407 lines
21 KiB
C#
407 lines
21 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.Variables.ECS;
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using Opsive.GraphDesigner.Runtime;
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using Opsive.Shared.Utility;
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using System;
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using Unity.Burst;
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using Unity.Collections;
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using Unity.Collections.LowLevel.Unsafe;
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using Unity.Entities;
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using UnityEngine;
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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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[Opsive.Shared.Utility.Description("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 class PrioritySelector : ECSCompositeTask<PrioritySelectorTaskSystem, PrioritySelectorComponent, PrioritySelectorFlag>, IParentNode, ISavableTask, ICloneable
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{
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private ushort m_ComponentIndex;
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/// <summary>
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/// Returns a new TBufferElement for use by the system.
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/// </summary>
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/// <returns>A new TBufferElement for use by the system.</returns>
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public override PrioritySelectorComponent GetBufferElement()
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{
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return new PrioritySelectorComponent()
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{
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Index = RuntimeIndex,
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};
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}
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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 in.</param>
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/// <param name="entity">The entity that the IBufferElementData should be assigned to.</param>
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/// <param name="registry">The ECS variable registry for registering SharedVariable fields.</param>
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/// <param name="gameObject">The GameObject that the entity is attached to.</param>
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/// <returns>The index of the element within the buffer.</returns>
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public override int AddBufferElement(World world, Entity entity, ECSVariableRegistry registry, GameObject gameObject)
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{
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m_ComponentIndex = (ushort)base.AddBufferElement(world, entity, registry, gameObject);
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return m_ComponentIndex;
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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 index.
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return prioritySelectorComponent.ActiveRelativeChildIndex;
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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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prioritySelectorComponent.ActiveRelativeChildIndex = (ushort)saveData;
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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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clone.Enabled = Enabled;
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return clone;
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}
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}
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/// <summary>
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/// Immutable blob entry mapping a task index to its PriorityValueComponent index.
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/// </summary>
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public struct PriorityItemBlobEntry
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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. ushort.MaxValue indicates no corresponding component.")]
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public ushort PriorityValueIndex;
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}
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/// <summary>
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/// Blob asset storing the priority item entries (task index and priority value index per child).
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/// </summary>
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public struct PriorityItemsBlob
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{
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[Tooltip("The priority item entries.")]
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public BlobArray<PriorityItemBlobEntry> Items;
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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 blob containing task-to-priority-value mapping per child.")]
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public BlobAssetReference<PriorityItemsBlob> PriorityItems;
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[Tooltip("Task indices in sorted order by priority (highest first).")]
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public UnsafeList<ushort> SortedOrder;
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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 PrioritySelectorFlag : 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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private EntityQuery m_WithValuesQuery;
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private EntityQuery m_WithoutValuesQuery;
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/// <summary>
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/// Builds the queries.
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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 OnCreate(ref SystemState state)
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{
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m_WithValuesQuery = SystemAPI.QueryBuilder()
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.WithAllRW<BranchComponent>()
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.WithAllRW<TaskComponent>()
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.WithAllRW<PrioritySelectorComponent>()
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.WithAllRW<PriorityValueComponent>()
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.WithAll<PrioritySelectorFlag, EvaluateFlag>()
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.Build();
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// Special case where there is no PriorityValueComponent buffer.
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m_WithoutValuesQuery = SystemAPI.QueryBuilder()
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.WithAllRW<PrioritySelectorComponent>()
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.WithAllRW<TaskComponent>()
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.WithAllRW<BranchComponent>()
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.WithAll<PrioritySelectorFlag, EvaluateFlag>()
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.WithNone<PriorityValueComponent>()
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.Build();
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}
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/// <summary>
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/// Creates the jobs.
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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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state.Dependency = new PrioritySelectorWithValuesJob().ScheduleParallel(m_WithValuesQuery, state.Dependency);
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state.Dependency = new PrioritySelectorWithoutValuesJob().ScheduleParallel(m_WithoutValuesQuery, state.Dependency);
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}
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/// <summary>
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/// Job which executes the PrioritySelector logic when PriorityValueComponent exists.
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/// </summary>
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[BurstCompile]
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private partial struct PrioritySelectorWithValuesJob : IJobEntity
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{
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/// <summary>
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/// Executes the PrioritySelector logic.
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/// </summary>
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/// <param name="branchComponents">An array of BranchComponents.</param>
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/// <param name="taskComponents">An array of TaskComponents.</param>
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/// <param name="prioritySelectorComponents">An array of PrioritySelectorComponents.</param>
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/// <param name="priorityValueComponents">An array of PriorityValueComponents.</param>
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[BurstCompile]
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public void Execute(ref DynamicBuffer<BranchComponent> branchComponents, ref DynamicBuffer<TaskComponent> taskComponents,
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ref DynamicBuffer<PrioritySelectorComponent> prioritySelectorComponents, ref DynamicBuffer<PriorityValueComponent> priorityValueComponents)
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{
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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 taskStatus = taskComponent.Status;
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// Skip inactive tasks before branch lookups.
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if (taskStatus != TaskStatus.Queued && taskStatus != TaskStatus.Running) {
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continue;
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}
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var branchComponent = branchComponents[taskComponent.BranchIndex];
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// Do not continue if there will be an interrupt or the branch cannot execute.
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if (branchComponent.InterruptType != InterruptType.None || !branchComponent.CanExecute) {
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continue;
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}
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if (taskStatus == TaskStatus.Queued) {
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taskComponent.Status = TaskStatus.Running;
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taskComponents[taskComponent.Index] = taskComponent;
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// Build the priority items blob when first run.
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if (!prioritySelectorComponent.PriorityItems.IsCreated) {
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var childCount = TraversalUtility.GetImmediateChildCount(ref taskComponent, ref taskComponents);
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var builder = new BlobBuilder(Allocator.Temp);
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ref var root = ref builder.ConstructRoot<PriorityItemsBlob>();
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var itemsArray = builder.Allocate(ref root.Items, childCount);
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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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itemsArray[j] = new PriorityItemBlobEntry() { TaskIndex = childIndex, PriorityValueIndex = ushort.MaxValue };
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for (ushort k = 0; k < priorityValueComponents.Length; ++k) {
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if (priorityValueComponents[k].Index == childIndex) {
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itemsArray[j].PriorityValueIndex = k;
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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.PriorityItems = builder.CreateBlobAssetReference<PriorityItemsBlob>(Allocator.Persistent);
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builder.Dispose();
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}
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// Build sorted order by current priority values (reuse storage).
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ref var priorityItems = ref prioritySelectorComponent.PriorityItems.Value.Items;
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var orderCount = priorityItems.Length;
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if (!prioritySelectorComponent.SortedOrder.IsCreated || prioritySelectorComponent.SortedOrder.Length != orderCount) {
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if (prioritySelectorComponent.SortedOrder.IsCreated) {
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prioritySelectorComponent.SortedOrder.Dispose();
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}
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prioritySelectorComponent.SortedOrder = new UnsafeList<ushort>(orderCount, Allocator.Persistent);
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prioritySelectorComponent.SortedOrder.Resize(orderCount);
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}
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for (ushort j = 0; j < orderCount; ++j) {
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prioritySelectorComponent.SortedOrder[j] = j;
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}
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for (int a = 0; a < orderCount; ++a) {
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for (int b = a + 1; b < orderCount; ++b) {
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ref var entryA = ref priorityItems[prioritySelectorComponent.SortedOrder[a]];
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ref var entryB = ref priorityItems[prioritySelectorComponent.SortedOrder[b]];
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var valueA = GetPriorityValue(ref entryA, ref priorityValueComponents);
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var valueB = GetPriorityValue(ref entryB, ref priorityValueComponents);
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if (valueB > valueA) {
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var t = prioritySelectorComponent.SortedOrder[a];
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prioritySelectorComponent.SortedOrder[a] = prioritySelectorComponent.SortedOrder[b];
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prioritySelectorComponent.SortedOrder[b] = t;
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}
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}
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}
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for (int j = 0; j < orderCount; ++j) {
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var relIdx = prioritySelectorComponent.SortedOrder[j];
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prioritySelectorComponent.SortedOrder[j] = priorityItems[relIdx].TaskIndex;
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}
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prioritySelectorComponent.ActiveRelativeChildIndex = 0;
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prioritySelectorComponents[i] = prioritySelectorComponent;
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branchComponent.NextIndex = prioritySelectorComponent.SortedOrder[prioritySelectorComponent.ActiveRelativeChildIndex];
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branchComponents[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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taskComponents[branchComponent.NextIndex] = nextChildTaskComponent;
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}
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// The prioritySelector task is currently active. Check the active child.
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var childTaskComponent = taskComponents[prioritySelectorComponent.SortedOrder[prioritySelectorComponent.ActiveRelativeChildIndex]];
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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.SortedOrder.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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taskComponents[prioritySelectorComponent.Index] = taskComponent;
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branchComponent.NextIndex = taskComponent.ParentIndex;
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branchComponents[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.SortedOrder[prioritySelectorComponent.ActiveRelativeChildIndex];
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var nextTaskComponent = taskComponents[nextIndex];
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nextTaskComponent.Status = TaskStatus.Queued;
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taskComponents[nextIndex] = nextTaskComponent;
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branchComponent.NextIndex = nextIndex;
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branchComponents[taskComponent.BranchIndex] = branchComponent;
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}
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prioritySelectorComponents[i] = prioritySelectorComponent;
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}
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}
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}
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/// <summary>
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/// Job which executes the special case where the PrioritySelector has no PriorityValueComponent buffer.
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/// </summary>
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[BurstCompile]
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private partial struct PrioritySelectorWithoutValuesJob : IJobEntity
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{
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/// <summary>
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/// Executes the no-priority-values fallback logic.
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/// </summary>
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/// <param name="prioritySelectorComponents">An array of PrioritySelectorComponents.</param>
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/// <param name="taskComponents">An array of TaskComponents.</param>
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/// <param name="branchComponents">An array of BranchComponents.</param>
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[BurstCompile]
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public void Execute(ref DynamicBuffer<PrioritySelectorComponent> prioritySelectorComponents, ref DynamicBuffer<TaskComponent> taskComponents, ref DynamicBuffer<BranchComponent> branchComponents)
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{
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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.PriorityItems.IsCreated) {
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taskComponent.Status = TaskStatus.Failure;
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taskComponents[prioritySelectorComponent.Index] = taskComponent;
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var branchComponent = branchComponents[taskComponent.BranchIndex];
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branchComponent.NextIndex = taskComponent.ParentIndex;
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branchComponents[taskComponent.BranchIndex] = branchComponent;
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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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/// Returns the priority value for a blob entry, or float.MinValue if no component.
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/// </summary>
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/// <param name="entry">The priority item blob entry.</param>
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/// <param name="priorityValueComponents">The priority value components buffer.</param>
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/// <returns>The priority value.</returns>
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[BurstCompile]
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private static float GetPriorityValue(ref PriorityItemBlobEntry entry, ref DynamicBuffer<PriorityValueComponent> priorityValueComponents)
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{
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if (entry.PriorityValueIndex == ushort.MaxValue) {
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return float.MinValue;
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}
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return priorityValueComponents[entry.PriorityValueIndex].Value;
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}
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/// <summary>
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/// Disposes blob assets when the system is 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 prioritySelectorComponents in SystemAPI.Query<DynamicBuffer<PrioritySelectorComponent>>()) {
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for (int i = 0; i < prioritySelectorComponents.Length; ++i) {
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var prioritySelectorComponent = prioritySelectorComponents[i];
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if (prioritySelectorComponent.PriorityItems.IsCreated) {
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prioritySelectorComponent.PriorityItems.Dispose();
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}
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if (prioritySelectorComponent.SortedOrder.IsCreated) {
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prioritySelectorComponent.SortedOrder.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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}
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#endif |