371 lines
19 KiB
C#
371 lines
19 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 Unity.Collections;
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using Unity.Collections.LowLevel.Unsafe;
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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 random sequence task.
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/// </summary>
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[NodeIcon("edb30349221143a408c76da55a6aa809", "cfb9039832ed52748b617bde070898dc")]
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[Opsive.Shared.Utility.Description("Similar to the sequence task, the random sequence task will return success as soon as every child task returns success. " +
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"The difference is that the random sequence class will run its children in a random order. The sequence task is deterministic " +
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"in that it will always run the tasks from left to right within the tree. The random sequence task shuffles the child tasks up and then begins " +
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"execution in a random order. Other than that the random sequence class is the same as the sequence class. It will stop running tasks " +
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"as soon as a single task ends in failure. On a task failure it will stop executing all of the child tasks and return failure. " +
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"If no child returns failure then it will return success.")]
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public class RandomSequence : ECSCompositeTask<RandomSequenceTaskSystem, RandomSequenceComponent, RandomSequenceFlag>, IParentNode, IConditionalAbortParent, IInterruptResponder, ISavableTask, ICloneable
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{
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[Tooltip("Specifies how the child conditional tasks should be reevaluated.")]
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[SerializeField] ConditionalAbortType m_AbortType;
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[Tooltip("The seed of the random number generator. Set to 0 to use the entity index as the seed.")]
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[SerializeField] uint m_Seed;
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private ushort m_ComponentIndex;
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public ConditionalAbortType AbortType { get => m_AbortType; set => m_AbortType = value; }
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public uint Seed { get => m_Seed; set => m_Seed = value; }
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public Type InterruptSystemType { get => typeof(RandomSequenceInterruptSystem); }
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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 RandomSequenceComponent GetBufferElement()
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{
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return new RandomSequenceComponent()
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{
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Index = RuntimeIndex,
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Seed = m_Seed,
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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 randomSequenceComponents = world.EntityManager.GetBuffer<RandomSequenceComponent>(entity);
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var randomSequenceComponent = randomSequenceComponents[m_ComponentIndex];
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// Save the active child and array order.
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var saveData = new object[2];
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saveData[0] = randomSequenceComponent.ActiveRelativeChildIndex;
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if (randomSequenceComponent.TaskOrder.IsCreated) {
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var taskOrder = new ushort[randomSequenceComponent.TaskOrder.Length];
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for (int i = 0; i < randomSequenceComponent.TaskOrder.Length; ++i) {
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taskOrder[i] = randomSequenceComponent.TaskOrder[i];
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}
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saveData[1] = taskOrder;
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}
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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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public void Load(object saveData, World world, Entity entity)
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{
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var randomSequenceComponents = world.EntityManager.GetBuffer<RandomSequenceComponent>(entity);
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var randomSequenceComponent = randomSequenceComponents[m_ComponentIndex];
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// saveData is the active child and array order.
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var taskSaveData = (object[])saveData;
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randomSequenceComponent.ActiveRelativeChildIndex = (ushort)taskSaveData[0];
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if (taskSaveData[1] != null) {
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var taskOrder = (ushort[])taskSaveData[1];
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if (randomSequenceComponent.TaskOrder.IsCreated) {
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randomSequenceComponent.TaskOrder.Dispose();
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}
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randomSequenceComponent.TaskOrder = new UnsafeList<ushort>(taskOrder.Length, Allocator.Persistent);
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randomSequenceComponent.TaskOrder.Resize(taskOrder.Length);
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for (int i = 0; i < taskOrder.Length; i++) {
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randomSequenceComponent.TaskOrder[i] = taskOrder[i];
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}
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}
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randomSequenceComponents[m_ComponentIndex] = randomSequenceComponent;
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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<RandomSequence>();
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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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clone.AbortType = AbortType;
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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 RandomSequence class.
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/// </summary>
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public struct RandomSequenceComponent : 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 seed of the random number generator.")]
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public uint Seed;
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[Tooltip("The random number generator for the task.")]
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public Unity.Mathematics.Random RandomNumberGenerator;
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[Tooltip("The indicies of the child task execution order.")]
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public UnsafeList<ushort> TaskOrder;
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}
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/// <summary>
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/// A DOTS tag indicating when a RandomSequence node is active.
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/// </summary>
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public struct RandomSequenceFlag : IComponentData, IEnableableComponent { }
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/// <summary>
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/// Runs the RandomSequence logic.
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/// </summary>
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[DisableAutoCreation]
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public partial struct RandomSequenceTaskSystem : ISystem
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{
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private EntityQuery m_Query;
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/// <summary>
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/// Builds the query.
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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_Query = SystemAPI.QueryBuilder().WithAllRW<BranchComponent>().WithAllRW<TaskComponent>().WithAllRW<RandomSequenceComponent>().WithAll<RandomSequenceFlag, EvaluateFlag>().Build();
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}
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/// <summary>
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/// Creates the job.
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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 RandomSequenceJob().ScheduleParallel(m_Query, state.Dependency);
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}
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/// <summary>
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/// Job which executes the task logic.
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/// </summary>
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[BurstCompile]
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private partial struct RandomSequenceJob : IJobEntity
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{
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/// <summary>
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/// Executes the random sequence 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="randomSequenceComponents">An array of RandomSequenceComponents.</param>
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/// <param name="entity">The entity being executed.</param>
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[BurstCompile]
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public void Execute(ref DynamicBuffer<BranchComponent> branchComponents, ref DynamicBuffer<TaskComponent> taskComponents, ref DynamicBuffer<RandomSequenceComponent> randomSequenceComponents, Entity entity)
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{
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for (int i = 0; i < randomSequenceComponents.Length; ++i) {
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var randomSequenceComponent = randomSequenceComponents[i];
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var taskComponent = taskComponents[randomSequenceComponent.Index];
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var taskStatus = taskComponent.Status;
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// Skip inactive tasks before any 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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// Initialize the task order array.
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if (!randomSequenceComponent.TaskOrder.IsCreated) {
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var childCount = TraversalUtility.GetImmediateChildCount(ref taskComponent, ref taskComponents);
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randomSequenceComponent.TaskOrder = new UnsafeList<ushort>(childCount, Allocator.Persistent);
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randomSequenceComponent.TaskOrder.Resize(childCount);
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var childIndex = taskComponent.Index + 1;
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for (int j = 0; j < childCount; ++j) {
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randomSequenceComponent.TaskOrder[j] = (ushort)childIndex;
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childIndex = taskComponents[childIndex].SiblingIndex;
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}
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}
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// Generate a new random number seed for each entity.
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if (randomSequenceComponent.RandomNumberGenerator.state == 0) {
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randomSequenceComponent.RandomNumberGenerator = Unity.Mathematics.Random.CreateFromIndex(randomSequenceComponent.Seed != 0 ? randomSequenceComponent.Seed : (uint)entity.Index);
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}
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randomSequenceComponent.ActiveRelativeChildIndex = 0;
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if (randomSequenceComponent.TaskOrder.Length > 1) {
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// Lazy Fisher-Yates: only place the first entry now.
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var randomIndex = randomSequenceComponent.RandomNumberGenerator.NextInt(randomSequenceComponent.TaskOrder.Length);
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var element = randomSequenceComponent.TaskOrder[randomIndex];
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randomSequenceComponent.TaskOrder[randomIndex] = randomSequenceComponent.TaskOrder[0];
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randomSequenceComponent.TaskOrder[0] = element;
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}
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randomSequenceComponents[i] = randomSequenceComponent;
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branchComponent.NextIndex = randomSequenceComponent.TaskOrder[randomSequenceComponent.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 randomSequence task is currently active. Check the active child.
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var childTaskComponent = taskComponents[randomSequenceComponent.TaskOrder[randomSequenceComponent.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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if (randomSequenceComponent.ActiveRelativeChildIndex == randomSequenceComponent.TaskOrder.Length - 1 || childTaskComponent.Status == TaskStatus.Failure) {
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// There are no more children or the child failed. The random sequence task should end. A task status of inactive indicates the last task was disabled. Return success.
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taskComponent.Status = childTaskComponent.Status != TaskStatus.Inactive ? childTaskComponent.Status : TaskStatus.Success;
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randomSequenceComponent.ActiveRelativeChildIndex = 0;
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taskComponents[randomSequenceComponent.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 success. Move onto the next random task.
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randomSequenceComponent.ActiveRelativeChildIndex++;
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var nextRelativeChildIndex = randomSequenceComponent.ActiveRelativeChildIndex;
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var remainingCount = randomSequenceComponent.TaskOrder.Length - nextRelativeChildIndex;
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if (remainingCount > 1) {
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// Lazy Fisher-Yates: place only the next slot.
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var randomIndex = nextRelativeChildIndex + randomSequenceComponent.RandomNumberGenerator.NextInt(remainingCount);
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var element = randomSequenceComponent.TaskOrder[randomIndex];
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randomSequenceComponent.TaskOrder[randomIndex] = randomSequenceComponent.TaskOrder[nextRelativeChildIndex];
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randomSequenceComponent.TaskOrder[nextRelativeChildIndex] = element;
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}
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var nextIndex = randomSequenceComponent.TaskOrder[nextRelativeChildIndex];
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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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randomSequenceComponents[i] = randomSequenceComponent;
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}
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}
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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 randomSequenceComponents in SystemAPI.Query<DynamicBuffer<RandomSequenceComponent>>()) {
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for (int i = 0; i < randomSequenceComponents.Length; ++i) {
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var randomSequenceComponent = randomSequenceComponents[i];
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if (randomSequenceComponent.TaskOrder.IsCreated) {
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randomSequenceComponent.TaskOrder.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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/// <summary>
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/// An interrupt has occurred. Ensure the task state is correct after the interruption.
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/// </summary>
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[DisableAutoCreation]
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public partial struct RandomSequenceInterruptSystem : ISystem
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{
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/// <summary>
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/// Runs the logic after an interruption.
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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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foreach (var (taskComponents, randomSequenceComponents) in
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SystemAPI.Query<DynamicBuffer<TaskComponent>, DynamicBuffer<RandomSequenceComponent>>().WithAll<InterruptFlag>()) {
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for (int i = 0; i < randomSequenceComponents.Length; ++i) {
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var randomSequenceComponent = randomSequenceComponents[i];
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// The active child will have a non-running status if it has been interrupted.
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var taskComponent = taskComponents[randomSequenceComponent.Index];
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if (!randomSequenceComponent.TaskOrder.IsCreated) {
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continue;
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}
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var taskOrder = randomSequenceComponent.TaskOrder;
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if (taskOrder.Length == 0 || randomSequenceComponent.ActiveRelativeChildIndex >= taskOrder.Length) {
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continue;
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}
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if (taskComponent.Status == TaskStatus.Running && taskComponents[taskOrder[randomSequenceComponent.ActiveRelativeChildIndex]].Status != TaskStatus.Running) {
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ushort relativeChildIndex = 0;
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// Find the currently active task.
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while (relativeChildIndex < taskOrder.Length && taskComponents[taskOrder[relativeChildIndex]].Status != TaskStatus.Running) {
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relativeChildIndex++;
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}
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if (relativeChildIndex < taskOrder.Length) {
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randomSequenceComponent.ActiveRelativeChildIndex = relativeChildIndex;
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var randomSequenceBuffer = randomSequenceComponents;
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randomSequenceBuffer[i] = randomSequenceComponent;
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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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}
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#endif |