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Add abort_on_failure policy to BTProbabilitySelector

This commit is contained in:
Serhii Snitsaruk 2023-09-24 16:45:10 +02:00
parent b33c1cae31
commit 32cbce6b80
3 changed files with 44 additions and 0 deletions
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16
bt/tasks/composites/bt_probability_selector.cpp
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@ -40,6 +40,15 @@ void BTProbabilitySelector::set_probability(int p_index, double p_probability) {
_set_weight(p_index, new_total - others_total);
}
void BTProbabilitySelector::set_abort_on_failure(bool p_abort_on_failure) {
abort_on_failure = p_abort_on_failure;
emit_changed();
}
bool BTProbabilitySelector::get_abort_on_failure() const {
return abort_on_failure;
}
void BTProbabilitySelector::_enter() {
_select_task();
}
@ -53,6 +62,9 @@ BT::Status BTProbabilitySelector::_tick(double p_delta) {
while (selected_task.is_valid()) {
Status status = selected_task->execute(p_delta);
if (status == FAILURE) {
if (abort_on_failure) {
return FAILURE;
}
failed_tasks.insert(selected_task);
_select_task();
} else { // RUNNING or SUCCESS
@ -98,4 +110,8 @@ void BTProbabilitySelector::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_weight", "p_index", "p_weight"), &BTProbabilitySelector::set_weight);
ClassDB::bind_method(D_METHOD("get_probability", "p_index"), &BTProbabilitySelector::get_probability);
ClassDB::bind_method(D_METHOD("set_probability", "p_index", "p_probability"), &BTProbabilitySelector::set_probability);
ClassDB::bind_method(D_METHOD("get_abort_on_failure"), &BTProbabilitySelector::get_abort_on_failure);
ClassDB::bind_method(D_METHOD("set_abort_on_failure", "p_value"), &BTProbabilitySelector::set_abort_on_failure);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "abort_on_failure"), "set_abort_on_failure", "get_abort_on_failure");
}

4
bt/tasks/composites/bt_probability_selector.h
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@ -23,6 +23,7 @@ class BTProbabilitySelector : public BTComposite {
private:
HashSet<Ref<BTTask>> failed_tasks;
Ref<BTTask> selected_task;
bool abort_on_failure = false;
void _select_task();
@ -50,6 +51,9 @@ public:
double get_probability(int p_index) const;
void set_probability(int p_index, double p_probability);
void set_abort_on_failure(bool p_abort_on_failure);
bool get_abort_on_failure() const;
};
#endif // BT_PROBABILITY_SELECTOR_H

24
tests/test_probability_selector.h
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@ -157,6 +157,30 @@ TEST_CASE("[Modules][LimboAI] BTProbabilitySelector") {
CHECK(task3->num_ticks > 5750);
CHECK(task3->num_ticks < 6750);
}
SUBCASE("Test abort_on_failure") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::FAILURE;
task3->ret_status = BTTask::FAILURE;
int expected_child_executions = 0;
SUBCASE("When abort_on_failure == false") {
sel->set_abort_on_failure(false);
expected_child_executions = 3;
}
SUBCASE("When abort_on_failure == true") {
sel->set_abort_on_failure(true);
expected_child_executions = 1;
}
sel->execute(0.01666);
int num_ticks = task1->num_ticks + task2->num_ticks + task3->num_ticks;
CHECK(num_ticks == expected_child_executions);
int num_entries = task1->num_entries + task2->num_entries + task3->num_entries;
CHECK(num_entries == expected_child_executions);
int num_exits = task1->num_exits + task2->num_exits + task3->num_exits;
CHECK(num_exits == expected_child_executions);
}
}
} //namespace TestProbabilitySelector