protected override BTNodeStatus OnUpdate(IAgent agent, Blackboard bb)
{
//内部条件检测未通过
if (InternalCondition(agent, bb) == false)
{
return(BTNodeStatus.Failed);
}
//第一次执行此行为
if (mCurrentState == ActionStateEnum.FirstIn)
{
OnEnter(agent, bb);
mCurrentState = ActionStateEnum.NotFirstIn;
}
BTNodeStatus status = BTNodeStatus.Finished;
//非第一次执行此行为
if (mCurrentState == ActionStateEnum.NotFirstIn)
{
status = OnExcute(agent, bb);
}
//若当前行为为持续性行为
if (status == BTNodeStatus.Running)
{
return(status);//返回 Running
}
//当前行为已结束（非持续性行为）
else
{
//善后工作（执行退出 + 标志位重置）
OnReset(agent, bb);
return(status);//返回 Finished
}
}
public override BTNodeStatus Tick()
{
if (!checkFunction())
{
return(BTNodeStatus.succes);
}
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = node.Tick();
switch (result)
{
case BTNodeStatus.failed:
return(BTNodeStatus.failed);
case BTNodeStatus.running:
return(BTNodeStatus.running);
case BTNodeStatus.succes:
//only at succes it moves on to the next task
break;
default:
break;
}
}
return(BTNodeStatus.succes);
}
protected override BTRunningStatus DoTick(BTInput input, ref BTOutput output)
{
BTRunningStatus runningStatus = base.DoTick(input, ref output);
switch (_status)
{
case BTNodeStatus.Ready:
DoEnter(input);
_needExit = true;
_status = BTNodeStatus.Running;
SetActiveNode(this);
break;
case BTNodeStatus.Running:
runningStatus = DoExecute(input, ref output);
SetActiveNode(this);
if (runningStatus == BTRunningStatus.Finish || runningStatus == BTRunningStatus.Error)
{
_status = BTNodeStatus.Finish;
}
break;
case BTNodeStatus.Finish:
if (_needExit)
{
DoExit(input, runningStatus);
}
_status = BTNodeStatus.Ready;
_needExit = false;
SetActiveNode(null);
break;
}
return(runningStatus);
}
public override BTNodeStatus OnUpdate(FixPoint delta_time)
{
m_status = BTNodeStatus.True;
if (m_children == null)
{
return(m_status);
}
for (; m_index < m_children.Count; ++m_index)
{
BTNodeStatus status = m_children[m_index].OnUpdate(delta_time);
if (status == BTNodeStatus.Running)
{
return(status);
}
else if (status == BTNodeStatus.False)
{
m_status = status;
}
}
if (m_index == m_children.Count)
{
m_index = 0;
}
return(m_status);
}
public override void ResetNode()
{
base.ResetNode();
m_status_backup = BTNodeStatus.True;
m_is_running = false;
ResetRuntimeData();
}
public override BTNodeStatus OnUpdate(FixPoint delta_time)
{
if (m_children == null)
{
m_status = BTNodeStatus.False;
return(m_status);
}
m_status = BTNodeStatus.Running;
if (m_variable_id != -1)
{
m_context.SetData(m_variable_id, (FixPoint)m_i);
}
BTNodeStatus child_status = m_children[0].OnUpdate(delta_time);
if (child_status != BTNodeStatus.Running)
{
++m_i;
if (m_i >= m_n)
{
m_status = BTNodeStatus.True;
m_i = 0;
}
}
return(m_status);
}
public virtual void ResetNode()
{
m_status = BTNodeStatus.Unreach;
if (m_children != null)
{
for (int i = 0; i < m_children.Count; ++i)
{
m_children[i].ResetNode();
}
}
}
protected override void DoTransition(BTInput _input)
{
base.DoTransition(_input);
if (_needExit)
{
DoExit(_input, BTRunningStatus.Error);
}
SetActiveNode(null);
_status = BTNodeStatus.Ready;
_needExit = false;
}
public override BTNodeStatus Tick()
{
BTNodeStatus result = inputNodes[currentAction].Tick();
if (currentAction == inputNodes.Length - 1 || currentAction == 0)
{
goingUp = !goingUp;
}
currentAction += (goingUp)? 1 : -1;
return(result);
}
public override bool CanActivate()
{
if (m_behavior_tree == null)
{
return(false);
}
if (!m_behavior_tree.HasEntry(BTEntry_CanActivate))
{
return(true);
}
BTNodeStatus bt_status = m_behavior_tree.RunOnce(BTEntry_CanActivate);
return(bt_status == BTNodeStatus.True);
}
protected override BTNodeStatus Decorate(BTNodeStatus status)
{
if (status == BTNodeStatus.False)
{
return(BTNodeStatus.True);
}
else if (status == BTNodeStatus.True)
{
return(BTNodeStatus.False);
}
else
{
return(status);
}
}
public override BTNodeStatus OnUpdate(FixPoint delta_time)
{
BTNodeStatus status = BTNodeStatus.False;
if (CanExecute())
{
if (m_children != null)
{
status = m_children[0].OnUpdate(delta_time);
}
status = this.Decorate(status);
PrepareForNextExecute();
}
m_status = status;
return(m_status);
}
public override BTNodeStatus Run()
{
foreach (BTBaseNode node in nodes)
{
BTNodeStatus result = node.Run();
switch (result)
{
case BTNodeStatus.Failed: return(BTNodeStatus.Failed);
case BTNodeStatus.Success: continue;
case BTNodeStatus.Running: return(BTNodeStatus.Running);
}
}
return(BTNodeStatus.Success);
}
public override BTNodeStatus Tick()
{
BTNodeStatus _status = decoratedNode.Tick();
if (_status == BTNodeStatus.Failed)
{
return(BTNodeStatus.Success);
}
else if (_status == BTNodeStatus.Success)
{
return(BTNodeStatus.Failed);
}
else
{
return(BTNodeStatus.Running);
}
}
public override BTNodeStatus Run()
{
for (; i < nodes.Length; i++)
{
BTNodeStatus result = nodes[i].Run();
switch (result)
{
case BTNodeStatus.Failed: return(BTNodeStatus.Failed);
case BTNodeStatus.Success: txt.text = nodes[i].GetType().Name; continue;
case BTNodeStatus.Running: txt.text = nodes[i].GetType().Name; return(BTNodeStatus.Running);
}
}
i = 0;
return(BTNodeStatus.Success);
}
public override BTNodeStatus Tick()
{
foreach (BTNode _node in inputNodes)
{
BTNodeStatus _result = _node.Tick();
switch (_result)
{
case BTNodeStatus.Failed:
case BTNodeStatus.Running:
return(_result);
case BTNodeStatus.Success:
continue;
}
}
return(BTNodeStatus.Success);
}
public override BTNodeStatus Tick()
{
foreach (BTNode node in inputNodes)
{
BTNodeStatus status = node.Tick();
switch (status)
{
case BTNodeStatus.Failed:
continue;
case BTNodeStatus.Running:
case BTNodeStatus.Succes:
return(status);
}
}
return(BTNodeStatus.Succes);
}
public override BTNodeStatus OnUpdate(FixPoint delta_time)
{
m_status = m_status_backup;
BTActionBuffer action_buffer = m_context.GetActionBuffer();
action_buffer.AddCurrentActions(this);
if (m_is_running)
{
UpdateAction(delta_time);
}
else
{
EnterAction();
}
m_status_backup = m_status;
return(m_status);
}
public override BTNodeStatus Tick()
{
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = node.Tick();
switch (result)
{
case BTNodeStatus.Failed:
continue;
case BTNodeStatus.Running:
return(BTNodeStatus.Running); //kan ook "return result"
case BTNodeStatus.Succes:
return(BTNodeStatus.Succes); //kan ook "return result"
}
}
return(BTNodeStatus.Failed);
}
public override BTNodeStatus Tick()
{
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = (interruptWhen.Invoke())? interruptBehaviour.Tick() : node.Tick();
switch (result)
{
case BTNodeStatus.Failed:
case BTNodeStatus.Running:
return(result);
case BTNodeStatus.Succes:
continue;
}
}
return(BTNodeStatus.Succes);
}
public BTNodeStatus RunOnce(int entrty_id)
{
int new_index = EntryID2Index(entrty_id);
if (new_index == -1)
{
return(BTNodeStatus.True);
}
BTActionBuffer action_buffer = m_context.GetActionBuffer();
//ZZWTODO m_context的数据
action_buffer.Backup();
BTNodeStatus result = m_children[new_index].OnUpdate(FixPoint.Zero);
action_buffer.SwapActions();
action_buffer.ExitAllAction();
action_buffer.Restore();
m_children[new_index].ClearRunningTrace();
return(result);
}
public override BTNodeStatus Tick()
{
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = node.Tick();
switch (result)
{
case BTNodeStatus.failed:
continue;
case BTNodeStatus.running:
return(BTNodeStatus.running);
case BTNodeStatus.succes:
return(BTNodeStatus.succes);
}
}
return(BTNodeStatus.failed);
}
public override BTNodeStatus Tick()
{
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = node.Tick();
switch (result)
{
case BTNodeStatus.failed:
continue;
//if the task fails, move to the next task until it isnt failing
case BTNodeStatus.running:
return(BTNodeStatus.running);
case BTNodeStatus.succes:
return(BTNodeStatus.succes);
}
}
return(BTNodeStatus.failed);
}
public override BTNodeStatus Tick()
{
blackBoard.robot.Out.WriteLine("Checked func<bool>");
if (!ifThisIsTrue.Invoke())
{
return(BTNodeStatus.Failed);
}
foreach (BTNode node in inputNodes)
{
BTNodeStatus result = node.Tick();
switch (result)
{
case BTNodeStatus.Failed:
case BTNodeStatus.Running:
return(result);
case BTNodeStatus.Succes:
continue;
}
}
return(BTNodeStatus.Succes);
}
public void UpdateBT(NodeBase rootNode, IAgent agent, Blackboard bb)
{
BTNodeStatus status = rootNode.Update(agent, bb);
//HTLogger.Debug(string.Format("根节点为：{0}的行为树运行状态为：{1}", rootNode, status));
}
protected virtual BTNodeStatus Decorate(BTNodeStatus status)
{
return(status);
}
public BTAction(BTAction prototype)
: base(prototype)
{
m_status_backup = BTNodeStatus.True;
m_is_running = false;
}
public BTAction()
{
m_status_backup = BTNodeStatus.True;
m_is_running = false;
}
protected override BTNodeStatus Decorate(BTNodeStatus status)
{
return(BTNodeStatus.True);
}
public BTActionNodeBase() : base()
{
_status = BTNodeStatus.Ready;
_isActiveNode = true;
_needExit = false;
}
