public IEnumerable <BTNode> Traverse(IBehaviourTree tree)
{
T resultNodes = new T();
var unexploredNodes = new Queue <BTNode>();
var exploredNodes = new HashSet <BTNode>();
void ExploreTree(BTNode node)
{
unexploredNodes.Enqueue(node);
while (unexploredNodes.Count > 0)
{
var currentNode = unexploredNodes.Dequeue();
resultNodes.Add(currentNode);
foreach (var childNode in currentNode)
{
if (!exploredNodes.Contains(childNode))
{
unexploredNodes.Enqueue(childNode);
}
}
}
}
ExploreTree(tree.RootNode);
return(resultNodes);
}
public bool Add(string key, IBehaviourTree leaf)
{
if (_key == key && _leaf == null)
{
_leaf = leaf;
return(true);
}
return(false);
}
public bool Add(string key, IBehaviourTree leaf)
{
if (_key == key)
{
_leaves.Add(leaf);
return(true);
}
foreach (IBehaviourTree _leaf in _leaves)
{
if (_leaf.Add(key, leaf))
{
return(true);
}
}
return(false);
}
public IEnumerable <BTNode> Traverse(IBehaviourTree tree)
{
T discoveredNodes = new T();
void ExploreTree(BTNode node)
{
discoveredNodes.Add(node);
foreach (var childNode in tree.RootNode)
{
if (!discoveredNodes.Contains(childNode))
{
ExploreTree(childNode);
}
}
}
ExploreTree(tree.RootNode);
return(discoveredNodes);
}
public SelectorNode(string key, IBehaviourTree leaf) : this(key)
{
_leaves.Add(leaf);
}
public bool Add(string key, IBehaviourTree leaf)
{
return(false);
}
public DecoratorNode(string key, Func <bool> condition, IBehaviourTree leaf) : this(key, condition)
{
_leaf = leaf;
}
