/// <summary>Execute the behavior tree in the blackboard.</summary>
public override AIGraphResult Run(AIBlackboard blackboard)
{
// Save blackboard while executing.
_blackboard = blackboard;
// Execute root.
BTGraphResult result = root.Run();
// Nullify references to the blackboard.
_blackboard = null;
// Return result.
return(result);
}
/// <summary>Execute decorator.</summary>
protected override BTGraphResult InternalRun()
{
// Set default exit value.
BTGraphResult result = BTGraphResult.Success;
// Execute child.
if (_child != null)
{
result = _child.Run();
}
// Return negation of result.
return(result.Invert());
}
/// <summary>Execute the Behavior Tree.</summary>
protected override BTGraphResult InternalRun()
{
// Init loop.
int[] indices;
object value;
if (BT.Blackboard.variables.TryGetValue("CompositeIndices" + GetInstanceID(), out value))
{
indices = (int[])value;
}
else
{
indices = PrepareChildren();
}
// Traverse all children running them until break point.
BTGraphResult result = BTGraphResult.Failure;
for (int i = 0; i < indices.Length; i++)
{
// Run target child.
BTConnection connection = _children[indices[i]];
result = connection.Run();
// Break if result is running.
if (result.IsRunning)
{
indices = indices.Where((a, index) => index >= i).ToArray();
BT.Blackboard.variables["CompositeIndices" + GetInstanceID()] = indices;
break;
}
// Check if we need to break loop.
if (ShouldBreakLoop(result))
{
break;
}
}
// Reset running child index if not still running.
if (!result.IsRunning)
{
BT.Blackboard.variables.Remove("CompositeIndices" + GetInstanceID());
}
return(result);
}
/// <summary>Execute the subtree node.</summary>
protected override BTGraphResult InternalRun()
{
// Check if machine has been initialized.
AIBlackboard blackboard = BT.Blackboard;
object initialized = null;
blackboard.variables.TryGetValue("Init" + GetInstanceID(), out initialized);
// If machine hasn't been initialized it is time to do so.
if (initialized == null)
{
_tree.Init(blackboard);
blackboard.variables["Init" + GetInstanceID()] = true;
}
// Execute and return isolating running statuses.
BTGraphResult result = _tree.Run(blackboard) as BTGraphResult;
return(result.IsRunning ? BTGraphResult.Success : result);
}
/// <summary>Execute decorator.</summary>
protected override BTGraphResult InternalRun()
{
// Set default exit value.
BTGraphResult result = BTGraphResult.Success;
// Execute all childs, exit when one succeeds.
if (_child != null)
{
result = _child.Run();
}
// Only debug if the current game object is selected.
GameObject go = BT.GetValue <GameObject>("GameObject");
if (Selection.activeGameObject == go)
{
Debug.Log(string.Format("{0}: Result {1}", name, result));
}
// Return negation of result.
return(result);
}
/// <summary>Whether the last result should break exexcution or not.</summary> /// <param name="result">The result of the last executed child.</param> protected abstract bool ShouldBreakLoop(BTGraphResult result);
/// <summary>When to break the loop of children execution.</summary>
protected override bool ShouldBreakLoop(BTGraphResult result)
{
return(result.IsSuccess);
}
/// <summary>When to break the loop of children execution.</summary>
protected override bool ShouldBreakLoop(BTGraphResult result)
{
return(result.IsFailure);
}