protected EBTStatus tickCurrentNode(Agent pAgent)
{
EBTStatus status = this.m_currentTask.GetStatus();
if ((status != EBTStatus.BT_INVALID) && (status != EBTStatus.BT_RUNNING))
{
return(status);
}
BehaviorTask currentTask = this.m_currentTask;
EBTStatus childStatus = this.m_currentTask.exec(pAgent);
if (childStatus != EBTStatus.BT_RUNNING)
{
BranchTask parent = currentTask.GetParent();
this.SetCurrentTask(null);
while ((parent != null) && (parent != this))
{
childStatus = parent.update(pAgent, childStatus);
if (childStatus == EBTStatus.BT_RUNNING)
{
return(EBTStatus.BT_RUNNING);
}
parent.onexit_action(pAgent, childStatus);
parent.m_status = childStatus;
parent = parent.GetParent();
}
}
return(childStatus);
}
private bool oneventCurrentNode(Agent pAgent, string eventName)
{
Debug.Check(this.m_currentTask != null);
EBTStatus s = this.m_currentTask.GetStatus();
Debug.Check(s == EBTStatus.BT_RUNNING && this.m_node.HasEvents());
bool bGoOn = this.m_currentTask.onevent(pAgent, eventName);
//give the handling back to parents
if (bGoOn && this.m_currentTask != null)
{
BranchTask parentBranch = this.m_currentTask.GetParent();
//back track the parents until the branch
while (parentBranch != null && parentBranch != this)
{
Debug.Check(parentBranch.GetStatus() == EBTStatus.BT_RUNNING);
bGoOn = parentBranch.onevent(pAgent, eventName);
if (!bGoOn)
{
return(false);
}
parentBranch = parentBranch.GetParent();
}
}
return(bGoOn);
}
private EBTStatus execCurrentTask(Agent pAgent)
{
Debug.Check(this.m_currentTask != null && this.m_currentTask.GetStatus() == EBTStatus.BT_RUNNING);
//this.m_currentTask could be cleared in ::tick, to remember it
EBTStatus status = this.m_currentTask.exec(pAgent);
//give the handling back to parents
if (status != EBTStatus.BT_RUNNING)
{
Debug.Check(status == EBTStatus.BT_SUCCESS || status == EBTStatus.BT_FAILURE);
Debug.Check(this.m_currentTask.m_status == status);
BranchTask parentBranch = this.m_currentTask.GetParent();
this.m_currentTask = null;
//back track the parents until the branch
while (parentBranch != null && parentBranch != this)
{
status = parentBranch.exec(pAgent, status);
if (status == EBTStatus.BT_RUNNING)
{
return(EBTStatus.BT_RUNNING);
}
Debug.Check(parentBranch.m_status == status);
parentBranch = parentBranch.GetParent();
}
}
return(status);
}
private bool CheckParentUpdatePreconditions(Agent pAgent)
{
bool bValid = true;
if (this.m_bHasManagingParent)
{
bool bHasManagingParent = false;
const int kMaxParentsCount = 512;
int parentsCount = 0;
BehaviorTask[] parents = new BehaviorTask[kMaxParentsCount];
BranchTask parentBranch = this.GetParent();
parents[parentsCount++] = this;
//back track the parents until the managing branch
while (parentBranch != null)
{
Debug.Check(parentsCount < kMaxParentsCount, "weird tree!");
parents[parentsCount++] = parentBranch;
if (parentBranch.GetCurrentTask() == this)
{
//Debug.Check(parentBranch->GetNode()->IsManagingChildrenAsSubTrees());
bHasManagingParent = true;
break;
}
parentBranch = parentBranch.GetParent();
}
if (bHasManagingParent)
{
for (int i = parentsCount - 1; i >= 0; --i)
{
BehaviorTask pb = parents[i];
bValid = pb.CheckPreconditions(pAgent, true);
if (!bValid)
{
break;
}
}
}
}
else
{
bValid = this.CheckPreconditions(pAgent, true);
}
return(bValid);
}
protected EBTStatus tickCurrentNode(Agent pAgent)
{
Debug.Check(this.m_currentTask != null);
EBTStatus s = this.m_currentTask.GetStatus();
if (s == EBTStatus.BT_INVALID || s == EBTStatus.BT_RUNNING)
{
//this.m_currentTask could be cleared in ::tick, to remember it
BehaviorTask currentTask = this.m_currentTask;
EBTStatus status = this.m_currentTask.exec(pAgent);
//give the handling back to parents
if (status != EBTStatus.BT_RUNNING)
{
Debug.Check(currentTask.m_status == EBTStatus.BT_SUCCESS ||
currentTask.m_status == EBTStatus.BT_FAILURE ||
(currentTask.m_status == EBTStatus.BT_INVALID && currentTask.NeedRestart()));
BranchTask parentBranch = currentTask.GetParent();
this.SetCurrentTask(null);
//back track the parents until the branch
while (parentBranch != null && parentBranch != this)
{
status = parentBranch.update(pAgent, status);
if (status == EBTStatus.BT_RUNNING)
{
return(EBTStatus.BT_RUNNING);
}
parentBranch.onexit_action(pAgent, status);
parentBranch.m_status = status;
Debug.Check(parentBranch.m_currentTask == null);
parentBranch = parentBranch.GetParent();
}
}
return(status);
}
return(s);
}
private bool oneventCurrentNode(Agent pAgent, string eventName)
{
EBTStatus status = this.m_currentTask.GetStatus();
bool flag = this.m_currentTask.onevent(pAgent, eventName);
if (flag)
{
BranchTask parent = this.m_currentTask.GetParent();
while (parent != null && parent != this)
{
flag = parent.onevent(pAgent, eventName);
if (!flag)
{
return(false);
}
parent = parent.GetParent();
}
}
return(flag);
}
private bool oneventCurrentNode(Agent pAgent, string eventName)
{
EBTStatus status = this.m_currentTask.GetStatus();
bool flag = this.m_currentTask.onevent(pAgent, eventName);
if (flag)
{
for (BranchTask task = this.m_currentTask.GetParent(); (task != null) && (task != this); task = task.GetParent())
{
flag = task.onevent(pAgent, eventName);
if (!flag)
{
return(false);
}
}
}
return(flag);
}
