Beehave tree and blackboard improvements (#313)

* implement beehave tree ready and blackboard

* recursive glob

* integrate BeehaveSucceeder skeleton

SConstruct

@@ -2,6 +2,14 @@
 import os
 import sys
 
+def recursive_glob(rootdir, pattern):
+    matches = []
+    for root, dirnames, filenames in os.walk(rootdir):
+        for filename in filenames:
+            if filename.endswith(pattern):
+                matches.append(os.path.join(root, filename))
+    return matches
+
 env = SConscript("godot-cpp/SConstruct")
 
 # Add those directory manually, so we can skip the godot_cpp directory when including headers in C++ files
@@ -21,10 +29,8 @@ env.Append(CPPPATH=[env.Dir(d) for d in source_path])
 
 # tweak this if you want to use different folders, or more folders, to store your source code in.
 env.Append(CPPPATH=["extension/src/"])
-sources = [
-    Glob("extension/src/*.cpp"),
-    Glob("extension/src/nodes/*.cpp")
-]
+
+sources = recursive_glob('extension/src', '.cpp')
 
 if env["platform"] == "macos":
     library = env.SharedLibrary(

addons/gdUnit4/GdUnitRunner.cfg

@@ -1 +1 @@
-{"included":{"res://test/":[]},"server_port":31002,"skipped":{},"version":"1.0"}
+{"included":{"res://test/beehave_tree_test.gd":[]},"server_port":31002,"skipped":{},"version":"1.0"}

examples/actions/SetModulateColor.gd

@@ -1,22 +1,22 @@
-extends ActionLeaf
+extends BeehaveAction
 
 @export var modulate_color:Color = Color.WHITE
 @export var interpolation_time:float = 3.0
 
 var current_color
 var tween
 
-func tick(actor: Node, _blackboard: Blackboard) -> int:
+func tick(context: BeehaveContext) -> int:
 
-	if current_color != modulate_color and actor.modulate != modulate_color:
+	if current_color != modulate_color and context.get_actor().modulate != modulate_color:
 		if tween != null:
 			tween.stop()
 		current_color = modulate_color
 		tween = create_tween()\
 		.set_ease(Tween.EASE_IN_OUT)\
 		.set_trans(Tween.TRANS_CUBIC)
-		tween.tween_property(actor, "modulate", current_color, interpolation_time)\
-		.finished.connect(_finished.bind(actor))
+		tween.tween_property(context.get_actor(), "modulate", current_color, interpolation_time)\
+		.finished.connect(_finished.bind(context.get_actor()))
 
 	if current_color != null:
 		return RUNNING

examples/conditions/HasNegativePosition.gd

@@ -1,7 +1,7 @@
 extends ConditionLeaf
 
 
-func tick(actor: Node, _blackboard: Blackboard) -> int:
+func tick(context: BeehaveContext) -> int:
 	if actor.position.x < 0.0 and actor.position.y < 0.0:
 		return SUCCESS
 	else:

examples/conditions/HasPositivePosition.gd

@@ -1,7 +1,7 @@
 class_name HasPositivePosition extends ConditionLeaf
 
 
-func tick(actor: Node, _blackboard: Blackboard) -> int:
+func tick(context: BeehaveContext) -> int:
 	if actor.position.x > 0.0 and actor.position.y > 0.0:
 		return SUCCESS
 	else:

examples/random_tree_example/RandomAction.gd

@@ -4,7 +4,7 @@
 ## [member weights]. Changes its status every [member reset_duration_msec]
 ## milliseconds.
 @tool
-class_name RandomAction extends ActionLeaf
+class_name RandomAction extends BeehaveAction
 
 
 ## How often this action changes its return status, in milliseconds.
@@ -31,7 +31,7 @@ func _get_random_action():
 	return weights.size() - 1
 
 
-func tick(actor: Node, blackboard: Blackboard) -> int:
+func tick(context: BeehaveContext) -> int:
 	var step = Time.get_ticks_msec() / reset_duration_msec
 	if step != last_step:
 		action = _get_random_action()

extension/src/nodes/beehave_tree.cpp

@@ -28,6 +28,7 @@
 /**************************************************************************/
 
 #include "beehave_tree.h"
+#include "beehave_blackboard.h"
 #include <core/class_db.hpp>
 
 using namespace godot;
@@ -54,6 +55,25 @@ void BeehaveTree::_bind_methods() {
 }
 
 void BeehaveTree::_ready() {
+	if (!actor) {
+		actor = get_parent();
+	}
+	if (!blackboard) {
+		_internal_blackboard = memnew(BeehaveBlackboard);
+		blackboard = _internal_blackboard;
+	}
+	set_physics_process(enabled && process_thread == ProcessThread::PHYSICS);
+	set_process(enabled && process_thread == ProcessThread::IDLE);
+
+	// Randomize at what frames tick() will happen to avoid stutters
+	_last_tick = rand() % tick_rate;
+}
+
+void BeehaveTree::_exit_tree() {
+	if (_internal_blackboard) {
+		memfree(_internal_blackboard);
+		_internal_blackboard = nullptr;
+	}
 }
 
 void BeehaveTree::_process(double delta) {
@@ -69,9 +89,11 @@ void BeehaveTree::_physics_process(double delta) {
 }
 
 void BeehaveTree::enable() {
+	enabled = true;
 }
 
 void BeehaveTree::disable() {
+	enabled = false;
 }
 
 void BeehaveTree::process_internally(double delta) {

extension/src/nodes/beehave_tree.h

@@ -51,6 +51,7 @@ class BeehaveTree : public Node {
 	bool enabled;
 	Node *actor;
 	BeehaveBlackboard *blackboard;
+	BeehaveBlackboard *_internal_blackboard = nullptr;
 	Ref<BeehaveContext> context;
 	BeehaveTreeNode::TickStatus tick_status;
 	ProcessThread process_thread = ProcessThread::PHYSICS;
@@ -69,6 +70,7 @@ class BeehaveTree : public Node {
 	void _ready();
 	void _process(double delta);
 	void _physics_process(double delta);
+	void _exit_tree();
 	void enable();
 	void disable();
 	BeehaveTreeNode::TickStatus tick();

extension/src/nodes/beehave_tree_node.cpp

@@ -43,7 +43,8 @@ BeehaveTreeNode::TickStatus BeehaveTreeNode::tick(Ref<BeehaveContext> context) {
 }
 
 void BeehaveTreeNode::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("tick"), &BeehaveTreeNode::tick);
+
+	BIND_VIRTUAL_METHOD(BeehaveTreeNode, tick);
 
 	BIND_ENUM_CONSTANT(SUCCESS);
 	BIND_ENUM_CONSTANT(FAILURE);

extension/src/nodes/beehave_tree_node.h

@@ -51,7 +51,7 @@ class BeehaveTreeNode : public Node {
 	BeehaveTreeNode();
 	~BeehaveTreeNode();
 
-	TickStatus tick(Ref<BeehaveContext> context);
+	virtual TickStatus tick(Ref<BeehaveContext> context);
 };
 
 } //namespace godot

extension/src/nodes/decorators/beehave_decorator.cpp

@@ -0,0 +1,44 @@
+/**************************************************************************/
+/*  beehave_decorator.cpp                                                 */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                               BEEHAVE                                  */
+/*                      https://bitbra.in/beehave                         */
+/**************************************************************************/
+/* Copyright (c) 2024-present Beehave Contributors.                       */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#include "beehave_decorator.h"
+
+using namespace godot;
+
+BeehaveDecorator::BeehaveDecorator() {
+
+}
+
+BeehaveDecorator::~BeehaveDecorator() {
+
+}
+
+void BeehaveDecorator::_bind_methods() {
+
+}

extension/src/nodes/decorators/beehave_decorator.h

@@ -0,0 +1,52 @@
+/**************************************************************************/
+/*  beehave_decorator.h                                                   */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                               BEEHAVE                                  */
+/*                      https://bitbra.in/beehave                         */
+/**************************************************************************/
+/* Copyright (c) 2024-present Beehave Contributors.                       */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef BEEHAVE_DECORATOR_H
+#define BEEHAVE_DECORATOR_H
+
+#include "nodes/beehave_tree_node.h"
+
+namespace godot {
+
+class BeehaveDecorator : public BeehaveTreeNode {
+	GDCLASS(BeehaveDecorator, BeehaveTreeNode);
+
+protected:
+	BeehaveTreeNode *running_child;
+
+	static void _bind_methods();
+
+public:
+	BeehaveDecorator();
+	~BeehaveDecorator();
+};
+
+}
+
+#endif//BEEHAVE_DECORATOR_H

extension/src/nodes/decorators/beehave_succeeder.cpp

@@ -0,0 +1,44 @@
+/**************************************************************************/
+/*  beehave_succeeder.cpp                                                 */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                               BEEHAVE                                  */
+/*                      https://bitbra.in/beehave                         */
+/**************************************************************************/
+/* Copyright (c) 2024-present Beehave Contributors.                       */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#include "beehave_succeeder.h"
+
+using namespace godot;
+
+BeehaveSucceeder::BeehaveSucceeder() {
+
+}
+
+BeehaveSucceeder::~BeehaveSucceeder() {
+
+}
+
+void BeehaveSucceeder::_bind_methods() {
+
+}

extension/src/nodes/decorators/beehave_succeeder.h

@@ -0,0 +1,49 @@
+/**************************************************************************/
+/*  beehave_succeeder.h                                                   */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                               BEEHAVE                                  */
+/*                      https://bitbra.in/beehave                         */
+/**************************************************************************/
+/* Copyright (c) 2024-present Beehave Contributors.                       */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef BEEHAVE_SUCCEEDER
+#define BEEHAVE_SUCCEEDER
+
+#include "nodes/decorators/beehave_decorator.h"
+
+namespace godot {
+
+class BeehaveSucceeder : public BeehaveDecorator {
+	GDCLASS(BeehaveSucceeder, BeehaveDecorator);
+
+protected:
+	static void _bind_methods();
+
+public:
+	BeehaveSucceeder();
+	~BeehaveSucceeder();
+};
+}
+
+#endif //BEEHAVE_SUCCEEDER