskDelegate with {parameters.Length}. Please send this error to support@opsive.com."); return; }
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} else {
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baseType = typeof(TaskDelegate);
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}
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} else {
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// The method has a returned parameter.
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types[types.Length - 1] = methodInfo.ReturnType;
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if (parameters != null && parameters.Length > 0) {
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if (parameters.Length == 1) { baseType = typeof(TaskValueDelegate<,>); }
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else if (parameters.Length == 2) { baseType = typeof(TaskValueDelegate<,,>); }
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else if (parameters.Length == 3) { baseType = typeof(TaskValueDelegate<,,,>); }
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else if (parameters.Length == 4) { baseType = typeof(TaskValueDelegate<,,,,>); }
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else if (parameters.Length == 5) { baseType = typeof(TaskValueDelegate<,,,,,>); }
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else if (parameters.Length == 6) { baseType = typeof(TaskValueDelegate<,,,,,,>); }
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else if (parameters.Length == 7) { baseType = typeof(TaskValueDelegate<,,,,,,,>); }
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else if (parameters.Length == 8) { baseType = typeof(TaskValueDelegate<,,,,,,,,>); }
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else if (parameters.Length == 9) { baseType = typeof(TaskValueDelegate<,,,,,,,,,>); }
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else if (parameters.Length == 10) { baseType = typeof(TaskValueDelegate<,,,,,,,,,>); }
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else { Debug.LogError($"Error: Unable to create TaskValueDelegate with {parameters.Length}. Please send this error to support@opsive.com."); return; }
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} else {
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baseType = typeof(TaskValueDelegate<>);
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}
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}
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Type actionDelegateType;
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if (types.Length > 0) {
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actionDelegateType = baseType.MakeGenericType(types);
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} else {
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actionDelegateType = baseType;
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}
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// The Action Delegate needs to be initialized to the method.
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var actionDelegate = Activator.CreateInstance(actionDelegateType) as TaskDelegateBase;
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actionDelegate.Bind(methodInfo);
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task = actionDelegate;
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} else if (obj is Type) {
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task = Activator.CreateInstance((Type)obj) as Task;
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} else { // Task.
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task = obj as Task;
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}
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task.Reset();
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if (m_Tasks == null) {
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m_Tasks = new Task[] { task };
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} else {
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Array.Resize(ref m_Tasks, m_Tasks.Length + 1);
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m_Tasks[m_Tasks.Length - 1] = task;
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}
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}
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/// <summary>
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/// Removes the action at the specified index.
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/// </summary>
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/// <param name="index">The index of the action that should be removed.</param>
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public void Remove(int index)
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{
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if (index < 0 || index >= m_Tasks.Length) {
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return;
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}
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m_Tasks[index].OnDestroy();
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for (int i = index; i < m_Tasks.Length - 1; ++i) {
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m_Tasks[i] = m_Tasks[i + 1];
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}
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Array.Resize(ref m_Tasks, m_Tasks.Length - 1);
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}
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/// <summary>
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/// Resets the task values back to their default.
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/// </summary>
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public override void Reset()
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{
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if (m_Tasks == null) {
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return;
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}
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for (int i = 0; i < m_Tasks.Length; ++i) {
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m_Tasks[i].Reset();
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}
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}
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/// <summary>
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/// Initializes the base task parameters.
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/// </summary>
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/// <param name="behaviorTree">A reference to the owning BehaviorTree.</param>
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/// <param name="runtimeIndex">The runtime index of the node.</param>
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internal override void Initialize(BehaviorTree behaviorTree, ushort runtimeIndex)
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{
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if (m_Tasks != null) {
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m_TaskStarted = new bool[m_Tasks.Length];
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m_TaskEnded = new bool[m_Tasks.Length];
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for (int i = 0; i < m_Tasks.Length; ++i) {
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if (m_Tasks[i] == null) {
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continue;
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}
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if (m_Tasks[i] is TaskDelegateBase taskDelegate) {
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taskDelegate.Initialize(behaviorTree, runtimeIndex, this is IConditional);
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} else {
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m_Tasks[i].Initialize(behaviorTree, runtimeIndex);
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}
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}
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}
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base.Initialize(behaviorTree, runtimeIndex);
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}
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/// <summary>
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/// Called when the task is started.
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/// </summary>
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public override void OnStart()
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{
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if (m_Tasks == null) {
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return;
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}
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for (int i = 0; i < m_Tasks.Length; ++i) {
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if (m_Tasks[i] == null) {
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continue;
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}
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m_TaskStarted[i] = false;
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m_TaskEnded[i] = false;
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}
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}
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/// <summary>
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/// Updates all of the child tasks.
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/// </summary>
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/// <returns>The status of the task.</returns>
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public override TaskStatus OnUpdate()
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{
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if (m_Tasks == null || m_Tasks.Length == 0) {
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return TaskStatus.Failure;
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}
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while (m_ActiveIndex < m_Tasks.Length) {
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if (m_Tasks[m_ActiveIndex] == null) {
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continue;
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}
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// Call start when the local task is started, not when the StackedTask starts.
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if (!m_TaskStarted[m_ActiveIndex]) {
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m_Tasks[m_ActiveIndex].OnStart();
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m_TaskStarted[m_ActiveIndex] = true;
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}
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var executionStatus = m_Tasks[m_ActiveIndex].OnUpdate();
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if (executionStatus == TaskStatus.Running) {
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return TaskStatus.Running;
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}
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if (m_ComparisonType == ComparisonType.Sequence && executionStatus == TaskStatus.Failure) {
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return TaskStatus.Failure;
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} else if (m_ComparisonType == ComparisonType.Selector && executionStatus == TaskStatus.Success) {
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return TaskStatus.Success;
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}
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if (!m_TaskEnded[m_ActiveIndex]) {
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m_Tasks[m_ActiveIndex].OnEnd();
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m_TaskEnded[m_ActiveIndex] = true;
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}
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m_ActiveIndex++;
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}
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return m_ComparisonType == ComparisonType.Sequence ? TaskStatus.Success : TaskStatus.Failure;
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}
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/// <summary>
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/// Called when the task stops.
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/// </summary>
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public override void OnEnd()
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{
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if (m_TaskEnded == null) {
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return;
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}
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for (int i = 0; i < m_Tasks.Length; ++i) {
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if (m_Tasks[i] == null) {
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continue;
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}
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if (!m_TaskEnded[i]) {
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m_Tasks[i].OnEnd();
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}
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m_TaskStarted[i] = false;
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m_TaskEnded[i] = false;
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}
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m_ActiveIndex = 0;
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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 override MemberVisibility GetSaveReflectionType(int index) { return index < 0 || index >= m_Tasks.Length ? MemberVisibility.None : m_Tasks[index].GetSaveReflectionType(index); }
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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 override object Save(World world, Entity entity)
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{
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if (m_Tasks == null) {
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return null;
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}
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var saveData = new object[m_Tasks.Length + 1];
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for (int i = 0; i < m_Tasks.Length; ++i) {
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if (m_Tasks[i] == null) {
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continue;
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}
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var reflectionType = m_Tasks[i].GetSaveReflectionType(i);
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if (reflectionType != MemberVisibility.None) {
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saveData[i] = Serialization.Serialize(m_Tasks[i], reflectionType, BehaviorTreeData.ValidateSerializedObject);
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} else {
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saveData[i] = m_Tasks[i].Save(world, entity);
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}
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}
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saveData[m_Tasks.Length] = m_ActiveIndex;
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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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/// <param name="variableByNameMap">A reference to the map between the VariableAssignment and SharedVariable.</param>
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/// <param name="taskReferences">A reference to the list of task references that need to be resolved later.</param>
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public override void Load(object saveData, World world, Entity entity, Dictionary<VariableAssignment, SharedVariable> variableByNameMap,
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ref ResizableArray<TaskAssignment> taskReferences)
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{
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if (m_Tasks == null || saveData == null) {
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return;
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}
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var taskData = (object[])saveData;
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if (taskData.Length != m_Tasks.Length + 1) {
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Debug.LogError("Error: The save data does not match the task data length.");
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return;
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}
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for (int i = 0; i < m_Tasks.Length; ++i) {
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if (taskData[i] == null) {
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continue;
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}
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Load(m_Tasks[i], i, taskData[i], world, entity, variableByNameMap, ref taskReferences);
|
|||
|
|
}
|
|||
|
|
m_ActiveIndex = (ushort)taskData[m_Tasks.Length];
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Loads the previous task state.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="task">The task that the saveData belongs to.</param>
|
|||
|
|
/// <param name="index">The index of the task within the Tasks array.</param>
|
|||
|
|
/// <param name="saveData">The previous task state.</param>
|
|||
|
|
/// <param name="world">The DOTS world.</param>
|
|||
|
|
/// <param name="entity">The DOTS entity.</param>
|
|||
|
|
/// <param name="variableByNameMap">A reference to the map between the VariableAssignment and SharedVariable.</param>
|
|||
|
|
/// <param name="taskReferences">A reference to the list of task references that need to be resolved later.</param>
|
|||
|
|
protected virtual void Load(Task task, int index, object saveData, World world, Entity entity,
|
|||
|
|
Dictionary<VariableAssignment, SharedVariable> variableByNameMap, ref ResizableArray<TaskAssignment> taskReferences)
|
|||
|
|
{
|
|||
|
|
var reflectionType = task.GetSaveReflectionType(index);
|
|||
|
|
if (reflectionType != MemberVisibility.None) {
|
|||
|
|
var localTaskReferences = taskReferences;
|
|||
|
|
(saveData as Serialization).DeserializeFields(task, reflectionType, BehaviorTreeData.ValidateDeserializedTypeObject,
|
|||
|
|
(object fieldInfoObj, object task, object value) =>
|
|||
|
|
{
|
|||
|
|
return BehaviorTreeData.ValidateDeserializedObject(fieldInfoObj, task, value, ref variableByNameMap, ref localTaskReferences);
|
|||
|
|
});
|
|||
|
|
taskReferences = localTaskReferences;
|
|||
|
|
} else {
|
|||
|
|
task.Load(saveData, world, entity, variableByNameMap, ref taskReferences);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Callback when OnDrawGizmos is triggered.
|
|||
|
|
/// </summary>
|
|||
|
|
protected override void OnDrawGizmos()
|
|||
|
|
{
|
|||
|
|
if (m_Tasks == null) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
for (int i = 0; i < m_Tasks.Length; ++i) {
|
|||
|
|
if (m_Tasks[i] == null) {
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
m_Tasks[i].OnDrawGizmos(m_BehaviorTree);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Callback when OnDrawGizmosSelected is triggered.
|
|||
|
|
/// </summary>
|
|||
|
|
protected override void OnDrawGizmosSelected()
|
|||
|
|
{
|
|||
|
|
if (m_Tasks == null) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
for (int i = 0; i < m_Tasks.Length; ++i) {
|
|||
|
|
if (m_Tasks[i] == null) {
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
m_Tasks[i].OnDrawGizmosSelected(m_BehaviorTree);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
#endif
|