Add Agent Movement Example

Author: kthecoder

Assets/blue_rose.png

@@ -13,12 +13,6 @@ class AgentContext : public BaseContext<WsAgent, uint8_t, AgentWorldState>
 
     bool &Done() { return _done; }
 
-    bool HasStateOneParam(WsAgent state)
-    {
-        uint8_t one = 1;
-        return BaseContext::HasState(state, one);
-    }
-
     void SetStateAgent(WsAgent state, int value)
     {
         _WorldState->SetState(static_cast<WsAgent>(state), static_cast<uint8_t>(value));

Assets/purple_rose.png

@@ -1,4 +1,5 @@
 #include "FluidHTN/BaseDomainBuilder.h"
+#include "AgentContext.h"
 
 #include <godot_cpp/core/class_db.hpp>
 #include <godot_cpp/classes/script.hpp>
@@ -52,17 +53,11 @@ class AgentDomainBuilder final : public BaseDomainBuilder
             if (agentNode->has_method("moveTo"))
             {
                 // Call the
-                Variant result = agentNode->call("moveTo");
+                int result = agentNode->call("moveTo");
 
                 //? Can print output using: UtilityFunctions::print(result);
-                if (result)
-                {
-                    return TaskStatus::Success;
-                }
-                else
-                {
-                    return TaskStatus::Failure;
-                }
+                // UtilityFunctions::print(result);
+                return static_cast<TaskStatus>(result);
             }
             else
             {
@@ -86,4 +81,26 @@ class AgentDomainBuilder final : public BaseDomainBuilder
 
         End();
     }
+
+    /**
+     *
+     *  Task : Idle
+     *
+     *  Description : Always succeeds the default state
+     *
+     */
+
+    TaskStatus IdleOperator(IContext &ctx)
+    {
+        return TaskStatus::Success;
+    }
+
+    void Idle()
+    {
+        AddAction("Idle");
+
+        AddOperator(std::bind(&AgentDomainBuilder::IdleOperator, this, std::placeholders::_1));
+
+        End();
+    }
 };

extension/src/Agents/AgentContext.h

@@ -43,6 +43,10 @@ class AgentXDomainDefinition
         builder.MoveTo();
         builder.End(); // End the Selector
 
+        builder.AddSelector("Idle");
+        builder.Idle();
+        builder.End(); // End the Selector
+
         return *builder.Build();
     }
 };

extension/src/Agents/AgentDomainBuilder.h

@@ -27,14 +27,13 @@ typedef uint8_t MovementTy;
 
 class AgentWorldState : public IWorldState<WsAgent, uint8_t, AgentWorldState>
 {
-    uint8_t CurrentWorldState[3];
+    uint8_t CurrentWorldState[2];
     EnemyRange currentRange;
 
 public:
     AgentWorldState()
     {
         // TODO : Initial States for the Agent are setup here
-        currentRange = static_cast<EnemyRange>(CurrentWorldState[static_cast<int>(WsAgent::wsEnemyRange)]);
         CurrentWorldState[(int)(WsAgent::wsEnemyRange)] = (int)(EnemyRange::InViewRange);
         CurrentWorldState[(int)(WsAgent::wsEnemyRange)] = (int)(AgentMovement::Arrived);
     }
@@ -49,5 +48,5 @@ class AgentWorldState : public IWorldState<WsAgent, uint8_t, AgentWorldState>
     void SetState(WsAgent state, uint8_t value) { CurrentWorldState[(int)state] = value; }
 
     //! Size must match the CurrentWorldState length
-    int GetMaxPropertyCount() { return 3; }
+    int GetMaxPropertyCount() { return 2; }
 };

extension/src/Agents/Domains/AgentXDomainDefinition.h

@@ -72,6 +72,16 @@ void AIBlueAgent::vision_sensor(int state, int value)
     _context.SetStateAgent(wsAgentState, MovementTy(movementValue), true, FluidEffectType::PlanAndExecute);
 }
 
+void AIBlueAgent::movement_update(int state, int value)
+{
+    // Get Agent Movement State in the Agents Knowledge
+    WsAgent wsAgentState = static_cast<WsAgent>(state);
+    // Get the value to assign to that agents Knowledge State
+    AgentMovement movementValue = static_cast<AgentMovement>(value);
+
+    _context.SetStateAgent(wsAgentState, MovementTy(movementValue), true, FluidEffectType::PlanAndExecute);
+}
+
 /**
  *  Bind Methods
  *
@@ -84,4 +94,5 @@ void AIBlueAgent::_bind_methods()
     ClassDB::bind_method(D_METHOD("agent_setup", "node"), &AIBlueAgent::agent_setup);
     ClassDB::bind_method(D_METHOD("planner_tick"), &AIBlueAgent::planner_tick);
     ClassDB::bind_method(D_METHOD("vision_sensor", "state", "value"), &AIBlueAgent::vision_sensor);
+    ClassDB::bind_method(D_METHOD("movement_update", "state", "value"), &AIBlueAgent::vision_sensor);
 }

extension/src/Agents/Knowledge/AgentWorldState.h

@@ -45,6 +45,7 @@ class AIBlueAgent : public Node3D
     // TODO : Add all your sensors to the top level class here
 
     void vision_sensor(int state, int value);
+    void movement_update(int state, int value);
 };
 
 #endif // AIBlueAgent_CLASS_H

extension/src/ai_blue_agent.cpp

@@ -3,25 +3,26 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://u0gogcd360ri"
-path="res://.godot/imported/texture_02.png-d4187abbfcd14895e27c92dfa618c8ab.ctex"
+path.s3tc="res://.godot/imported/texture_02.png-d4187abbfcd14895e27c92dfa618c8ab.s3tc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://assets/textures/Prototype/Dark/texture_02.png"
-dest_files=["res://.godot/imported/texture_02.png-d4187abbfcd14895e27c92dfa618c8ab.ctex"]
+dest_files=["res://.godot/imported/texture_02.png-d4187abbfcd14895e27c92dfa618c8ab.s3tc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
 roughness/mode=0
 roughness/src_normal=""
@@ -31,4 +32,4 @@ process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

extension/src/ai_blue_agent.h

@@ -0,0 +1,49 @@
+[gd_scene load_steps=6 format=3 uid="uid://d1l8jr35roq11"]
+
+[ext_resource type="Script" path="res://controller/agent/AgentController.gd" id="1_3lcxf"]
+[ext_resource type="PackedScene" uid="uid://cmax004dml8eg" path="res://assets/models/triangle.tscn" id="1_j6i1g"]
+
+[sub_resource type="GDScript" id="GDScript_iqtkw"]
+
+[sub_resource type="SphereShape3D" id="SphereShape3D_2sch0"]
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_lhsr8"]
+points = PackedVector3Array(-0.000414371, -1.08583, -1.59394, -0.413111, -1.08583, -1.56336, -0.000414371, 1, -0.00031209, 0.412696, -1.08583, -1.56336, -0.810062, -1.08583, -1.47286, -1.17594, -1.08583, -1.32558, -1.49665, -1.08583, -1.12712, -1.76018, -1.08583, -0.885591, -1.95575, -1.08583, -0.610053, -2.07591, -1.08583, -0.311111, -2.11652, -1.08583, -0.00031209, -2.07591, -1.08583, 0.310799, -1.95575, -1.08583, 0.609741, -1.76018, -1.08583, 0.885279, -1.49665, -1.08583, 1.1268, -1.17594, -1.08583, 1.32527, -0.810062, -1.08583, 1.47255, -0.413111, -1.08583, 1.56305, -0.000414371, -1.08583, 1.59394, 0.412696, -1.08583, 1.56305, 0.809648, -1.08583, 1.47255, 1.17552, -1.08583, 1.32527, 1.49623, -1.08583, 1.1268, 1.75976, -1.08583, 0.885279, 1.95534, -1.08583, 0.609741, 2.0755, -1.08583, 0.310799, 2.11652, -1.08583, -0.00031209, 2.0755, -1.08583, -0.311111, 1.95534, -1.08583, -0.610053, 1.75976, -1.08583, -0.885591, 1.49623, -1.08583, -1.12712, 1.17552, -1.08583, -1.32558, 0.809648, -1.08583, -1.47286)
+
+[node name="AgentController" type="CharacterBody3D" groups=["Agent"]]
+script = ExtResource("1_3lcxf")
+
+[node name="AIBlueAgent" type="AIBlueAgent" parent="."]
+
+[node name="AgentBrain" type="Node3D" parent="."]
+script = SubResource("GDScript_iqtkw")
+
+[node name="AgentModel" type="Node3D" parent="."]
+
+[node name="triangle" parent="AgentModel" instance=ExtResource("1_j6i1g")]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(2.2, 0, 0, 0, 2.2, 0, 0, 0, 2.2, 0, 1.11032, 0)
+shape = SubResource("SphereShape3D_2sch0")
+
+[node name="VisionArea" type="Area3D" parent="."]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="VisionArea"]
+transform = Transform3D(12, 0, 0, 0, -5.24537e-07, -12, 0, 12, -5.24537e-07, 0, 1, -11.057)
+shape = SubResource("ConvexPolygonShape3D_lhsr8")
+
+[node name="AgentTickRate" type="Timer" parent="."]
+autostart = true
+
+[node name="VisionSensor" type="Timer" parent="."]
+wait_time = 0.15
+autostart = true
+
+[node name="VisionRayCast" type="RayCast3D" parent="."]
+
+[node name="NavigationAgent3D" type="NavigationAgent3D" parent="."]
+avoidance_enabled = true
+
+[connection signal="timeout" from="VisionSensor" to="." method="_on_vision_sensor_timeout"]
+
+[editable path="AgentModel/triangle"]