{"type":"doc","content":[{"type":"paragraph","content":[{"text":"In this section, we are going to create a random sequence behaviour tree composite.","type":"text"}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"heading","attrs":{"level":4},"content":[{"text":"Implement the Atoms composite class.","type":"text"}]},{"type":"paragraph","content":[{"text":"Create a new ","type":"text"},{"text":"MyRandomSequenceAtomsCompositeNode","type":"text","marks":[{"type":"code"}]},{"text":".","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"#include \n\nclass MyRandomSequenceAtomsCompositeNode: public Atoms::Composite\n{\npublic:\n\n\tMyRandomSequenceAtomsCompositeNode(): Atoms::Composite()\n\t{}\n\n\tvirtual ~MyRandomSequenceAtomsCompositeNode() {}\n\n\tstatic const char* staticTypeName() { return \"MyRandomSequence\"; }\n\n\tvirtual const char* typeName() const override { return staticTypeName(); }\n\t\n\tstatic Atoms::Behaviour* creator() { return new MyRandomSequenceAtomsCompositeNode(); }\n\t\npublic:\n\n};","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"heading","attrs":{"level":4},"content":[{"text":"Add attributes to the Atoms composite class","type":"text"}]},{"type":"paragraph","content":[{"text":"We need to expose the same attributes here using the Atoms::Blackboard*Value classes. ","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"#include \n\nclass MyRandomSequenceAtomsCompositeNode: public Atoms::Composite\n{\npublic:\n\n\tMyRandomSequenceAtomsCompositeNode(): Atoms::Composite(), seed(0), m_useAgentIdAsSeed(false), m_useAnimatedSeed(false)\n\t{}\n\n\tvirtual ~MyRandomSequenceAtomsCompositeNode() {}\n\n\tstatic const char* staticTypeName() { return \"MyRandomSequence\"; }\n\n\tvirtual const char* typeName() const override { return staticTypeName(); }\n\t\n\tstatic Atoms::Behaviour* creator() { return new MyRandomSequenceAtomsCompositeNode(); }\n\t\npublic:\n\t\n \tAtoms::BlackboardIntValue m_seed;\n\n\t\tbool m_useAgentIdAsSeed;\n\n\t\tbool m_useAnimatedSeed;\n};","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"paragraph","content":[{"text":"We can now initialize the attributes from the tree and blackboard definition. You need to implement the setAttributes method. It’s here that the blackboard entries are connected to each attribute.","type":"text"}]},{"type":"paragraph","content":[{"text":"Then implement the getAttributes and getAttributesProperty. These methods are used by the behaviour tree editor to inspect and customize the widget for this node.","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"#include \n#include \n#include \n\nclass MyRandomSequenceAtomsCompositeNode: public Atoms::Composite\n{\npublic:\n\n\t...\n\t\n\tvirtual void setAttributes(const AtomsCore::MapMetadata* attributes, Atoms::Blackboard* blackboard) override\n\t{\n\t\tif (!attributes)\n\t\t\treturn;\n\n\t\tComposite::setAttributes(attributes, blackboard);\n\n\t\tgetBlackboardValueFromAttributes(attributes, blackboard, \"seed\", m_seed);\n\n\t\tauto useAgentIdAsSeedMeta = attributes->getTypedEntry(\"useAgentIdAsSeed\");\n\t\tif (useAgentIdAsSeedMeta)\n\t\t\tm_useAgentIdAsSeed = useAgentIdAsSeedMeta->value();\n\n\t\tauto useAnimatedSeedMeta = attributes->getTypedEntry(\"useAnimatedSeed\");\n\t\tif (useAnimatedSeedMeta)\n\t\t\tm_useAnimatedSeed = useAnimatedSeedMeta->value();\n\t}\n\t\n\tvirtual void getAttributes(AtomsCore::MapMetadata* attributes, Blackboard* blackboard) override\n\t{\n\t\tComposite::getAttributes(attributes, blackboard);\n\n\n\t\tAtomsCore::IntMetadata seedMeta(m_seed.value);\n\t\tattributes->addEntry(\"seed\", &seedMeta);\n\n\t\tAtomsCore::BoolMetadata useAgentIdAsSeedMeta(m_useAgentIdAsSeed);\n\t\tattributes->addEntry(\"useAgentIdAsSeed\", &useAgentIdAsSeedMeta);\n\n\t\tAtomsCore::BoolMetadata useAnimatedSeedMeta(m_useAnimatedSeed);\n\t\tattributes->addEntry(\"useAnimatedSeed\", &useAnimatedSeedMeta);\n\t}\n\n\tvirtual void getAttributeProperties(AtomsCore::MapMetadata* attributes) override\n\t{\n\t\tif (!attributes)\n\t\t\treturn;\n\n\t\tComposite::getAttributeProperties(attributes);\n\t\tauto parameters = attributes->getTypedEntry(Atoms::GlobalNameKeys::ATOMS_BEHAVIOUR_TREE_NODE_PARAMETERS_KEY);\n\n\t\tAtomsCore::StringMetadata description(\"Runs the child nodes from highest to lowest priority (top to bottom). Returns Success if all child nodes return Success while returns Failure if any of child nodes return Failure. It will shuffle its child nodes on each reset and execute them in the new order.

Success: When all children finish in Success

Failure: When any child returns Failure

Running : When the current child is Running\");\n\t\tattributes->addEntry(GlobalNameKeys::ATOMS_BEHAVIOUR_TREE_NODE_DESCRIPTION_KEY, &description);\n\n\t\tAtomsCore::StringMetadata tooltip;\n\n\t\tAtomsCore::MapMetadata attributeP;\n\n\t\ttooltip.set(\"The random generator seed\");\n\t\tattributeP.addEntry(Atoms::GlobalNameKeys::ATOMS_BEHAVIOUR_TREE_PARAMETER_DESCRIPTION_KEY, &tooltip);\n\t\tparameters->addEntry(\"seed\", &attributeP);\n\n\t\ttooltip.set(\"Use the simulation to to compute the random generator seed\");\n\t\tattributeP.addEntry(Atoms::GlobalNameKeys::ATOMS_BEHAVIOUR_TREE_PARAMETER_DESCRIPTION_KEY, &tooltip);\n\t\tparameters->addEntry(\"useAnimatedSeed\", &attributeP);\n\n\t\ttooltip.set(\"Use the agent id to compute the random generator seed\");\n\t\tattributeP.addEntry(Atoms::GlobalNameKeys::ATOMS_BEHAVIOUR_TREE_PARAMETER_DESCRIPTION_KEY, &tooltip);\n\t\tparameters->addEntry(\"useAgentIdAsSeed\", &attributeP);\n\t}\n\t\n\t...\n};","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"paragraph","content":[{"text":"It is time to implement the node logic. For a composite node, you can implement these methods:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"initialize: method called to initialize the node instance.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"update: method called at every tick.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"terminate: method called when the node returned success/failure.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"releaseData: called before the destruction of this node instance. Clear here all data allocated on the heap.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"onChildUpdated: called when a child changes its status.","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"For this wait node, we need to implement the initialize to store the init time and then the update to check the timer is elapsed.","type":"text"}]},{"type":"paragraph","content":[{"text":"For decorators and composites node always set at the initialization a SUSPENDED state. Because it needs to wait for for a child update to know if it need to switch to RUNNING/SUCCESS or FAILURE state.","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"#include \n#include \n#include \n\nclass MyRandomSequenceAtomsCompositeNode : public Atoms::Composite\n{\npublic:\n\n\t...\n\tvirtual void initialize(Atoms::BehaviourTreeContext* context, State* data) override;\n\n\tvirtual void update(Atoms::BehaviourTreeContext* context, State* data) override;\n\n\tvirtual void onChildUpdated(Atoms::BehaviourTreeContext* context, State* data, unsigned int childIndex, unsigned short childStatus) override;\n\n virtual void terminate(Atoms::BehaviourTreeContext* context, State* data) override;\n\n\tvirtual void releaseData(Atoms::BehaviourTreeContext* context, State* data) override;\n\n ...\n};","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"heading","attrs":{"level":4},"content":[{"text":"Local storage","type":"text"}]},{"type":"paragraph","content":[{"text":"Each node instance has local storage of 8 bytes that you can use to store data. The storage is defined inside a union inside the State structure.","type":"text"}]},{"type":"paragraph"},{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"\t\tstruct State\n\t\t{\n\t\t\tunion\n\t\t\t{\n\t\t\t\tint intValue;\n\t\t\t\tint int2Value[2];\n\t\t\t\tshort short4Value[4];\n\t\t\t\tfloat float2Value[2];\n\t\t\t\tdouble doubleValue;\n\t\t\t\tvoid* ptrValue;\n\t\t\t};\n\t\t\tunsigned short status;\n\t\t\tunsigned short index;\n\t\t\tunsigned short tickCount;\n\t\t\tunsigned short padding;\n\t\t};","type":"text"}]},{"type":"paragraph","content":[{"text":"If you need to allocate more then 8 byte do something like this:","type":"text"}]},{"type":"codeBlock","content":[{"text":"struct MyStruct\n{\n std::string foo1;\n double foo2\n AtomsMath::Vector3 foo3;\n}\n\ndata->ptrValue = context->allocateMemory();","type":"text"}]},{"type":"paragraph","content":[{"text":"To release the allocated data call","type":"text"}]},{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"context->releaseMemory(reinterpret_cast(data->ptrValue));","type":"text"}]},{"type":"paragraph","content":[{"text":"Please remember to release the allocated data at least inside the releaseData method.","type":"text"}]},{"type":"paragraph"},{"type":"heading","attrs":{"level":4},"content":[{"text":"Access attribute values","type":"text"}]},{"type":"paragraph","content":[{"text":"To access an attribute value you need to use the context->","type":"text"},{"text":"getBlackboardValue","type":"text","marks":[{"type":"code"}]},{"text":"() method. This method automatically returns a reference to the attribute value or to the blackboard entry connected to this attribute.","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"#include \n\nstruct RandomSequenceData\n{\n\tstd::vector children;\n\tunsigned int index;\n};\n\n\nvoid MyRandomSequenceAtomsCompositeNode::initialize(Atoms::BehaviourTreeContext* context, State* data)\n{\n\tdata->status = Status::FAILURE;\n\tdata->ptrValue = nullptr;\n\tif (m_Children.size() > 0) // check if there is any child\n\t{\n\t\tdata->status = Status::SUSPENDEND; // put in susped mode since no child is started\n\t\tauto newData = context->allocateMemory(); //allocate memory for the local custom storage\n\t\tnewData->children = m_Children; // copy the children vectors - we are going to shuffle it\n\t\t{\n\t\t\t//BehaviourTreeContext::AgentScopeLock guard(context->agent);\n\t\t\tif (lock)\n\t\t\t{\n\t\t\t\tcontext->agent->lock();\n\t\t\t}\n\t\t\tunsigned int seed = context->getBlackboardValue(m_seed); // mget the seed from the default value or the blackboard\n\t\t\tif (lock)\n\t\t\t{\n\t\t\t\tcontext->agent->unlock();\n\t\t\t}\n\t\t\tif (m_useAnimatedSeed)\n\t\t\t\tseed += context->tickCount;\n\t\t\tif (m_useAgentIdAsSeed && context->agent && context->agent->groupId())\n\t\t\t\tseed += context->agent->groupId()->value();\n\t\t\tseed += context->tickCount;\n\t\t\tstd::default_random_engine e(seed);\n\t\t\tstd::shuffle(newData->children.begin(), newData->children.end(), e); //chuffle randomly the children vector\n\t\t}\n\t\tnewData->index = 0;\n\t\tdata->ptrValue = newData;\n\t\tcontext->start(newData->children[0]);\n\t}\n}\n\nvoid MyRandomSequenceAtomsCompositeNode::update(Atoms::BehaviourTreeContext* context, State* data)\n{\n\n}\n\nvoid MyRandomSequenceAtomsCompositeNode::onChildUpdated(Atoms::BehaviourTreeContext* context, State* data, unsigned int childIndex, unsigned short childStatus)\n{\n\tif (childStatus == Status::RUNNING) // the current child is in runnign state so put the sequence in runnign as well\n\t{\n\t\tdata->status = childStatus;\n\t\treturn;\n\t}\n\n\tif (!data->ptrValue || childStatus == Status::FAILURE) // the child failed, so set the state to failure as well\n\t{\n\t\tdata->status = childStatus;\n\t\treturn;\n\t}\n\n\tauto newData = reinterpret_cast(data->ptrValue);\n\n\n\tif (++newData->index >= m_Children.size()) //a child is finish so go to the next one or return succes if there is no more children\n\t{\n\t\tdata->status = childStatus;\n\t}\n\telse\n\t{\n\t\tcontext->start(newData->children[newData->index]);\n\t}\n}\n\nvoid MyRandomSequenceAtomsCompositeNode::terminate(Atoms::BehaviourTreeContext* context, State* data)\n{\n}\n\nvoid MyRandomSequenceAtomsCompositeNode::releaseData(Atoms::BehaviourTreeContext* context, State* data)\n{\n\tif (data->ptrValue)\n\t{\n\t\t// release the local storage\n\t\tauto newData = reinterpret_cast(data->ptrValue);\n\t\tcontext->releaseMemory(newData);\n\t\tdata->ptrValue = nullptr;\n\t}\n}","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"paragraph","content":[{"text":"Now it is time to register the node in a plugin","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"paragraph"},{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"extern \"C\"\n{\n ATOMSPLUGIN_EXPORT bool initializePlugin()\n {\n AtomsUtils::Logger::info() << \"Loading MyRandomSequenceBTNode plugin\";\n // Register the node to the factory\n auto& factory = Atoms::BehaviourFactory::instance();\n factory.registerBehaviour(MyRandomSequenceAtomsCompositeNode::staticTypeName(), &MyRandomSequenceAtomsCompositeNode::creator, Atoms::BehaviourFactory::kNative, true, \"Composite\");\n return true;\n }\n \n ATOMSPLUGIN_EXPORT bool unitializePlugin()\n {\n AtomsUtils::Logger::info() << \"Unloading MyRandomSequenceBTNode plugin\";\n // Deregister the node from the node factory\n auto& factory = Atoms::BehaviourFactory::instance();\n manager.deregisterBehaviour(MyRandomSequenceAtomsCompositeNode::staticTypeName());\n return true;\n }\n}","type":"text"}]}]}]},{"type":"layoutSection","content":[{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"heading","attrs":{"level":3},"content":[{"text":"Compile","type":"text"}]},{"type":"paragraph","content":[{"text":"Windows:","type":"text"}]},{"type":"paragraph","content":[{"text":"In visual studio create a dll projects, add the atoms includes and add BUILD_ATOMSPLUGIN to the preprocessor definitions.","type":"text"}]},{"type":"paragraph","content":[{"text":"Linux:","type":"text"}]},{"type":"paragraph","content":[{"text":"Compile as a shared object adding the atoms includes and BUILD_ATOMSPLUGIN to the preprocessor definitions.","type":"text"}]}]},{"type":"layoutColumn","attrs":{"width":50.0},"content":[{"type":"paragraph"}]}]}],"version":1}

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