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Bubberstation/code/datums/components/pet_commands/pet_commands_basic.dm
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CabinetOnFireThe SharkenningIamgoofballSmArtKarGhomBen10OmintrixSyncIt21
 df7832aa43 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>
2026-08-15 10:33:57 -06:00

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// None of these are really complex enough to merit their own file
/**
* # Pet Command: Idle
* Tells a pet to resume its idle behaviour, usually staying put where you leave it
*/
/datum/pet_command/idle
command_name = "Stay"
command_desc = "Command your pet to stay idle in this location."
radial_icon_state = "halt"
speech_commands = list("sit", "stay", "stop")
command_feedback = "sits"
/datum/pet_command/idle/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/stay)
/datum/pet_command/idle/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to stay idle!"
/**
* # Pet Command: Stop
* Tells a pet to exit command mode and resume its normal behaviour
*/
/datum/pet_command/free
command_name = "Loose"
command_desc = "Allow your pet to resume its natural behaviours."
radial_icon_state = "free"
speech_commands = list("free", "loose")
command_feedback = "relaxes"
/datum/pet_command/free/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, null)
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
/datum/pet_command/free/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to go free!"
/**
* # Pet Command: Follow
* Tells a pet to follow you until you tell it to do something else
*/
/datum/pet_command/follow
command_name = "Follow"
command_desc = "Command your pet to accompany you."
radial_icon_state = "follow"
speech_commands = list("heel", "follow")
callout_type = /datum/callout_option/move
///should we activate immediately if we're doing nothing else and gain a friend?
var/activate_on_befriend = FALSE
/// BT subtree installed by execute_action; override to use a mob-specific follow tree.
var/follow_subtree = /datum/bt_node/subtree/pet_command/follow
/datum/pet_command/follow/set_command_active(mob/living/parent, mob/living/commander)
. = ..()
set_command_target(parent, commander)
/datum/pet_command/follow/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to follow!"
/datum/pet_command/follow/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, follow_subtree)
/datum/pet_command/follow/add_new_friend(mob/living/tamer)
. = ..()
var/mob/living/parent = weak_parent.resolve()
if (!parent)
return
if (activate_on_befriend && !parent.ai_controller.blackboard_key_exists(BB_ACTIVE_PET_COMMAND))
try_activate_command(tamer)
/// Like follow but start active
/datum/pet_command/follow/start_active
activate_on_befriend = TRUE
/**
* # Pet Command: Play Dead
* Pretend to be dead for a random period of time
*/
/datum/pet_command/play_dead
command_name = "Play Dead"
command_desc = "Play a macabre trick."
radial_icon_state = "play_dead"
speech_commands = list("play dead") // Don't get too creative here, people talk about dying pretty often
/datum/pet_command/play_dead/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/play_dead)
/datum/pet_command/play_dead/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to play dead!"
/**
* # Pet Command: Good Boy
* React if complimented
*/
/datum/pet_command/good_boy
command_name = "Good Boy"
command_desc = "Give your pet a compliment."
hidden = TRUE
/datum/pet_command/good_boy/New(mob/living/parent)
. = ..()
speech_commands += "good [parent.name]"
switch (parent.gender)
if (MALE)
speech_commands += "good boy"
return
if (FEMALE)
speech_commands += "good girl"
return
// If we get past this point someone has finally added a non-binary dog
/datum/pet_command/good_boy/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, null)
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
var/mob/living/parent = weak_parent.resolve()
if (!parent)
return
new /obj/effect/temp_visual/heart(parent.loc)
parent.emote("spin")
/**
* # Pet Command: Use ability
* Use an an ability that does not require any targets
*/
/datum/pet_command/untargeted_ability
///untargeted ability we will use
var/ability_key
/datum/pet_command/untargeted_ability/execute_action(datum/ai_controller/controller)
var/datum/action/cooldown/ability = controller.blackboard[ability_key]
if(!ability?.IsAvailable())
return
controller.set_blackboard_key(BB_PET_ACTIVE_ABILITY, ability)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/untargeted_ability)
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
/datum/pet_command/untargeted_ability/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to use an ability!"
/**
* # Pet Command: Attack
* Tells a pet to chase and bite the next thing you point at
*/
/datum/pet_command/attack
command_name = "Attack"
command_desc = "Command your pet to attack things that you point out to it."
radial_icon_state = "attack"
requires_pointing = TRUE
callout_type = /datum/callout_option/attack
speech_commands = list("attack", "sic", "kill")
command_feedback = "growl"
pointed_reaction = "and growls"
/// Balloon alert to display if providing an invalid target
var/refuse_reaction = "shakes head"
var/datum/bt_node/subtree/attack_subtree = /datum/bt_node/subtree/pet_command/attack
// Refuse to target things we can't target, chiefly other friends
/datum/pet_command/attack/set_command_target(mob/living/parent, atom/target)
if (!target)
return FALSE
var/mob/living/living_parent = parent
if (!living_parent.ai_controller)
return FALSE
var/datum/targeting_strategy/targeter = GET_TARGETING_STRATEGY(living_parent.ai_controller.blackboard[targeting_strategy_key])
if (!targeter)
return FALSE
if (!targeter.is_valid_target(living_parent, target))
refuse_target(parent, target)
return FALSE
return ..()
/datum/pet_command/attack/retrieve_command_text(atom/living_pet, atom/target)
return isnull(target) ? null : "signals [living_pet] to attack [target]!"
/// Display feedback about not targeting something
/datum/pet_command/attack/proc/refuse_target(mob/living/parent, atom/target)
var/mob/living/living_parent = parent
living_parent.balloon_alert_to_viewers("[refuse_reaction]")
living_parent.visible_message(span_notice("[living_parent] refuses to attack [target]."))
/datum/pet_command/attack/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, attack_subtree)
/**
* # Breed command. breed with a partner!
*/
/datum/pet_command/breed
command_name = "Breed"
command_desc = "Command your pet to attempt to breed with a partner."
requires_pointing = TRUE
radial_icon_state = "breed"
speech_commands = list("breed", "consummate")
/datum/pet_command/breed/set_command_target(mob/living/parent, atom/target)
if(isnull(target) || !isliving(target))
return FALSE
if(!HAS_TRAIT(parent, TRAIT_MOB_BREEDER) || !HAS_TRAIT(target, TRAIT_MOB_BREEDER))
return FALSE
if(isnull(parent.ai_controller))
return FALSE
if(!parent.ai_controller.blackboard[BB_BREED_READY] || isnull(parent.ai_controller.blackboard[BB_BABIES_PARTNER_TYPES]))
return FALSE
var/mob/living/living_target = target
if(!living_target.ai_controller?.blackboard[BB_BREED_READY])
return FALSE
return ..()
/datum/pet_command/breed/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/breed)
/datum/pet_command/breed/retrieve_command_text(atom/living_pet, atom/target)
return isnull(target) ? null : "signals [living_pet] to breed with [target]!"
/**
* # Pet Command: Targetted Ability
* Tells a pet to use some kind of ability on the next thing you point at
*/
/datum/pet_command/use_ability
command_name = "Use ability"
command_desc = "Command your pet to use one of its special skills on something that you point out to it."
radial_icon = 'icons/mob/actions/actions_spells.dmi'
radial_icon_state = "projectile"
requires_pointing = TRUE
speech_commands = list("shoot", "blast", "cast")
command_feedback = "growl"
pointed_reaction = "and growls"
/// Blackboard key where a reference to some kind of mob ability is stored
var/pet_ability_key
/datum/pet_command/use_ability/execute_action(datum/ai_controller/controller)
if (!pet_ability_key)
return
var/datum/action/cooldown/using_action = controller.blackboard[pet_ability_key]
if (QDELETED(using_action))
return
// Store the action datum in a fixed key so the targeted_ability subtree can find it
controller.override_blackboard_key(BB_TARGETED_ACTION, using_action)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/targeted_ability)
/datum/pet_command/use_ability/retrieve_command_text(atom/living_pet, atom/target)
return isnull(target) ? null : "signals [living_pet] to use an ability on [target]!"
/datum/pet_command/protect_owner
command_name = "Protect owner"
command_desc = "Your pet will run to your aid."
hidden = TRUE
callout_type = /datum/callout_option/guard
///the range our owner needs to be in for us to protect him
var/protect_range = 9
///message cooldown to prevent too many people from telling you not to commit suicide
COOLDOWN_DECLARE(self_harm_message_cooldown)
var/datum/bt_node/subtree/protect_owner_subtree = /datum/bt_node/subtree/pet_command/protect_owner
/datum/pet_command/protect_owner/add_new_friend(mob/living/tamer)
RegisterSignal(tamer, COMSIG_ATOM_WAS_ATTACKED, PROC_REF(set_attacking_target))
if(!HAS_TRAIT(tamer, TRAIT_RELAYING_ATTACKER))
tamer.AddElement(/datum/element/relay_attackers)
/datum/pet_command/protect_owner/remove_friend(mob/living/unfriended)
UnregisterSignal(unfriended, COMSIG_ATOM_WAS_ATTACKED)
/datum/pet_command/protect_owner/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, protect_owner_subtree)
/datum/pet_command/protect_owner/set_command_active(mob/living/parent, mob/living/victim)
. = ..()
set_command_target(parent, victim)
/datum/pet_command/protect_owner/valid_callout_target(mob/living/speaker, datum/callout_option/callout, atom/target)
return target == speaker || get_dist(speaker, target) <= 1
/datum/pet_command/protect_owner/proc/set_attacking_target(atom/source, mob/living/attacker)
SIGNAL_HANDLER
var/mob/living/basic/owner = weak_parent.resolve()
if(isnull(owner))
return
if(source == attacker)
var/list/interventions = owner.ai_controller?.blackboard[BB_OWNER_SELF_HARM_RESPONSES] || list()
if (length(interventions) && COOLDOWN_FINISHED(src, self_harm_message_cooldown) && prob(30))
COOLDOWN_START(src, self_harm_message_cooldown, 5 SECONDS)
var/chosen_statement = pick(interventions)
INVOKE_ASYNC(owner, TYPE_PROC_REF(/atom/movable, say), chosen_statement)
return
var/mob/living/current_target = owner.ai_controller?.blackboard[BB_CURRENT_PET_TARGET]
if(attacker == current_target) //we are already dealing with this target
return
if(isliving(attacker) && can_see(owner, attacker, protect_range))
set_command_active(owner, attacker)
/**
* # Fish command: command the mob to fish at the next fishing spot you point at.
*/
/datum/pet_command/fish
command_name = "Fish"
command_desc = "Command your pet to try fishing at a nearby fishing spot."
requires_pointing = TRUE
radial_icon_state = "fish"
speech_commands = list("fish")
/datum/pet_command/fish/execute_action(datum/ai_controller/controller)
if(!controller.blackboard_key_exists(BB_CURRENT_PET_TARGET))
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/stay)
return
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/fish)
/datum/pet_command/fish/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to go fish!"
/datum/pet_command/move
command_name = "Move"
command_desc = "Command your pet to move to a location!"
requires_pointing = TRUE
radial_icon_state = "move"
speech_commands = list("move", "walk")
/datum/pet_command/move/set_command_target(mob/living/parent, atom/target)
if(isnull(target) || !can_see(parent, target, 9))
return FALSE
return ..()
/datum/pet_command/move/execute_action(datum/ai_controller/controller)
controller.set_behavior_tree_override(SUBPLAN_ID_PET_COMMAND, /datum/bt_node/subtree/pet_command/move_to)
/datum/pet_command/move/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to move!"
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