387 lines
20 KiB
C#
387 lines
20 KiB
C#
#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 utility selector task.
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/// </summary>
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[NodeIcon("9d36cd363c3e08246a6e9eaf5ad99d69", "db3d0b77c7f9e0b4f9157aa03178836a")]
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[NodeDescription("The utility selector task evaluates the child tasks using Utility Theory AI. The child task can return the utility value " +
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"at that particular time. The task with the highest utility value will be selected and the existing running task will be aborted. The utility selector " +
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"task reevaluates its children every tick.")]
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public struct UtilitySelector : 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(UtilitySelectorTag); }
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public System.Type SystemType { get => typeof(UtilitySelectorTaskSystem); }
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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<UtilitySelectorComponent> buffer;
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if (world.EntityManager.HasBuffer<UtilitySelectorComponent>(entity)) {
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buffer = world.EntityManager.GetBuffer<UtilitySelectorComponent>(entity);
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} else {
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buffer = world.EntityManager.AddBuffer<UtilitySelectorComponent>(entity);
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}
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buffer.Add(new UtilitySelectorComponent() {
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Index = RuntimeIndex,
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});
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m_ComponentIndex = (ushort)(buffer.Length - 1);
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var entityManager = world.EntityManager;
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ComponentUtility.AddInterruptComponents(entityManager, entity);
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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<UtilitySelectorComponent> buffer;
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if (world.EntityManager.HasBuffer<UtilitySelectorComponent>(entity)) {
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buffer = world.EntityManager.GetBuffer<UtilitySelectorComponent>(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 utilitySelectorComponents = world.EntityManager.GetBuffer<UtilitySelectorComponent>(entity);
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var utilitySelectorComponent = utilitySelectorComponents[m_ComponentIndex];
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// Save the active child.
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return utilitySelectorComponent.ActiveChildIndex;
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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 utilitySelectorComponents = world.EntityManager.GetBuffer<UtilitySelectorComponent>(entity);
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var utilitySelectorComponent = utilitySelectorComponents[m_ComponentIndex];
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// saveData is the active child index.
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utilitySelectorComponent.ActiveChildIndex = (ushort)saveData;
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utilitySelectorComponents[m_ComponentIndex] = utilitySelectorComponent;
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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<UtilitySelector>();
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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 UtilitySelector class.
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/// </summary>
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public struct UtilitySelectorComponent : 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 index of the child that is currently active.")]
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public ushort ActiveChildIndex;
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[Tooltip("The index of the UtilityValueComponent that corresponds to each child.")]
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public NativeArray<UtilityItem> UtilityItems;
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/// <summary>
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/// A mapping between the UnityValueComponent and the task.
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/// </summary>
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public struct UtilityItem
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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 UtilityValueComponent.")]
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public ushort UtilityValueIndex;
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[Tooltip("Can the task continue to exectute?")]
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public bool CanExecute;
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}
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}
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/// <summary>
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/// DOTS structure that contains the most recently utility of the task.
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/// </summary>
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public struct UtilityValueComponent : 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 utility 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 UtilitySelector node is active.
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/// </summary>
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public struct UtilitySelectorTag : IComponentData, IEnableableComponent { }
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/// <summary>
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/// Runs the UtilitySelector logic.
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/// </summary>
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[DisableAutoCreation]
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public partial struct UtilitySelectorTaskSystem : 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 hasUtilityValueComponent = false;
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foreach (var (utilitySelectorComponents, utilityValueComponents, taskComponents, branchComponents, entity) in
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SystemAPI.Query<DynamicBuffer<UtilitySelectorComponent>, DynamicBuffer<UtilityValueComponent>, DynamicBuffer<TaskComponent>, DynamicBuffer<BranchComponent>>().WithAll<EvaluationComponent>().WithEntityAccess()) {
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hasUtilityValueComponent = true;
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for (int i = 0; i < utilitySelectorComponents.Length; ++i) {
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var utilitySelectorComponent = utilitySelectorComponents[i];
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var taskComponent = taskComponents[utilitySelectorComponent.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 utilitySelectorComponentsBuffer = utilitySelectorComponents;
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var utilityValueComponentBuffer = utilityValueComponents;
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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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// Initialize the UtilityItem array.
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if (utilitySelectorComponent.UtilityItems.Length == 0) {
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var childCount = TraversalUtility.GetImmediateChildCount(ref taskComponent, ref taskComponentsBuffer);
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var utilityItems = new NativeArray<UtilitySelectorComponent.UtilityItem>(childCount, Allocator.Persistent);
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// Match the UtilitySelectorComponent 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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utilityItems[j] = new UtilitySelectorComponent.UtilityItem() { TaskIndex = childIndex, UtilityValueIndex = ushort.MaxValue, CanExecute = !taskComponents[childIndex].Disabled };
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for (ushort k = 0; k < utilityValueComponents.Length; ++k) {
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var utilityValueComponent = utilityValueComponents[k];
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if (utilityValueComponent.Index == childIndex) {
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var utilityItem = utilityItems[j];
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utilityItem.UtilityValueIndex = k;
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utilityItems[j] = utilityItem;
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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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utilitySelectorComponent.UtilityItems = utilityItems;
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} else {
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// Reset the execution status.
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var childIndex = (ushort)(taskComponent.Index + 1);
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for (int j = 0; j < utilitySelectorComponent.UtilityItems.Length; ++j) {
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var utilityItem = utilitySelectorComponent.UtilityItems[j];
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utilityItem.CanExecute = !taskComponents[childIndex].Disabled;
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utilitySelectorComponent.UtilityItems[j] = utilityItem;
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childIndex = taskComponents[childIndex].SiblingIndex;
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}
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}
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utilitySelectorComponent.ActiveChildIndex = GetHighestUtility(utilitySelectorComponent.UtilityItems, ref utilityValueComponentBuffer);
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utilitySelectorComponentsBuffer[i] = utilitySelectorComponent;
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if (utilitySelectorComponent.ActiveChildIndex == ushort.MaxValue) {
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taskComponent.Status = TaskStatus.Failure;
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branchComponent.NextIndex = taskComponent.ParentIndex;
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} else {
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taskComponent.Status = TaskStatus.Running;
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branchComponent.NextIndex = utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex].TaskIndex;
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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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}
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taskComponentsBuffer[taskComponent.Index] = taskComponent;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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continue;
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} else if (taskComponent.Status != TaskStatus.Running) {
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continue;
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}
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var childTaskComponent = taskComponents[utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex].TaskIndex];
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if (childTaskComponent.Status == TaskStatus.Success) {
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// The child has returned success. Stop the selector.
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taskComponent.Status = childTaskComponent.Status;
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taskComponentsBuffer[utilitySelectorComponent.Index] = taskComponent;
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branchComponent.NextIndex = taskComponent.ParentIndex;
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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continue;
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} else if (childTaskComponent.Status == TaskStatus.Failure) {
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var utilityItem = utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex];
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utilityItem.CanExecute = false;
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utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex] = utilityItem;
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utilitySelectorComponentsBuffer[i] = utilitySelectorComponent;
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}
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// The active task returned failure or is currently running. Determine if the active task needs to change.
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var highestIndex = GetHighestUtility(utilitySelectorComponent.UtilityItems, ref utilityValueComponentBuffer);
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if (highestIndex == utilitySelectorComponent.ActiveChildIndex) {
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// No changes are necessary.
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continue;
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}
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var activeTaskIndex = utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex].TaskIndex;
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utilitySelectorComponent.ActiveChildIndex = highestIndex;
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utilitySelectorComponentsBuffer[i] = utilitySelectorComponent;
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// A new branch has been selected. Trigger an interrupt on the currently active branch.
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if (taskComponents[activeTaskIndex].Status == TaskStatus.Running){
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branchComponent.InterruptType = InterruptType.Branch;
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branchComponent.InterruptIndex = utilitySelectorComponent.UtilityItems[highestIndex].TaskIndex;
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state.EntityManager.SetComponentEnabled<InterruptTag>(entity, true);
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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continue;
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}
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// No more tasks may need to run.
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if (highestIndex == ushort.MaxValue) {
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taskComponent.Status = TaskStatus.Failure;
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taskComponentsBuffer[utilitySelectorComponent.Index] = taskComponent;
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branchComponent.NextIndex = taskComponent.ParentIndex;
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} else {
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// Run the task with the next highest utility value.
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var nextTaskIndex = utilitySelectorComponent.UtilityItems[utilitySelectorComponent.ActiveChildIndex].TaskIndex;
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var nextTaskComponent = taskComponents[nextTaskIndex];
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nextTaskComponent.Status = TaskStatus.Queued;
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taskComponentsBuffer[nextTaskIndex] = nextTaskComponent;
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branchComponent.NextIndex = nextTaskIndex;
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}
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branchComponentBuffer[taskComponent.BranchIndex] = branchComponent;
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}
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}
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// Special case where the UtilitySelectorComponent has no UtilityValueComponent children.
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if (!hasUtilityValueComponent) {
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foreach (var (utilitySelectorComponents, taskComponents, branchComponents) in
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SystemAPI.Query<DynamicBuffer<UtilitySelectorComponent>, DynamicBuffer<TaskComponent>, DynamicBuffer<BranchComponent>>().WithAll<UtilitySelectorTag, EvaluationComponent>()) {
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for (int i = 0; i < utilitySelectorComponents.Length; ++i) {
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var utilitySelectorComponent = utilitySelectorComponents[i];
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var taskComponent = taskComponents[utilitySelectorComponent.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 && utilitySelectorComponent.UtilityItems.Length == 0) {
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taskComponent.Status = TaskStatus.Failure;
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var taskComponentsBuffer = taskComponents;
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taskComponentsBuffer[utilitySelectorComponent.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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}
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/// <summary>
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/// Retruns the task index with the highest utility value.
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/// </summary>
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/// <param name="utilityItems">The components with utility values.</param>
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/// <param name="utilityValueComponents">The utility values of the tasks.</param>
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/// <returns>The task with the highest utility value.</returns>
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[BurstCompile]
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private ushort GetHighestUtility(NativeArray<UtilitySelectorComponent.UtilityItem> utilityItems, ref DynamicBuffer<UtilityValueComponent> utilityValueComponents)
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{
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var utilityIndex = ushort.MaxValue;
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var highestUtility = float.MinValue;
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for (ushort i = 0; i < utilityItems.Length; ++i) {
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if (utilityItems[i].UtilityValueIndex == ushort.MaxValue || !utilityItems[i].CanExecute) {
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continue;
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}
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var utilityValue = utilityValueComponents[utilityItems[i].UtilityValueIndex].Value;
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if (utilityValue > highestUtility) {
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highestUtility = utilityValue;
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utilityIndex = i;
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}
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}
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return utilityIndex;
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}
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/// <summary>
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/// The task has been destroyed.
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/// </summary>
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/// <param name="state">The current state of the system.</param>
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private void OnDestroy(ref SystemState state)
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{
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foreach (var utilitySelectorComponents in SystemAPI.Query<DynamicBuffer<UtilitySelectorComponent>>()) {
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for (int i = 0; i < utilitySelectorComponents.Length; ++i) {
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utilitySelectorComponents[i].UtilityItems.Dispose();
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}
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}
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}
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}
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}
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#endif |