Example #1
0
        public PlannerTask decomposeNode(BehaviorNode node, int depth)
        {
            try
            {
                // Ensure that the planner does not get stuck in an infinite loop
                if (depth >= 256)
                {
                    Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
                    return null;
                }

                LogPlanNodeBegin(this.agent, node);

                int depth1 = this.agent.Variables.Depth;
                PlannerTask taskAdded = null;

                bool isPreconditionOk = node.CheckPreconditions(this.agent, false);

                if (isPreconditionOk)
                {
                    bool bOk = true;
                    taskAdded = PlannerTask.Create(node, this.agent);

                    if (node is Action)
                    {
                        //nothing to do for action
                        Debug.Check(true);
                    }
                    else
                    {
                        Debug.Check(taskAdded is PlannerTaskComplex);
                        PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;

                        bOk = this.decomposeComplex(node, seqTask, depth);
                    }

                    if (bOk)
                    {
                        node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
                    }
                    else
                    {
                        BehaviorTask.DestroyTask(taskAdded);
                        taskAdded = null;
                    }
                }
                else
                {
                    //precondition failed
                    LogPlanNodePreconditionFailed(this.agent, node);
                }

                LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");

                Debug.Check(this.agent.Variables.Depth == depth1);

                return taskAdded;
            }
            catch (Exception ex)
            {
                Debug.Check(false, ex.Message);
            }

            return null;
        }
Example #2
0
        public PlannerTask decomposeNode(BehaviorNode node, int depth)
        {
            try
            {
                // Ensure that the planner does not get stuck in an infinite loop
                if (depth >= 256)
                {
                    Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
                    return(null);
                }

                LogPlanNodeBegin(this.agent, node);

                int         depth1    = this.agent.Variables.Depth;
                PlannerTask taskAdded = null;

                bool isPreconditionOk = node.CheckPreconditions(this.agent, false);

                if (isPreconditionOk)
                {
                    bool bOk = true;
                    taskAdded = PlannerTask.Create(node, this.agent);

                    if (node is Action)
                    {
                        //nothing to do for action
                        Debug.Check(true);
                    }
                    else
                    {
                        Debug.Check(taskAdded is PlannerTaskComplex);
                        PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;

                        bOk = this.decomposeComplex(node, seqTask, depth);
                    }

                    if (bOk)
                    {
                        node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
                    }
                    else
                    {
                        BehaviorTask.DestroyTask(taskAdded);
                        taskAdded = null;
                    }
                }
                else
                {
                    //precondition failed
                    LogPlanNodePreconditionFailed(this.agent, node);
                }

                LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");

                Debug.Check(this.agent.Variables.Depth == depth1);

                return(taskAdded);
            }
            catch (Exception ex)
            {
                Debug.Check(false, ex.Message);
            }

            return(null);
        }