protected override CompositeStatus UpdateChilds(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext)
{
CompositeStatus result = new CompositeStatus()
{
Status = Status.Fail
};
for (int i = 0; i < Childs.Length; i++)
{
Node <TBlackboard> node = Childs[i];
if (node == null)
{
throw new NullReferenceException("BTNode child can not be null");
}
//check if this child is running in previous update
bool isRunning = nodeContext.IsRunning && (i == nodeContext.ChildNodeIndex);
//update child
result.Status = node.Update(context);
//stop if Succeed
if (result.Status == Status.Ok || result.Status == Status.Running)
{
result.ChidlNodeIndex = i;
break;
}
}
return(result);
}
protected override Status OnUpdate(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext)
{
CompositeStatus status = UpdateChilds(context, nodeContext);
if (status.Status == Status.Running)
{
nodeContext.ChildNodeIndex = status.ChidlNodeIndex;
}
return(status.Status);
}
protected override CompositeStatus UpdateChilds(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext)
{
CompositeStatus result = new CompositeStatus()
{
Status = Status.Ok
};
int startIndex = 0;
//if node contains running childs, update it firstly
if (nodeContext.IsRunning)
{
int index = nodeContext.ChildNodeIndex;
Node <TBlackboard> node = Childs[index];
result.Status = node.Update(context);
result.ChidlNodeIndex = index;
startIndex = index + 1;
}
//if previous node was successful
if (result.Status == Status.Ok)
{
for (int i = startIndex; i < Childs.Length; i++)
{
Node <TBlackboard> node = Childs[i];
if (node == null)
{
throw new NullReferenceException("BTNode child can not be null");
}
result.Status = node.Update(context);
//stop if node Fails or in running state
if (result.Status == Status.Fail || result.Status == Status.Running)
{
result.ChidlNodeIndex = i;
break;
}
}
}
return(result);
}
