Grunkbeast behavior tree

levels/grunkbeast_test/procedural_grunkbeast_test.tscn

@@ -1,9 +1,9 @@
 [gd_scene load_steps=12 format=3 uid="uid://cbxlfnlmgdvsq"]
 
-[ext_resource type="PackedScene" uid="uid://d2664rpg4losx" path="res://src/world/procedural_grunk_beast/procedural_grunk_beast.tscn" id="1_6yv42"]
+[ext_resource type="Script" uid="uid://b1tbovuphat7d" path="res://levels/grunkbeast_test/procedural_grunkbeast_test.gd" id="1_ixhpa"]
-[ext_resource type="Script" uid="uid://bukihqt1lybnx" path="res://src/util/frame_skipper.gd" id="1_eco5q"]
+[ext_resource type="Script" uid="uid://bukihqt1lybnx" path="res://src/util/frame_skipper.gd" id="2_82w0n"]
-[ext_resource type="Script" uid="uid://b1tbovuphat7d" path="res://levels/grunkbeast_test/grunkbeast_test.gd" id="1_ovhaj"]
+[ext_resource type="PackedScene" uid="uid://d2664rpg4losx" path="res://src/world/procedural_grunk_beast/procedural_grunk_beast.tscn" id="3_b4iwh"]
-[ext_resource type="Script" uid="uid://cpt8dy0csa3eu" path="res://levels/grunkbeast_test/fixed_camera.gd" id="2_77sam"]
+[ext_resource type="Script" uid="uid://cpt8dy0csa3eu" path="res://levels/grunkbeast_test/fixed_camera.gd" id="4_32imj"]
 
 [sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_goufh"]
 
@@ -28,8 +28,8 @@ height = 1.0
 height = 1.0
 radius = 2.0
 
-[node name="GrunkbeastTest" type="Node3D"]
+[node name="ProceduralGrunkbeastTest" type="Node3D"]
-script = ExtResource("1_ovhaj")
+script = ExtResource("1_ixhpa")
 
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
 transform = Transform3D(0.866025, -0.156955, -0.474726, 0.5, 0.271854, 0.82225, 0, -0.949453, 0.31391, 0, 0, 0)
@@ -56,15 +56,15 @@ mesh = SubResource("CylinderMesh_4n07c")
 shape = SubResource("CylinderShape3D_6yv42")
 
 [node name="FrameSkipper" type="Node" parent="."]
-script = ExtResource("1_eco5q")
+script = ExtResource("2_82w0n")
 frame_skip = 3
 
-[node name="GrunkBeast" parent="FrameSkipper" instance=ExtResource("1_6yv42")]
+[node name="GrunkBeast" parent="FrameSkipper" instance=ExtResource("3_b4iwh")]
 unique_name_in_owner = true
 move_speed = 8.0
 step_time = 0.06
 
 [node name="Camera3D" type="Camera3D" parent="." node_paths=PackedStringArray("target")]
 transform = Transform3D(0.252101, -0.522855, 0.81429, 0, 0.841469, 0.540306, -0.967701, -0.136212, 0.212135, 6.63551, 7.43415, 1.1904)
-script = ExtResource("2_77sam")
+script = ExtResource("4_32imj")
 target = NodePath("../FrameSkipper/GrunkBeast")

levels/pathing_test/pathing_test.tscn

@@ -37,11 +37,12 @@ background_mode = 2
 sky = SubResource("Sky_pka60")
 
 [sub_resource type="NavigationMesh" id="NavigationMesh_gyhlh"]
-vertices = PackedVector3Array(-26.25, 0.519, -29.25, -26.5, 0.519, -30.75, -27.5, 0.519, -30.75, -27.5, 0.519, -17.25, -26.75, 0.519, -18.25, -26.25, 0.519, -19, -0.25, 0.519, -17.5, 0.75, 0.519, -18, 0.75, 0.519, -19.75, -0.75, 0.519, -19, -1.25, 0.519, -18.5, -1, 0.519, -17.25, -3.25, 0.519, -24.25, -3.25, 0.519, -20.25, -1.25, 0.519, -20.25, 1.75, 0.519, -20.25, 1.75, 0.519, -24.25, -25.75, 0.519, -18.5, -25.25, 0.519, -18.25, -19.75, 0.519, -17.5, -24.75, 0.519, -17.25, -18, 0.519, -17.5, -0.5, 0.519, -16.75, -20.25, 0.519, -18.5, -0.5, 0.519, -6, 0.75, 0.519, -6, 0.75, 0.519, -12.75, 0, 0.519, -13.25, -17, 0.519, -18.5, -24.25, 0.519, -24.25, -24.25, 0.519, -20.25, 2.5, 0.519, -19.75, 24.25, 0.519, -24.25, 2.5, 0.519, -5.75, 24.25, 0.519, -5.5, -2.25, 0.519, -4.25, -2.25, 0.519, -15.5, -24.25, 0.519, -15.5, -1.5, 0.519, -3.75, -24.25, 0.519, 24.25, -1.5, 0.519, 24.25, 0.75, 0.519, -4.25, -0.5, 0.519, -4.25, 1.75, 0.519, -3.75, 1.75, 0.519, 24.25, 2.5, 0.519, -4.25, 24.25, 0.519, 24.25)
+vertices = PackedVector3Array(-26.25, 0.499, -29.25, -26.5, 0.499, -30.75, -27.5, 0.499, -30.75, -27.5, 0.499, -17.25, -26.75, 0.499, -18.25, -26.25, 0.499, -19, -0.25, 0.499, -17.5, 0.75, 0.499, -18, 0.75, 0.499, -19.75, -0.75, 0.499, -19, -1.25, 0.499, -18.5, -1, 0.499, -17.25, -3.25, 0.499, -24.25, -3.25, 0.499, -20.25, -1.25, 0.499, -20.25, 1.75, 0.499, -20.25, 1.75, 0.499, -24.25, -25.75, 0.499, -18.5, -25.5, 0.499, -18.25, -19.75, 0.499, -17.5, -24.75, 0.499, -17.25, -18, 0.499, -17.5, -0.5, 0.499, -16.75, -20.25, 0.499, -18.5, -0.5, 0.499, -6, 0.75, 0.499, -6, 0.75, 0.499, -12.75, 0, 0.499, -13.25, -17, 0.499, -18.5, -24.25, 0.499, -24.25, -24.25, 0.499, -20.25, 2.5, 0.499, -19.75, 24.25, 0.499, -24.25, 2.5, 0.499, -5.75, 24.25, 0.499, -5.5, -2.25, 0.499, -4.25, -2.25, 0.499, -15.5, -24.25, 0.499, -15.5, -1.5, 0.499, -3.75, -24.25, 0.499, 24.25, -1.5, 0.499, 24.25, 0.75, 0.499, -4.25, -0.5, 0.499, -4.25, 1.75, 0.499, -3.75, 1.75, 0.499, 24.25, 2.5, 0.499, -4.25, 24.25, 0.499, 24.25)
 polygons = [PackedInt32Array(4, 3, 5), PackedInt32Array(5, 3, 0), PackedInt32Array(0, 3, 1), PackedInt32Array(1, 3, 2), PackedInt32Array(11, 10, 6), PackedInt32Array(6, 10, 9), PackedInt32Array(6, 9, 7), PackedInt32Array(7, 9, 8), PackedInt32Array(14, 13, 12), PackedInt32Array(8, 14, 15), PackedInt32Array(15, 14, 16), PackedInt32Array(16, 14, 12), PackedInt32Array(18, 4, 17), PackedInt32Array(20, 18, 19), PackedInt32Array(8, 9, 14), PackedInt32Array(19, 21, 20), PackedInt32Array(20, 21, 11), PackedInt32Array(6, 22, 11), PackedInt32Array(17, 23, 18), PackedInt32Array(18, 23, 19), PackedInt32Array(25, 24, 26), PackedInt32Array(26, 24, 27), PackedInt32Array(10, 11, 28), PackedInt32Array(28, 11, 21), PackedInt32Array(6, 27, 22), PackedInt32Array(22, 27, 24), PackedInt32Array(17, 4, 5), PackedInt32Array(30, 29, 13), PackedInt32Array(13, 29, 12), PackedInt32Array(15, 16, 31), PackedInt32Array(31, 16, 32), PackedInt32Array(33, 31, 34), PackedInt32Array(34, 31, 32), PackedInt32Array(37, 36, 35), PackedInt32Array(35, 38, 37), PackedInt32Array(37, 38, 40), PackedInt32Array(37, 40, 39), PackedInt32Array(42, 24, 41), PackedInt32Array(41, 24, 25), PackedInt32Array(41, 43, 42), PackedInt32Array(42, 43, 38), PackedInt32Array(38, 43, 44), PackedInt32Array(38, 44, 40), PackedInt32Array(45, 33, 34), PackedInt32Array(45, 34, 43), PackedInt32Array(43, 34, 44), PackedInt32Array(44, 34, 46)]
 geometry_parsed_geometry_type = 1
 geometry_collision_mask = 4278190081
 agent_height = 2.0
+agent_radius = 0.75
 
 [sub_resource type="PlaneMesh" id="PlaneMesh_nwuu1"]
 size = Vector2(50, 50)
@@ -335,6 +336,7 @@ navigation_mesh = SubResource("NavigationMesh_gyhlh")
 
 [node name="WorldFloor" type="StaticBody3D" parent="NavigationRegion3D" groups=["PlasticMaterial"]]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.001, 0)
+collision_layer = 5
 
 [node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/WorldFloor"]
 mesh = SubResource("PlaneMesh_nwuu1")

project.godot

@@ -63,8 +63,9 @@ folder_colors={
 "res://levels/": "blue",
 "res://levels/ghost_ship/": "purple",
 "res://src/": "green",
-"res://src/ui/": "yellow",
+"res://src/ui/": "orange",
-"res://src/world/": "teal"
+"res://src/world/": "teal",
+"res://src/world/grunk_beast/behaviors/": "yellow"
 }
 
 [game]

src/world/grunk_beast/behaviors/actions/blackboard_copy.gd

@@ -0,0 +1,14 @@
+@tool
+class_name BlackboardCopy extends ActionLeaf
+## Copy a value from one blackboard key to another.
+
+## Source blackboard key.
+@export var source_key: String
+
+## Destination blackboard key.
+@export var destination_key: String
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	blackboard.set_value(destination_key, blackboard.get_value(source_key))
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/blackboard_copy.gd.uid

@@ -0,0 +1 @@
+uid://wfd5nbethyw6

src/world/grunk_beast/behaviors/actions/blackboard_erase_safe.gd

@@ -0,0 +1,14 @@
+@tool
+class_name BlackboardEraseSafe extends ActionLeaf
+## Erases the specified key from the blackboard.
+##
+## Unlike Beehave's builtin BlackboardEraseAction, this version will succeed silently if
+## the given key is not defined.
+
+## Expression representing a blackboard key.
+@export var key := ""
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	blackboard.erase_value(key)
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/blackboard_erase_safe.gd.uid

@@ -0,0 +1 @@
+uid://demv7xh27ouvr

src/world/grunk_beast/behaviors/actions/grab_target.gd

@@ -0,0 +1,20 @@
+@tool
+class_name GrabTarget extends ActionLeaf
+## Grab the given target!!
+##
+## Returns FAILURE if there is no valid key at the given target.
+
+## Blackboard key of the grab target.
+@export var blackboard_key := "target"
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	@warning_ignore("unsafe_cast")
+	var target := blackboard.get_value(blackboard_key) as Node3D
+	if not is_instance_valid(target):
+		return FAILURE
+
+	# TODO
+	print_debug("GET FUCKIGN GRABBED IDIOT!! ", target)
+
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/grab_target.gd.uid

@@ -0,0 +1 @@
+uid://b0xue7ao0gjqo

src/world/grunk_beast/behaviors/actions/pick_random_from_group.gd

@@ -0,0 +1,19 @@
+@tool
+class_name PickRandomFromGroup extends ActionLeaf
+## Picks a random node in the given group and stores it in the blackboard.
+##
+## Returns FAILURE if there are no nodes in the given group.
+
+## Blackboard key under which the node will be stored.
+@export var blackboard_key := "target"
+
+## Name of the group to pick from.
+@export var group: String
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var nodes: Array[Node] = actor.get_tree().get_nodes_in_group(group)
+	if not nodes:
+		return FAILURE
+	blackboard.set_value(blackboard_key, nodes.pick_random())
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/pick_random_from_group.gd.uid

@@ -0,0 +1 @@
+uid://cg55nu4y0a5ud

src/world/grunk_beast/behaviors/actions/pursue_target.gd

@@ -0,0 +1,20 @@
+@tool
+class_name PursueTarget extends ActionLeaf
+## Wait until the navigation target is reached (or cannot navigate further)
+##
+## This action will update the target's position each tick, allowing for tracking moving targets.
+## Returns FAILURE if there isn't a Node3D at the given blackboard key.
+
+@export var blackboard_key := "target"
+
+@onready var nav_agent: NavigationAgent3D = %NavAgent
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	@warning_ignore("unsafe_cast")
+	var target := blackboard.get_value(blackboard_key) as Node3D
+	if not is_instance_valid(target):
+		return FAILURE
+	nav_agent.target_position = target.global_position
+
+	return SUCCESS if nav_agent.is_navigation_finished() else RUNNING

src/world/grunk_beast/behaviors/actions/pursue_target.gd.uid

@@ -0,0 +1 @@
+uid://bkdwuqv4tudka

src/world/grunk_beast/behaviors/actions/set_nav_target.gd

@@ -0,0 +1,26 @@
+@tool
+class_name SetNavTarget extends ActionLeaf
+## Set the nav agent target position to the global position at the given blackboard key.
+##
+## The target value may be a Vector3 position in space,
+## or a Node3D, in which case the global position of the node will be used as the target position.
+##
+## Returns failure if there is no valid target under the given blackboard key.
+
+## Blackboard key of the Node3D to set as a target
+@export var blackboard_key := "target"
+
+@onready var nav_agent: NavigationAgent3D = %NavAgent
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	var value: Variant = blackboard.get_value(blackboard_key)
+	if value is Vector3:
+		@warning_ignore("unsafe_cast")
+		nav_agent.target_position = value as Vector3
+	elif value is Node3D and is_instance_valid(value):
+		@warning_ignore("unsafe_cast")
+		nav_agent.target_position = (value as Node3D).global_position
+	else:
+		return FAILURE
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/set_nav_target.gd.uid

@@ -0,0 +1 @@
+uid://u1ntpwjwjqhj

src/world/grunk_beast/behaviors/actions/set_target_from_area.gd

@@ -0,0 +1,21 @@
+@tool
+class_name SetTargetFromArea extends ActionLeaf
+## Store the first node in the given area on the blackboard.
+##
+## Returns FAILURE if there is no such node overlapping the given area.
+## NOTE: You probably should only use this with areas masked to only have one possible body.
+
+## Key to store the target under.
+@export var blackboard_key := "target"
+
+## Area to get target from.
+@export var area: Area3D
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	var bodies := area.get_overlapping_bodies()
+	if not bodies:
+		return FAILURE
+
+	blackboard.set_value(blackboard_key, bodies[0])
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/set_target_from_area.gd.uid

@@ -0,0 +1 @@
+uid://b34l3v4sr8rmq

src/world/grunk_beast/behaviors/actions/start_timer.gd

@@ -0,0 +1,18 @@
+@tool
+class_name StartTimer extends ActionLeaf
+## Start the given timer.
+## If `seconds > 0`, start the timer with that duration, otherwise use the default.
+
+## Timer to start.
+@export var timer: Timer
+
+## Number of seconds to set the timer for. If <0, use the default.
+@export var seconds := -1.0
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	if seconds > 0:
+		timer.start(seconds)
+	else:
+		timer.start()
+	return SUCCESS

src/world/grunk_beast/behaviors/actions/start_timer.gd.uid

@@ -0,0 +1 @@
+uid://ykfqlqp7e8og

src/world/grunk_beast/behaviors/actions/travel_to_destination.gd

@@ -0,0 +1,9 @@
+@tool
+class_name TravelToDestination extends ActionLeaf
+## Wait until the navigation target is reached (or cannot navigate further)
+
+@onready var nav_agent: NavigationAgent3D = %NavAgent
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	return SUCCESS if nav_agent.is_navigation_finished() else RUNNING

src/world/grunk_beast/behaviors/actions/travel_to_destination.gd.uid

@@ -0,0 +1 @@
+uid://om57w2acvgb7

src/world/grunk_beast/behaviors/conditions/area_has_bodies.gd

@@ -0,0 +1,11 @@
+@tool
+class_name AreaHasBodies extends ConditionLeaf
+## Does the given Area3D have any overlapping bodies?
+
+## Area3D to check for overlapping bodies.
+@export var area: Area3D
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	area.get_overlapping_bodies()
+	return SUCCESS if area.has_overlapping_bodies() else FAILURE

src/world/grunk_beast/behaviors/conditions/area_has_bodies.gd.uid

@@ -0,0 +1 @@
+uid://ulw86qyy1knh

src/world/grunk_beast/behaviors/conditions/body_in_area.gd

@@ -0,0 +1,16 @@
+@tool
+class_name BodyInArea extends ConditionLeaf
+## Is the body at the given blackboard key in the given area?
+##
+## Returns FAILURE if there is no Node3D at the given blackboard key.
+
+## Blackboard key of the body to check.
+@export var blackboard_key := "target"
+## Area3D to check for the target body.
+@export var area: Area3D
+
+
+func tick(_actor: Node, blackboard: Blackboard) -> int:
+	@warning_ignore("unsafe_cast")
+	var body := blackboard.get_value(blackboard_key) as Node3D
+	return SUCCESS if is_instance_valid(body) and body in area.get_overlapping_bodies() else FAILURE

src/world/grunk_beast/behaviors/conditions/body_in_area.gd.uid

@@ -0,0 +1 @@
+uid://7k5hor1omsxc

src/world/grunk_beast/behaviors/conditions/target_reached.gd

@@ -0,0 +1,9 @@
+@tool
+class_name TargetReached extends ConditionLeaf
+## Has the nav agent reached its current target?
+
+@onready var nav_agent: NavigationAgent3D = %NavAgent
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	return SUCCESS if nav_agent.is_target_reached() else FAILURE

src/world/grunk_beast/behaviors/conditions/target_reached.gd.uid

@@ -0,0 +1 @@
+uid://bnd8y8fkvg082

src/world/grunk_beast/behaviors/conditions/timer_running.gd

@@ -0,0 +1,10 @@
+@tool
+class_name TimerRunning extends ConditionLeaf
+## Is the given timer currently running?
+
+## Timer to check.
+@export var timer: Timer
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	return FAILURE if timer.is_stopped() else SUCCESS

src/world/grunk_beast/behaviors/conditions/timer_running.gd.uid

@@ -0,0 +1 @@
+uid://h0cp58nswpml

src/world/grunk_beast/behaviors/decorators/random_delay.gd

@@ -0,0 +1,31 @@
+@tool
+class_name RandomDelay extends DelayDecorator
+## DelayDecorator which randomizes the wait time to a normal random sample each time it's run.
+
+## Mean wait time, in seconds.
+@export var mean_time := 1.0:
+	set(value):
+		mean_time = value
+		randomize_wait_time()
+
+## Standard deviation of wait time, in seconds.
+@export var st_dev_time := 0.1:
+	set(value):
+		st_dev_time = value
+		randomize_wait_time()
+
+
+func _ready() -> void:
+	randomize_wait_time()
+
+
+func randomize_wait_time() -> void:
+	wait_time = maxf(0.0, randfn(mean_time, st_dev_time))
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var total_time: float = blackboard.get_value(cache_key, 0.0, str(actor.get_instance_id()))
+	if total_time == 0.0:
+		randomize_wait_time()
+
+	return super.tick(actor, blackboard)

src/world/grunk_beast/behaviors/decorators/random_delay.gd.uid

@@ -0,0 +1 @@
+uid://beyk2xtbjrsg4

src/world/grunk_beast/grunk_beast.gd

@@ -2,25 +2,12 @@ class_name GrunkBeast extends CharacterBody3D
 ## Grunk beast controller
 
 #region Constants
-signal state_changed(new_state: State)
+const STALKING_SOUND_LIMIT := 20.0
-
-enum State {
-	UNKNOWN,
-	LURKING,
-	STALKING,
-	PURSUIT,
-}
-
-const LURK_POINT_GROUP := "LurkPoint"
-const STALKING_SOUND_LIMIT := 14.0
-const IDLE_EPSILON := 0.001
 #endregion
 
 #region Exported Properties
-@export var lurk_spontaneity := 0.02
 @export var base_speed := 60.0
 @export var pursuit_speed := 180.0
-@export var initial_state := State.LURKING
 #endregion
 
 #region Member Variables
@@ -29,29 +16,52 @@ var gravity: Vector3 = (
 	* ProjectSettings.get_setting("physics/3d/default_gravity_vector")
 )
 
-var state: State:
-	set(value):
-		if state != value:
-			_on_state_change(value)
-		state = value
-
 var pathfinding := true
 
 @onready var nav_agent: NavigationAgent3D = %NavAgent
-@onready var stalking_timeout: Timer = %StalkingTimeout
+@onready var nav_probe: NavigationAgent3D = %NavProbe
-@onready var idle_timer: Timer = %IdleTimer
+@onready var stalking_timer: Timer = %StalkingTimer
+
+@onready var blackboard: Blackboard = %Blackboard
+
 #endregion
 
 #region Character Controller
 
 
+func is_pursuing() -> bool:
+	return blackboard.has_value("pursuit_target")
+
+
+func is_stalking() -> bool:
+	return false  # TODO
+
+
 func get_speed() -> float:
-	match state:
+	if is_pursuing():
-		State.PURSUIT:
+		return pursuit_speed
-			return pursuit_speed
 	return base_speed
 
 
+func path_shorter_than(target: Vector3, limit: float) -> bool:
+	var limit_sq := limit * limit
+	var length_sq := 0.0
+	var last_pos := global_position
+
+	nav_probe.target_position = target
+
+	for waypoint: Vector3 in nav_probe.get_current_navigation_path().slice(
+		nav_probe.get_current_navigation_path_index()
+	):
+		# Using distance squared to save a sqrt instruction
+		length_sq += last_pos.distance_squared_to(waypoint)
+		if length_sq > limit_sq:
+			return false
+		last_pos = waypoint
+
+	return true
+
+
 func _physics_process(delta: float) -> void:
 	var motion := Vector3.ZERO
 
@@ -66,114 +76,13 @@ func _physics_process(delta: float) -> void:
 	if not is_on_floor():
 		velocity += gravity * delta
 
-	if velocity.length_squared() > IDLE_EPSILON:
-		idle_timer.start()
-
 	move_and_slide()
 
 
-#endregion
-
-#region State Machine
-
-
-func _ready() -> void:
-	state = initial_state
-
-
-func _current_path_shorter_than(limit: float) -> bool:
-	var limit_sq := limit * limit
-	var length_sq := 0.0
-	var last_pos := global_position
-
-	for waypoint: Vector3 in nav_agent.get_current_navigation_path().slice(
-		nav_agent.get_current_navigation_path_index()
-	):
-		# Using distance squared to save a sqrt instruction
-		length_sq += last_pos.distance_squared_to(waypoint)
-		if length_sq > limit_sq:
-			return false
-		last_pos = waypoint
-
-	return true
-
-
-func _set_new_lurk_point() -> void:
-	@warning_ignore("unsafe_cast")
-	var next_lurk_point := get_tree().get_nodes_in_group(LURK_POINT_GROUP).pick_random() as Node3D
-	if next_lurk_point:
-		nav_agent.target_position = next_lurk_point.global_position
-	else:
-		push_warning(self, " tried to lurk, but couldn't find a lurk point!")
-
-
-## Lurking routine
-func lurk() -> void:
-	if nav_agent.is_target_reached() or randf() < lurk_spontaneity:
-		_set_new_lurk_point()
-
-
-## Stalking routine
-func stalk() -> void:
-	pass
-
-
-## Pursuit routine
-func pursue() -> void:
-	if Player.instance:
-		nav_agent.target_position = Player.instance.global_position
-
-
-func _on_state_change(new_state: State) -> void:
-	match new_state:
-		State.LURKING:
-			_set_new_lurk_point()
-		State.STALKING:
-			stalking_timeout.start()
-
-	state_changed.emit(new_state)
-
-
-func update_behavior() -> void:
-	match state:
-		State.UNKNOWN:
-			state = State.LURKING
-			update_behavior()
-		State.LURKING:
-			lurk()
-		State.STALKING:
-			stalk()
-		State.PURSUIT:
-			pursue()
-
-
 func on_sound_detected(source: Vector3) -> void:
-	var prev_target := nav_agent.target_position
-	nav_agent.target_position = source
 	# Check that the source isn't too far away, e.g. a sound from another room
-	if _current_path_shorter_than(STALKING_SOUND_LIMIT):
+	if path_shorter_than(source, STALKING_SOUND_LIMIT):
-		# First detection switches to stalking, second switches to pursuit
+		blackboard.set_value("stalking_target", source)
-		if state == State.STALKING:
+		stalking_timer.start()
-			state = State.PURSUIT
-		else:
-			state = State.STALKING
-	else:
-		nav_agent.target_position = prev_target
-
-
-func on_player_entered_grabbing_range(_body: Node3D) -> void:
-	print_debug("GET GRABBED, IDIOT!")
-
-
-func on_player_left_pursuit_range(_body: Node3D) -> void:
-	state = State.STALKING
-
-
-func on_stalking_timeout_timeout() -> void:
-	state = State.LURKING
-
-
-func on_stalking_idle_timer_timeout() -> void:
-	pass  # Replace with function body.
 
 #endregion

src/world/grunk_beast/grunk_beast.tscn

@@ -1,10 +1,30 @@
-[gd_scene load_steps=16 format=3 uid="uid://ehf5sg3ahvbf"]
+[gd_scene load_steps=37 format=3 uid="uid://ehf5sg3ahvbf"]
 
 [ext_resource type="Script" uid="uid://gwwmqwixqqr5" path="res://src/world/grunk_beast/grunk_beast.gd" id="2_qqnhb"]
 [ext_resource type="Shader" uid="uid://ckxc0ngd37rtk" path="res://src/shaders/gunk.gdshader" id="4_0gxpq"]
 [ext_resource type="Script" uid="uid://cfsiyhhrcua6o" path="res://src/world/game_sound/game_sound_listener.gd" id="5_3gbao"]
 [ext_resource type="Texture2D" uid="uid://cm1jrvx7ftx4c" path="res://assets/black.png" id="5_xuag8"]
+[ext_resource type="Script" uid="uid://bb0t2ovl7wifo" path="res://addons/beehave/nodes/beehave_tree.gd" id="6_d4ex2"]
 [ext_resource type="FastNoiseLite" uid="uid://cnlvdtx68giv6" path="res://assets/materials/gunk_noise.tres" id="6_mbqcc"]
+[ext_resource type="Script" uid="uid://dme5f24l0edsf" path="res://addons/beehave/blackboard.gd" id="7_cn3ok"]
+[ext_resource type="Script" uid="uid://cw22yurt5l74k" path="res://addons/beehave/nodes/composites/selector_reactive.gd" id="7_vvw1q"]
+[ext_resource type="Script" uid="uid://cg016dbe7gs1x" path="res://addons/beehave/nodes/composites/sequence.gd" id="8_0gxpq"]
+[ext_resource type="Script" uid="uid://7k5hor1omsxc" path="res://src/world/grunk_beast/behaviors/conditions/body_in_area.gd" id="9_xuag8"]
+[ext_resource type="Script" uid="uid://u1ntpwjwjqhj" path="res://src/world/grunk_beast/behaviors/actions/set_nav_target.gd" id="10_kjykp"]
+[ext_resource type="Script" uid="uid://2qri6rrfv8ui" path="res://addons/beehave/nodes/decorators/cooldown.gd" id="10_ntlom"]
+[ext_resource type="Script" uid="uid://beyk2xtbjrsg4" path="res://src/world/grunk_beast/behaviors/decorators/random_delay.gd" id="11_mbqcc"]
+[ext_resource type="Script" uid="uid://b0xue7ao0gjqo" path="res://src/world/grunk_beast/behaviors/actions/grab_target.gd" id="11_nq7ke"]
+[ext_resource type="Script" uid="uid://8hn4kne15ac5" path="res://addons/beehave/nodes/composites/selector.gd" id="12_dkcdj"]
+[ext_resource type="Script" uid="uid://cg55nu4y0a5ud" path="res://src/world/grunk_beast/behaviors/actions/pick_random_from_group.gd" id="12_ml8dd"]
+[ext_resource type="Script" uid="uid://dcojdhvj8qcw0" path="res://addons/beehave/nodes/composites/sequence_reactive.gd" id="12_xde72"]
+[ext_resource type="Script" uid="uid://b34l3v4sr8rmq" path="res://src/world/grunk_beast/behaviors/actions/set_target_from_area.gd" id="13_x8l6r"]
+[ext_resource type="Script" uid="uid://om57w2acvgb7" path="res://src/world/grunk_beast/behaviors/actions/travel_to_destination.gd" id="14_4y64f"]
+[ext_resource type="Script" uid="uid://bkdwuqv4tudka" path="res://src/world/grunk_beast/behaviors/actions/pursue_target.gd" id="14_x8l6r"]
+[ext_resource type="Script" uid="uid://demv7xh27ouvr" path="res://src/world/grunk_beast/behaviors/actions/blackboard_erase_safe.gd" id="15_4b27i"]
+[ext_resource type="Script" uid="uid://dwfdg523bk776" path="res://addons/beehave/nodes/decorators/failer.gd" id="15_oons1"]
+[ext_resource type="Script" uid="uid://wfd5nbethyw6" path="res://src/world/grunk_beast/behaviors/actions/blackboard_copy.gd" id="15_umoec"]
+[ext_resource type="Script" uid="uid://ykfqlqp7e8og" path="res://src/world/grunk_beast/behaviors/actions/start_timer.gd" id="16_asd50"]
+[ext_resource type="Script" uid="uid://h0cp58nswpml" path="res://src/world/grunk_beast/behaviors/conditions/timer_running.gd" id="16_oons1"]
 
 [sub_resource type="NoiseTexture3D" id="NoiseTexture3D_faau1"]
 width = 256
@@ -62,10 +82,10 @@ radial_segments = 7
 rings = 1
 
 [sub_resource type="CapsuleShape3D" id="CapsuleShape3D_faau1"]
-radius = 0.45
+radius = 0.4
 
 [sub_resource type="SphereShape3D" id="SphereShape3D_wffas"]
-radius = 7.0
+radius = 16.0
 
 [sub_resource type="SphereShape3D" id="SphereShape3D_3gbao"]
 radius = 1.4
@@ -73,7 +93,11 @@ radius = 1.4
 [sub_resource type="SphereShape3D" id="SphereShape3D_d4ex2"]
 radius = 20.0
 
+[sub_resource type="SphereShape3D" id="SphereShape3D_oons1"]
+radius = 3.0
+
 [node name="GrunkBeast" type="CharacterBody3D"]
+collision_layer = 36
 script = ExtResource("2_qqnhb")
 
 [node name="MeshInstance3D" type="MeshInstance3D" parent="."]
@@ -90,19 +114,13 @@ shape = SubResource("CapsuleShape3D_faau1")
 
 [node name="NavAgent" type="NavigationAgent3D" parent="."]
 unique_name_in_owner = true
+path_desired_distance = 0.75
+avoidance_enabled = true
+debug_enabled = true
 
-[node name="IdleTimer" type="Timer" parent="."]
+[node name="NavProbe" type="NavigationAgent3D" parent="."]
 unique_name_in_owner = true
-wait_time = 1.2
+path_desired_distance = 0.75
-one_shot = true
-
-[node name="StalkingTimeout" type="Timer" parent="."]
-unique_name_in_owner = true
-wait_time = 25.0
-one_shot = true
-
-[node name="BehaviorUpdateTimer" type="Timer" parent="."]
-autostart = true
 
 [node name="GameSoundListener" type="StaticBody3D" parent="."]
 collision_layer = 16
@@ -120,15 +138,167 @@ collision_mask = 8
 [node name="CollisionShape3D" type="CollisionShape3D" parent="GrabbingRange"]
 shape = SubResource("SphereShape3D_3gbao")
 
-[node name="PursuitLimit" type="Area3D" parent="."]
+[node name="PursuitRange" type="Area3D" parent="."]
 collision_layer = 0
 collision_mask = 8
 
-[node name="CollisionShape3D" type="CollisionShape3D" parent="PursuitLimit"]
+[node name="CollisionShape3D" type="CollisionShape3D" parent="PursuitRange"]
 shape = SubResource("SphereShape3D_d4ex2")
 
-[connection signal="timeout" from="StalkingTimeout" to="." method="on_stalking_timeout_timeout"]
+[node name="AggroRange" type="Area3D" parent="."]
-[connection signal="timeout" from="BehaviorUpdateTimer" to="." method="update_behavior"]
+collision_layer = 0
+collision_mask = 8
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AggroRange"]
+shape = SubResource("SphereShape3D_oons1")
+
+[node name="SniffRange" type="Area3D" parent="."]
+collision_layer = 0
+collision_mask = 8
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="SniffRange"]
+shape = SubResource("SphereShape3D_wffas")
+
+[node name="StalkingTimer" type="Timer" parent="."]
+unique_name_in_owner = true
+wait_time = 25.0
+one_shot = true
+
+[node name="GrunkBeastBehavior" type="Node" parent="." node_paths=PackedStringArray("blackboard", "actor")]
+script = ExtResource("6_d4ex2")
+blackboard = NodePath("../Blackboard")
+actor = NodePath("..")
+metadata/_custom_type_script = "uid://bb0t2ovl7wifo"
+
+[node name="StateSelector" type="Node" parent="GrunkBeastBehavior"]
+script = ExtResource("7_vvw1q")
+metadata/_custom_type_script = "uid://cw22yurt5l74k"
+
+[node name="GrabSequence" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("8_0gxpq")
+metadata/_custom_type_script = "uid://cg016dbe7gs1x"
+
+[node name="IsTargetInGrabbingRange" type="Node" parent="GrunkBeastBehavior/StateSelector/GrabSequence" node_paths=PackedStringArray("area")]
+script = ExtResource("9_xuag8")
+blackboard_key = "pursuit_target"
+area = NodePath("../../../../GrabbingRange")
+metadata/_custom_type_script = "uid://7k5hor1omsxc"
+
+[node name="GrabCooldown" type="Node" parent="GrunkBeastBehavior/StateSelector/GrabSequence"]
+script = ExtResource("10_ntlom")
+wait_time = 2.0
+metadata/_custom_type_script = "uid://2qri6rrfv8ui"
+
+[node name="GrabTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/GrabSequence/GrabCooldown"]
+script = ExtResource("11_nq7ke")
+blackboard_key = "pursuit_target"
+metadata/_custom_type_script = "uid://b0xue7ao0gjqo"
+
+[node name="PursuitSequence" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("12_xde72")
+metadata/_custom_type_script = "uid://dcojdhvj8qcw0"
+
+[node name="TargetSelector" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence"]
+script = ExtResource("12_dkcdj")
+metadata/_custom_type_script = "uid://8hn4kne15ac5"
+
+[node name="TargetInPursuitRange" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence/TargetSelector" node_paths=PackedStringArray("area")]
+script = ExtResource("9_xuag8")
+blackboard_key = "pursuit_target"
+area = NodePath("../../../../../PursuitRange")
+metadata/_custom_type_script = "uid://7k5hor1omsxc"
+
+[node name="GetTargetFromAggroRange" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence/TargetSelector" node_paths=PackedStringArray("area")]
+script = ExtResource("13_x8l6r")
+blackboard_key = "pursuit_target"
+area = NodePath("../../../../../AggroRange")
+metadata/_custom_type_script = "uid://b34l3v4sr8rmq"
+
+[node name="UpdateStalkingTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence"]
+script = ExtResource("15_umoec")
+source_key = "pursuit_target"
+destination_key = "stalking_target"
+metadata/_custom_type_script = "uid://wfd5nbethyw6"
+
+[node name="RestartStalkingTimer" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence" node_paths=PackedStringArray("timer")]
+script = ExtResource("16_asd50")
+timer = NodePath("../../../../StalkingTimer")
+metadata/_custom_type_script = "uid://ykfqlqp7e8og"
+
+[node name="PursueTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/PursuitSequence"]
+script = ExtResource("14_x8l6r")
+blackboard_key = "pursuit_target"
+metadata/_custom_type_script = "uid://bkdwuqv4tudka"
+
+[node name="AlwaysFailDecorator" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("15_oons1")
+metadata/_custom_type_script = "uid://dwfdg523bk776"
+
+[node name="ErasePursuitTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/AlwaysFailDecorator"]
+script = ExtResource("15_4b27i")
+key = "pursuit_target"
+metadata/_custom_type_script = "uid://demv7xh27ouvr"
+
+[node name="StalkingSequence" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("12_xde72")
+metadata/_custom_type_script = "uid://dcojdhvj8qcw0"
+
+[node name="StalkingTimerRunning" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence" node_paths=PackedStringArray("timer")]
+script = ExtResource("16_oons1")
+timer = NodePath("../../../../StalkingTimer")
+metadata/_custom_type_script = "uid://h0cp58nswpml"
+
+[node name="SetNavTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence"]
+script = ExtResource("10_kjykp")
+blackboard_key = "stalking_target"
+metadata/_custom_type_script = "uid://u1ntpwjwjqhj"
+
+[node name="TravelToDestination" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence"]
+script = ExtResource("14_4y64f")
+metadata/_custom_type_script = "uid://om57w2acvgb7"
+
+[node name="SelectorReactiveComposite" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence"]
+script = ExtResource("7_vvw1q")
+metadata/_custom_type_script = "uid://cw22yurt5l74k"
+
+[node name="AlwaysFailDecorator2" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("15_oons1")
+metadata/_custom_type_script = "uid://dwfdg523bk776"
+
+[node name="EraseStalkingTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/AlwaysFailDecorator2"]
+script = ExtResource("15_4b27i")
+key = "stalking_target"
+metadata/_custom_type_script = "uid://demv7xh27ouvr"
+
+[node name="LurkSequence" type="Node" parent="GrunkBeastBehavior/StateSelector"]
+script = ExtResource("8_0gxpq")
+metadata/_custom_type_script = "uid://cg016dbe7gs1x"
+
+[node name="RandomDelay" type="Node" parent="GrunkBeastBehavior/StateSelector/LurkSequence"]
+script = ExtResource("11_mbqcc")
+mean_time = 5.0
+st_dev_time = 1.0
+wait_time = 4.6164
+metadata/_custom_type_script = "uid://beyk2xtbjrsg4"
+
+[node name="PickRandomLurkTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/LurkSequence/RandomDelay"]
+script = ExtResource("12_ml8dd")
+blackboard_key = "lurk_target"
+group = "LurkPoint"
+metadata/_custom_type_script = "uid://cg55nu4y0a5ud"
+
+[node name="SetNavTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/LurkSequence"]
+script = ExtResource("10_kjykp")
+blackboard_key = "lurk_target"
+metadata/_custom_type_script = "uid://u1ntpwjwjqhj"
+
+[node name="TravelToDestination" type="Node" parent="GrunkBeastBehavior/StateSelector/LurkSequence"]
+script = ExtResource("14_4y64f")
+metadata/_custom_type_script = "uid://om57w2acvgb7"
+
+[node name="Blackboard" type="Node" parent="."]
+unique_name_in_owner = true
+script = ExtResource("7_cn3ok")
+metadata/_custom_type_script = "uid://dme5f24l0edsf"
+
 [connection signal="sound_detected" from="GameSoundListener" to="." method="on_sound_detected"]
-[connection signal="body_entered" from="GrabbingRange" to="." method="on_player_entered_grabbing_range"]
-[connection signal="body_exited" from="PursuitLimit" to="." method="on_player_left_pursuit_range"]