public BtStatus Execute()
{
if (Counter == Children.Length)
{
Counter = 0;
return(BtStatus.Success);
}
BtStatus status = Children[Counter].Execute();
if (status == BtStatus.Success)
{
if (Counter < Children.Length)
{
++Counter;
if (Counter == Children.Length)
{
Counter = 0;
return(BtStatus.Success);
}
}
}
else if (status == BtStatus.Failed)
{
Counter = 0;
return(BtStatus.Failed);
}
return(BtStatus.Ongoing);
}
internal static Bt Not(Bt status)
{
switch (status)
{
case Bt.Success:
return(Bt.Failure);
case Bt.Failure:
return(Bt.Success);
default:
return(Bt.Running);
}
}
public BtStatus Execute()
{
BtStatus status = Child.Execute();
if (status == BtStatus.Success)
{
status = BtStatus.Failed;
}
else if (status == BtStatus.Failed)
{
status = BtStatus.Success;
}
return(status);
}
public static Bt Fallback(params Func <Bt>[] nodes)
{
for (int i = 0; i < nodes.Length; i++)
{
Bt status = nodes[i]();
if (status == Bt.Running)
{
return(Bt.Running);
}
else if (status == Bt.Success)
{
return(Bt.Success);
}
}
return(Bt.Failure);
}
public static Bt Sequence(params IBtNode[] nodes)
{
for (int i = 0; i < nodes.Length; i++)
{
Bt status = nodes[i].BtUpdate();
if (status == Bt.Running)
{
return(Bt.Running);
}
else if (status == Bt.Failure)
{
return(Bt.Failure);
}
}
return(Bt.Success);
}
