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Bubberstation/code/modules/mob/living/basic/minebots/minebot_ai.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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/datum/ai_controller/basic_controller/minebot
behavior_tree_json = "code/modules/mob/living/basic/minebots/minebot.bt.json"
blackboard = list(
BB_TARGETING_STRATEGY = /datum/targeting_strategy/basic,
BB_PET_TARGETING_STRATEGY = /datum/targeting_strategy/basic/not_friends,
BB_BASIC_MOB_FLEE_DISTANCE = 3,
BB_MINIMUM_SHOOTING_DISTANCE = 3,
BB_MINEBOT_PLANT_MINES = TRUE,
BB_MINEBOT_REPAIR_DRONE = TRUE,
BB_MINEBOT_AUTO_DEFEND = TRUE,
BB_BLACKLIST_MINERAL_TURFS = list(/turf/closed/mineral/gibtonite),
BB_AUTOMATED_MINING = FALSE,
BB_OWNER_SELF_HARM_RESPONSES = list(
"Please stop hurting yourself.",
"There is no need to do that.",
"Your actions are illogical.",
"Please make better choices.",
"Remember, you have beaten your worst days before."
)
)
ai_movement = /datum/ai_movement/basic_avoidance
/datum/bt_node/subtree/minebot_combat
behavior_tree_json = "code/modules/mob/living/basic/minebots/minebot_combat.bt.json"
/datum/bt_node/subtree/minebot_mining
behavior_tree_json = "code/modules/mob/living/basic/minebots/minebot_mining.bt.json"
/// Mineral wall finder that skips turfs in the blacklist and the previously unreachable wall.
/datum/bt_node/ai_behavior/find_mineral_wall/minebot
/datum/bt_node/ai_behavior/find_mineral_wall/minebot/check_if_mineable(datum/ai_controller/controller, turf/target_wall)
var/list/forbidden = controller.blackboard[BB_BLACKLIST_MINERAL_TURFS]
var/turf/previous_unreachable = controller.blackboard[BB_PREVIOUS_UNREACHABLE_WALL]
if(is_type_in_list(target_wall, forbidden) || target_wall == previous_unreachable)
return FALSE
controller.clear_blackboard_key(BB_PREVIOUS_UNREACHABLE_WALL)
return ..()
/// Mines a mineral turf at range using RangedAttack rather than ai_interact.
/datum/bt_node/ai_behavior/minebot_mine_turf
time_between_perform = 3 SECONDS
var/target_key = BB_TARGET_MINERAL_TURF
/datum/bt_node/ai_behavior/minebot_mine_turf/perform(seconds_per_tick, datum/ai_controller/controller)
var/mob/living/basic/living_pawn = controller.pawn
var/turf/target = controller.blackboard[target_key]
if(QDELETED(target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
if(check_obstacles_in_path(controller, target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
if(!living_pawn.combat_mode)
living_pawn.set_combat_mode(TRUE)
living_pawn.RangedAttack(target)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_SUCCEEDED
/datum/bt_node/ai_behavior/minebot_mine_turf/proc/check_obstacles_in_path(datum/ai_controller/controller, turf/target)
var/mob/living/source = controller.pawn
var/list/turfs_in_path = get_line(source, target) - target
for(var/turf/turf in turfs_in_path)
if(turf.is_blocked_turf(ignore_atoms = list(source)))
controller.set_blackboard_key(BB_PREVIOUS_UNREACHABLE_WALL, target)
return TRUE
return FALSE
/datum/bt_node/ai_behavior/minebot_mine_turf/finish_action(datum/ai_controller/controller, succeeded)
. = ..()
controller.clear_blackboard_key(target_key)
/// Sends a radio SOS message for a dead or unconscious miner. Clears the target key on finish.
/datum/bt_node/ai_behavior/send_sos_message
time_between_perform = 2 MINUTES
var/target_key = BB_NEARBY_DEAD_MINER
/datum/bt_node/ai_behavior/send_sos_message/perform(seconds_per_tick, datum/ai_controller/controller)
var/mob/living/carbon/target = controller.blackboard[target_key]
var/mob/living/living_pawn = controller.pawn
if(QDELETED(target) || is_station_level(target.z))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
var/turf/target_turf = get_turf(target)
var/obj/item/implant/radio/radio_implant = locate(/obj/item/implant/radio) in living_pawn.contents
if(!radio_implant)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
var/message = "ALERT, [target] in need of help at coordinates: [target_turf.x], [target_turf.y], [target_turf.z]!"
radio_implant.radio.talk_into(living_pawn, message, RADIO_CHANNEL_SUPPLY)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_SUCCEEDED
/datum/bt_node/ai_behavior/send_sos_message/finish_action(datum/ai_controller/controller, succeeded)
. = ..()
controller.clear_blackboard_key(target_key)
/// Moves adjacent to an allied node drone and repairs it if its health is below the threshold.
/// Fails if the drone is healthy, not allied, or repair is disabled.
/datum/bt_node/ai_behavior/repair_drone
var/target_key = BB_DRONE_DEFEND
var/repair_threshold = 0.75
/datum/bt_node/ai_behavior/repair_drone/perform(seconds_per_tick, datum/ai_controller/controller)
var/mob/living/target = controller.blackboard[target_key]
if(QDELETED(target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
if(!controller.blackboard[BB_MINEBOT_REPAIR_DRONE])
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
var/mob/living/living_pawn = controller.pawn
if(!living_pawn.has_ally(target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
if(target.health >= target.maxHealth * repair_threshold)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
INVOKE_ASYNC(living_pawn, TYPE_PROC_REF(/atom/movable, say), "REPAIRING [target]!")
INVOKE_ASYNC(controller, TYPE_PROC_REF(/datum/ai_controller, ai_interact), target)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_SUCCEEDED
/// Turns off combat mode then interacts with a nearby ore to collect it. Clears the target key on finish.
/datum/bt_node/ai_behavior/collect_ore/minebot
var/target_key = BB_ORE_TARGET
/datum/bt_node/ai_behavior/collect_ore/minebot/perform(seconds_per_tick, datum/ai_controller/controller)
var/obj/item/stack/ore/target = controller.blackboard[target_key]
if(QDELETED(target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
var/mob/living/living_pawn = controller.pawn
if(living_pawn.combat_mode)
living_pawn.set_combat_mode(FALSE)
INVOKE_ASYNC(controller, TYPE_PROC_REF(/datum/ai_controller, ai_interact), target)
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_SUCCEEDED
/datum/bt_node/ai_behavior/collect_ore/minebot/finish_action(datum/ai_controller/controller, succeeded)
. = ..()
controller.clear_blackboard_key(target_key)
/// befriend_target variant that fails immediately if the target is already an ally used to gate the drone-defend block.
/datum/bt_node/ai_behavior/befriend_target/check_ally
/datum/bt_node/ai_behavior/befriend_target/check_ally/perform(seconds_per_tick, datum/ai_controller/controller)
var/mob/living/living_pawn = controller.pawn
var/mob/living/living_target = controller.blackboard[target_key]
if(QDELETED(living_target) || living_pawn.has_ally(living_target))
return AI_BEHAVIOR_DELAY | AI_BEHAVIOR_FAILED
return ..()
/// BT-native ranged attack for the minebot. Avoids friendly fire.
/datum/bt_node/ai_behavior/basic_ranged_attack/minebot
avoid_friendly_fire = TRUE
/// Accepts humans with TRAIT_ROCK_STONER (miners).
/datum/targeting_strategy/rock_stoner
/datum/targeting_strategy/rock_stoner/is_valid_target(mob/living/living_mob, atom/target, vision_range, datum/ai_controller/controller = null)
. = ..()
if(!.)
return FALSE
if(!istype(target, /mob/living/carbon/human))
return FALSE
return HAS_TRAIT(target, TRAIT_ROCK_STONER)
/// Accepts unconscious or dead humans that have a mind (i.e., real players/NPCs that need SOS).
/datum/targeting_strategy/unconscious_human
/datum/targeting_strategy/unconscious_human/is_valid_target(mob/living/living_mob, atom/target, vision_range, datum/ai_controller/controller = null)
. = ..()
if(!.)
return FALSE
if(!istype(target, /mob/living/carbon/human))
return FALSE
var/mob/living/carbon/human/human_target = target
return human_target.stat >= UNCONSCIOUS && human_target.mind
///pet commands
/datum/pet_command/free/minebot
/datum/pet_command/free/minebot/execute_action(datum/ai_controller/controller)
controller.set_blackboard_key(BB_AUTOMATED_MINING, FALSE)
return ..()
/datum/pet_command/automate_mining
command_name = "Automate mining"
command_desc = "Make your minebot automatically mine!"
radial_icon_state = "mine"
speech_commands = list("mine")
callout_type = /datum/callout_option/mine
/datum/pet_command/automate_mining/valid_callout_target(mob/living/speaker, datum/callout_option/callout, atom/target)
return ismineralturf(target)
/datum/pet_command/automate_mining/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to start mining!"
/datum/pet_command/automate_mining/execute_action(datum/ai_controller/controller)
controller.set_blackboard_key(BB_AUTOMATED_MINING, TRUE)
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
/datum/pet_command/minebot_ability
command_name = "Minebot ability"
command_desc = "Make your minebot use one of its abilities."
radial_icon = 'icons/mob/actions/actions_mecha.dmi'
///the ability we will use
var/ability_key
/datum/pet_command/minebot_ability/execute_action(datum/ai_controller/controller)
var/datum/action/cooldown/ability = controller.blackboard[ability_key]
if(!ability?.IsAvailable())
return
INVOKE_ASYNC(ability, TYPE_PROC_REF(/datum/action, Trigger))
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
/datum/pet_command/minebot_ability/light
command_name = "Toggle lights"
command_desc = "Make your minebot toggle its lights."
speech_commands = list("light")
radial_icon_state = "mech_lights_off"
ability_key = BB_MINEBOT_LIGHT_ABILITY
/datum/pet_command/minebot_ability/light/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to toggle its lights!"
/datum/pet_command/minebot_ability/dump
command_name = "Dump ore"
command_desc = "Make your minebot dump all its ore!"
speech_commands = list("dump", "ore")
radial_icon_state = "mech_eject"
ability_key = BB_MINEBOT_DUMP_ABILITY
/datum/pet_command/minebot_ability/dump/retrieve_command_text(atom/living_pet, atom/target)
return "signals [living_pet] to dump its ore!"
/datum/pet_command/minebot_ability/dump/execute_action(datum/ai_controller/controller)
controller.set_blackboard_key(BB_AUTOMATED_MINING, FALSE) //else bro will just pick it up
return ..()
/datum/pet_command/attack/minebot
attack_subtree = /datum/bt_node/subtree/pet_command/attack/minebot
/datum/pet_command/attack/minebot/execute_action(datum/ai_controller/controller)
controller.set_blackboard_key(BB_AUTOMATED_MINING, FALSE)
var/mob/living/living_pawn = controller.pawn
if(!living_pawn.combat_mode)
living_pawn.set_combat_mode(TRUE)
return ..()
/datum/pet_command/idle/minebot
/datum/pet_command/idle/minebot/execute_action(datum/ai_controller/controller)
controller.set_blackboard_key(BB_AUTOMATED_MINING, FALSE)
return ..()
/datum/pet_command/protect_owner/minebot
/datum/pet_command/protect_owner/minebot/set_command_target(mob/living/parent, atom/target)
if(!parent.ai_controller.blackboard[BB_MINEBOT_AUTO_DEFEND])
return FALSE
if(!parent.ai_controller.blackboard_key_exists(BB_CURRENT_TARGET) && !QDELETED(target)) //we are already dealing with something,
parent.ai_controller.set_blackboard_key(BB_CURRENT_TARGET, target)
return TRUE
/datum/pet_command/protect_owner/minebot/execute_action(datum/ai_controller/controller)
if(controller.blackboard[BB_MINEBOT_AUTO_DEFEND])
var/mob/living/living_pawn = controller.pawn
living_pawn.set_combat_mode(TRUE)
controller.clear_blackboard_key(BB_ACTIVE_PET_COMMAND)
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