/// <summary>
/// ツリーの状態をUpdate
/// </summary>
public void Update()
{
if (_isCompleted)
{
return;
}
int abortIndex = ReevaluateConditionalTasks();
if (abortIndex != -1)
{
// 中断したノードと現在実行中のノードの共通祖先を見つける
int caIndex = CommonAncestorNode(abortIndex, _activeNodeIndex);
Node activeNode = _nodeList[_activeNodeIndex];
activeNode.OnAbort();
while (_activeStack.Count != 0)
{
PopNode();
activeNode = _nodeList[_activeNodeIndex];
activeNode.OnAbort();
if (_activeNodeIndex == caIndex)
{
break;
}
ConditionalReevaluate cr = _reevaluateList.FirstOrDefault(r => r.Index == _activeNodeIndex);
if (cr != null)
{
_reevaluateList.Remove(cr);
}
}
}
BehaviorStatus status = BehaviorStatus.Inactive;
if (_activeNodeIndex == -1)
{
status = Execute(_rootNode);
}
else
{
Node node = _nodeList[_activeNodeIndex];
status = Execute(node);
}
if (status == BehaviorStatus.Completed)
{
Debug.Log("Behavior Tree has been completed.");
_isCompleted = true;
}
}
/// <summary>
/// 再評価が必要なノードを再評価する
/// </summary>
/// <returns>再評価して変化のあったノードのIndex</returns>
private int ReevaluateConditionalTasks()
{
for (int i = 0; i < _reevaluateList.Count; i++)
{
ConditionalReevaluate cr = _reevaluateList[i];
BehaviorStatus status = _nodeList[cr.Index].OnUpdate();
// 前回の状態と変化していたら、祖先まで遡って処理を停止する
if (cr.Status != status)
{
CompositeNode cnode = _nodeList[cr.CompositeIndex] as CompositeNode;
if (cnode != null)
{
cnode.OnConditionalAbort(cr.Index);
}
_reevaluateList.Remove(cr);
return(cr.Index);
}
}
return(-1);
}