299 lines
11 KiB
C++
299 lines
11 KiB
C++
#include "StarBehaviorDatabase.hpp"
|
|
#include "StarAssets.hpp"
|
|
#include "StarRoot.hpp"
|
|
#include "StarJsonExtra.hpp"
|
|
|
|
namespace Star {
|
|
|
|
EnumMap<NodeParameterType> const NodeParameterTypeNames {
|
|
{NodeParameterType::Json, "json"},
|
|
{NodeParameterType::Entity, "entity"},
|
|
{NodeParameterType::Position, "position"},
|
|
{NodeParameterType::Vec2, "vec2"},
|
|
{NodeParameterType::Number, "number"},
|
|
{NodeParameterType::Bool, "bool"},
|
|
{NodeParameterType::List, "list"},
|
|
{NodeParameterType::Table, "table"},
|
|
{NodeParameterType::String, "string"}
|
|
};
|
|
|
|
NodeParameterValue nodeParameterValueFromJson(Json const& json) {
|
|
if (auto key = json.optString("key"))
|
|
return *key;
|
|
else
|
|
return json.get("value");
|
|
}
|
|
|
|
Json jsonFromNodeParameter(NodeParameter const& parameter) {
|
|
JsonObject json {
|
|
{"type", NodeParameterTypeNames.getRight(parameter.first)}
|
|
};
|
|
if (auto key = parameter.second.maybe<String>())
|
|
json.set("key", *key);
|
|
else
|
|
json.set("value", parameter.second.get<Json>());
|
|
return json;
|
|
}
|
|
|
|
NodeParameter jsonToNodeParameter(Json const& json) {
|
|
NodeParameterType type = NodeParameterTypeNames.getLeft(json.getString("type"));
|
|
if (auto key = json.optString("key"))
|
|
return {type, *key};
|
|
else
|
|
return {type, json.opt("value").value(Json())};
|
|
}
|
|
|
|
Json nodeOutputToJson(NodeOutput const& output) {
|
|
return JsonObject {
|
|
{"type", NodeParameterTypeNames.getRight(output.first)},
|
|
{"key", jsonFromMaybe<String>(output.second.first, [](String const& s) { return Json(s); })},
|
|
{"ephemeral", output.second.second}
|
|
};
|
|
}
|
|
|
|
NodeOutput jsonToNodeOutput(Json const& json) {
|
|
return {
|
|
NodeParameterTypeNames.getLeft(json.getString("type")),
|
|
{jsonToMaybe<String>(json.get("key"), [](Json const& j) { return j.toString(); }), json.optBool("ephemeral").value(false)}
|
|
};
|
|
}
|
|
|
|
EnumMap<BehaviorNodeType> const BehaviorNodeTypeNames {
|
|
{BehaviorNodeType::Action, "Action"},
|
|
{BehaviorNodeType::Decorator, "Decorator"},
|
|
{BehaviorNodeType::Composite, "Composite"},
|
|
{BehaviorNodeType::Module, "Module"}
|
|
};
|
|
|
|
EnumMap<CompositeType> const CompositeTypeNames {
|
|
{CompositeType::Sequence, "Sequence"},
|
|
{CompositeType::Selector, "Selector"},
|
|
{CompositeType::Parallel, "Parallel"},
|
|
{CompositeType::Dynamic, "Dynamic"},
|
|
{CompositeType::Randomize, "Randomize"}
|
|
};
|
|
|
|
void applyTreeParameters(StringMap<NodeParameter>& nodeParameters, StringMap<NodeParameterValue> const& treeParameters) {
|
|
for (auto& p : nodeParameters) {
|
|
NodeParameter& parameter = p.second;
|
|
parameter.second = replaceBehaviorTag(parameter.second, treeParameters);
|
|
}
|
|
}
|
|
|
|
NodeParameterValue replaceBehaviorTag(NodeParameterValue const& parameter, StringMap<NodeParameterValue> const& treeParameters) {
|
|
Maybe<String> strVal = parameter.maybe<String>();
|
|
if (!strVal && parameter.get<Json>().isType(Json::Type::String))
|
|
strVal = parameter.get<Json>().toString();
|
|
if (strVal) {
|
|
String key = *strVal;
|
|
if (key.beginsWith('<') && key.endsWith('>')) {
|
|
String treeKey = key.substr(1, key.size() - 2);
|
|
|
|
if (auto replace = treeParameters.maybe(treeKey)) {
|
|
return *replace;
|
|
} else {
|
|
throw StarException(strf("No parameter specified for tag '%s'", key));
|
|
}
|
|
}
|
|
}
|
|
return parameter;
|
|
}
|
|
|
|
Maybe<String> replaceOutputBehaviorTag(Maybe<String> const& output, StringMap<NodeParameterValue> const& treeParameters) {
|
|
if (auto out = output) {
|
|
if (out->beginsWith('<') && out->endsWith('>')) {
|
|
if (auto replace = treeParameters.maybe(out->substr(1, out->size() - 2))) {
|
|
if (auto key = replace->maybe<String>())
|
|
return *key;
|
|
else if (replace->get<Json>().isType(Json::Type::String))
|
|
return replace->get<Json>().toString();
|
|
else
|
|
return {};
|
|
} else {
|
|
throw StarException(strf("No parameter specified for tag '%s'", *out));
|
|
}
|
|
}
|
|
}
|
|
return output;
|
|
}
|
|
|
|
// TODO: This is temporary until BehaviorState can handle valueType:value pairs
|
|
void parseNodeParameters(JsonObject& parameters) {
|
|
for (auto& p : parameters)
|
|
p.second = p.second.opt("key").orMaybe(p.second.opt("value")).value(Json());
|
|
}
|
|
|
|
ActionNode::ActionNode(String name, StringMap<NodeParameter> parameters, StringMap<NodeOutput> output)
|
|
: name(move(name)), parameters(move(parameters)), output(move(output)) { }
|
|
|
|
DecoratorNode::DecoratorNode(String const& name, StringMap<NodeParameter> parameters, BehaviorNodeConstPtr child)
|
|
: name(name), parameters(parameters), child(child) { }
|
|
|
|
SequenceNode::SequenceNode(List<BehaviorNodeConstPtr> children) : children(children) { }
|
|
|
|
SelectorNode::SelectorNode(List<BehaviorNodeConstPtr> children) : children(children) { }
|
|
|
|
ParallelNode::ParallelNode(StringMap<NodeParameter> parameters, List<BehaviorNodeConstPtr> children) : children(children) {
|
|
int s = parameters.get("success").second.get<Json>().optInt().value(-1);
|
|
succeed = s == -1 ? children.size() : s;
|
|
|
|
int f = parameters.get("fail").second.get<Json>().optInt().value(-1);
|
|
fail = f == -1 ? children.size() : f;
|
|
}
|
|
|
|
DynamicNode::DynamicNode(List<BehaviorNodeConstPtr> children) : children(children) { }
|
|
|
|
RandomizeNode::RandomizeNode(List<BehaviorNodeConstPtr> children) : children(children) { }
|
|
|
|
BehaviorTree::BehaviorTree(String const& name, StringSet scripts, JsonObject const& parameters)
|
|
: name(name), scripts(scripts), parameters(parameters) { }
|
|
|
|
BehaviorDatabase::BehaviorDatabase() {
|
|
auto assets = Root::singleton().assets();
|
|
|
|
StringList nodeFiles = assets->scanExtension("nodes");
|
|
assets->queueJsons(nodeFiles);
|
|
for (String const& file : nodeFiles) {
|
|
try {
|
|
Json nodes = assets->json(file);
|
|
for (auto node : nodes.toObject()) {
|
|
StringMap<NodeParameter> parameters;
|
|
for (auto p : node.second.getObject("properties", {}))
|
|
parameters.set(p.first, jsonToNodeParameter(p.second));
|
|
|
|
m_nodeParameters.set(node.first, parameters);
|
|
|
|
StringMap<NodeOutput> output;
|
|
for (auto p : node.second.getObject("output", {}))
|
|
output.set(p.first, jsonToNodeOutput(p.second));
|
|
|
|
m_nodeOutput.set(node.first, output);
|
|
}
|
|
} catch (StarException const& e) {
|
|
throw StarException(strf("Could not load nodes file \'%s\'", file), e);
|
|
}
|
|
}
|
|
|
|
auto behaviorFiles = assets->scanExtension("behavior");
|
|
assets->queueJsons(behaviorFiles);
|
|
for (auto const& file : behaviorFiles) {
|
|
try {
|
|
auto config = assets->json(file);
|
|
auto name = config.getString("name");
|
|
|
|
if (m_configs.contains(name))
|
|
throw StarException(strf("Duplicate behavior tree \'%s\'", name));
|
|
|
|
m_configs[name] = config;
|
|
} catch (StarException const& e) {
|
|
throw StarException(strf("Could not load behavior file \'%s\'", file), e);
|
|
}
|
|
}
|
|
|
|
for (auto pair : m_configs) {
|
|
if (!m_behaviors.contains(pair.first))
|
|
loadTree(pair.first);
|
|
}
|
|
}
|
|
|
|
BehaviorTreeConstPtr BehaviorDatabase::behaviorTree(String const& name) const {
|
|
if (!m_behaviors.contains(name))
|
|
throw StarException(strf("No such behavior tree \'%s\'", name));
|
|
|
|
return m_behaviors.get(name);
|
|
}
|
|
|
|
BehaviorTreeConstPtr BehaviorDatabase::buildTree(Json const& config, StringMap<NodeParameterValue> const& overrides) const {
|
|
StringSet scripts = jsonToStringSet(config.get("scripts", JsonArray()));
|
|
auto tree = BehaviorTree(config.getString("name"), scripts, config.getObject("parameters", {}));
|
|
|
|
StringMap<NodeParameterValue> parameters;
|
|
for (auto p : config.getObject("parameters", {}))
|
|
parameters.set(p.first, p.second);
|
|
for (auto p : overrides)
|
|
parameters.set(p.first, p.second);
|
|
BehaviorNodeConstPtr root = behaviorNode(config.get("root"), parameters, tree);
|
|
tree.root = root;
|
|
return make_shared<BehaviorTree>(move(tree));
|
|
}
|
|
|
|
Json BehaviorDatabase::behaviorConfig(String const& name) const {
|
|
if (!m_configs.contains(name))
|
|
throw StarException(strf("No such behavior tree \'%s\'", name));
|
|
|
|
return m_configs.get(name);
|
|
}
|
|
|
|
void BehaviorDatabase::loadTree(String const& name) {
|
|
m_behaviors.set(name, buildTree(m_configs.get(name)));
|
|
}
|
|
|
|
CompositeNode BehaviorDatabase::compositeNode(Json const& config, StringMap<NodeParameter> parameters, StringMap<NodeParameterValue> const& treeParameters, BehaviorTree& tree) const {
|
|
List<BehaviorNodeConstPtr> children = config.getArray("children", {}).transformed([this,treeParameters,&tree](Json const& child) {
|
|
return behaviorNode(child, treeParameters, tree);
|
|
});
|
|
|
|
CompositeType type = CompositeTypeNames.getLeft(config.getString("name"));
|
|
if (type == CompositeType::Sequence)
|
|
return SequenceNode(children);
|
|
else if (type == CompositeType::Selector)
|
|
return SelectorNode(children);
|
|
else if (type == CompositeType::Parallel)
|
|
return ParallelNode(parameters, children);
|
|
else if (type == CompositeType::Dynamic)
|
|
return DynamicNode(children);
|
|
else if (type == CompositeType::Randomize)
|
|
return RandomizeNode(children);
|
|
|
|
// above statement needs to be exhaustive
|
|
throw StarException(strf("Composite node type '%s' could not be created from JSON", CompositeTypeNames.getRight(type)));
|
|
}
|
|
|
|
BehaviorNodeConstPtr BehaviorDatabase::behaviorNode(Json const& json, StringMap<NodeParameterValue> const& treeParameters, BehaviorTree& tree) const {
|
|
BehaviorNodeType type = BehaviorNodeTypeNames.getLeft(json.getString("type"));
|
|
|
|
auto name = json.getString("name");
|
|
auto parameterConfig = json.getObject("parameters", {});
|
|
|
|
if (type == BehaviorNodeType::Module) {
|
|
// merge in module parameters to a copy of the treeParameters to propagate
|
|
// tree parameters into the sub-tree, but allow modules to override
|
|
auto moduleParameters = treeParameters;
|
|
for (auto p : parameterConfig)
|
|
moduleParameters.set(p.first, replaceBehaviorTag(nodeParameterValueFromJson(p.second), treeParameters));
|
|
|
|
BehaviorTree module = *buildTree(m_configs.get(name), moduleParameters);
|
|
tree.scripts.addAll(module.scripts);
|
|
tree.functions.addAll(module.functions);
|
|
|
|
return module.root;
|
|
}
|
|
|
|
StringMap<NodeParameter> parameters = m_nodeParameters.get(name);
|
|
for (auto& p : parameters)
|
|
p.second.second = parameterConfig.maybe(p.first).apply(nodeParameterValueFromJson).value(p.second.second);
|
|
applyTreeParameters(parameters, treeParameters);
|
|
|
|
if (type == BehaviorNodeType::Action) {
|
|
tree.functions.add(name);
|
|
|
|
Json outputConfig = json.getObject("output", {});
|
|
StringMap<NodeOutput> output = m_nodeOutput.get(name);
|
|
for (auto& p : output)
|
|
p.second.second.first = replaceOutputBehaviorTag(outputConfig.optString(p.first).orMaybe(p.second.second.first), treeParameters);
|
|
|
|
return make_shared<BehaviorNode>(ActionNode(name, parameters, output));
|
|
} else if (type == BehaviorNodeType::Decorator) {
|
|
tree.functions.add(name);
|
|
BehaviorNodeConstPtr child = behaviorNode(json.get("child"), treeParameters, tree);
|
|
return make_shared<BehaviorNode>(DecoratorNode(name, parameters, child));
|
|
} else if (type == BehaviorNodeType::Composite) {
|
|
return make_shared<BehaviorNode>(compositeNode(json, parameters, treeParameters, tree));
|
|
}
|
|
|
|
// above statement must be exhaustive
|
|
throw StarException(strf("Behavior node type '%s' could not be created from JSON", BehaviorNodeTypeNames.getRight(type)));
|
|
}
|
|
|
|
}
|