Repository navigation
Expand file tree
/
Copy pathbehavior_tree.lua
More file actions
184 lines (167 loc) · 4.49 KB
/
Copy pathbehavior_tree.lua
File metadata and controls
184 lines (167 loc) · 4.49 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
local behavior_node = require 'behavior3.behavior_node'
local behavior_ret = require 'behavior3.behavior_ret'
local behavior_event = require 'behavior3.behavior_event'
---@alias BehaviorCallback fun(...)
---@class BehaviorNodeDefine
---@field name string
---@field type string
---@field desc? string
---@field doc? string
---@field input? string[]
---@field output? string[]
---@field args? {name:string, type:string, desc:string, options?:{name:string, value:string}[]}[]
---@field run? fun(node:BehaviorNode, env:BehaviorEnv, ...): BehaviorRet, ...
local meta = {
__newindex = function(_, k)
error(string.format('readonly:%s', k), 2)
end
}
local function const(t)
setmetatable(t, meta)
for _, v in pairs(t) do
if type(v) == 'table' then
const(v)
end
end
return t
end
local trees = {}
---@class BehaviorTree
local mt = {}
mt.__index = mt
function mt:init(name, tree_data)
self.name = name
local data = const(tree_data)
self.root = behavior_node.new(data.root, self)
end
---@param env BehaviorEnv
---@return BehaviorRet
function mt:run(env)
local last_ret
if #env.stack > 0 then
local last_node = env.stack[#env.stack]
while last_node do
last_ret = last_node:run(env)
if last_ret == behavior_ret.RUNNING then
break
end
last_node = env.stack[#env.stack]
end
else
self:dispatch(env, behavior_event.BEFORE_RUN)
last_ret = self.root:run(env)
end
if env.abort then
env.inner_vars = {}
env.stack = {}
env.abort = nil
self:dispatch(env, behavior_event.INTERRUPTED)
return behavior_ret.ABORT
elseif last_ret == behavior_ret.SUCCESS then
self:dispatch(env, behavior_event.AFTER_RUN)
self:dispatch(env, behavior_event.AFTER_RUN_SUCCESS)
elseif last_ret == behavior_ret.FAIL then
self:dispatch(env, behavior_event.AFTER_RUN)
self:dispatch(env, behavior_event.AFTER_RUN_FAILURE)
end
return last_ret
end
---@param env BehaviorEnv
---@param event string
---@param ... unknown
function mt:dispatch(env, event, ...)
if not env.ctx then
return
end
local dispatch_target = env.ctx.dispatch_target
if dispatch_target then
env.ctx:dispatch_target(env, event, ...)
end
end
function mt:interrupt(env)
if #env.stack > 0 then
self:dispatch(env, behavior_event.INTERRUPTED)
env.inner_vars = {}
env.stack = {}
end
end
local function new_tree(name, tree_data)
local tree = setmetatable({}, mt)
tree:init(name, tree_data)
trees[name] = tree
return tree
end
local function new_env(params)
---@class BehaviorEnv
---@field ctx any?
---@field last_ret BehaviorRet?
---@field abort boolean?
---@field stack BehaviorNode[]
---@field inner_vars {[string]: any}
local env = {
inner_vars = {}, -- [k.."_"..node.id] => vars
vars = {},
stack = {},
}
for k, v in pairs(params) do
env[k] = v
end
---@param k string
function env:get_var(k)
return env.vars[k]
end
---@param k string
---@param v any
function env:set_var(k, v)
if k == "" then return end
self.vars[k] = v
end
---@param node BehaviorNode
---@param k string
---@return any
function env:get_inner_var(node, k)
return self.inner_vars[k .. '_' .. node.id]
end
---@param node BehaviorNode
---@param k string
---@param v any
function env:set_inner_var(node, k, v)
self.inner_vars[k .. '_' .. node.id] = v
end
---@param node BehaviorNode
function env:push_stack(node)
self.stack[#self.stack + 1] = node
end
---@return BehaviorNode
function env:pop_stack()
local node = self.stack[#self.stack]
self.stack[#self.stack] = nil
return node
end
return env
end
local M = {}
function M.new(name, tree_data, env_params)
local env = new_env(env_params)
local tree = trees[name] or new_tree(name, tree_data)
return {
tree = tree,
run = function()
return tree:run(env)
end,
interrupt = function()
tree:interrupt(env)
end,
is_running = function ()
return #env.stack > 0
end,
set_env = function (_, k, v)
if k == "" then return end
env[k] = v
end,
get_env = function ()
return env
end
}
end
return M