public void TickPlan()
{
if (this.PlannerContext.get_PlanState() != 1)
{
return;
}
if (this.PlannerContext.get_CurrentTask() == null)
{
this.PlannerContext.set_CurrentTask(this.PlannerContext.get_HtnPlan().Pop());
}
else if (this.PlannerContext.get_CurrentTask().get_State() == 2)
{
if (this.PlannerContext.get_HtnPlan().Count > 0)
{
this.PlannerContext.set_CurrentTask(this.PlannerContext.get_HtnPlan().Pop());
}
else
{
this.CompletePlan();
this.Think();
return;
}
}
if (!this.PlannerContext.get_CurrentTask().ValidatePreconditions(this.PlannerContext))
{
this.AbortPlan();
this.Think();
}
else
{
if (this.PlannerContext.get_CurrentTask() == null)
{
return;
}
if (this.PlannerContext.get_CurrentTask().get_State() == null)
{
if ((double)TaskQualifier.TestPreconditions((ITask)this.PlannerContext.get_CurrentTask(), this.PlannerContext) <= 0.0)
{
this.PlannerContext.get_CurrentTask().set_State((PrimitiveTaskStateType)3);
this.AbortPlan();
this.Think();
return;
}
this.PlannerContext.get_CurrentTask().set_State((PrimitiveTaskStateType)1);
using (List <IOperator> .Enumerator enumerator = this.PlannerContext.get_CurrentTask().get_Operators().GetEnumerator())
{
while (enumerator.MoveNext())
{
((IAction)enumerator.Current).Execute((IAIContext)this.PlannerContext);
}
}
}
int num = 0;
using (List <IOperator> .Enumerator enumerator = this.PlannerContext.get_CurrentTask().get_Operators().GetEnumerator())
{
while (enumerator.MoveNext())
{
OperatorStateType operatorStateType = enumerator.Current.Tick(this.PlannerContext, this.PlannerContext.get_CurrentTask());
if (operatorStateType == 3)
{
this.PlannerContext.get_CurrentTask().set_State((PrimitiveTaskStateType)3);
this.AbortPlan();
this.Think();
return;
}
if (operatorStateType == 2)
{
++num;
}
}
}
if (num < this.PlannerContext.get_CurrentTask().get_Operators().Count)
{
return;
}
this.PlannerContext.get_CurrentTask().set_State((PrimitiveTaskStateType)2);
}
}
public void TickPlan()
{
if (this.PlannerContext.PlanState == PlanStateType.Running)
{
if (this.PlannerContext.CurrentTask == null)
{
this.PlannerContext.CurrentTask = this.PlannerContext.HtnPlan.Pop();
}
else if (this.PlannerContext.CurrentTask.State == PrimitiveTaskStateType.Complete)
{
if (this.PlannerContext.HtnPlan.Count <= 0)
{
this.CompletePlan();
this.Think();
return;
}
this.PlannerContext.CurrentTask = this.PlannerContext.HtnPlan.Pop();
}
if (!this.PlannerContext.CurrentTask.ValidatePreconditions(this.PlannerContext))
{
this.AbortPlan();
this.Think();
return;
}
if (this.PlannerContext.CurrentTask != null)
{
if (this.PlannerContext.CurrentTask.State == PrimitiveTaskStateType.NotStarted)
{
if (TaskQualifier.TestPreconditions(this.PlannerContext.CurrentTask, this.PlannerContext) <= 0f)
{
this.PlannerContext.CurrentTask.State = PrimitiveTaskStateType.Aborted;
this.AbortPlan();
this.Think();
return;
}
this.PlannerContext.CurrentTask.State = PrimitiveTaskStateType.Running;
foreach (IOperator @operator in this.PlannerContext.CurrentTask.Operators)
{
@operator.Execute(this.PlannerContext);
}
}
int num = 0;
foreach (IOperator operator1 in this.PlannerContext.CurrentTask.Operators)
{
OperatorStateType operatorStateType = operator1.Tick(this.PlannerContext, this.PlannerContext.CurrentTask);
if (operatorStateType != OperatorStateType.Aborted)
{
if (operatorStateType != OperatorStateType.Complete)
{
continue;
}
num++;
}
else
{
this.PlannerContext.CurrentTask.State = PrimitiveTaskStateType.Aborted;
this.AbortPlan();
this.Think();
return;
}
}
if (num >= this.PlannerContext.CurrentTask.Operators.Count)
{
this.PlannerContext.CurrentTask.State = PrimitiveTaskStateType.Complete;
}
}
}
}
