godot-fluid-hierarchical-task-network

An addon for Godot 4 that copycats Fluid HTN by @ptrefall. The latest checked version is 500e692

Features

See Fluid HTN's Features for more details.

Support

Please share your feedback and use case in Issues.

Getting started

See Fluid HTN's Getting started for more details.

Examples

• fluid_htn_tests : test cases of Fluid HTN implemented in GDScript.
• fluid_smart_objects : a simplified Fluid Smart Objects implemented in GDScript.
• fluid_text_adventure : a simplified Fluid Text Adventure implemented in GDScript.

Changes

Naming Changes

• All names are following GDScript naming conventions.

Changes for GDScript

Because GDScript doesn't support :

• Namespace : so all classes are added a prefix Htn.
• Interface : so all C# interfaces are replaced by a base class with assertions.
• Properties Access Modifier : so all C# properties are replaced by access functions.
• Function Overloading : so type names are added to functions.
• Generic : so Script objects are being used to check the IContext type in debug builds. (checking class info hurts performance)
• Globally Accessible Enum : so all eunm types are moved into Htn class.
• Nullable Typed Array : so all array variables are initialized with an empty array rather than null.
• Advenced Data Structure : so Array is being used to present List, Queue, Stack and KeyValuePair.
• Exception Handling : so HtnError is being used to record error message and test assertion.

Changes for Godot

• Remove Factory : because object pooling might not be useful in Godot.
• Remove ConsoleColor from log functions : because Godot doesn't have such things.

Interface Changes

• Queue<ITask> : repalced by HtnPlan, for better abstraction.
• IDecomposeAll : merged into ICompoundTask, because checking class info hurts performance.
• IOperator
  • Stop : return false if action failed.
  • Aborted : return false if action failed.
• IEffect
  • Apply : return false if action failed.
• ITask
  • Use TaskType to check task type rather than use class info.
  • Stop : return false if _operator is null.
  • Aborted : return false if _operator is null.
• IPrimitiveTask
  • set_operator : return false if _operator isn't null.
• BaseDomainBuilder
  • CompoundTask<P>(string name, P task) : renamed to add_subtask
• DecompositionLogEntry
  • depth_to_string : add the indent parameter

Renamed Tests

• HtnBaseContextTests : rename initinitialize_collections__expected_behavior to init_initialize_collections__expected_behavior
• HtnPlannerTests : rename find_plan_if_world_state_change_to_worse_mrt_and_operator_is_continuous__expected_behavior to find_plan_if_world_state_change_to_worse_mtr_and_operator_is_continuous__expected_behavior

Changed Tests

• HtnSequenceTests : change DecomposeRequiresContextInitFails_ExpectedBehavior to decompose_without_context_init__expected_behavior, because GDScript can't init _world_state_change_stack as null

Deleted Tests

• DomainTests : delete MTRNullThrowsException_ExpectedBehavior, because GDScript can't set Array to null

New Tests

• HtnBaseContextTests : is_script__expected_behavior
• HtnFuncOperatorTests : aborted_does_nothing_without_function_ptr__expected_behavior
• HtnFuncOperatorTests : aborted_throws_if_bad_context__expected_behavior
• HtnFuncOperatorTests : aborted_calls_internal_function_ptr__expected_behavior
• HtnPrimitiveTaskTests : aborted_with_valid_operator__expected_behavior
• HtnPrimitiveTaskTests : aborted_with_null_operator__expected_behavior

Checked Classes

• contexts
  • IContext
  • BaseContext
  • PartialPlanEntry
• debug
  • DecompositionLogEntry
• conditions
  • IContext
  • FuncCondition
• operators
  • IOperator
  • FuncOperator
• effects
  • EffectType
  • IEffect
• tasks
  • TaskStatus
  • ITask
  • IPrimitiveTask
  • PrimitiveTask
  • DecompositionStatus
  • IDecomposeAll
  • PausePlanTask
  • ICompoundTask
  • CompoundTask
  • Selector
  • Sequence
  • TaskRoot
  • Slot
• domain
  • IDomain
  • Domain
• planners
  • Planner
• domain_builder
  • BaseDomainBuilder
  • DomainBuilder
• fluid_htn_tests
  • MyContext
  • MyDebugContext
  • BaseContextTests
  • FuncConditionTests
  • FuncOperatorTests
  • ActionEffectTests
  • PrimitiveTaskTests
  • SelectorTests
  • SequenceTests
  • DomainTests
  • PlannerTests
  • BaseDomainBuilder

TODO

• Minor optimization : remove while loop, remove temp array, add HtnIPlannerState bool functions, etc
• Add extended selectors from Fluid HTN Extension library.
• Add examples : Fluid Goap Coffai
• Remove debug info when exporting project by putting related code into assert()