//private PlannerTask decomposeTask(Task task, int depth) {
//because called form other node , so change the private to public
public PlannerTask decomposeTask(Task task, int depth)
{
var methodsCount = task.GetChildrenCount();
if (methodsCount == 0)
{
return null;
}
int depth1 = this.agent.Variables.Depth;
PlannerTask methodTask = null;
for (int i = 0; i < methodsCount; i++)
{
BehaviorNode method = task.GetChild(i);
Debug.Check(method is Method);
int depth2 = this.agent.Variables.Depth;
using(var currentState = this.agent.Variables.Push(false))
{
LogPlanMethodBegin(this.agent, method);
methodTask = this.decomposeNode(method, depth + 1);
LogPlanMethodEnd(this.agent, method, methodTask != null ? "success" : "failure");
if (methodTask != null)
{
// succeeded
break;
}
}
Debug.Check(this.agent.Variables.Depth == depth2);
}
Debug.Check(this.agent.Variables.Depth == depth1);
return methodTask;
}
private PlannerTask BuildPlan(Task root)
{
LogManager.Instance.PLanningClearCache();
int depth = this.agent.Variables.Depth;
PlannerTask rootTask = null;
using(var currentState = this.agent.Variables.Push(true))
{
this.agent.PlanningTop = this.agent.Variables.Top;
Debug.Check(this.agent.PlanningTop >= 0);
LogPlanBegin(this.agent, root);
rootTask = this.decomposeNode(root, 0);
LogPlanEnd(this.agent, root);
#if !BEHAVIAC_RELEASE
BehaviorTask.CHECK_BREAKPOINT(this.agent, root, "plan", EActionResult.EAR_all);
#endif
this.agent.PlanningTop = -1;
}
Debug.Check(this.agent.Variables.Depth == depth);
return rootTask;
}
public void Init(Agent pAgent, Task rootTask)
{
this.agent = pAgent;
this.m_rootTaskNode = rootTask;
}
private void LogPlanEnd(Agent a, Task root)
{
#if !BEHAVIAC_RELEASE
if (Config.IsLoggingOrSocketing)
{
string agentClassName = a.GetClassTypeName();
string agentInstanceName = a.GetName();
agentClassName = agentClassName.Replace(".", "::");
agentInstanceName = agentInstanceName.Replace(".", "::");
string ni = BehaviorTask.GetTickInfo(a, root, null);
string buffer = string.Format("[plan_end]{0}#{1} {2}\n", agentClassName, agentInstanceName, ni);
LogManager.Instance.Log(buffer);
}
#endif
}
private void LogPlanBegin(Agent a, Task root)
{
#if !BEHAVIAC_RELEASE
if (Config.IsLoggingOrSocketing)
{
string agentClassName = a.GetClassTypeName();
string agentInstanceName = a.GetName();
agentClassName = agentClassName.Replace(".", "::");
agentInstanceName = agentInstanceName.Replace(".", "::");
string ni = BehaviorTask.GetTickInfo(a, root, "plan");
int count = Workspace.Instance.GetActionCount(ni) + 1;
string buffer = string.Format("[plan_begin]{0}#{1} {2} {3}\n", agentClassName, agentInstanceName, ni, count);
LogManager.Instance.Log(buffer);
a.Variables.Log(a, true);
}
#endif
}
public Task RootTaskNode(Agent pAgent)
{
if (this.m_taskNode == null)
{
string szTreePath = this.GetReferencedTree(pAgent);
BehaviorTree bt = Workspace.Instance.LoadBehaviorTree(szTreePath);
if (bt != null && bt.GetChildrenCount() == 1)
{
BehaviorNode root = bt.GetChild(0);
this.m_taskNode = root as Task;
}
}
return this.m_taskNode;
}