Jengamon/acerola_jam0_gam - Change AAMZTMKZ5IFWOTPGR3Q57QO6HJUIAXRU4R4NT276A4O4VTL42KEQC

feat(bt): modularize, and add selectors and inverters

Created by Jengamon on March 6, 2024

AAMZTMKZ5IFWOTPGR3Q57QO6HJUIAXRU4R4NT276A4O4VTL42KEQC

Dependencies

[2] G3FE5YP2OBTWE563KVAJTSUGIYNF3NDOVZSOP2DART725GPZRC3QC

In channels

main

Change contents

Replacement in src/simple_bt.rs at line 6 [2.37]
B:BD[2.126] → [2.126:155]
```
pub use composite::Sequence;
```
[2.126]
[2.155]
```
pub use composite::*;
```

Replacement in src/simple_bt.rs at line 198 [2.37]

B:BD[2.4891] → [2.4891:5033]

    use assert2::check;
    use bevy::ecs::{
        system::{CommandQueue, Commands},
        world::World,
    };
    use bevy::prelude::*;

[2.4891]

[2.5033]

    use bevy::ecs::{system::CommandQueue, world::World};

Replacement in src/simple_bt.rs at line 200 [2.37]

B:BD[2.5034] → [2.5034:5190]

    use super::{BehaviorNode, BehaviorRunner, Blackboard, BlackboardValue, NodeResult, Sequence};
    fn create_testing_state() -> (CommandQueue, World) {

[2.5034]

[2.5190]

    pub fn create_testing_state() -> (CommandQueue, World) {

Deletion in src/simple_bt.rs at line 202 [2.37]

B:BD[2.5238] → [2.5238:8428]

    }
    #[derive(Debug)]
    struct MoveTo {
        part: f32,
        goal: Vec2,
    }
    impl BehaviorNode for MoveTo {
        fn tick(&self, blackboard: &mut Blackboard, _commands: &mut Commands) -> NodeResult {
            let Some(BlackboardValue::Point(position)) = blackboard.get_mut("position") else {
                return NodeResult::Failure;
            };
            let movement = (self.goal - *position) * self.part.recip();
            *position += movement;
            const ERROR: f32 = 0.001;
            if (self.goal - *position).length() < ERROR {
                NodeResult::Success
            } else {
                NodeResult::Running(
                    Self {
                        part: self.part,
                        goal: self.goal,
                    }
                    .into(),
                )
            }
        }
    }
    #[test]
    fn test_seequence() {
        let (mut cq, world) = create_testing_state();
        let mut commands = Commands::new(&mut cq, &world);
        let tree1 = MoveTo {
            part: 5.0,
            goal: Vec2::ZERO,
        }
        .arc();
        let tree2 = [
            MoveTo {
                part: 5.0,
                goal: Vec2::ZERO,
            }
            .arc(),
            MoveTo {
                part: 5.0,
                goal: Vec2::splat(5.0),
            }
            .arc(),
        ]
        .into_iter()
        .collect::<Sequence>()
        .arc();
        // With no info, the node should fail
        {
            let mut runner1 = BehaviorRunner::new(tree1.clone());
            check!(!runner1.is_running());
            check!(runner1.proceed(&mut commands) == Some(false));
            let mut runner2 = BehaviorRunner::new(tree2.clone());
            check!(!runner2.is_running());
            check!(runner2.proceed(&mut commands) == Some(false));
        }
        // Set some position
        let starting_position = Vec2::X * 5.0;
        // If a position is set, we will execute the action
        {
            let mut runner1 = BehaviorRunner::new(tree1.clone());
            runner1
                .blackboard_mut()
                .set("position", BlackboardValue::into_point(starting_position));
            check!(runner1.proceed(&mut commands) == None);
            while let Some(BlackboardValue::Point(_)) = runner1.blackboard().get("position") {
                if let Some(res) = runner1.proceed(&mut commands) {
                    // we should succeed
                    check!(res);
                    break;
                }
            }
            let mut runner2 = BehaviorRunner::new(tree2.clone());
            runner2
                .blackboard_mut()
                .set("position", BlackboardValue::into_point(starting_position));
            while let Some(BlackboardValue::Point(pos)) = runner2.blackboard().get("position") {
                eprintln!("position = {pos:?}\nrunner = {runner2:?}");
                if let Some(res) = runner2.proceed(&mut commands) {
                    // we should succeed
                    check!(res);
                    break;
                }
            }
        }

Deletion in src/simple_bt/composite.rs at line 4 [2.8497]

B:BD[2.8587] → [2.8587:10117]


use std::sync::Arc;
use super::{BehaviorArc, BehaviorNode, NodeResult};
pub struct Sequence {
    sub: Arc<[Arc<dyn BehaviorNode>]>,
}
impl std::fmt::Debug for Sequence {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("Sequence<{:p}>", self.sub.as_ref()))
            .field("sub", &self.sub)
            .finish()
    }
}
impl<I: Into<Arc<dyn BehaviorNode>>> FromIterator<I> for Sequence {
    fn from_iter<T: IntoIterator<Item = I>>(iter: T) -> Self {
        Self {
            sub: Arc::from(iter.into_iter().map(Into::into).collect::<Vec<_>>()),
        }
    }
}
impl Sequence {
    fn resume(seq: Arc<[Arc<dyn BehaviorNode>]>, index: usize, resume: BehaviorArc) -> BehaviorArc {
        SequenceResume { seq, resume, index }.into()
    }
}
impl BehaviorNode for Sequence {
    fn tick(
        &self,
        blackboard: &mut super::Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        for (idx, sub) in self.sub.iter().enumerate() {
            match sub.tick(blackboard, commands) {
                NodeResult::Success => {}
                NodeResult::Failure => return NodeResult::Failure,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Self::resume(self.sub.clone(), idx, resume))
                }
            }
        }
        NodeResult::Success
    }
}
struct SequenceResume {
    seq: Arc<[Arc<dyn BehaviorNode>]>,
    resume: BehaviorArc,
    index: usize,
}

Replacement in src/simple_bt/composite.rs at line 5 [2.8497]

B:BD[2.10118] → [2.10118:11448]

impl std::fmt::Debug for SequenceResume {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("SequenceResume<{:p}>", self.seq.as_ref()))
            .field("resume", &self.resume)
            .field("index", &self.index)
            .finish_non_exhaustive()
    }
}
impl BehaviorNode for SequenceResume {
    fn tick(
        &self,
        blackboard: &mut super::Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        // Tick the node we want to resume on
        match self.resume.0.tick(blackboard, commands) {
            NodeResult::Success => {}
            NodeResult::Failure => return NodeResult::Failure,
            NodeResult::Running(resume) => {
                return NodeResult::Running(Sequence::resume(self.seq.clone(), self.index, resume))
            }
        }
        for (idx, sub) in self.seq.iter().enumerate().skip(self.index) {
            match sub.tick(blackboard, commands) {
                NodeResult::Success => {}
                NodeResult::Failure => return NodeResult::Failure,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Sequence::resume(self.seq.clone(), idx, resume))
                }
            }
        }
        NodeResult::Success
    }
}

[2.10118]

pub mod inverter;
pub mod selector;
pub mod sequence;

File addition: composite (d--x------)
[2.8458]

File addition: sequence.rs (----------)

[0.219]

use crate::simple_bt::{BehaviorArc, BehaviorNode, Blackboard, NodeResult};
use std::sync::Arc;
pub struct Sequence {
    pub(crate) sub: Arc<[Arc<dyn BehaviorNode>]>,
}
impl std::fmt::Debug for Sequence {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("Sequence<{:p}>", self.sub.as_ref()))
            .field("sub", &self.sub)
            .finish()
    }
}
impl<I: Into<Arc<dyn BehaviorNode>>> FromIterator<I> for Sequence {
    fn from_iter<T: IntoIterator<Item = I>>(iter: T) -> Self {
        Self {
            sub: Arc::from(iter.into_iter().map(Into::into).collect::<Vec<_>>()),
        }
    }
}
impl Sequence {
    pub(crate) fn resume(
        seq: Arc<[Arc<dyn BehaviorNode>]>,
        index: usize,
        resume: BehaviorArc,
    ) -> BehaviorArc {
        SequenceResume { seq, resume, index }.into()
    }
}
impl BehaviorNode for Sequence {
    fn tick(
        &self,
        blackboard: &mut Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        for (idx, sub) in self.sub.iter().enumerate() {
            match sub.tick(blackboard, commands) {
                NodeResult::Success => {}
                NodeResult::Failure => return NodeResult::Failure,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Self::resume(self.sub.clone(), idx, resume))
                }
            }
        }
        NodeResult::Success
    }
}
pub(crate) struct SequenceResume {
    pub(crate) seq: Arc<[Arc<dyn BehaviorNode>]>,
    pub(crate) resume: BehaviorArc,
    pub(crate) index: usize,
}
impl std::fmt::Debug for SequenceResume {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("SequenceResume<{:p}>", self.seq.as_ref()))
            .field("resume", &self.resume)
            .field("index", &self.index)
            .finish_non_exhaustive()
    }
}
impl BehaviorNode for SequenceResume {
    fn tick(
        &self,
        blackboard: &mut Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        // Tick the node we want to resume on
        match self.resume.0.tick(blackboard, commands) {
            NodeResult::Success => {}
            NodeResult::Failure => return NodeResult::Failure,
            NodeResult::Running(resume) => {
                return NodeResult::Running(Sequence::resume(self.seq.clone(), self.index, resume))
            }
        }
        for (idx, sub) in self.seq.iter().enumerate().skip(self.index) {
            match sub.tick(blackboard, commands) {
                NodeResult::Success => {}
                NodeResult::Failure => return NodeResult::Failure,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Sequence::resume(self.seq.clone(), idx, resume))
                }
            }
        }
        NodeResult::Success
    }
}
#[cfg(test)]
mod tests {
    use super::{BehaviorNode, NodeResult, Sequence};
    use crate::simple_bt::{
        tests::create_testing_state, BehaviorRunner, Blackboard, BlackboardValue,
    };
    use assert2::check;
    use bevy::prelude::*;
    #[derive(Debug)]
    struct MoveTo {
        part: f32,
        goal: Vec2,
    }
    impl BehaviorNode for MoveTo {
        fn tick(&self, blackboard: &mut Blackboard, _commands: &mut Commands) -> NodeResult {
            let Some(BlackboardValue::Point(position)) = blackboard.get_mut("position") else {
                return NodeResult::Failure;
            };
            let movement = (self.goal - *position) * self.part.recip();
            *position += movement;
            const ERROR: f32 = 0.001;
            if (self.goal - *position).length() < ERROR {
                NodeResult::Success
            } else {
                NodeResult::Running(
                    Self {
                        part: self.part,
                        goal: self.goal,
                    }
                    .into(),
                )
            }
        }
    }
    #[test]
    fn test_seequence() {
        let (mut cq, world) = create_testing_state();
        let mut commands = Commands::new(&mut cq, &world);
        let tree1 = MoveTo {
            part: 5.0,
            goal: Vec2::ZERO,
        }
        .arc();
        let tree2 = [
            MoveTo {
                part: 5.0,
                goal: Vec2::ZERO,
            }
            .arc(),
            MoveTo {
                part: 5.0,
                goal: Vec2::splat(5.0),
            }
            .arc(),
        ]
        .into_iter()
        .collect::<Sequence>()
        .arc();
        // With no info, the node should fail
        {
            let mut runner1 = BehaviorRunner::new(tree1.clone());
            check!(!runner1.is_running());
            check!(runner1.proceed(&mut commands) == Some(false));
            let mut runner2 = BehaviorRunner::new(tree2.clone());
            check!(!runner2.is_running());
            check!(runner2.proceed(&mut commands) == Some(false));
        }
        // Set some position
        let starting_position = Vec2::X * 5.0;
        // If a position is set, we will execute the action
        {
            let mut runner1 = BehaviorRunner::new(tree1.clone());
            runner1
                .blackboard_mut()
                .set("position", BlackboardValue::into_point(starting_position));
            check!(runner1.proceed(&mut commands) == None);
            while let Some(BlackboardValue::Point(_)) = runner1.blackboard().get("position") {
                if let Some(res) = runner1.proceed(&mut commands) {
                    // we should succeed
                    check!(res);
                    break;
                }
            }
            let mut runner2 = BehaviorRunner::new(tree2.clone());
            runner2
                .blackboard_mut()
                .set("position", BlackboardValue::into_point(starting_position));
            while let Some(BlackboardValue::Point(pos)) = runner2.blackboard().get("position") {
                eprintln!("position = {pos:?}\nrunner = {runner2:?}");
                if let Some(res) = runner2.proceed(&mut commands) {
                    // we should succeed
                    check!(res);
                    break;
                }
            }
        }
    }
}

File addition: selector.rs (----------)

[0.219]

use crate::simple_bt::{BehaviorArc, BehaviorNode, Blackboard, NodeResult};
use std::sync::Arc;
pub struct Selector {
    pub(crate) sub: Arc<[Arc<dyn BehaviorNode>]>,
}
impl std::fmt::Debug for Selector {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("Selector<{:p}>", self.sub.as_ref()))
            .field("sub", &self.sub)
            .finish()
    }
}
impl<I: Into<Arc<dyn BehaviorNode>>> FromIterator<I> for Selector {
    fn from_iter<T: IntoIterator<Item = I>>(iter: T) -> Self {
        Self {
            sub: Arc::from(iter.into_iter().map(Into::into).collect::<Vec<_>>()),
        }
    }
}
impl Selector {
    pub(crate) fn resume(
        seq: Arc<[Arc<dyn BehaviorNode>]>,
        index: usize,
        resume: BehaviorArc,
    ) -> BehaviorArc {
        SelectorResume { seq, resume, index }.into()
    }
}
impl BehaviorNode for Selector {
    fn tick(
        &self,
        blackboard: &mut Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        for (idx, sub) in self.sub.iter().enumerate() {
            match sub.tick(blackboard, commands) {
                NodeResult::Failure => {}
                NodeResult::Success => return NodeResult::Success,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Self::resume(self.sub.clone(), idx, resume))
                }
            }
        }
        NodeResult::Failure
    }
}
pub(crate) struct SelectorResume {
    pub(crate) seq: Arc<[Arc<dyn BehaviorNode>]>,
    pub(crate) resume: BehaviorArc,
    pub(crate) index: usize,
}
impl std::fmt::Debug for SelectorResume {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct(&format!("SelectorResume<{:p}>", self.seq.as_ref()))
            .field("resume", &self.resume)
            .field("index", &self.index)
            .finish_non_exhaustive()
    }
}
impl BehaviorNode for SelectorResume {
    fn tick(
        &self,
        blackboard: &mut Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> NodeResult {
        // Tick the node we want to resume on
        match self.resume.0.tick(blackboard, commands) {
            NodeResult::Failure => {}
            NodeResult::Success => return NodeResult::Success,
            NodeResult::Running(resume) => {
                return NodeResult::Running(Selector::resume(self.seq.clone(), self.index, resume))
            }
        }
        for (idx, sub) in self.seq.iter().enumerate().skip(self.index) {
            match sub.tick(blackboard, commands) {
                NodeResult::Failure => {}
                NodeResult::Success => return NodeResult::Success,
                NodeResult::Running(resume) => {
                    return NodeResult::Running(Selector::resume(self.seq.clone(), idx, resume))
                }
            }
        }
        NodeResult::Failure
    }
}

File addition: inverter.rs (----------)

[0.219]

use crate::simple_bt::{BehaviorArc, BehaviorNode, Blackboard, NodeResult};
use std::sync::Arc;
#[derive(Debug)]
pub struct Inverter {
    child: Arc<dyn BehaviorNode>,
}
impl Inverter {
    pub fn new(child: Arc<dyn BehaviorNode>) -> Self {
        Self { child }
    }
}
impl From<BehaviorArc> for Inverter {
    fn from(value: BehaviorArc) -> Self {
        Self {
            child: value.0.clone(),
        }
    }
}
impl BehaviorNode for Inverter {
    fn tick(
        &self,
        blackboard: &mut Blackboard,
        commands: &mut bevy::prelude::Commands,
    ) -> crate::simple_bt::NodeResult {
        match self.child.tick(blackboard, commands) {
            NodeResult::Success => NodeResult::Failure,
            NodeResult::Failure => NodeResult::Success,
            NodeResult::Running(resume) => NodeResult::Running(Inverter::from(resume).into()),
        }
    }
}
#[cfg(test)]
mod tests {}

feat(bt): modularize, and add selectors and inverters

Dependencies

In channels

Change contents

Replacement in src/simple_bt.rs at line 6 [2.37]

Replacement in src/simple_bt.rs at line 198 [2.37]

Replacement in src/simple_bt.rs at line 200 [2.37]

Deletion in src/simple_bt.rs at line 202 [2.37]

Deletion in src/simple_bt/composite.rs at line 4 [2.8497]

Replacement in src/simple_bt/composite.rs at line 5 [2.8497]

File addition: composite (d--x------)

File addition: sequence.rs (----------)

File addition: selector.rs (----------)

File addition: inverter.rs (----------)