/// <summary>
/// 状态通过当前节点的子节点状态来判断，不能使用叶节点判断
/// running时，只负责把自身状态改为running并返回runningNode
/// fail时，不返回自身
/// succ时，绝不返回自身
/// </summary>
/// <returns></returns>
public override JBehaviorNode DFS()
{
state = JBTNodeState.fail;
// 当当前运行节点不为空时，处理当前节点
if (runningNode != null)
{
_dfsNode = runningNode.DFS();
// 如果成功，则枚举下一节点
if (runningNode.state == JBTNodeState.succ)
{
runningIndex++;
}
// 如果状态为失败，则退出该节点
else if (runningNode.state == JBTNodeState.fail)
{
state = JBTNodeState.fail;
Exit();
return(_dfsNode);
}
else //如果是运行中 保持运行
{
state = JBTNodeState.running;
return(_dfsNode);
}
}
if (runningIndex < children.Count)
{
for (int i = runningIndex; i < children.Count; i++)
{
node = children[i];
_dfsNode = node.DFS();
if (node.state == JBTNodeState.fail)
{
state = JBTNodeState.fail;
Exit();
return(_dfsNode);
}
if (node.state == JBTNodeState.running)
{
state = JBTNodeState.running;
runningNode = node;
runningIndex = i;
return(_dfsNode);
}
}
}
//全部完成时，则定义为succ
state = JBTNodeState.succ;
runningNode = children[children.Count - 1];
Exit();
return(_dfsNode);
}
public void Update()
{
//查询当前可执行的节点
curr = root.DFS();
//当当前可执行的节点不是上次执行的节点是
Trans();
curr.Update();
pre = curr;
}
/// <summary>
/// 状态通过当前节点的子节点状态来判断，不能使用叶节点判断
/// 获取到succ状态时，自身为succ并返回，不再执行接下来的子节点
/// 取到failure状态时，继续枚举下一个子节点
/// 取到running状态时，设置自身为running并种植枚举
/// 子节点全部取完切没有找到succ，则返回fail
/// </summary>
/// <returns></returns>
public override JBehaviorNode DFS()
{
state = JBTNodeState.fail;
if (runningNode != null)
{
_dfsNode = runningNode.DFS();
if (runningNode.state == JBTNodeState.succ)
{
Exit();
state = JBTNodeState.succ;
return(_dfsNode);
}
else
if (runningNode.state == JBTNodeState.running)
{
state = JBTNodeState.running;
return(_dfsNode);
}
else
if (runningNode.state == JBTNodeState.fail)
{
runningIndex++;
}
}
for (int i = runningIndex; i < children.Count; i++)
{
node = children[i];
_dfsNode = node.DFS();
///选择节点，获取到成功时则退出
if (node.state == JBTNodeState.succ)
{
state = JBTNodeState.succ;
Exit();
return(_dfsNode);
}
//当前节点为运行中，则可以运行
if (node.state == JBTNodeState.running)
{
state = JBTNodeState.running;
runningNode = node;
runningIndex = i;
return(_dfsNode);
}
//否则，如果时失败，则继续前行
}
//全部运行完毕，是指一个没有选择出来，就是fail
state = JBTNodeState.fail;
Exit();
return(_dfsNode);
}