118 lines
3.1 KiB
C++
118 lines
3.1 KiB
C++
#pragma once
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#include "StarBehaviorDatabase.hpp"
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#include "StarLua.hpp"
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namespace Star {
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STAR_CLASS(Blackboard);
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STAR_CLASS(BehaviorState);
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STAR_STRUCT(ActionState);
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STAR_STRUCT(DecoratorState);
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STAR_STRUCT(CompositeState);
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STAR_EXCEPTION(BehaviorException, StarException);
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extern List<NodeParameterType> BlackboardTypes;
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class Blackboard {
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public:
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Blackboard(LuaTable luaContext);
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LuaValue get(NodeParameterType type, String const& key) const;
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void set(NodeParameterType type, String const& key, LuaValue value);
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LuaTable parameters(StringMap<NodeParameter> const& nodeParameters, uint64_t nodeId);
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void setOutput(ActionNode const& node, LuaTable const& output);
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// takes the set of currently held ephemeral values
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Set<pair<NodeParameterType, String>> takeEphemerals();
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// clears any provided ephemerals that are not currently held
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void clearEphemerals(Set<pair<NodeParameterType, String>> ephemerals);
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private:
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LuaTable m_luaContext;
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HashMap<uint64_t, LuaTable> m_parameters;
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HashMap<NodeParameterType, StringMap<LuaValue>> m_board;
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HashMap<NodeParameterType, StringMap<List<pair<uint64_t, String>>>> m_input;
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StringMap<List<pair<uint64_t, LuaTable>>> m_vectorNumberInput;
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Set<pair<NodeParameterType, String>> m_ephemeral;
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};
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typedef Maybe<Variant<ActionState,DecoratorState,CompositeState>> NodeState;
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typedef shared_ptr<NodeState> NodeStatePtr;
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typedef pair<LuaFunction, LuaThread> Coroutine;
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enum class NodeStatus {
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Invalid,
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Success,
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Failure,
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Running
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};
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typedef LuaTupleReturn<NodeStatus, LuaValue> ActionReturn;
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struct ActionState {
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LuaThread thread;
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};
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struct DecoratorState {
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DecoratorState(LuaThread thread);
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LuaThread thread;
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NodeStatePtr child;
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};
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struct CompositeState {
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CompositeState(size_t children);
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CompositeState(size_t children, size_t index);
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size_t index;
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List<NodeStatePtr> children;
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};
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class BehaviorState {
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public:
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BehaviorState(BehaviorTreeConstPtr tree, LuaTable context, Maybe<BlackboardWeakPtr> blackboard = {});
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NodeStatus run(float dt);
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void clear();
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BlackboardWeakPtr blackboardPtr();
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private:
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BlackboardPtr board();
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LuaThread nodeLuaThread(String const& funcName);
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NodeStatus runNode(BehaviorNode const& node, NodeState& state);
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NodeStatus runAction(ActionNode const& node, NodeState& state);
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NodeStatus runDecorator(DecoratorNode const& node, NodeState& state);
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NodeStatus runComposite(CompositeNode const& node, NodeState& state);
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NodeStatus runSequence(SequenceNode const& node, NodeState& state);
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NodeStatus runSelector(SelectorNode const& node, NodeState& state);
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NodeStatus runParallel(ParallelNode const& node, NodeState& state);
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NodeStatus runDynamic(DynamicNode const& node, NodeState& state);
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NodeStatus runRandomize(RandomizeNode const& node, NodeState& state);
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BehaviorTreeConstPtr m_tree;
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NodeState m_rootState;
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LuaTable m_luaContext;
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// The blackboard can either be created and owned by this behavior,
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// or a blackboard from another behavior can be used
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Variant<BlackboardPtr, BlackboardWeakPtr> m_board;
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// Keep threads here for recycling
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List<LuaThread> m_threads;
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StringMap<LuaFunction> m_functions;
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float m_lastDt;
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};
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}
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