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Replaced our NPC AI with Behavior Trees. (#96628)
This PR replaces our current NPC AI with a [behavior tree system](https://en.wikipedia.org/wiki/Behavior_tree_(artificial_intelligence,_robotics_and_control)). Behavior trees are a common way of creating AI in which you place nodes in a tree structure to define what actions an AI should take. AI controllers defined a list of /datum/ai_planning_subtree types in behavior_nodes. Each subtree was a self-contained unit that could call queue_behavior() to fire off /datum/ai_behavior actions. The controller iterated subtrees in order, each one deciding independently whether to queue something and deciding whether the next subtree would run. This has a few issues: 1. There's no real structure; you are just defining a list of things to try in order. 2. There was a loooot of subtrees that were basically the same as another but with some slight modification 3. It was hard to understand. Controllers now define a single json file describing a tree of nodes. The tree is composed of structural composites: Sequence - do A, then B, then C (and so on) Selector - try A, if it fails try B, then C (and so on) Parallel - run A and B simultaneously, with configurable failure/success policies and or looping behavior Subplan - loop a child continiously Along that we also have "Decorators". These are nodes that basically check a condition (E.g.; do we have a combat target). These decorators can be used to gate behavior and are re-useable across behavior trees. They also have a concept known as "Observers". Which lets them cancel lower priority behavior in case their condition changes (Which we check whenever a signal fires that fits that specific decorator). This makes the AI much more responsive to change in environment. For behaviors, we still use the ai_behavior datums. These are the actual behaviors such as "Move to X", "Attack X". The only major change is that these can no longer sleep() since they now run in the ai_controller. Lastly, we now also have subtrees, except now they are essentially pieces of behavior tree that can be re-used, or even overriden at runtime or as a variable. Allowing for making modular AI made out of several smaller trees. You can set variables on these nodes directly via the extension (see below), which should reduce the need to make subtypes of behaviors by a lot. All of these vars are saved on the JSON and will be applied at runtime. If you are using subtrees, you can also assign "bindings" to these variables, which will allow instances of the subtree to override those variables. Since a tree structure with variables becomes hard to parse in a JSON, I've made a VSCode extension to edit these JSONs: https://marketplace.visualstudio.com/items?itemName=BehaviorTreeG.behaviortreeg https://github.com/CabinetOnFire/BehaviorTreeG <img width="1795" height="1268" alt="image" src="https://github.com/user-attachments/assets/56aa2f0b-3cf9-449f-bca4-8281fca82db6" /> This extension allows you to edit the behavior tree JSONs, and browse through all the behaviors/decorators/subtrees we have If you'd like more info on how to build these AI check out the learn_ai.md. I will also make a tutorial to go over more depth on what the system offers because I kind of suck at doing technical write-ups. Targetting has been changed to. I've made a new acquire_targets behavior that takes a target_source (what am I targetting) and targetting_strategy (what does the candidate need to fulfill to be considered a target). This allows us to make composites targetting combinations to reduce the amount of specific find_and_set esque behaviors we had before. Not everything is ported to this system but that would be a longer term goal. I've added a new build_bt script that converts all the behavior tree JSONs into compiled versions. Why is this needed? Because I wanted to keep using defines in behavior trees, so we need a way to convert this into literal values before we send it to DM. This script runs on compile and should also run in CI (If I didn't fuck that up!). This saves to a new build/ folder. I've ported every single AI in the game to this system (except raptors, Kobsa is working on those so should be in soon!), so I do expect some bugs to come out of this. But I also fixed some issues that have probably been in the game for a long time such as: - Fixed penguins being unable to fish - Fixed bileworms not being able to devour people - Fixes goldgrubs not grubbing gold (they could not mine!) - Lizards actually eat food they find Either way, I'd reccomend a long TM on this. 1. (Hopefully) a better development experience for making AI 2. Less copy-paste for behaviors, we should be able to re-use more pieces to make behavior 3. Behavior trees is a more common pattern in making AI, so it should be easier to find resources to find out how to do things. 🆑 CabinetOnFire, Iamgoofball, SmartKar, Ben10omintrix refactor: Replaces our AI system with behavior trees, porting all datum/ai to it /🆑 I will add this PR with more details down the line. I think I got the big picture but its a big PR, so sorry if I missed something important. --------- Co-authored-by: Iamgoofball <iamgoofball@gmail.com> Co-authored-by: SmArtKar <44720187+SmArtKar@users.noreply.github.com> Co-authored-by: Ghom <42542238+Ghommie@users.noreply.github.com> Co-authored-by: Ben10Omintrix <138636438+Ben10Omintrix@users.noreply.github.com> Co-authored-by: SyncIt21 <110812394+SyncIt21@users.noreply.github.com>
This commit is contained in:
CabinetOnFire
committed by
The Sharkenning
The Sharkenning
co-authored by
Iamgoofball
SmArtKar
Ghom
Ben10Omintrix
SyncIt21
Iamgoofball
SmArtKar
Ghom
Ben10Omintrix
SyncIt21
parent
ad0d6a3e7d
commit
df7832aa43
@@ -1,35 +1,87 @@
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/// How many of the most expensive controllers to track per pass for the MC stat entry
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#define AI_STAT_EXPENSIVE_TRACKED 5
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/// The subsystem used to tick [/datum/ai_controllers] instances. Handling the re-checking of plans.
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SUBSYSTEM_DEF(ai_controllers)
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name = "AI Controller Ticker"
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ss_flags = SS_POST_FIRE_TIMING|SS_BACKGROUND
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ss_flags = SS_POST_FIRE_TIMING
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priority = FIRE_PRIORITY_NPC
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dependencies = list(
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/datum/controller/subsystem/movement/ai_movement,
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)
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wait = 0.5 SECONDS //Plan every half second if required, not great not terrible.
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wait = 0.25 SECONDS //Plan every 1/4th second if required. In theory your AI should not be planning this much, but its useful because we want planning to be responsive when a previous plan ends.
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runlevels = RUNLEVEL_GAME | RUNLEVEL_POSTGAME
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var/list/currentrun = list()
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///type of status we are interested in running
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var/planning_status = AI_STATUS_ON
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/// The average tick cost of all active AI, calculated on fire.
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var/our_cost
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/// The tick cost of all currently processed AI, being summed together
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/// CPU cost accumulated by the in-progress pass, summed across fires.
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var/summing_cost
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/// world.time at which the in-progress pass started.
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var/pass_started
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/// How many controllers the in-progress pass started with.
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var/pass_size
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/// Average wall-clock duration for a full pass on controllers
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var/average_pass_time
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/// Longest gap any single controller went between two ticks.
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var/longest_tick_gap
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/// Running longest tick gap of the in-progress pass.
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var/summing_tick_gap
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/// Display strings for the most expensive controllers of the last completed pass, most expensive first.
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var/list/most_expensive = list()
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/// Worst SelectBehaviors cost seen this round.
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var/worst_controller_cost = 0
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/// Display string for the controller responsible for worst_controller_cost.
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var/worst_controller_name
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/// Running top-cost candidates of the in-progress pass. Assoc list of controller -> SelectBehaviors cost in ms, has a capped amount of entries
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var/list/summing_expensive = list()
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/// Cheapest cost in summing_expensive once it's full; a controller must beat this to enter the list.
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var/summing_expensive_cutoff = 0
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/// List of all targeting_strategy singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_targeting_strats()
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var/list/targeting_strategies
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/// List of all target_priority_strategy singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_target_priority_strats()
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var/list/target_priority_strategies
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/// List of all target_source singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_target_sources()
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var/list/target_sources
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///AI controllers, sorted by their status
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var/list/ai_controllers_by_status = list(
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AI_STATUS_ON = list(),
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AI_STATUS_ON_LOW = list(),
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AI_STATUS_OFF = list(),
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)
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///AI controllers, sorted by their z level
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var/list/ai_controllers_by_zlevel = list()
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/datum/controller/subsystem/ai_controllers/Recover()
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if(islist(SSai_controllers.ai_controllers_by_status))
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ai_controllers_by_status = SSai_controllers.ai_controllers_by_status
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if(islist(SSai_controllers.ai_controllers_by_zlevel))
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ai_controllers_by_zlevel = SSai_controllers.ai_controllers_by_zlevel
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/datum/controller/subsystem/ai_controllers/Initialize()
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setup_subtrees()
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setup_targeting_strats()
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setup_target_priority_strats()
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setup_target_sources()
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return SS_INIT_SUCCESS
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/datum/controller/subsystem/ai_controllers/stat_entry(msg)
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var/list/planning_list = GLOB.ai_controllers_by_status[planning_status]
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msg = "\n Planning AIs:[length(planning_list)]/[round(our_cost,1)]%"
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msg = "\n Active:[length(SSai_controllers.ai_controllers_by_status[planning_status])]|Off:[length(SSai_controllers.ai_controllers_by_status[AI_STATUS_OFF])]"
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msg += "\n Pass:[pass_size - length(currentrun)]/[pass_size]|AvgPass:[round(average_pass_time * 0.1, 0.1)]s|WorstGap:[round(longest_tick_gap * 0.1, 0.1)]s"
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if(length(most_expensive))
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msg += "\n Top: [most_expensive.Join(" | ")]"
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if(worst_controller_name)
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msg += "\n Slowest bozo of the round: [worst_controller_name]"
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return ..()
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/datum/controller/subsystem/ai_controllers/fire(resumed)
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if(!resumed)
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var/list/planning_list = GLOB.ai_controllers_by_status[planning_status]
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var/list/planning_list = SSai_controllers.ai_controllers_by_status[planning_status]
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currentrun = planning_list.Copy()
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summing_cost = 0
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summing_tick_gap = 0
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summing_expensive = list()
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summing_expensive_cutoff = 0
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pass_started = world.time
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pass_size = length(currentrun)
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//cache for sanic speed (lists are references anyways)
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var/list/current_run = src.currentrun
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@@ -37,12 +89,35 @@ SUBSYSTEM_DEF(ai_controllers)
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while(length(current_run))
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var/datum/ai_controller/ai_controller = current_run[length(current_run)]
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current_run.len--
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if(!ai_controller.able_to_plan)
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continue
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ai_controller.SelectBehaviors(wait * 0.1)
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// Pass the real time since this controller last ticked, so SPT_PROB rolls and
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// time accumulators stay time-correct even when a pass takes several seconds.
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var/seconds_per_tick = wait * 0.1
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if(ai_controller.last_bt_tick)
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var/tick_gap = world.time - ai_controller.last_bt_tick
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summing_tick_gap = max(summing_tick_gap, tick_gap)
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seconds_per_tick = tick_gap * 0.1
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ai_controller.last_bt_tick = world.time
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var/controller_timer = TICK_USAGE_REAL
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ai_controller.SelectBehaviors(seconds_per_tick)
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if(!length(ai_controller.current_behaviors)) //Still no plan
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ai_controller.planning_failed()
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///Lets check if this is an expensive controller
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var/tick_cost = TICK_DELTA_TO_MS(TICK_USAGE_REAL - controller_timer)
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if(tick_cost > worst_controller_cost)
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worst_controller_cost = tick_cost
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worst_controller_name = "[ai_controller.pawn || ai_controller] [round(tick_cost, 0.01)]ms"
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if(tick_cost > summing_expensive_cutoff)
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summing_expensive[ai_controller] = tick_cost
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if(length(summing_expensive) > AI_STAT_EXPENSIVE_TRACKED)
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var/cheapest_cost = INFINITY
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var/datum/ai_controller/cheapest
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for(var/datum/ai_controller/candidate as anything in summing_expensive)
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if(summing_expensive[candidate] < cheapest_cost)
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cheapest_cost = summing_expensive[candidate]
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cheapest = candidate
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summing_expensive -= cheapest
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summing_expensive_cutoff = INFINITY
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for(var/datum/ai_controller/candidate as anything in summing_expensive)
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summing_expensive_cutoff = min(summing_expensive_cutoff, summing_expensive[candidate])
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if(MC_TICK_CHECK)
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break
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@@ -51,20 +126,47 @@ SUBSYSTEM_DEF(ai_controllers)
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if(MC_TICK_CHECK)
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return
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our_cost = MC_AVERAGE(our_cost, summing_cost)
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average_pass_time = MC_AVERAGE(average_pass_time, world.time - pass_started)
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longest_tick_gap = summing_tick_gap
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///Creates all instances of ai_subtrees and assigns them to the ai_subtrees list.
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/datum/controller/subsystem/ai_controllers/proc/setup_subtrees()
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if(length(GLOB.ai_subtrees))
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return
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for(var/subtree_type in subtypesof(/datum/ai_planning_subtree))
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var/datum/ai_planning_subtree/subtree = new subtree_type
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GLOB.ai_subtrees[subtree_type] = subtree
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// Publish the pass's most expensive controllers as display strings, sorted most expensive first.
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// Only a handful of entries, so a selection sort is fine.
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var/list/expensive_entries = list()
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while(length(summing_expensive))
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var/costliest_cost = 0
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var/datum/ai_controller/costliest
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for(var/datum/ai_controller/candidate as anything in summing_expensive)
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if(summing_expensive[candidate] >= costliest_cost)
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costliest_cost = summing_expensive[candidate]
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costliest = candidate
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summing_expensive -= costliest
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expensive_entries += "[costliest.pawn || costliest] [round(costliest_cost, 0.01)]ms"
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most_expensive = expensive_entries
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///Called when the max Z level was changed, updating our coverage.
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/datum/controller/subsystem/ai_controllers/proc/on_max_z_changed()
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if(!length(GLOB.ai_controllers_by_zlevel))
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GLOB.ai_controllers_by_zlevel = new /list(world.maxz,0)
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while (GLOB.ai_controllers_by_zlevel.len < world.maxz)
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GLOB.ai_controllers_by_zlevel.len++
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GLOB.ai_controllers_by_zlevel[GLOB.ai_controllers_by_zlevel.len] = list()
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if(!length(ai_controllers_by_zlevel))
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ai_controllers_by_zlevel = new /list(world.maxz,0)
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while (ai_controllers_by_zlevel.len < world.maxz)
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ai_controllers_by_zlevel.len++
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ai_controllers_by_zlevel[ai_controllers_by_zlevel.len] = list()
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/datum/controller/subsystem/ai_controllers/proc/setup_targeting_strats()
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targeting_strategies = list()
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for(var/target_type in subtypesof(/datum/targeting_strategy))
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var/datum/targeting_strategy/target_start = new target_type
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targeting_strategies[target_type] = target_start
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/datum/controller/subsystem/ai_controllers/proc/setup_target_priority_strats()
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target_priority_strategies = list()
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for(var/target_type in subtypesof(/datum/target_priority_strategy))
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var/datum/target_priority_strategy/target_start = new target_type
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target_priority_strategies[target_type] = target_start
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/datum/controller/subsystem/ai_controllers/proc/setup_target_sources()
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target_sources = list()
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for(var/source_type in subtypesof(/datum/target_source))
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var/datum/target_source/source = new source_type
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target_sources[source_type] = source
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#undef AI_STAT_EXPENSIVE_TRACKED
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@@ -0,0 +1,6 @@
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/// Plans background controllers that are active when unwatched but not critical
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AI_CONTROLLER_SUBSYSTEM_DEF(low_priority_ai_controllers)
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name = "AI Controller Ticker (Low)"
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ss_flags = parent_type::ss_flags | SS_BACKGROUND | SS_NO_INIT
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planning_status = AI_STATUS_ON_LOW
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priority = FIRE_PRIORITY_NPC_LOW
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@@ -1,10 +0,0 @@
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AI_CONTROLLER_SUBSYSTEM_DEF(ai_idle_controllers)
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name = "AI Idle Controllers"
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ss_flags = SS_POST_FIRE_TIMING | SS_BACKGROUND
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priority = FIRE_PRIORITY_IDLE_NPC
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dependencies = list(
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/datum/controller/subsystem/ai_controllers,
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)
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wait = 5 SECONDS
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runlevels = RUNLEVEL_GAME
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planning_status = AI_STATUS_IDLE
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@@ -129,12 +129,11 @@
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owner?.processing_move_loop_flags = flags
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var/result = move() //Result is an enum value. Enums defined in __DEFINES/movement.dm
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if(result)
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EVLOG_PATH(moving, EVLOG_CATEGORY_MOVELOOPS, "Moved using [src]", list(old_loc, moving.loc)) //You might think, this runs a lot; but if not logging, it only does a lookup on the event logger.
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if(moving)
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var/direction = get_dir(old_loc, moving.loc)
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SEND_SIGNAL(moving, COMSIG_MOVABLE_MOVED_FROM_LOOP, src, old_dir, direction)
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if(result)
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EVLOG_PATH(moving, EVLOG_CATEGORY_MOVELOOPS, "Moved using [src]", list(old_loc, moving.loc)) //You might think, this runs a lot; but if not logging, it only does a lookup on the event logger.
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owner?.processing_move_loop_flags = NONE
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SEND_SIGNAL(src, COMSIG_MOVELOOP_POSTPROCESS, result, delay * visual_delay)
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@@ -438,7 +437,8 @@
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/datum/move_loop/has_target/jps/proc/on_finish_pathing(list/path)
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movement_path = path
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is_pathing = FALSE
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EVLOG_PATH(moving, EVLOG_CATEGORY_JPS, "Planned AI path", movement_path)
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if(moving)
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EVLOG_PATH(moving, EVLOG_CATEGORY_JPS, "Planned AI path", movement_path)
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SEND_SIGNAL(src, COMSIG_MOVELOOP_JPS_FINISHED_PATHING, path)
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/datum/move_loop/has_target/jps/move()
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@@ -1,40 +0,0 @@
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/// The subsystem used to tick [/datum/ai_behavior] instances. Handling the individual actions an AI can take like punching someone in the fucking NUTS
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PROCESSING_SUBSYSTEM_DEF(ai_behaviors)
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name = "AI Behavior Ticker"
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ss_flags = SS_POST_FIRE_TIMING|SS_BACKGROUND
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priority = FIRE_PRIORITY_NPC_ACTIONS
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runlevels = RUNLEVEL_GAME | RUNLEVEL_POSTGAME
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dependencies = list(
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/datum/controller/subsystem/movement/ai_movement,
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)
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wait = 1
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/// List of all ai_behavior singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_ai_behaviors()
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var/list/ai_behaviors
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/// List of all targeting_strategy singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_targeting_strats()
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var/list/targeting_strategies
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/// List of all target_priority_strategy singletons, key is the typepath while assigned value is a newly created instance of the typepath. See setup_target_priority_strats()
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var/list/target_priority_strategies
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/datum/controller/subsystem/processing/ai_behaviors/Initialize()
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setup_ai_behaviors()
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setup_targeting_strats()
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setup_target_priority_strats()
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return SS_INIT_SUCCESS
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/datum/controller/subsystem/processing/ai_behaviors/proc/setup_ai_behaviors()
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ai_behaviors = list()
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for(var/behavior_type in subtypesof(/datum/ai_behavior))
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var/datum/ai_behavior/ai_behavior = new behavior_type
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ai_behaviors[behavior_type] = ai_behavior
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/datum/controller/subsystem/processing/ai_behaviors/proc/setup_targeting_strats()
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targeting_strategies = list()
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for(var/target_type in subtypesof(/datum/targeting_strategy))
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var/datum/targeting_strategy/target_start = new target_type
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targeting_strategies[target_type] = target_start
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/datum/controller/subsystem/processing/ai_behaviors/proc/setup_target_priority_strats()
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target_priority_strategies = list()
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for(var/target_type in subtypesof(/datum/target_priority_strategy))
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var/datum/target_priority_strategy/target_start = new target_type
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target_priority_strategies[target_type] = target_start
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@@ -1,19 +0,0 @@
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PROCESSING_SUBSYSTEM_DEF(idle_ai_behaviors)
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name = "AI Idle Behaviors"
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ss_flags = SS_BACKGROUND
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wait = 1.5 SECONDS
|
||||
priority = FIRE_PRIORITY_IDLE_NPC
|
||||
dependencies = list(
|
||||
/datum/controller/subsystem/ai_controllers,
|
||||
)
|
||||
///List of all the idle ai behaviors
|
||||
var/list/idle_behaviors = list()
|
||||
|
||||
/datum/controller/subsystem/processing/idle_ai_behaviors/Initialize()
|
||||
setup_idle_behaviors()
|
||||
return SS_INIT_SUCCESS
|
||||
|
||||
/datum/controller/subsystem/processing/idle_ai_behaviors/proc/setup_idle_behaviors()
|
||||
for(var/behavior_type in subtypesof(/datum/idle_behavior))
|
||||
var/datum/idle_behavior/behavior = new behavior_type
|
||||
idle_behaviors[behavior_type] = behavior
|
||||
@@ -1,4 +0,0 @@
|
||||
UNPLANNED_CONTROLLER_SUBSYSTEM_DEF(idle_unplanned_controllers)
|
||||
name = "Unplanned AI Idle Controllers"
|
||||
wait = 2.5 SECONDS
|
||||
target_status = AI_STATUS_IDLE
|
||||
@@ -1,39 +0,0 @@
|
||||
GLOBAL_LIST_EMPTY(unplanned_controller_subsystems)
|
||||
/// Handles making mobs perform lightweight "idle" behaviors such as wandering around when they have nothing planned
|
||||
SUBSYSTEM_DEF(unplanned_controllers)
|
||||
name = "Unplanned AI Controllers"
|
||||
ss_flags = SS_POST_FIRE_TIMING|SS_BACKGROUND
|
||||
priority = FIRE_PRIORITY_UNPLANNED_NPC
|
||||
dependencies = list(
|
||||
/datum/controller/subsystem/movement/ai_movement,
|
||||
)
|
||||
wait = 0.25 SECONDS
|
||||
runlevels = RUNLEVEL_GAME | RUNLEVEL_POSTGAME
|
||||
///what ai status are we interested in
|
||||
var/target_status = AI_STATUS_ON
|
||||
var/list/current_run = list()
|
||||
|
||||
/datum/controller/subsystem/unplanned_controllers/Initialize()
|
||||
..()
|
||||
GLOB.unplanned_controller_subsystems += src
|
||||
return SS_INIT_SUCCESS
|
||||
|
||||
/datum/controller/subsystem/unplanned_controllers/Destroy()
|
||||
GLOB.unplanned_controller_subsystems -= src
|
||||
return ..()
|
||||
|
||||
/datum/controller/subsystem/unplanned_controllers/stat_entry(msg)
|
||||
msg = "\n Planning AIs:[length(GLOB.unplanned_controllers[target_status])]"
|
||||
return ..()
|
||||
|
||||
/datum/controller/subsystem/unplanned_controllers/fire(resumed)
|
||||
if(!resumed)
|
||||
src.current_run = GLOB.unplanned_controllers[target_status].Copy()
|
||||
var/list/current_run = src.current_run // cache for sonic speed
|
||||
while(length(current_run))
|
||||
var/datum/ai_controller/unplanned = current_run[current_run.len]
|
||||
current_run.len--
|
||||
if(!QDELETED(unplanned))
|
||||
unplanned.idle_behavior.perform_idle_behavior(wait * 0.1, unplanned)
|
||||
if (MC_TICK_CHECK)
|
||||
return
|
||||
Reference in New Issue
Block a user