public int Selector(callReturn finished)//if one child returns success, return success
{
for (int i = 0; i < children.Count; i++)
{
if (children[i].getStatus() == 1)
{
status = 1;
finished(1);
return(1);
}
else if (children[i].getStatus() == -2)
{
status = 0;
children[i].run(returnToMe);
return(0);
}
else if (children[i].getStatus() == 0) //if we are still waiting for a child to return
{ //this shouldnt happen but is a failsafe regardless
status = 0;
return(0);
}
}
//if all children are -1
status = -1;
finished(-1);
return(-1);
}
public int Sequence(callReturn finished)//all children must return success to return success
{
for (int i = 0; i < children.Count; i++)
{
if (children[i].getStatus() == -1)//if unsuccessful, return unsuccessful
{
status = -1;
finished(-1);
return(-1);
}
else if (children[i].getStatus() == 0)//still running
{
status = 0;
return(0);
}
else if (children[i].getStatus() == -2)//-2 denotes an unstarted node
{
children[i].run(returnToMe);
status = 0;
return(0);
}
}//if we have gotten through all children and they have all completed succesfully return a success
status = 1;
finished(1);
return(1);
}
public int Idle(callReturn finished)
{
float prob = Random.Range(0f, 1f);
if (prob > 0.5)
{
status = 0;
child.run(returnToMe);
return(0);
}
else
{
status = 1;
finished(1);
return(1);
}
}
public DecoratorNode(Student etudiant, callReturn parent) : base(etudiant, parent)
{
}
public int Parallel(callReturn finished)
{
children[0].run(returnToMe);
return(0);
}
public CompositeNode(Student etudiant, callReturn parent) : base(etudiant, parent)
{
children = new List <BehaviourNode>();
}
//every node saves a callReturn finished which is set by its parent in initialize(Student etudiant, callReturn finished), this is sent back to its parent upon completion
//every node also sets a callReturn returnToMe which is the analog of finished: a function that it passes to its children to be returned to this upon completion
public void setRoot()
{
finished = rootComplete;
}
public BehaviourNode(Student etudiant, callReturn parent)
{
student = etudiant;
finished = parent;
status = -2;
}
public int runAction(callReturn finished)
{
int result = action(returnToMe);
return(result);
}
public LeafNode(Student etudiant, callReturn parent, doSomething act) : base(etudiant, parent)
{
returnToMe = childCompleted;
run = runAction;
action = act;
}
