412 lines
21 KiB
C#
412 lines
21 KiB
C#
#if GRAPH_DESIGNER
|
|
/// ---------------------------------------------
|
|
/// Behavior Designer
|
|
/// Copyright (c) Opsive. All Rights Reserved.
|
|
/// https://www.opsive.com
|
|
/// ---------------------------------------------
|
|
namespace Opsive.BehaviorDesigner.Runtime.Systems
|
|
{
|
|
using Opsive.BehaviorDesigner.Runtime.Components;
|
|
using Opsive.BehaviorDesigner.Runtime.Groups;
|
|
using Opsive.BehaviorDesigner.Runtime.Tasks;
|
|
using Opsive.BehaviorDesigner.Runtime.Utility;
|
|
using Unity.Burst;
|
|
using Unity.Collections;
|
|
using Unity.Entities;
|
|
using UnityEngine;
|
|
|
|
/// <summary>
|
|
/// System which checks for any tasks that should be reevaluated with conditional aborts. This system only marks the tasks, it does not do
|
|
/// the actual reevaluation or interruption.
|
|
/// </summary>
|
|
[UpdateInGroup(typeof(BeforeTraversalSystemGroup), OrderFirst = true)]
|
|
public partial struct ReevaluateSystem : ISystem
|
|
{
|
|
private EntityQuery m_Query;
|
|
|
|
/// <summary>
|
|
/// Builds the query.
|
|
/// </summary>
|
|
/// <param name="state">THe current SystemState.</param>
|
|
private void OnCreate(ref SystemState state)
|
|
{
|
|
m_Query = SystemAPI.QueryBuilder().WithAllRW<TaskComponent>().WithAllRW<ReevaluateTaskComponent>().WithAll<BranchComponent>().WithAbsent<BakedBehaviorTree>().Build();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates the ReevaluateJob.
|
|
/// </summary>
|
|
/// <param name="state">The current SystemState.</param>
|
|
private void OnUpdate(ref SystemState state)
|
|
{
|
|
var ecb = new EntityCommandBuffer(Allocator.TempJob);
|
|
state.Dependency = new ReevaluateJob()
|
|
{
|
|
EntityCommandBuffer = ecb.AsParallelWriter(),
|
|
}.ScheduleParallel(m_Query, state.Dependency);
|
|
|
|
// The job must run immediately for the next systems.
|
|
state.Dependency.Complete();
|
|
ecb.Playback(state.EntityManager);
|
|
ecb.Dispose();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Job which checks for any tasks that should be reevaluated with conditional aborts. This job only flags the tasks, it does not do
|
|
/// the actual reevaluation or interruption.
|
|
/// </summary>
|
|
[BurstCompile]
|
|
private partial struct ReevaluateJob : IJobEntity
|
|
{
|
|
[Tooltip("CommandBuffer which sets the component data.")]
|
|
public EntityCommandBuffer.ParallelWriter EntityCommandBuffer;
|
|
|
|
/// <summary>
|
|
/// Executes the job.
|
|
/// </summary>
|
|
/// <param name="entity">The entity that is being acted upon.</param>
|
|
/// <param name="entityIndex">The index of the entity.</param>
|
|
/// <param name="branchComponents">An array of branch components.</param>
|
|
/// <param name="taskComponents">An array of task components.</param>
|
|
/// <param name="reevaluateTaskComponents">An array of reevaluate task components.</param>
|
|
[BurstCompile]
|
|
public void Execute(Entity entity, [EntityIndexInQuery] int entityIndex, in DynamicBuffer<BranchComponent> branchComponents, ref DynamicBuffer<TaskComponent> taskComponents, ref DynamicBuffer<ReevaluateTaskComponent> reevaluateTaskComponents)
|
|
{
|
|
for (int i = 0; i < reevaluateTaskComponents.Length; ++i) {
|
|
var reevaluateTaskComponent = reevaluateTaskComponents[i];
|
|
// The task may not be able to reevaluate.
|
|
var taskComponent = taskComponents[reevaluateTaskComponent.Index];
|
|
if (!taskComponent.CanReevaluate || taskComponent.Disabled) {
|
|
continue;
|
|
}
|
|
|
|
// The branch may not be active.
|
|
var branchComponent = branchComponents[taskComponent.BranchIndex];
|
|
if (branchComponent.ActiveIndex == ushort.MaxValue) {
|
|
if (taskComponent.Reevaluate) {
|
|
taskComponent.Reevaluate = false;
|
|
taskComponents[reevaluateTaskComponent.Index] = taskComponent;
|
|
|
|
reevaluateTaskComponent.ReevaluateStatus = ReevaluateStatus.Inactive;
|
|
reevaluateTaskComponents[i] = reevaluateTaskComponent;
|
|
}
|
|
continue;
|
|
}
|
|
|
|
var reevaluate = false;
|
|
if (reevaluateTaskComponent.AbortType == ConditionalAbortType.Self || reevaluateTaskComponent.AbortType == ConditionalAbortType.Both) {
|
|
if (branchComponent.ActiveIndex > taskComponent.Index && branchComponent.ActiveIndex <= reevaluateTaskComponent.SelfPriorityUpperIndex) {
|
|
// Reevaluate.
|
|
reevaluate = true;
|
|
if (reevaluateTaskComponent.ReevaluateStatus == ReevaluateStatus.Inactive) {
|
|
reevaluateTaskComponent.ReevaluateStatus = ReevaluateStatus.Active;
|
|
EntityCommandBuffer.SetComponentEnabled(entityIndex, entity, reevaluateTaskComponent.ReevaluateTagComponentType, true);
|
|
}
|
|
}
|
|
}
|
|
if (!reevaluate && (reevaluateTaskComponent.AbortType == ConditionalAbortType.LowerPriority || reevaluateTaskComponent.AbortType == ConditionalAbortType.Both)) {
|
|
if (branchComponent.ActiveIndex > reevaluateTaskComponent.LowerPriorityLowerIndex && branchComponent.ActiveIndex <= reevaluateTaskComponent.LowerPriorityUpperIndex) {
|
|
// Reevaluate.
|
|
reevaluate = true;
|
|
if (reevaluateTaskComponent.ReevaluateStatus == ReevaluateStatus.Inactive) {
|
|
reevaluateTaskComponent.ReevaluateStatus = ReevaluateStatus.Active;
|
|
EntityCommandBuffer.SetComponentEnabled(entityIndex, entity, reevaluateTaskComponent.ReevaluateTagComponentType, true);
|
|
}
|
|
}
|
|
}
|
|
|
|
// The task should no longer reevaluate.
|
|
if (!reevaluate && (taskComponent.Reevaluate || reevaluateTaskComponent.ReevaluateStatus == ReevaluateStatus.Dirty)) {
|
|
// The system needs to be kept active if there are other tasks with the same reevaluate tag.
|
|
var keepSystemActive = false;
|
|
for (int j = 0; j < reevaluateTaskComponents.Length; ++j) {
|
|
if (i == j) {
|
|
continue;
|
|
}
|
|
|
|
if (reevaluateTaskComponents[j].ReevaluateStatus == ReevaluateStatus.Active &&
|
|
reevaluateTaskComponent.ReevaluateTagComponentType == reevaluateTaskComponents[j].ReevaluateTagComponentType) {
|
|
keepSystemActive = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!keepSystemActive) {
|
|
EntityCommandBuffer.SetComponentEnabled(entityIndex, entity, reevaluateTaskComponent.ReevaluateTagComponentType, false);
|
|
}
|
|
// The task should always disable itself.
|
|
taskComponent.Reevaluate = false;
|
|
reevaluateTaskComponent.ReevaluateStatus = ReevaluateStatus.Inactive;
|
|
} else {
|
|
// Store the current status of the task. This status will be compared after the task is reevaluated within DetermineInterruptSystem.
|
|
reevaluateTaskComponent.OriginalStatus = taskComponent.Status;
|
|
}
|
|
|
|
reevaluateTaskComponents[i] = reevaluateTaskComponent;
|
|
|
|
taskComponent.Reevaluate = reevaluate;
|
|
taskComponents[reevaluateTaskComponent.Index] = taskComponent;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// The tasks have been reevaluated. Compare the status to determine if an interrupt should occur.
|
|
/// </summary>
|
|
[UpdateInGroup(typeof(InterruptSystemGroup))]
|
|
[UpdateBefore(typeof(InterruptSystem))]
|
|
public partial struct ConditionalAbortsInvokerSystem : ISystem
|
|
{
|
|
private EntityQuery m_Query;
|
|
|
|
/// <summary>
|
|
/// Builds the query.
|
|
/// </summary>
|
|
/// <param name="state">THe current SystemState.</param>
|
|
private void OnCreate(ref SystemState state)
|
|
{
|
|
m_Query = SystemAPI.QueryBuilder().WithAllRW<BranchComponent>().WithAllRW<TaskComponent>().WithAllRW<ReevaluateTaskComponent>().WithAbsent<BakedBehaviorTree>().Build();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates the jobs necessary for conditional aborts.
|
|
/// </summary>
|
|
/// <param name="state">The current SystemState.</param>
|
|
[BurstCompile]
|
|
private void OnUpdate(ref SystemState state)
|
|
{
|
|
var ecb = new EntityCommandBuffer(Allocator.TempJob);
|
|
state.Dependency = new ConditionalAbortsJob()
|
|
{
|
|
EntityCommandBuffer = ecb.AsParallelWriter()
|
|
}.ScheduleParallel(m_Query, state.Dependency);
|
|
|
|
// The jobs must be run immediately for the next systems.
|
|
state.Dependency.Complete();
|
|
ecb.Playback(state.EntityManager);
|
|
ecb.Dispose();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Job which checks for any tasks that should be reevaluated with conditional aborts. This job only flags the tasks, it does not do
|
|
/// the actual reevaluation or interruption.
|
|
/// </summary>
|
|
[BurstCompile]
|
|
private partial struct ConditionalAbortsJob : IJobEntity
|
|
{
|
|
[Tooltip("CommandBuffer which sets the component data.")]
|
|
public EntityCommandBuffer.ParallelWriter EntityCommandBuffer;
|
|
|
|
/// <summary>
|
|
/// Executes the job.
|
|
/// </summary>
|
|
/// <param name="entity">The entity that is being acted upon.</param>
|
|
/// <param name="entityIndex">The index of the entity.</param>
|
|
/// <param name="branchComponents">An array of branch components.</param>
|
|
/// <param name="taskComponents">An array of task components.</param>
|
|
/// <param name="reevaluateTaskComponents">An array of reevaluate task components.</param>
|
|
[BurstCompile]
|
|
public void Execute(Entity entity, [EntityIndexInQuery] int entityIndex, ref DynamicBuffer<BranchComponent> branchComponents, ref DynamicBuffer<TaskComponent> taskComponents, ref DynamicBuffer<ReevaluateTaskComponent> reevaluateTaskComponents)
|
|
{
|
|
for (int i = 0; i < reevaluateTaskComponents.Length; ++i) {
|
|
var reevaluateTaskComponent = reevaluateTaskComponents[i];
|
|
var taskComponent = taskComponents[reevaluateTaskComponent.Index];
|
|
|
|
if (taskComponent.Reevaluate) {
|
|
if (reevaluateTaskComponent.OriginalStatus != taskComponent.Status) {
|
|
// The status is different. This will cause an interrupt.
|
|
var branchComponent = branchComponents[taskComponent.BranchIndex];
|
|
// The task with the highest priority should cause the abort.
|
|
if (branchComponent.InterruptType == InterruptType.None || taskComponent.Index < branchComponent.InterruptIndex) {
|
|
branchComponent.InterruptIndex = taskComponent.Index;
|
|
branchComponent.InterruptType = InterruptType.Branch;
|
|
branchComponents[taskComponent.BranchIndex] = branchComponent;
|
|
} else {
|
|
taskComponent.Status = TaskStatus.Inactive;
|
|
}
|
|
|
|
taskComponent.Reevaluate = false;
|
|
taskComponents[reevaluateTaskComponent.Index] = taskComponent;
|
|
EntityCommandBuffer.SetComponentEnabled<InterruptTag>(entityIndex, entity, true);
|
|
|
|
reevaluateTaskComponent.ReevaluateStatus = ReevaluateStatus.Dirty;
|
|
var reevaluateTaskComponentsBuffer = reevaluateTaskComponents;
|
|
reevaluateTaskComponentsBuffer[i] = reevaluateTaskComponent;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Processes any interrupts.
|
|
/// </summary>
|
|
[UpdateInGroup(typeof(InterruptSystemGroup))]
|
|
[UpdateAfter(typeof(ConditionalAbortsInvokerSystem))]
|
|
public partial struct InterruptSystem : ISystem
|
|
{
|
|
private EntityQuery m_Query;
|
|
|
|
/// <summary>
|
|
/// Builds the query.
|
|
/// </summary>
|
|
/// <param name="state">THe current SystemState.</param>
|
|
private void OnCreate(ref SystemState state)
|
|
{
|
|
m_Query = SystemAPI.QueryBuilder().WithAllRW<BranchComponent>().WithAllRW<TaskComponent>().WithAll<InterruptTag>().Build();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates the InterruptJob.
|
|
/// </summary>
|
|
/// <param name="state">The current SystemState.</param>
|
|
[BurstCompile]
|
|
private void OnUpdate(ref SystemState state)
|
|
{
|
|
var ecb = new EntityCommandBuffer(Allocator.TempJob);
|
|
state.Dependency = new InterruptJob()
|
|
{
|
|
EntityCommandBuffer = ecb.AsParallelWriter(),
|
|
}.ScheduleParallel(m_Query, state.Dependency);
|
|
|
|
// The job must run immediately for the next systems.
|
|
state.Dependency.Complete();
|
|
ecb.Playback(state.EntityManager);
|
|
ecb.Dispose();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Triggers the interrupts.
|
|
/// </summary>
|
|
[BurstCompile]
|
|
private partial struct InterruptJob : IJobEntity
|
|
{
|
|
[Tooltip("CommandBuffer which sets the component data.")]
|
|
public EntityCommandBuffer.ParallelWriter EntityCommandBuffer;
|
|
|
|
/// <summary>
|
|
/// Executes the job.
|
|
/// </summary>
|
|
/// <param name="entity">The entity that is being acted upon.</param>
|
|
/// <param name="entityIndex">The index of the entity.</param>
|
|
/// <param name="branchComponents">An array of branch components.</param>
|
|
/// <param name="taskComponents">An array of task components.</param>
|
|
[BurstCompile]
|
|
public void Execute(Entity entity, [EntityIndexInQuery] int entityIndex, DynamicBuffer<BranchComponent> branchComponents, DynamicBuffer<TaskComponent> taskComponents)
|
|
{
|
|
for (ushort i = 0; i < branchComponents.Length; ++i) {
|
|
var branchComponent = branchComponents[i];
|
|
if (branchComponent.InterruptType != InterruptType.None) {
|
|
var targetTaskComponent = taskComponents[branchComponent.InterruptIndex];
|
|
var parentIndex = targetTaskComponent.ParentIndex;
|
|
TaskStatus prevActiveNewStatus;
|
|
if (branchComponent.InterruptType == InterruptType.Branch) {
|
|
branchComponent.NextIndex = branchComponent.InterruptIndex;
|
|
branchComponents[i] = branchComponent;
|
|
|
|
// Set the target branch tasks to running.
|
|
targetTaskComponent.Status = TaskStatus.Running;
|
|
while (parentIndex != ushort.MaxValue && taskComponents[parentIndex].Status != TaskStatus.Running) {
|
|
var parentTaskComponent = taskComponents[parentIndex];
|
|
parentTaskComponent.Status = TaskStatus.Running;
|
|
taskComponents[parentIndex] = parentTaskComponent;
|
|
parentIndex = parentTaskComponent.ParentIndex;
|
|
}
|
|
|
|
prevActiveNewStatus = TaskStatus.Failure;
|
|
} else { // InterruptType.ImmediateSuccess/Failure.
|
|
targetTaskComponent.Status = branchComponent.InterruptType == InterruptType.ImmediateSuccess ? TaskStatus.Success : TaskStatus.Failure;
|
|
var targetBranchComponent = branchComponents[targetTaskComponent.BranchIndex];
|
|
targetBranchComponent.NextIndex = targetTaskComponent.ParentIndex;
|
|
branchComponents[targetTaskComponent.BranchIndex] = targetBranchComponent;
|
|
|
|
prevActiveNewStatus = targetTaskComponent.Status;
|
|
}
|
|
|
|
// Determine if any other branches need to be interrupted.
|
|
for (ushort j = i; j < branchComponents.Length; ++j) {
|
|
if (i == j || TraversalUtility.IsParent((ushort)branchComponents[j].ActiveIndex, parentIndex, ref taskComponents)) {
|
|
AbortChildren((ushort)branchComponents[j].ActiveIndex, parentIndex, ref taskComponents, prevActiveNewStatus);
|
|
|
|
// Reset any queued children.
|
|
var taskComponentBuffer = taskComponents;
|
|
var childCount = TraversalUtility.GetChildCount(branchComponent.ActiveIndex, ref taskComponentBuffer);
|
|
for (int k = 0; k < childCount; ++k) {
|
|
var childTaskComponent = taskComponents[branchComponent.ActiveIndex + k + 1];
|
|
if (childTaskComponent.Status == TaskStatus.Queued) {
|
|
childTaskComponent.Status = TaskStatus.Inactive;
|
|
taskComponentBuffer[branchComponent.ActiveIndex + k + 1] = childTaskComponent;
|
|
}
|
|
}
|
|
|
|
// If the branch is a parallel branch then reset the NextIndex. The current branch (i) will be interrupted normally above.
|
|
var localBranchComponent = branchComponents[j];
|
|
if (localBranchComponent.InterruptType == InterruptType.None) {
|
|
localBranchComponent.NextIndex = ushort.MaxValue;
|
|
branchComponents[j] = localBranchComponent;
|
|
}
|
|
EntityCommandBuffer.SetComponentEnabled<InterruptedTag>(entityIndex, entity, true);
|
|
} else {
|
|
break;
|
|
}
|
|
}
|
|
|
|
taskComponents[targetTaskComponent.Index] = targetTaskComponent;
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Aborts all of the children within the specified branch.
|
|
/// </summary>
|
|
/// <param name="activeIndex">The index of the active task within the branch.</param>
|
|
/// <param name="parentIndex">Aborts the tasks up to the specified parent index.</param>
|
|
/// <param name="taskComponents">All of the tasks.</param>
|
|
/// <param name="status">The abort status.</param>
|
|
[BurstCompile]
|
|
private void AbortChildren(ushort activeIndex, ushort parentIndex, ref DynamicBuffer<TaskComponent> taskComponents, TaskStatus status)
|
|
{
|
|
while (activeIndex != ushort.MaxValue && activeIndex != parentIndex) {
|
|
var activeTask = taskComponents[activeIndex];
|
|
activeTask.Status = status;
|
|
taskComponents[activeIndex] = activeTask;
|
|
activeIndex = activeTask.ParentIndex;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Cleanup the interrupts after they have run.
|
|
/// </summary>
|
|
[UpdateInGroup(typeof(InterruptSystemGroup), OrderLast = true)]
|
|
public partial struct InterruptCleanupSystem : ISystem
|
|
{
|
|
/// <summary>
|
|
/// Executes the system.
|
|
/// </summary>
|
|
/// <param name="state">The current SystemState.</param>
|
|
[BurstCompile]
|
|
private void OnUpdate(ref SystemState state)
|
|
{
|
|
foreach (var (branchComponents, entity) in
|
|
SystemAPI.Query<DynamicBuffer<BranchComponent>>().WithAll<InterruptTag>().WithEntityAccess()) {
|
|
for (int i = 0; i < branchComponents.Length; ++i) {
|
|
var branchComponent = branchComponents[i];
|
|
if (branchComponent.InterruptType != InterruptType.None) {
|
|
// Reset the interruption.
|
|
branchComponent.InterruptType = InterruptType.None;
|
|
branchComponent.InterruptIndex = 0;
|
|
var branchComponentBuffer = branchComponents;
|
|
branchComponentBuffer[i] = branchComponent;
|
|
|
|
state.EntityManager.SetComponentEnabled<InterruptTag>(entity, false);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endif |