public virtual BTNodeState Run(T obj)
{
Enter(obj);
mNodeState = Process(obj);
Leave(obj);
return(mNodeState);
}
protected override BTNodeState Handle()
{
BTNodeState result = BTNodeState.Running;
int count = 0;
foreach (BehaviourTreeNode node in mChildren)
{
if (((IBTParallelFunc)node).NodeStatus() == BTNodeState.Success)
{
result = BTNodeState.Success;
break;
}
else if (((IBTParallelFunc)node).NodeStatus() == BTNodeState.Running)
{
continue;
}
else if (((IBTParallelFunc)node).NodeStatus() == BTNodeState.Failure)
{
count++;
}
}
if (count == mChildren.Count)
{
result = BTNodeState.Failure;
}
return(result);
}
public override BTNodeState Evaluate(BehaviourController controller)
{
bool nodeRunning = false;
foreach (BTNode node in nodes)
{
BTNodeState currentNodeState = node.Evaluate(controller);
switch (currentNodeState)
{
case BTNodeState.SUCCESS:
continue;
case BTNodeState.RUNNING:
nodeRunning = true;
continue;
case BTNodeState.FAILURE:
return(currentNodeState);
default:
break;
}
}
return(nodeRunning? BTNodeState.RUNNING : BTNodeState.SUCCESS);
}
public BTNode(int nodeId, BehaviourTree tree, BTNode parent)
{
_nodeId = nodeId;
_tree = tree;
_parent = parent;
_state = BTNodeState.SUCCESS;
}
public override BTNodeState start()
{
BTNodeState result = mNodeFunction();
if (result == BTNodeState.Running)
{
return(BTNodeState.Error);
}
return(result);
}
public override BTNodeState Evaluate(BehaviourController controller)
{
foreach (BTNode node in nodes)
{
BTNodeState currentNodeState = node.Evaluate(controller);
switch (currentNodeState)
{
case BTNodeState.SUCCESS:
return(currentNodeState);
case BTNodeState.FAILURE:
continue;
default:
break;
}
}
return(BTNodeState.FAILURE);
}
public override BTNodeState Process(Target obj)
{
BTNodeState state = LeftOperation.Process(obj);
if (RangeBoolean == BTConditionBoolean.AND)
{
if (state == BTNodeState.Success)
{
state = RightOperation.Process(obj);
}
}
else if (RangeBoolean == BTConditionBoolean.OR)
{
if (state == BTNodeState.Failure)
{
state = RightOperation.Process(obj);
}
}
return(state);
}
protected virtual void Fail() {
_state = BTNodeState.FAILURE;
Finish();
}
protected virtual void Succeed() {
_state = BTNodeState.SUCCESS;
Finish();
}
public BTNode(int nodeId, BehaviourTree tree, BTNode parent) {
_nodeId = nodeId;
_tree = tree;
_parent = parent;
_state = BTNodeState.SUCCESS;
}
public BehaviourTreeNode()
{
mRunningNode = null;
mNodeState = BTNodeState.Ready;
}
protected virtual void Fail()
{
_state = BTNodeState.FAILURE;
Finish();
}
protected virtual void Succeed()
{
_state = BTNodeState.SUCCESS;
Finish();
}
public BehaviourTreeNode()
{
mNodeState = BTNodeState.Ready;
}