Added wander and look around behaviours.

addons/gdUnit4/GdUnitRunner.cfg

@@ -0,0 +1 @@
+{"included":{"res://tests/scenes/game_tests.gd":["test_save_game"]},"server_port":31002,"skipped":{},"version":"1.0"}

ai/tasks/find_nearby_random_location.gd

@@ -0,0 +1,37 @@
+extends BTAction
+
+@export var radius:float = 1.0
+
+@export var output_var: StringName = &"target_location"
+@export var navigatable_target:bool = false
+@export var stay_in_radius:bool = true
+
+var _reference_location:Vector3 = Vector3.INF
+
+func _setup() -> void:
+	_reference_location = agent.global_position
+
+func _tick(_delta: float) -> Status:
+	assert(_reference_location != Vector3.INF)
+	
+	var target_is_navigatable = true
+	var random_location:Vector3 = Vector3.ZERO
+
+	var agent_npc:NonPlayerCharacter = agent as NonPlayerCharacter
+	if navigatable_target:
+		assert(agent_npc)
+		target_is_navigatable = false
+
+	if not stay_in_radius:
+		_reference_location = agent_npc.global_position
+	
+	var random_angle:float = randf_range(-PI, PI)
+	random_location = _reference_location + radius * Vector3(cos(random_angle), 0, sin(random_angle))
+	if navigatable_target and agent_npc.is_target_navigatable(random_location):
+		target_is_navigatable = true
+
+	if target_is_navigatable:
+		blackboard.set_var(output_var, random_location)
+		return SUCCESS
+	
+	return FAILURE

ai/tasks/look_at_location.gd

@@ -0,0 +1,42 @@
+@tool
+extends BTAction
+
+@export var target_location_var: StringName = &"target_location"
+
+var target_position: Vector3 = Vector3.ZERO
+
+var _current_look_direction:Vector3 = Vector3.BACK
+var _current_look_angle:float = 0
+var _target_look_direction:Vector3 = Vector3.BACK
+var _target_look_angle:float = 0
+var _look_angle_damper:SpringDamper = SpringDamper.new(0, 2, 0.06, 0.003)
+
+func _generate_name() -> String:
+	return "Look at Target " + LimboUtility.decorate_var(target_location_var)
+
+func _tick(delta: float) -> Status:
+	target_position = blackboard.get_var(target_location_var)
+	
+	update_look_direction(delta)
+	
+	if absf(_target_look_angle - _current_look_angle) < deg_to_rad(5):
+		return SUCCESS
+		
+	return RUNNING
+
+func update_look_direction(delta:float) -> void:
+	_target_look_direction = (target_position - agent.global_position).normalized()
+	_current_look_direction = agent.basis.z
+	
+	_current_look_angle = _current_look_direction.signed_angle_to(Vector3.BACK, Vector3.UP)
+	_target_look_angle = _target_look_direction.signed_angle_to(Vector3.BACK, Vector3.UP)
+	
+	if _target_look_angle - _current_look_angle > PI:
+		_current_look_angle = _current_look_angle + PI * 2
+	elif _current_look_angle - _target_look_angle > PI:
+		_current_look_angle = _current_look_angle - PI * 2
+	
+	var damped_look_angle:float = _look_angle_damper.calc(_current_look_angle, _target_look_angle, delta)
+	
+	_current_look_direction = Vector3(sin(-damped_look_angle), 0, cos(-damped_look_angle))
+	agent.basis = Basis.looking_at(-_current_look_direction)

ai/tasks/look_at_target.gd

@@ -23,7 +23,7 @@ func _tick(delta: float) -> Status:
 	update_look_direction(delta)
 	
 	if absf(_target_look_angle - _current_look_angle) < deg_to_rad(5):
-		return SUCCESS
+		return RUNNING
 		
 	return FAILURE
 

ai/tasks/navigate_to.gd

@@ -0,0 +1,33 @@
+@tool
+extends BTAction
+
+@export var target_var: StringName = &"target"
+var target_node:Node3D = null
+var current_target_name:String = ""
+
+func _generate_name() -> String:
+	return "NavigateTo \"%s\"" % [
+		LimboUtility.decorate_var(target_var)
+		]
+
+func _tick(_delta: float) -> Status:
+	target_node = blackboard.get_var(target_var)
+	
+	if not is_instance_valid(target_node):
+		return FAILURE
+
+	if current_target_name != target_node.name:
+		current_target_name = target_node.name
+		print ("Next target: " + current_target_name)
+		
+	var agent_npc:NonPlayerCharacter = agent as NonPlayerCharacter
+	if agent_npc:
+		agent_npc.navigate_to(target_node.global_position)
+
+	var agent_node:Node3D = agent as Node3D
+	if agent_node:
+		var distance_to_target:float = (agent.global_position - target_node.global_position).length()
+		if distance_to_target < 0.1:
+			return SUCCESS
+	
+	return RUNNING

ai/tasks/navigate_to_location.gd

@@ -0,0 +1,25 @@
+@tool
+extends BTAction
+
+@export var target_var: StringName = &"target_location"
+var target_location:Vector3 = Vector3.ZERO
+
+func _generate_name() -> String:
+	return "NavigateTo \"%s\"" % [
+		LimboUtility.decorate_var(target_var)
+		]
+
+func _tick(_delta: float) -> Status:
+	target_location = blackboard.get_var(target_var)
+	
+	var agent_npc:NonPlayerCharacter = agent as NonPlayerCharacter
+	if agent_npc:
+		agent_npc.navigate_to(target_location)
+
+	var agent_node:Node3D = agent as Node3D
+	if agent_node:
+		var distance_to_target:float = (agent_node.global_position - target_location).length()
+		if distance_to_target < 0.1:
+			return SUCCESS
+	
+	return RUNNING

ai/trees/empty.tres

@@ -0,0 +1,9 @@
+[gd_resource type="BehaviorTree" load_steps=3 format=3 uid="uid://dck7kl4210076"]
+
+[sub_resource type="BlackboardPlan" id="BlackboardPlan_dsl36"]
+
+[sub_resource type="BTAlwaysSucceed" id="BTAlwaysSucceed_c7j70"]
+
+[resource]
+blackboard_plan = SubResource("BlackboardPlan_dsl36")
+root_task = SubResource("BTAlwaysSucceed_c7j70")

ai/trees/look_around.tres

@@ -0,0 +1,31 @@
+[gd_resource type="BehaviorTree" load_steps=9 format=3 uid="uid://2v14hwp2gtg"]
+
+[ext_resource type="Script" path="res://ai/tasks/look_at_location.gd" id="1_1lumv"]
+[ext_resource type="Script" path="res://ai/tasks/find_nearby_random_location.gd" id="2_jrbpg"]
+
+[sub_resource type="BlackboardPlan" id="BlackboardPlan_sdda8"]
+
+[sub_resource type="BTAction" id="BTAction_ba1hn"]
+script = ExtResource("2_jrbpg")
+radius = 1.0
+output_var = &"target_location"
+navigatable_target = true
+stay_in_radius = true
+
+[sub_resource type="BTAction" id="BTAction_d7u7l"]
+script = ExtResource("1_1lumv")
+target_location_var = &"target_location"
+
+[sub_resource type="BTWait" id="BTWait_jmtj2"]
+duration = 2.0
+
+[sub_resource type="BTSequence" id="BTSequence_ouv1e"]
+children = [SubResource("BTAction_ba1hn"), SubResource("BTAction_d7u7l"), SubResource("BTWait_jmtj2")]
+
+[sub_resource type="BTRepeat" id="BTRepeat_nqqvt"]
+forever = true
+children = [SubResource("BTSequence_ouv1e")]
+
+[resource]
+blackboard_plan = SubResource("BlackboardPlan_sdda8")
+root_task = SubResource("BTRepeat_nqqvt")

ai/trees/pug.tres

@@ -1,7 +1,7 @@
-[gd_resource type="BehaviorTree" load_steps=13 format=3 uid="uid://blccr23qjixws"]
+[gd_resource type="BehaviorTree" load_steps=12 format=3 uid="uid://blccr23qjixws"]
 
 [ext_resource type="Script" path="res://ai/tasks/find_target_by_name.gd" id="1_v4edy"]
-[ext_resource type="Script" path="res://ai/tasks/look_at_target.gd" id="2_5373l"]
+[ext_resource type="Script" path="res://ai/tasks/navigate_to_location.gd" id="2_k36i0"]
 
 [sub_resource type="BlackboardPlan" id="BlackboardPlan_yg732"]
 
@@ -11,25 +11,23 @@ target_name = "Player"
 output_var = &"target"
 
 [sub_resource type="BTWait" id="BTWait_8cgex"]
+duration = 2.0
 
-[sub_resource type="BTAction" id="BTAction_xlccj"]
+[sub_resource type="BTAction" id="BTAction_qfrs5"]
 script = ExtResource("1_v4edy")
 target_name = "Bone"
 output_var = &"target"
 
-[sub_resource type="BTWait" id="BTWait_8uvw7"]
-duration = 3.0
-
 [sub_resource type="BTSequence" id="BTSequence_u84lc"]
-children = [SubResource("BTAction_7a1kv"), SubResource("BTWait_8cgex"), SubResource("BTAction_xlccj"), SubResource("BTWait_8uvw7")]
+children = [SubResource("BTAction_7a1kv"), SubResource("BTWait_8cgex"), SubResource("BTAction_qfrs5")]
 
-[sub_resource type="BTAction" id="BTAction_jhwy8"]
-script = ExtResource("2_5373l")
+[sub_resource type="BTAction" id="BTAction_l2eti"]
+script = ExtResource("2_k36i0")
 target_var = &"target"
 
 [sub_resource type="BTRepeat" id="BTRepeat_dam0f"]
 forever = true
-children = [SubResource("BTAction_jhwy8")]
+children = [SubResource("BTAction_l2eti")]
 
 [sub_resource type="BTParallel" id="BTParallel_l5msj"]
 children = [SubResource("BTSequence_u84lc"), SubResource("BTRepeat_dam0f")]

ai/trees/wander.tres

@@ -0,0 +1,36 @@
+[gd_resource type="BehaviorTree" load_steps=11 format=3 uid="uid://caxmpcyhpt6em"]
+
+[ext_resource type="Script" path="res://ai/tasks/find_nearby_random_location.gd" id="1_5wpmm"]
+[ext_resource type="Script" path="res://ai/tasks/look_at_location.gd" id="2_d6sgo"]
+[ext_resource type="Script" path="res://ai/tasks/navigate_to_location.gd" id="3_ch0o3"]
+
+[sub_resource type="BlackboardPlan" id="BlackboardPlan_yo8p7"]
+
+[sub_resource type="BTAction" id="BTAction_s4a8v"]
+script = ExtResource("1_5wpmm")
+radius = 1.0
+output_var = &"target_location"
+navigatable_target = true
+stay_in_radius = true
+
+[sub_resource type="BTAction" id="BTAction_lschq"]
+script = ExtResource("2_d6sgo")
+target_location_var = &"target_location"
+
+[sub_resource type="BTAction" id="BTAction_onf00"]
+script = ExtResource("3_ch0o3")
+target_var = &"target_location"
+
+[sub_resource type="BTWait" id="BTWait_yneys"]
+duration = 3.0
+
+[sub_resource type="BTSequence" id="BTSequence_o4qno"]
+children = [SubResource("BTAction_s4a8v"), SubResource("BTAction_lschq"), SubResource("BTAction_onf00"), SubResource("BTWait_yneys")]
+
+[sub_resource type="BTRepeat" id="BTRepeat_o23de"]
+forever = true
+children = [SubResource("BTSequence_o4qno")]
+
+[resource]
+blackboard_plan = SubResource("BlackboardPlan_yo8p7")
+root_task = SubResource("BTRepeat_o23de")

objects/non_player_character.gd

@@ -7,16 +7,30 @@ extends CharacterBody3D
 	get:
 		return reacts_to_player
 
+@export var behaviour:BehaviorTree = null:
+	set (value):
+		behaviour = value
+		if is_instance_valid(bt_player):
+			bt_player.behavior_tree = behaviour
+	get:
+		return behaviour
+
 @onready var geometry: Node3D = null
 @onready var player_detection: Area3D = %PlayerDetection
 @onready var default_geometry: Node3D = %DefaultGeometry
 @onready var animation_player: AnimationPlayer = %AnimationPlayer
+@onready var navigation_agent: NavigationAgent3D = %NavigationAgent
+@onready var bt_player: BTPlayer = %BTPlayer
 
 const SPEED = 5.0
 const JUMP_VELOCITY = 4.5
 
 var tool_damage:bool = false
 var tracking_node:Node3D = null
+var navigation_active:bool = false
+
+var navigation_query_parameters:NavigationPathQueryParameters3D = NavigationPathQueryParameters3D.new()
+var navigation_query_result:NavigationPathQueryResult3D = NavigationPathQueryResult3D.new()
 
 func _set_reacts_to_player(value:bool) -> bool:
 	if player_detection != null:
@@ -33,6 +47,25 @@ func _ready() -> void:
 		default_geometry.visible = false
 		animation_player.set_root("Geometry")
 	
+	if is_instance_valid(bt_player):
+		bt_player.behavior_tree = behaviour
+
+func _physics_process(_delta: float) -> void:
+	if navigation_active:
+		var next_position:Vector3 = navigation_agent.get_next_path_position()
+
+		print("distance to target: %s" % navigation_agent.distance_to_target())
+
+		if navigation_agent.is_target_reached():
+			print ("Target reached. Distance: %s" % navigation_agent.distance_to_target())
+			navigation_active = false
+		else:
+			var direction = (next_position - global_position).normalized()
+			basis = Basis.looking_at(-direction)
+
+			velocity = direction * 2
+			move_and_slide()
+
 func _on_player_detection_body_entered(body: Node3D) -> void:
 	if body is Player:
 		tracking_node = body
@@ -40,3 +73,25 @@ func _on_player_detection_body_entered(body: Node3D) -> void:
 func _on_player_detection_body_exited(body: Node3D) -> void:
 	if body == tracking_node:
 		tracking_node = null
+
+func is_target_navigatable(target_position: Vector3) -> bool:
+	navigation_query_parameters.map = get_world_3d().navigation_map
+	navigation_query_parameters.start_position = global_position
+	navigation_query_parameters.target_position = target_position
+	navigation_query_parameters.navigation_layers = navigation_agent.navigation_layers
+
+	if NavigationServer3D.map_get_iteration_id(navigation_query_parameters.map) == 0:
+		return false
+
+	NavigationServer3D.query_path(navigation_query_parameters, navigation_query_result)
+	var query_path: PackedVector3Array = navigation_query_result.path
+	
+	if query_path.size() > 0 and (query_path[query_path.size() - 1] - target_position).length() <= navigation_agent.target_desired_distance:
+		return true
+	
+	return false
+
+func navigate_to(target_position: Vector3) -> void:
+	navigation_agent.target_position = target_position
+	assert (is_target_navigatable(target_position))
+	navigation_active = not navigation_agent.is_target_reached()

objects/non_player_character.tscn

@@ -2,8 +2,8 @@
 
 [ext_resource type="PackedScene" uid="uid://xykil2ydlxoc" path="res://assets/3rdparty/KayKit_Adventurers_1.0_EXTRA/Characters/gltf/Rogue_Hooded.glb" id="1_25fog"]
 [ext_resource type="Script" path="res://objects/non_player_character.gd" id="1_c2apr"]
+[ext_resource type="BehaviorTree" uid="uid://dck7kl4210076" path="res://ai/trees/empty.tres" id="2_3dryb"]
 [ext_resource type="AnimationLibrary" uid="uid://dbaynxuqbkor6" path="res://assets/characters/rogue_animation_library.tres" id="2_sp2o4"]
-[ext_resource type="BehaviorTree" uid="uid://blccr23qjixws" path="res://ai/trees/pug.tres" id="4_1jdgy"]
 
 [sub_resource type="CylinderShape3D" id="CylinderShape3D_uynrb"]
 height = 0.8
@@ -28,6 +28,7 @@ radius = 1.0
 
 [node name="NonPlayerCharacter" type="CharacterBody3D" groups=["non_player_character"]]
 script = ExtResource("1_c2apr")
+behaviour = ExtResource("2_3dryb")
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.4, 0)
@@ -60,8 +61,16 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.322685, 0)
 shape = SubResource("CylinderShape3D_3da0u")
 
 [node name="BTPlayer" type="BTPlayer" parent="."]
-behavior_tree = ExtResource("4_1jdgy")
+behavior_tree = ExtResource("2_3dryb")
 blackboard_plan = SubResource("BlackboardPlan_yqrfn")
+unique_name_in_owner = true
+
+[node name="NavigationAgent" type="NavigationAgent3D" parent="."]
+unique_name_in_owner = true
+path_desired_distance = 0.1
+target_desired_distance = 0.1
+simplify_path = true
+debug_enabled = true
 
 [connection signal="body_entered" from="PlayerDetection" to="." method="_on_player_detection_body_entered"]
 [connection signal="body_exited" from="PlayerDetection" to="." method="_on_player_detection_body_exited"]

project.godot

@@ -39,6 +39,8 @@ enabled=PackedStringArray("res://addons/dialogue_manager/plugin.cfg", "res://add
 [gdunit4]
 
 settings/test/test_lookup_folder="tests"
+settings/common/update_notification_enabled=false
+settings/test/test_discovery=true
 
 [global_group]