/// <summary>
/// Behave
/// </summary>
/// <param name="status">Status of BehaviorTree</param>
/// <returns>Result</returns>
protected override BehaviorResult Behave(BehaviorTreeStatus status)
{
if (Priority == PriorityType.HighestPriority || RunningChildIndex < 0)
{
RunningChildIndex = 0;
}
BehaviorResult result = BehaviorResult.Failure;
for (int i = RunningChildIndex; i < ChildCount; i++)
{
if (status.IsInterrupted)
{
break;
}
BehaviorContainer node = this[i];
status.Parameters = node.Parameters;
node.Execute(status);
result = node.Result;
if (result == BehaviorResult.Running)
{
RunningChildIndex = i;
break;
}
else
{
RunningChildIndex = -1;
}
if (result == BehaviorResult.Success)
{
ResetNext(i, status);
break;
}
}
return(result);
}
/// <summary>
/// Set child of decorator
/// </summary>
/// <param name="child">Child behavior</param>
/// <param name="parameters">Optional parameters for child behavior at this position of tree</param>
public virtual void SetChild(Behavior child, BehaviorParameterCollection parameters = null)
{
if (child != null)
{
Child = new BehaviorContainer(this, child, parameters);
}
}
private void ResetNext(int index, BehaviorTreeStatus status)
{
for (int i = index + 1; i < ChildCount; i++)
{
BehaviorContainer node = this[i];
node.Behavior.ResetBehavior(status);
}
}
/// <summary>
/// each behavior before execution call this method to register in execution sequence.
/// </summary>
/// <param name="container">Behavior to register</param>
/// <returns>Return registerd index</returns>
/// <remarks>
/// we need to keep last execution sequenece to aviod some mistakes in tree
/// for example : at LimitAccessDecoratot execution, it must get access to key
/// if the result be Running then it hold the key until next update (at least)
/// if in next update a branch before that be executed we lost the key and never unlock it
/// </remarks>
internal void RegisterForExecution(BehaviorContainer container)
{
_CurrnetExecutionIndex++;// move to next place
if (_CurrnetExecutionIndex >= _ExecutionSequence.Length)
{
throw new IndexOutOfRangeException("ExecutionSequence buffer is low. to avoid this error set higher value to 'BehaviorStatus.MaxSequenceLength'.");
}
_ExecutionSequence[_CurrnetExecutionIndex] = container;
}
/// <summary>
/// Behave
/// </summary>
/// <param name="status">Status of BehaviorTree</param>
/// <returns>esult</returns>
protected override BehaviorResult Behave(BehaviorTreeStatus status)
{
BehaviorResult result = BehaviorResult.Failure;
if (RunningChildIndex < 0)
{
RunningChildIndex = 0;
}
for (int i = RunningChildIndex; i < ChildCount; i++)
{
if (status.IsInterrupted)
{
break;
}
BehaviorContainer node = this[i];
status.Parameters = node.Parameters;
node.Execute(status);
result = node.Result;
if (result == BehaviorResult.Running)
{
RunningChildIndex = i;
break;
}
else
{
RunningChildIndex = -1;
}
if (result == BehaviorResult.Failure)
{
break;
}
}
if (result == BehaviorResult.Success) // cause loop next update and begin from child 0
{
_LoopCounter++;
if (LoopCount > 0 && _LoopCounter >= LoopCount)
{
result = BehaviorResult.Success;
_LoopCounter = 0;
}
else
{
result = BehaviorResult.Running;
}
RunningChildIndex = 0;
}
else if (result == BehaviorResult.Failure)
{
_LoopCounter = 0;
}
return(result);
}
/// <summary>
/// iterate throw children and evaluate conditions
/// </summary>
/// <param name="status">Status of BehaviorTree</param>
/// <returns></returns>
private BehaviorResult CheckConditions(BehaviorTreeStatus status)
{
BehaviorResult result = BehaviorResult.Success;
for (int i = 0; i < ChildCount; i++)
{
BehaviorContainer node = this[i];
status.Parameters = node.Parameters;
if (node.Behavior.Type == BehaviorType.Condition)
{
node.Execute(status);
BehaviorResult r = node.Result;
if (r == BehaviorResult.Failure)
{
if (BreakOnConditionFailure && node.Behavior.Type == BehaviorType.Condition)
{
result = BehaviorResult.Failure;
break;
}
else
{
_FailureCount++;
}
}
// check failure policity
if ((FailurePolicy == AI.FailurePolicy.FailOnOne && _FailureCount > 0) || (FailurePolicy == AI.FailurePolicy.FailOnAll && _FailureCount == ChildCount))
{
result = BehaviorResult.Failure;
break;
}
// check success policity
if (SuccessPolicy == AI.SuccessPolicy.SucceedOnOne && r == BehaviorResult.Success)
{
result = BehaviorResult.Success;
break;
}
// diable these lines because : conditions returns success or failure as result
// if result of this node is running or result of any previous node is running, set result to running
//if (r == BehaviorResult.Running || result != BehaviorResult.Running)
//result = r;
}
}
return(result);
}
/// <summary>
/// Behave
/// </summary>
/// <param name="status">Status od BehaviorTree</param>
/// <returns>Result</returns>
protected override BehaviorResult Behave(BehaviorTreeStatus status)
{
if (RunningChildIndex < 0)
{
RunningChildIndex = GetRandomIndex();// pick random node
}
BehaviorResult result = BehaviorResult.Failure;
BehaviorContainer node = this[RunningChildIndex];
status.Parameters = node.Parameters;
node.Execute(status);
result = node.Result;
if (result != BehaviorResult.Running)
{
RunningChildIndex = -1;
}
return(result);
}
/// <summary>
/// Behave
/// </summary>
/// <param name="status">Status od BehaviorTree</param>
/// <returns>Result</returns>
protected override BehaviorResult Behave(BehaviorTreeStatus status)
{
BehaviorResult result = BehaviorResult.Failure;
if (RunningChildIndex < 0)
{
RunningChildIndex = 0;
}
for (int i = RunningChildIndex; i < ChildCount; i++)
{
if (status.IsInterrupted)
{
break;
}
BehaviorContainer node = this[i];
status.Parameters = node.Parameters;
node.Execute(status);
result = node.Result;
if (result == BehaviorResult.Running)
{
RunningChildIndex = i;
break;
}
else
{
RunningChildIndex = -1;
}
if (result == BehaviorResult.Failure)
{
break;
}
}
if (result != BehaviorResult.Running)
{
RunningChildIndex = -1;
}
return(result);
}
/// <summary>
/// Behave
/// </summary>
/// <param name="status">status of BehaviorTree</param>
/// <returns>Result</returns>
protected override BehaviorResult Behave(BehaviorTreeStatus status)
{
_FailureCount = 0;
_SuccessCount = 0;
CreateChildrenExecution(); // make sure the _ChildrenResults array is valid
BehaviorResult result = BehaviorResult.Running; // by default running
// iterate throw children an execute them
for (int i = 0; i < ChildCount; i++)
{
if (status.IsInterrupted)
{
ResetChildrenExecution();
break;
}
BehaviorContainer node = this[i];
status.Parameters = node.Parameters;
if (_ChildrenExecution[i])
{
if (node.Behavior.Concurrency == ConcurrencyMode.UntilFailure && node.Behavior.Result == BehaviorResult.Failure)
{
_FailureCount++;
if ((FailurePolicy == AI.FailurePolicy.FailOnOne && _FailureCount > 0) || (FailurePolicy == AI.FailurePolicy.FailOnAll && _FailureCount == ChildCount))
{
result = BehaviorResult.Failure;
break;
}
continue;
}
else if (node.Behavior.Concurrency == ConcurrencyMode.UntilSuccess && node.Behavior.Result == BehaviorResult.Success)
{
_SuccessCount++;
if (SuccessPolicy == AI.SuccessPolicy.SucceedOnAll)
{
if (_SuccessCount == ChildCount)
{
result = BehaviorResult.Success;
break;
}
}
continue;
}
}
// if this node executed first ignore it
//if (FirstConditions && node.Behavior.Type == BehaviorType.Condition) continue;
node.Execute(status);// execute child node
BehaviorResult childResult = node.Result;
if (childResult == BehaviorResult.Failure)
{
if (BreakOnConditionFailure && node.Behavior.Type == BehaviorType.Condition)
{
result = BehaviorResult.Failure;
break;
}
else
{
_FailureCount++;
}
}
else if (childResult == BehaviorResult.Success)
{
_SuccessCount++;
}
// check failure policity
if ((FailurePolicy == AI.FailurePolicy.FailOnOne && _FailureCount > 0) || (FailurePolicy == AI.FailurePolicy.FailOnAll && _FailureCount == ChildCount))
{
result = BehaviorResult.Failure;
break;
}
// check success policity
if (SuccessPolicy == AI.SuccessPolicy.SucceedOnOne)
{
if (childResult == BehaviorResult.Success)
{
result = BehaviorResult.Success;
break;
}
}
else if (SuccessPolicy == AI.SuccessPolicy.SucceedOnAll)
{
if (_SuccessCount == ChildCount)
{
result = BehaviorResult.Success;
break;
}
}
//// if result of this node is running or result of any previous node is running, set result to running
//if (childResult == BehaviorResult.Running || result != BehaviorResult.Running)
// result = childResult;
_ChildrenExecution[i] = true;
}
if (result != BehaviorResult.Running)
{
ResetChildrenExecution();
}
return(result);
}
