protected override BTResult OnTick(BTContext context)
{
if (_activeChildIndex == -1)
{
_activeChildIndex = 0;
}
for (; _activeChildIndex < m_Children.Count; _activeChildIndex++)
{
BTNode activeChild = m_Children[_activeChildIndex];
BTResult result = activeChild.Tick_(context);
switch (result.Code)
{
case BTResultCode.Running:
Running = true;
return(BTResult.Running);
case BTResultCode.Success:
activeChild.Reset();
continue;
case BTResultCode.Failed:
activeChild.Reset();
_activeChildIndex = -1;
Running = false;
return(BTResult.Failed);
}
}
_activeChildIndex = -1;
Running = false;
return(BTResult.Success);
}
protected override BTResult OnTick(BTContext context)
{
BTResult r = m_Child.Tick_(context);
if (skipTick)
{
return(r);
}
Type childType = m_Child.GetType();
if (memberType == BTMemberType.Field)
{
if (_field == null)
{
_field = childType.GetField(MemberName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
}
if (_field != null)
{
object fv = _field.GetValue(m_Child);
if (DataId != null)
{
context.Database?.SetData(DataId, fv);
}
}
else
{
skipTick = true;
}
}
else if (memberType == BTMemberType.Property)
{
if (_property == null)
{
_property = childType.GetProperty(MemberName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
}
if (_property != null && _property.CanRead)
{
object pv = _property.GetGetMethod().Invoke(m_Child, null);
if (DataId != null)
{
context.Database?.SetData(DataId, pv);
}
}
else
{
skipTick = true;
}
}
return(r);
}
protected override bool Check(BTContext context)
{
if (context.Database == null)
{
return(false);
}
if (_rhs == null)
{
return(context.Database.CheckDataNull(_dataName));
}
return(context.Database.GetData <T>(_dataName).Equals(_rhs));
}
protected override BTResult OnTick(BTContext context)
{
BTResult result = m_Child.Tick_(context);
switch (result.Code)
{
case BTResultCode.Running:
return BTResult.Running;
case BTResultCode.Success:
return BTResult.Failed;
case BTResultCode.Failed:
return BTResult.Success;
}
return BTResult.Failed;
}
protected override BTResult OnTick(BTContext context)
{
if (m_Children == null || m_Children.Count == 0)
{
return(BTResult.Failed);
}
int index = SelectChild();
BTResult result = m_Children[index].Tick_(context);
//m_Children[index].Reset();
lastSelectedIndex = index;
return(result);
}
public BTResult Tick(BTContext context)
{
context.OnSessionStart();
BTResult result = BTResult.Running;
try
{
if (Root != null)
{
result = Root.Tick_(context);
}
}
finally {
context.OnSessionEnd();
}
return(result);
}
/// <summary>
/// 检查前置条件
/// </summary>
/// <param name="context"></param>
/// <returns></returns>
private bool CheckConstraints(BTContext context)
{
bool result = true;
m_Constraints.RemoveAll(_x => _x == null);
for (int i = 0; i < m_Constraints.Count; i++)
{
bool b = m_Constraints[i].Execute(context);
if (!b)
{
result = false;
break;
}
}
return(result);
}
protected override BTResult OnTick(BTContext context)
{
bool r = Check(context);
if (inverseResult)
{
r = !r;
}
if (r)
{
return(BTResult.Success);
}
else
{
return(BTResult.Failed);
}
}
protected override BTResult OnTick(BTContext context)
{
if (_timer == 0)
{
_timer = DateTime.Now.Ticks;
}
long ts = (DateTime.Now.Ticks - _timer) / 10000;
if (ts >= interval)
{
_timer = DateTime.Now.Ticks;
BTResult result = m_Child.Tick_(context);
return(result);
}
else
{
return(BTResult.Running);
}
}
protected override BTResult OnTick(BTContext context)
{
for (int i = 0; i < m_Children.Count; i++)
{
BTNode child = m_Children[i];
BTResult result = child.Tick_(context);
switch (result.Code)
{
case BTResultCode.Running:
if (_activeChildIndex != i && _activeChildIndex != -1)
{
m_Children[_activeChildIndex].Reset();
}
_activeChildIndex = i;
_previousSuccessChildIndex = -1;
Running = true;
return(BTResult.Running);
case BTResultCode.Success:
if (_activeChildIndex != i && _activeChildIndex != -1)
{
m_Children[_activeChildIndex].Reset();
}
child.Reset();
_activeChildIndex = -1;
_previousSuccessChildIndex = i;
Running = false;
return(BTResult.Success);
case BTResultCode.Failed:
child.Reset();
continue;
}
}
_activeChildIndex = -1;
_previousSuccessChildIndex = -1;
Running = false;
return(BTResult.Failed);
}
protected override BTResult OnTick(BTContext context)
{
string text = Message ?? "";
switch (level)
{
case BTLogLevel.Info:
BTDebug.Info(text);
break;
case BTLogLevel.Warning:
BTDebug.Warning(text);
break;
case BTLogLevel.Error:
BTDebug.Error(text);
break;
}
return(BTResult.Success.Create(Message == null? "消息为空" : null));
}
/// <summary>
/// 每帧处理函数
/// </summary>
/// <param name="context">上下文</param>
/// <returns></returns>
internal BTResult Tick_(BTContext context)
{
context?.Travel(this);
BTResult result = BTResult.Running;
bool constraintsTrue = CheckConstraints(context);
if (!constraintsTrue)
{
result = _MuteResult(BTResult.Failed);
}
else
{
if (!_sessionOpen)
{
_open(context);
}
_enter(context);
try
{
result = OnTick(context);
}
finally
{
_exit(context, result);
}
if (result != BTResult.Running)
{
_close(context, result);
}
}
context?.SetNodeResult(this, result);
return(_MuteResult(result));
}
protected override BTResult OnTick(BTContext context)
{
if (count == 0)
{
BTResult result = m_Child.Tick_(context);
if (endOnFailure && result == BTResult.Failed)
{
return(BTResult.Failed);
}
Running = true;
return(BTResult.Running);
}
else if (currentCount < count)
{
BTResult result = m_Child.Tick_(context);
currentCount++;
if (currentCount >= count)
{
if (result == BTResult.Running)
{
result = BTResult.Success;
}
return(result);
}
if (endOnFailure && result == BTResult.Failed)
{
return(BTResult.Failed);
}
Running = true;
return(BTResult.Running);
}
return(BTResult.Failed);
}
/// <summary>
/// Session结束
/// </summary>
/// <param name="context"></param>
/// <param name="result"></param>
protected virtual void OnClose(BTContext context, BTResult result)
{
}
protected override bool Evaluate(BTContext context)
{
return(false);
}
/// <summary>
/// 初始化
/// </summary>
/// <param name="context"></param>
protected virtual void OnInit(BTContext context)
{
}
/// <summary>
/// 保存
/// </summary>
/// <param name="context"></param>
protected virtual void OnSave(BTContext context)
{
}
/// <summary>
/// 执行逻辑
/// </summary>
/// <param name="context"></param>
/// <returns></returns>
protected virtual BTResult OnTick(BTContext context)
{
return(BTResult.Failed);
}
/// <summary>
/// 加载
/// </summary>
/// <param name="context"></param>
protected virtual void OnLoad(BTContext context)
{
}
private void _exit(BTContext context, BTResult result)
{
OnExit(context, result);
}
protected override BTResult OnTick(BTContext context)
{
m_Child.Tick_(context);
return(result);
}
protected virtual bool Check(BTContext context)
{
return(false);
}
protected virtual bool Evaluate(BTContext context)
{
return(false);
}
private void _enter(BTContext context)
{
OnEnter(context);
}
private void _close(BTContext context, BTResult result)
{
_sessionOpen = false;
OnClose(context, result);
}
private void _open(BTContext context)
{
_sessionOpen = true;
OnOpen(context);
}
/// <summary>
/// 执行之前
/// </summary>
/// <param name="context"></param>
protected virtual void OnEnter(BTContext context)
{
}
/// <summary>
/// 执行之后
/// </summary>
/// <param name="context"></param>
/// <param name="result"></param>
protected virtual void OnExit(BTContext context, BTResult result)
{
}
/// <summary>
/// 开启新Session （在Running时，不会开启新Session）
/// </summary>
/// <param name="context"></param>
protected virtual void OnOpen(BTContext context)
{
}
protected override BTResult OnTick(BTContext context)
{
if (m_Children == null || m_Children.Count == 0)
{
return(BTResult.Success);
}
BTResult status = BTResult.Success;
int numberOfFailures = 0;
int numberOfSuccesses = 0;
int numberOfRunning = 0;
for (int i = 0; i < m_Children.Count; i++)
{
BTResult childStatus = m_Children[i].Tick_(context);
if (childStatus == BTResult.Success)
{
numberOfSuccesses++;
}
else if (childStatus == BTResult.Failed)
{
numberOfFailures++;
}
else if (childStatus == BTResult.Running)
{
numberOfRunning++;
}
}
if ((m_failOnAny && numberOfFailures > 0) || (m_succeedOnAny && numberOfSuccesses > 0))
{
if (m_failOnTie)
{
if (m_failOnAny && numberOfFailures > 0)
{
status = BTResult.Failed;
}
else if (m_succeedOnAny && numberOfSuccesses > 0)
{
status = BTResult.Success;
}
}
else
{
if (m_succeedOnAny && numberOfSuccesses > 0)
{
status = BTResult.Success;
}
else if (m_failOnAny && numberOfFailures > 0)
{
status = BTResult.Failed;
}
}
}
else
{
if (numberOfSuccesses == m_Children.Count)
{
status = BTResult.Success;
}
else if (numberOfFailures == m_Children.Count)
{
status = BTResult.Failed;
}
else
{
status = BTResult.Running;
}
}
return(status);
}
