375 lines
19 KiB
C#
375 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;
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using Opsive.GraphDesigner.Runtime.Variables.ECS;
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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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[Opsive.Shared.Utility.Description("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 class UtilitySelector : ECSCompositeTask<UtilitySelectorTaskSystem, UtilitySelectorComponent, UtilitySelectorFlag>, 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 UtilitySelectorComponent GetBufferElement()
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{
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return new UtilitySelectorComponent()
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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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ComponentUtility.AddInterruptComponents(world.EntityManager, entity);
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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 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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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 UtilityValueComponent index.
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/// </summary>
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public struct UtilityItemBlobEntry
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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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}
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/// <summary>
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/// Blob asset storing the utility item entries (task index and utility value index per child). Mutable state (CanExecute) is stored in the component mask.
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/// </summary>
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public struct UtilityItemsBlob
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{
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[Tooltip("The utility item entries.")]
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public BlobArray<UtilityItemBlobEntry> Items;
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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 blob containing task-to-utility-value mapping per child.")]
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public BlobAssetReference<UtilityItemsBlob> UtilityItems;
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[Tooltip("Bit mask of which children can execute (bit i = child i). Max 64 children.")]
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public ulong CanExecuteMask;
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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 UtilitySelectorFlag : 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<EvaluateFlag>().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 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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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 utility items blob and can-execute mask when first run.
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ushort childIndex;
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if (!utilitySelectorComponent.UtilityItems.IsCreated) {
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var childCount = TraversalUtility.GetImmediateChildCount(ref taskComponent, ref taskComponentsBuffer);
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var builder = new BlobBuilder(Allocator.Temp);
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ref var root = ref builder.ConstructRoot<UtilityItemsBlob>();
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var itemsArray = builder.Allocate(ref root.Items, childCount);
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childIndex = (ushort)(taskComponent.Index + 1);
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for (ushort j = 0; j < childCount; ++j) {
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itemsArray[j] = new UtilityItemBlobEntry() { TaskIndex = childIndex, UtilityValueIndex = ushort.MaxValue };
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for (ushort k = 0; k < utilityValueComponents.Length; ++k) {
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if (utilityValueComponents[k].Index == childIndex) {
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itemsArray[j].UtilityValueIndex = 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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utilitySelectorComponent.UtilityItems = builder.CreateBlobAssetReference<UtilityItemsBlob>(Allocator.Persistent);
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builder.Dispose();
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}
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// Do not include child nodes that are disabled.
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ref var items = ref utilitySelectorComponent.UtilityItems.Value.Items;
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childIndex = (ushort)(taskComponent.Index + 1);
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ulong mask = 0;
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for (int j = 0; j < items.Length; ++j) {
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if (taskComponents[childIndex].Enabled) {
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mask |= 1UL << j;
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}
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childIndex = taskComponents[childIndex].SiblingIndex;
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}
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utilitySelectorComponent.CanExecuteMask = mask;
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utilitySelectorComponent.ActiveChildIndex = GetHighestUtility(utilitySelectorComponent.UtilityItems, utilitySelectorComponent.CanExecuteMask, 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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items = ref utilitySelectorComponent.UtilityItems.Value.Items;
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branchComponent.NextIndex = items[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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ref var itemsRef = ref utilitySelectorComponent.UtilityItems.Value.Items;
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var childTaskComponent = taskComponents[itemsRef[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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utilitySelectorComponent.CanExecuteMask &= ~(1UL << utilitySelectorComponent.ActiveChildIndex);
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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, utilitySelectorComponent.CanExecuteMask, 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 = itemsRef[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 = itemsRef[highestIndex].TaskIndex;
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state.EntityManager.SetComponentEnabled<InterruptFlag>(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 = itemsRef[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<UtilitySelectorFlag, EvaluateFlag>()) {
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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.IsCreated) {
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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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/// Returns the task index with the highest utility value.
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/// </summary>
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/// <param name="utilityItems">The blob containing utility item data.</param>
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/// <param name="canExecuteMask">Bit mask of which children can execute.</param>
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/// <param name="utilityValueComponents">The utility values of the tasks.</param>
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/// <returns>The index with the highest utility value, or ushort.MaxValue if none.</returns>
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[BurstCompile]
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private ushort GetHighestUtility(BlobAssetReference<UtilityItemsBlob> utilityItems, ulong canExecuteMask, 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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ref var items = ref utilityItems.Value.Items;
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for (ushort i = 0; i < items.Length; ++i) {
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if ((canExecuteMask & (1UL << i)) == 0 || items[i].UtilityValueIndex == ushort.MaxValue) {
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continue;
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}
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var utilityValue = utilityValueComponents[items[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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/// 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 utilitySelectorComponents in SystemAPI.Query<DynamicBuffer<UtilitySelectorComponent>>()) {
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for (int i = 0; i < utilitySelectorComponents.Length; ++i) {
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var utilitySelectorComponent = utilitySelectorComponents[i];
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if (utilitySelectorComponent.UtilityItems.IsCreated) {
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utilitySelectorComponent.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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}
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#endif |