private void Stop(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeStatus status)
{
AbortRunningChildren(executor, data);
executor.Stop(data, this, status);
}
private static string GetColorByStatus(BehaviourTreeStatus status)
{
switch (status)
{
case BehaviourTreeStatus.Success:
return("008800");
case BehaviourTreeStatus.Failure:
return("880000");
case BehaviourTreeStatus.Running:
return("000088");
case BehaviourTreeStatus.None:
return("333333");
case BehaviourTreeStatus.Waiting:
break;
default:
throw new ArgumentOutOfRangeException();
}
return("ff00ff");
}
public void Update(GameTime gameTime)
{
if (Status == BehaviourTreeStatus.Running)
{
Status = internalUpdate(gameTime);
}
}
public override BehaviourTreeStatus Tick()
{
if (!condition())
{
return(BehaviourTreeStatus.Success);
}
foreach (BaseNode node in inputNodes)
{
BehaviourTreeStatus result = node.Tick();
switch (result)
{
case BehaviourTreeStatus.Failure:
return(BehaviourTreeStatus.Failure);
case BehaviourTreeStatus.Running:
return(BehaviourTreeStatus.Running);
case BehaviourTreeStatus.Success:
//only at succes it moves on to the next task
break;
default:
break;
}
}
return(BehaviourTreeStatus.Failure);
}
public static IEnumerator <BehaviourTreeStatus> getStatus(BehaviourTreeStatus aStatus)
{
List <BehaviourTreeStatus> status = new List <BehaviourTreeStatus>();
status.Add(aStatus);
return(status.GetEnumerator());
}
private void Close(BehaviourTreeContext context)
{
context.OpenedNodes.Remove(this);
OnClose(context);
LastStatus = BehaviourTreeStatus.Waiting;
}
public override void SetStatusAll(BehaviourTreeStatus aStatus)
{
currentStatus = aStatus;
foreach (var child in children)
{
child.SetStatusAll(aStatus);
}
}
public virtual int CountAllForStatus(BehaviourTreeStatus aStatus)
{
if (currentStatus == aStatus)
{
return(1);
}
else
{
return(0);
}
}
public void Stop(BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeNode <TBlackboard> node,
BehaviourTreeStatus status)
{
RemoveNode(data, node);
data.Statuses[node.Id] = status;
if (node.Observer != null)
{
node.Observer.OnComplete(this, data, status);
}
}
public override int CountAllForStatus(BehaviourTreeStatus aStatus)
{
// return a count of the status for all nodes under the current node that have the
// specified status value
int numCount = 0;
if (currentStatus == aStatus)
{
++numCount;
}
numCount += childNode.CountAllForStatus(aStatus);
return(numCount);
}
public override BehaviourTreeStatus Tick(float Time)
{
foreach (BehaviorTreeNode node in Nodes)
{
BehaviourTreeStatus BTS = node.Tick(Time);
if (BTS != BehaviourTreeStatus.Failed)
{
return(BTS);
}
}
return(BehaviourTreeStatus.Failed);
}
public BehaviourTreeStatus Tick(BehaviourTreeContext context, float delta)
{
if (!context.OpenedNodes.Contains(this))
{
Open(context);
}
var status = OnTick(context, delta);
if (status != BehaviourTreeStatus.Running)
{
Close(context);
}
LastStatus = status;
return(status);
}
private static BehaviourTreeStatus InvertStatus(BehaviourTreeStatus status)
{
switch (status)
{
case BehaviourTreeStatus.Failure:
return(BehaviourTreeStatus.Success);
case BehaviourTreeStatus.Success:
return(BehaviourTreeStatus.Failure);
case BehaviourTreeStatus.Uninitialized:
case BehaviourTreeStatus.Running:
case BehaviourTreeStatus.Aborted:
return(status);
default:
throw new ArgumentOutOfRangeException();
}
}
public RepeatUntilStatusReachedNode(string name, BehaviourTreeStatus status) : base(name)
{
_status = status;
}
public virtual void SetStatusAll(BehaviourTreeStatus aStatus)
{
currentStatus = aStatus;
}
public void SetStatus(BehaviourTreeNode <TBlackboard> node, BehaviourTreeStatus status)
{
Statuses[node.Id] = status;
}
public override void SetStatusAll(BehaviourTreeStatus aStatus)
{
currentStatus = aStatus;
childNode.SetStatusAll(aStatus);
}
public BehaviourTreeStatus Tick(TimeData time)
{
Status = fn(time);
return(Status);
}
public RepeatWhileStatus(string name, BehaviourTreeStatus status) : base(name)
{
_status = status;
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
if (status != _status)
{
executor.Stop(execution, this, BehaviourTreeStatus.Success);
}
else
{
executor.Schedule(execution, Node, this);
}
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
executor.Stop(execution, this, InvertStatus(status));
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
if (status == BehaviourTreeStatus.Success)
{
++execution.Variables[_succeededCountId];
if (SucceedPolicy == ParallelPolicy.RequireOne)
{
Stop(executor, execution, BehaviourTreeStatus.Success);
return;
}
}
else if (status == BehaviourTreeStatus.Failure)
{
++execution.Variables[_failedCountId];
if (FailurePolicy == ParallelPolicy.RequireOne)
{
Stop(executor, execution, BehaviourTreeStatus.Failure);
return;
}
}
if (FailurePolicy == ParallelPolicy.RequireAll && execution.Variables[_failedCountId] == ChildrenCount)
{
Stop(executor, execution, BehaviourTreeStatus.Failure);
}
else if (SucceedPolicy == ParallelPolicy.RequireAll && execution.Variables[_succeededCountId] == ChildrenCount)
{
Stop(executor, execution, BehaviourTreeStatus.Success);
}
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
var node = GetCurrentChild(execution);
if (execution.Statuses[node.Id] == BehaviourTreeStatus.Success)
{
executor.Stop(execution, this, BehaviourTreeStatus.Success);
return;
}
var currentChild = ++execution.Variables[_currentChildId];
if (currentChild == ChildrenCount)
{
executor.Stop(execution, this, BehaviourTreeStatus.Failure);
}
else
{
executor.Start(execution, GetCurrentChild(execution), this);
}
}
public virtual void OnTerminate(BehaviourTreeExecutionData <TBlackboard> behaviourTreeExecutor, BehaviourTreeStatus status)
{
}
