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Joey Yakimowich-Payne 2023-01-03 16:53:53 -07:00
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21
Sprout/addons/beehave/LICENSE Normal file
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MIT License
Copyright (c) 2023 bitbrain
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.

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Sprout/addons/beehave/blackboard.gd Normal file
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## The blackboard is an object that can be used to store and access data between
## multiple nodes of the behaviour tree.
class_name Blackboard extends RefCounted
var blackboard: Dictionary = {}
func set_value(key: Variant, value: Variant, blackboard_name: String = 'default') -> void:
if not blackboard.has(blackboard_name):
blackboard[blackboard_name] = {}
blackboard[blackboard_name][key] = value
func get_value(key: Variant, default_value: Variant = null, blackboard_name: String = 'default') -> Variant:
if has_value(key, blackboard_name):
return blackboard[blackboard_name].get(key, default_value)
return default_value
func has_value(key: Variant, blackboard_name: String = 'default') -> bool:
return blackboard.has(blackboard_name) and blackboard[blackboard_name].has(key) and blackboard[blackboard_name][key] != null
func erase_value(key: Variant, blackboard_name: String = 'default') -> void:
if blackboard.has(blackboard_name):
blackboard[blackboard_name][key] = null

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Sprout/addons/beehave/nodes/beehave_node.gd Normal file
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## A node in the behaviour tree. Every node must return `SUCCESS`, `FAILURE` or
## `RUNNING` when ticked.
@tool
class_name BeehaveNode extends BeehaveTree
## Executes this node and returns a status code.
## This method must be overwritten.
func tick(actor: Node, blackboard: Blackboard) -> int:
return SUCCESS
## Called when this node needs to be interrupted before it can return FAILURE or SUCCESS.
func interrupt(actor: Node, blackboard: Blackboard) -> void:
pass

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## Controls the flow of execution of the entire behaviour tree.
@tool
class_name BeehaveRoot extends BeehaveTree
@icon("../icons/tree.svg")
@export var enabled: bool = true:
set(value):
enabled = value
set_physics_process(enabled)
get:
return enabled
@export_node_path var actor_node_path : NodePath
var actor : Node
@onready var blackboard: Blackboard = Blackboard.new()
func _ready() -> void:
if Engine.is_editor_hint():
return
if self.get_child_count() != 1:
push_error("Beehave error: Root %s should have one child (NodePath: %s)" % [self.name, self.get_path()])
disable()
return
actor = get_parent()
if actor_node_path:
actor = get_node(actor_node_path)
set_physics_process(enabled)
func _physics_process(delta: float) -> void:
if Engine.is_editor_hint():
return
blackboard.set_value("delta", delta)
var status = self.get_child(0).tick(actor, blackboard)
# Updates the current running action.
var running_action = get_running_action() if status == RUNNING else null
blackboard.set_value("running_action", running_action)
func _get_configuration_warnings() -> PackedStringArray:
var warnings: PackedStringArray = super._get_configuration_warnings()
if get_child_count() != 1:
warnings.append("BeehaveRoot should have exactly one child node.")
return warnings
func get_running_action() -> ActionLeaf:
var node = get_child(0)
while node != null:
if node is Composite:
node = (node as Composite).running_child
elif node is ActionLeaf:
return node
push_error("Beehave error: Could not find running action in tree root '%s'." % name)
return null
func get_last_condition() -> Variant:
if blackboard.has_value("last_condition"):
return blackboard.get_value("last_condition")
return null
func get_last_condition_status() -> String:
if blackboard.has_value("last_condition_status"):
var status = blackboard.get_value("last_condition_status")
if status == SUCCESS:
return "SUCCESS"
elif status == FAILURE:
return "FAILURE"
else:
return "RUNNING"
return ""
func enable() -> void:
enabled = true
func disable() -> void:
enabled = false

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## Base class for all parts of the behaviour tree.
@tool
class_name BeehaveTree extends Node
@icon("../icons/category_bt.svg")
enum {
SUCCESS,
FAILURE,
RUNNING
}
func _get_configuration_warnings() -> PackedStringArray:
var warnings: PackedStringArray = []
if get_children().any(func(x): return not (x is BeehaveNode)):
warnings.append("All children of this node should inherit from BeehaveNode class.")
return warnings

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Sprout/addons/beehave/nodes/composites/composite.gd Normal file
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## A Composite node controls the flow of execution of its children in a specific manner.
@tool
class_name Composite extends BeehaveNode
@icon("../../icons/category_composite.svg")
var running_child: BeehaveNode = null
func _ready():
if Engine.is_editor_hint():
return
if self.get_child_count() < 1:
push_error("BehaviorTree Error: Composite %s should have at least one child (NodePath: %s)" % [self.name, self.get_path()])
func _get_configuration_warnings() -> PackedStringArray:
var warnings: PackedStringArray = super._get_configuration_warnings()
if get_children().filter(func(x): return x is BeehaveNode).size() < 2:
warnings.append("Any composite node should have at least two children. Otherwise it is not useful.")
return warnings
func interrupt(actor: Node, blackboard: Blackboard) -> void:
if running_child != null:
running_child.interrupt(actor, blackboard)
running_child = null

25
Sprout/addons/beehave/nodes/composites/selector.gd Normal file
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## Selector nodes will attempt to execute each of its children until one of
## them return `SUCCESS`. If all children return `FAILURE`, this node will also
## return `FAILURE`. This node will attempt to process all its children every
## single tick, even if one of them is currently `RUNNING` already.
@tool
class_name SelectorComposite extends Composite
@icon("../../icons/selector.svg")
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response != FAILURE:
if response == SUCCESS:
# Interrupt any child that was RUNNING before.
interrupt(actor, blackboard)
else: # RUNNING
running_child = c
return response
return FAILURE

54
Sprout/addons/beehave/nodes/composites/selector_random.gd Normal file
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## This node will attempt to execute all of its children just like a
## [code]SelectorStar[/code] would, with the exception that the children
## will be executed in a random order.
@tool
class_name SelectorRandomComposite extends Composite
@icon("../../icons/selector_random.svg")
## A shuffled list of the children that will be executed in reverse order.
var _children_bag: Array[Node] = []
var c: Node
func tick(actor: Node, blackboard: Blackboard) -> int:
if _children_bag.is_empty():
_reset()
# We need to traverse the array in reverse since we will be manipulating it.
for i in _get_reversed_indexes():
c = _children_bag[i]
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response == RUNNING:
running_child = c
else:
_children_bag.erase(c)
if response != FAILURE:
if response == SUCCESS:
_reset()
return response
return FAILURE
func interrupt(actor: Node, blackboard: Blackboard) -> void:
_reset()
super(actor, blackboard)
func _get_reversed_indexes() -> Array[int]:
var reversed = range(_children_bag.size())
reversed.reverse()
return reversed
## Generates a new shuffled list of the children.
func _reset() -> void:
_children_bag = get_children().duplicate()
_children_bag.shuffle()

32
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## Selector Star nodes will attempt to execute each of its children until one of
## them return `SUCCESS`. If all children return `FAILURE`, this node will also
## return `FAILURE`. This node will skip all previous child nodes that were
## executed prior, in case one of the children is currently in `RUNNING` state.
@tool
class_name SelectorStarComposite extends Composite
@icon("../../icons/selector_reactive.svg")
var last_execution_index = 0
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
if c.get_index() < last_execution_index:
continue
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response != FAILURE:
if response == SUCCESS:
last_execution_index = 0
else: # RUNNING
running_child = c
return response
else:
last_execution_index += 1
last_execution_index = 0
return FAILURE

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## Sequence nodes will attempt to execute all of its children and report
## `SUCCESS` in case all of the children report a `SUCCESS` status code.
## If at least one child reports a `FAILURE` status code, this node will also
## return `FAILURE`. This node will attempt to process all its children every
## single tick, even if one of them is currently `RUNNING` already.
@tool
class_name SequenceComposite extends Composite
@icon("../../icons/sequence.svg")
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response != SUCCESS:
if response == FAILURE:
# Interrupt any child that was RUNNING before.
interrupt(actor, blackboard)
else: # RUNNING
running_child = c
return response
return SUCCESS

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## This node will attempt to execute all of its children just like a
## [code]SequenceStar[/code] would, with the exception that the children
## will be executed in a random order.
@tool
class_name SequenceRandomComposite extends Composite
@icon("../../icons/sequence_random.svg")
## Whether the sequence should start where it left off after a previous failure.
@export var resume_on_failure: bool = false
## Whether the sequence should start where it left off after a previous interruption.
@export var resume_on_interrupt: bool = false
## A shuffled list of the children that will be executed in reverse order.
var _children_bag: Array[Node] = []
var c: Node
func tick(actor: Node, blackboard: Blackboard) -> int:
if _children_bag.is_empty():
_reset()
# We need to traverse the array in reverse since we will be manipulating it.
for i in _get_reversed_indexes():
c = _children_bag[i]
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response == RUNNING:
running_child = c
else:
_children_bag.erase(c)
if response != SUCCESS:
if not resume_on_failure and response == FAILURE:
_reset()
return response
return SUCCESS
func interrupt(actor: Node, blackboard: Blackboard) -> void:
if not resume_on_interrupt:
_reset()
super(actor, blackboard)
func _get_reversed_indexes() -> Array[int]:
var reversed = range(_children_bag.size())
reversed.reverse()
return reversed
## Generates a new shuffled list of the children.
func _reset() -> void:
_children_bag = get_children().duplicate()
_children_bag.shuffle()

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## Sequence Star nodes will attempt to execute all of its children and report
## `SUCCESS` in case all of the children report a `SUCCESS` status code.
## If at least one child reports a `FAILURE` status code, this node will also
## return `FAILURE`. This node will skip all previous child nodes that succeeded
## prior, in case one of the children is currently in `RUNNING` state
@tool
class_name SequenceStarComposite extends Composite
@icon("../../icons/sequence_reactive.svg")
var successful_index = 0
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
if c.get_index() < successful_index:
continue
var response = c.tick(actor, blackboard)
if c is ConditionLeaf:
blackboard.set_value("last_condition", c)
blackboard.set_value("last_condition_status", response)
if response != SUCCESS:
if response == FAILURE:
successful_index = 0
else: # RUNNING
running_child = c
return response
else:
successful_index += 1
if successful_index == get_child_count():
successful_index = 0
return SUCCESS
else:
successful_index = 0
return FAILURE

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## Decorator nodes are used to transform the result received by its child.
## Must only have one child.
@tool
class_name Decorator extends BeehaveNode
@icon("../../icons/category_decorator.svg")
func _ready():
if Engine.is_editor_hint():
return
if self.get_child_count() != 1:
push_error("Beehave Error: Decorator %s should have only one child (NodePath: %s)" % [self.name, self.get_path()])
func _get_configuration_warnings() -> PackedStringArray:
var warnings: PackedStringArray = super._get_configuration_warnings()
if get_child_count() != 1:
warnings.append("Decorator should have exactly one child node.")
return warnings

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## A Failer node will always return a `FAILURE` status code.
@tool
class_name AlwaysFailDecorator extends Decorator
@icon("../../icons/failer.svg")
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
var response = c.tick(actor, blackboard)
if response == RUNNING:
return RUNNING
return FAILURE

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## An inverter will return `FAILURE` in case it's child returns a `SUCCESS` status
## code or `SUCCESS` in case its child returns a `FAILURE` status code.
@tool
class_name InverterDecorator extends Decorator
@icon("../../icons/inverter.svg")
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
var response = c.tick(actor, blackboard)
if response == SUCCESS:
return FAILURE
if response == FAILURE:
return SUCCESS
if c is Leaf and response == RUNNING:
blackboard.set_value("running_action", c)
return RUNNING
# Decorators must have a child. This should be unreachable code.
return FAILURE

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## The limiter will execute its child `x` amount of times. When the number of
## maximum ticks is reached, it will return a `FAILURE` status code.
@tool
class_name LimiterDecorator extends Decorator
@icon("../../icons/limiter.svg")
@onready var cache_key = 'limiter_%s' % self.get_instance_id()
@export var max_count : float = 0
func tick(actor: Node, blackboard: Blackboard) -> int:
var current_count = blackboard.get_value(cache_key)
if current_count == null:
current_count = 0
if current_count <= max_count:
blackboard.set_value(cache_key, current_count + 1)
return self.get_child(0).tick(actor, blackboard)
else:
return FAILURE

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## A succeeder node will always return a `SUCCESS` status code.
@tool
class_name AlwaysSucceedDecorator extends Decorator
@icon("../../icons/succeeder.svg")
func tick(actor: Node, blackboard: Blackboard) -> int:
for c in get_children():
var response = c.tick(actor, blackboard)
if response == RUNNING:
return RUNNING
return SUCCESS

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## Actions are leaf nodes that define a task to be performed by an actor.
## Their execution can be long running, potentially being called across multiple
## frame executions. In this case, the node should return `RUNNING` until the
## action is completed.
@tool
class_name ActionLeaf extends Leaf
@icon("../../icons/action.svg")

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## Conditions are leaf nodes that either return SUCCESS or FAILURE depending on
## a single simple condition. They should never return `RUNNING`.
@tool
class_name ConditionLeaf extends Leaf
@icon("../../icons/condition.svg")

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## Base class for all leaf nodes of the tree.
@tool
class_name Leaf extends BeehaveNode
@icon("../../icons/category_leaf.svg")
func _get_configuration_warnings() -> PackedStringArray:
var warnings: PackedStringArray = []
var children: Array[Node] = get_children()
if children.any(func(x): return x is BeehaveNode):
warnings.append("Leaf nodes should not have any child nodes. They won't be ticked.")
return warnings

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[plugin]
name="Beehave"
description="🐝 Behaviour Tree addon for Godot Engine"
author="bitbrain"
version="2.5.0"
script="plugin.gd"

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@tool
extends EditorPlugin
func _init():
print("Beehave initialized!")