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/*
*****************************************************************************
* This file is part of the Behavior Tree Starter Kit.
*
* Copyright (c) 2012, AiGameDev.com
*
* Credits: Alex J. Champandard
****************************************************************************
*/
#
include
<
stdint.h
>
#
include
<
vector
>
#
include
<
limits
>
#
include
"
Shared.h
"
#
include
"
Test.h
"
namespace
bt3
{
// ============================================================================
enum
Status
{
BH_INVALID
,
BH_SUCCESS
,
BH_FAILURE
,
BH_RUNNING
,
};
class
Behavior
{
public:
Behavior
()
: m_eStatus(
BH_INVALID
)
{
}
virtual
~Behavior
()
{
}
Status
tick
()
{
if
(m_eStatus ==
BH_INVALID
)
onInitialize
();
m_eStatus =
update
();
if
(m_eStatus !=
BH_RUNNING
)
onTerminate
(m_eStatus);
return
m_eStatus;
}
protected:
virtual
Status
update
() = 0;
virtual
void
onInitialize
() {}
virtual
void
onTerminate
(Status) {}
Status m_eStatus;
};
typedef
std::vector<Behavior*> Behaviors;
//
----------------------------------------------------------------------------
const
size_t
k_MaxBehaviorTreeMemory =
8192
;
class
BehaviorTree
{
public:
BehaviorTree
()
: m_pBuffer(
new
uint8_t
[k_MaxBehaviorTreeMemory])
, m_iOffset(
0
)
{
}
~BehaviorTree
()
{
delete []
m_pBuffer;
}
template
<
typename
T>
T&
allocate
()
{
T* node =
new
((
void
*)((
uintptr_t
)m_pBuffer + m_iOffset)) T;
m_iOffset +=
sizeof
(T);
ASSERT
(m_iOffset < k_MaxBehaviorTreeMemory);
return
*node;
}
protected:
uint8_t
* m_pBuffer;
size_t
m_iOffset;
};
//
----------------------------------------------------------------------------
struct
MockBehavior
:
public
Behavior
{
int
m_iInitializeCalled;
int
m_iTerminateCalled;
int
m_iUpdateCalled;
Status m_eReturnStatus;
Status m_eTerminateStatus;
MockBehavior
()
: m_iInitializeCalled(
0
)
, m_iTerminateCalled(
0
)
, m_iUpdateCalled(
0
)
, m_eReturnStatus(
BH_RUNNING
)
, m_eTerminateStatus(
BH_INVALID
)
{
}
virtual
~MockBehavior
()
{
}
virtual
void
onInitialize
()
{
++m_iInitializeCalled;
}
virtual
void
onTerminate
(Status s)
{
++m_iTerminateCalled;
m_eTerminateStatus = s;
}
virtual
Status
update
()
{
++m_iUpdateCalled;
return
m_eReturnStatus;
}
};
TEST
(StarterKit2, TaskInitialize)
{
BehaviorTree bt;
MockBehavior& t = bt.
allocate
<MockBehavior>();
CHECK_EQUAL
(
0
, t.
m_iInitializeCalled
);
t.
tick
();
CHECK_EQUAL
(
1
, t.
m_iInitializeCalled
);
};
TEST
(StarterKit2, TaskUpdate)
{
BehaviorTree bt;
MockBehavior& t = bt.
allocate
<MockBehavior>();
CHECK_EQUAL
(
0
, t.
m_iUpdateCalled
);
t.
tick
();
CHECK_EQUAL
(
1
, t.
m_iUpdateCalled
);
};
TEST
(StarterKit2, TaskTerminate)
{
BehaviorTree bt;
MockBehavior& t = bt.
allocate
<MockBehavior>();
t.
tick
();
CHECK_EQUAL
(
0
, t.
m_iTerminateCalled
);
t.
m_eReturnStatus
=
BH_SUCCESS
;
t.
tick
();
CHECK_EQUAL
(
1
, t.
m_iTerminateCalled
);
};
// ============================================================================
const
size_t
k_MaxChildrenPerComposite =
7
;
class
Composite
:
public
Behavior
{
public:
Composite
()
: m_ChildCount(
0
)
{
}
void
addChild
(Behavior& child)
{
ASSERT
(m_ChildCount < k_MaxChildrenPerComposite);
ptrdiff_t
p = (
uintptr_t
)&child - (
uintptr_t
)
this
;
ASSERT
(p < std::numeric_limits<
uint16_t
>::
max
());
m_Children[m_ChildCount++] =
static_cast
<
uint16_t
>(p);
}
Behavior&
getChild
(
size_t
index)
{
ASSERT
(index < m_ChildCount);
return
*(Behavior*)((
uintptr_t
)
this
+ m_Children[index]);
}
size_t
getChildCount
()
const
{
return
m_ChildCount;
}
private:
uint16_t
m_Children[k_MaxChildrenPerComposite];
uint16_t
m_ChildCount;
};
class
Sequence
:
public
Composite
{
protected:
virtual
~Sequence
()
{
}
virtual
void
onInitialize
()
{
m_Current =
0
;
}
virtual
Status
update
()
{
for
(;;)
{
Status s =
getChild
(m_Current).
tick
();
if
(s !=
BH_SUCCESS
)
{
return
s;
}
ASSERT
(m_Current < std::numeric_limits<
uint16_t
>::
max
() -
1
);
if
(++m_Current ==
getChildCount
())
{
return
BH_SUCCESS
;
}
}
}
uint16_t
m_Current;
};
//
----------------------------------------------------------------------------
template
<
class
COMPOSITE
>
class
MockComposite
:
public
COMPOSITE
{
public:
void
initialize
(BehaviorTree& tree,
size_t
size)
{
for
(
size_t
i=
0
; i<size; ++i)
{
MockBehavior& t = tree.
allocate
<MockBehavior>();
COMPOSITE::addChild
(t);
}
}
MockBehavior&
operator
[](
size_t
index)
{
ASSERT
(index <
COMPOSITE::getChildCount
());
return
*
static_cast
<MockBehavior*>(&
COMPOSITE::getChild
(index));
}
};
typedef
MockComposite<Sequence> MockSequence;
TEST
(StarterKit2, SequenceOnePassThrough)
{
BehaviorTree bt;
Status status[
2
] = {
BH_SUCCESS
,
BH_FAILURE
};
for
(
int
i=
0
; i<
2
; ++i)
{
MockSequence& seq = bt.
allocate
<MockSequence>();
seq.
initialize
(bt,
1
);
CHECK_EQUAL
(seq.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, seq[
0
].
m_iTerminateCalled
);
seq[
0
].
m_eReturnStatus
= status[i];
CHECK_EQUAL
(seq.
tick
(), status[i]);
CHECK_EQUAL
(
1
, seq[
0
].
m_iTerminateCalled
);
}
}
TEST
(StarterKit2, SequenceTwoFails)
{
BehaviorTree bt;
MockSequence& seq = bt.
allocate
<MockSequence>();
seq.
initialize
(bt,
2
);
CHECK_EQUAL
(seq.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, seq[
0
].
m_iTerminateCalled
);
seq[
0
].
m_eReturnStatus
=
BH_FAILURE
;
CHECK_EQUAL
(seq.
tick
(),
BH_FAILURE
);
CHECK_EQUAL
(
1
, seq[
0
].
m_iTerminateCalled
);
}
TEST
(StarterKit2, SequenceTwoContinues)
{
BehaviorTree bt;
MockSequence& seq = bt.
allocate
<MockSequence>();
seq.
initialize
(bt,
2
);
CHECK_EQUAL
(seq.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, seq[
0
].
m_iTerminateCalled
);
seq[
0
].
m_eReturnStatus
=
BH_SUCCESS
;
CHECK_EQUAL
(seq.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
1
, seq[
0
].
m_iTerminateCalled
);
}
// ============================================================================
class
Selector
:
public
Composite
{
protected:
virtual
~Selector
()
{
}
virtual
void
onInitialize
()
{
m_Current =
0
;
}
virtual
Status
update
()
{
for
(;;)
{
Status s =
getChild
(m_Current).
tick
();
if
(s !=
BH_FAILURE
)
{
return
s;
}
ASSERT
(m_Current < std::numeric_limits<
uint16_t
>::
max
() -
1
);
if
(++m_Current ==
getChildCount
())
{
return
BH_FAILURE
;
}
}
}
uint16_t
m_Current;
};
typedef
MockComposite<Selector> MockSelector;
//
----------------------------------------------------------------------------
TEST
(StarterKit2, SelectorOnePassThrough)
{
BehaviorTree bt;
Status status[
2
] = {
BH_SUCCESS
,
BH_FAILURE
};
for
(
int
i=
0
; i<
2
; ++i)
{
MockSelector& sel = bt.
allocate
<MockSelector>();
sel.
initialize
(bt,
1
);
CHECK_EQUAL
(sel.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, sel[
0
].
m_iTerminateCalled
);
sel[
0
].
m_eReturnStatus
= status[i];
CHECK_EQUAL
(sel.
tick
(), status[i]);
CHECK_EQUAL
(
1
, sel[
0
].
m_iTerminateCalled
);
}
}
TEST
(StarterKit2, SelectorTwoContinues)
{
BehaviorTree bt;
MockSelector& sel = bt.
allocate
<MockSelector>();
sel.
initialize
(bt,
2
);
CHECK_EQUAL
(sel.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, sel[
0
].
m_iTerminateCalled
);
sel[
0
].
m_eReturnStatus
=
BH_FAILURE
;
CHECK_EQUAL
(sel.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
1
, sel[
0
].
m_iTerminateCalled
);
}
TEST
(StarterKit2, SelectorTwoSucceeds)
{
BehaviorTree bt;
MockSelector& sel = bt.
allocate
<MockSelector>();
sel.
initialize
(bt,
2
);
CHECK_EQUAL
(sel.
tick
(),
BH_RUNNING
);
CHECK_EQUAL
(
0
, sel[
0
].
m_iTerminateCalled
);
sel[
0
].
m_eReturnStatus
=
BH_SUCCESS
;
CHECK_EQUAL
(sel.
tick
(),
BH_SUCCESS
);
CHECK_EQUAL
(
1
, sel[
0
].
m_iTerminateCalled
);
}
}
//
namespace bt3
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