/// <summary>
/// Per frame update.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <returns> Execution status after this update. </returns>
public override ExecutionStatus Update(IAgentData agentData)
{
Data data = agentData.GetTaskData <Data>();
if (data.Status == ExecutionStatus.Running)
{
// Update.
data.Status = this.UpdateChild(agentData);
}
else
{
// Restart if still possible.
IDecisionData decisionData = null;
++agentData.CurrentDeciderLevel;
float decisionValue = this.Task.Decide(agentData, ref decisionData);
--agentData.CurrentDeciderLevel;
if (decisionValue > 0.0f)
{
data.Status = this.ActivateChild(agentData, decisionData);
if (data.Status == ExecutionStatus.Running)
{
data.Status = this.UpdateChild(agentData);
}
}
else
{
data.Status = ExecutionStatus.Failed;
}
}
return(ExecutionStatus.Running);
}
/// <summary>
/// Per frame update.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <returns> Execution status after this update. </returns>
public override ExecutionStatus Update(IAgentData agentData)
{
Data data = agentData.GetTaskData<Data>();
if (data.Status == ExecutionStatus.Running)
{
// Update.
data.Status = this.UpdateChild(agentData);
}
else
{
// Restart if still possible.
IDecisionData decisionData = null;
++agentData.CurrentDeciderLevel;
float decisionValue = this.Task.Decide(agentData, ref decisionData);
--agentData.CurrentDeciderLevel;
if (decisionValue > 0.0f)
{
data.Status = this.ActivateChild(agentData, decisionData);
if (data.Status == ExecutionStatus.Running)
{
data.Status = this.UpdateChild(agentData);
}
}
else
{
data.Status = ExecutionStatus.Failed;
}
}
return ExecutionStatus.Running;
}
/// <summary>
/// Deactivation.
/// </summary>
/// <param name="agentData"> Agent data. </param>
public override void Deactivate(IAgentData agentData)
{
// Deactivate current active child.
Data data = agentData.GetTaskData <Data>();
if (data.ActiveChildIdx >= 0)
{
this.DeactivateChild(data.ActiveChildIdx, agentData);
}
base.Deactivate(agentData);
}
/// <summary>
/// Deactivation.
/// </summary>
/// <param name="agentData"> Agent data. </param>
public override void Deactivate(IAgentData agentData)
{
Data data = agentData.GetTaskData<Data>();
// Deactivate child if running.
if (data.Status == ExecutionStatus.Running)
{
this.DeactivateChild(agentData);
}
agentData.CurrentTaskData = null;
}
/// <summary>
/// Deactivation.
/// </summary>
/// <param name="agentData"> Agent data. </param>
public override void Deactivate(IAgentData agentData)
{
Data data = agentData.GetTaskData <Data>();
// Deactivate child if running.
if (data.Status == ExecutionStatus.Running)
{
this.DeactivateChild(agentData);
}
agentData.CurrentTaskData = null;
}
/// <summary>
/// Deactivation.
/// </summary>
/// <param name="agentData"> Agent data. </param>
public override void Deactivate(IAgentData agentData)
{
Data data = agentData.GetTaskData <Data>();
// Setup blackboard.
Setup(agentData, data);
// Deactivate child.
this.DeactivateChild(agentData);
// Tear down.
TearDown(agentData, data);
}
/// <summary>
/// Deactivation.
/// </summary>
/// <param name="agentData"> Agent data. </param>
public override void Deactivate(IAgentData agentData)
{
Data data = agentData.GetTaskData<Data>();
// Setup blackboard.
Setup(agentData, data);
// Deactivate child.
this.DeactivateChild(agentData);
// Tear down.
TearDown(agentData, data);
}
/// <summary>
/// Per frame update.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <returns> Execution status after this update. </returns>
public override ExecutionStatus Update(IAgentData agentData)
{
Data data = agentData.GetTaskData <Data>();
// Setup blackboard.
Setup(agentData, data);
ExecutionStatus result = base.Update(agentData);
if (result != ExecutionStatus.Running)
{
// Tear down.
TearDown(agentData, data);
}
return(result);
}
/// <summary>
/// Activation. This method is called when the task was chosen to be executed. It's called right before the first update of the task. The task can setup its specific task data in here and do initial actions.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <param name="decisionData"> Decision data to use in activate method. </param>
/// <returns> Execution status after activation. </returns>
public override ExecutionStatus Activate(IAgentData agentData, IDecisionData decisionData)
{
base.Activate(agentData, decisionData);
Data data = agentData.GetTaskData <Data>();
// Activate first child.
for (data.ActiveChildIdx = 0; data.ActiveChildIdx < this.Children.Count; ++data.ActiveChildIdx)
{
ExecutionStatus childResult = this.ActivateChild(data.ActiveChildIdx, agentData, decisionData);
switch (childResult)
{
case ExecutionStatus.None:
case ExecutionStatus.Failed:
return(ExecutionStatus.Failed);
case ExecutionStatus.Running:
return(ExecutionStatus.Running);
}
}
// All children succeeded.
return(ExecutionStatus.Success);
}
/// <summary>
/// Per frame update.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <returns> Execution status after this update. </returns>
public override ExecutionStatus Update(IAgentData agentData)
{
Data data = agentData.GetTaskData<Data>();
// Setup blackboard.
Setup(agentData, data);
ExecutionStatus result = base.Update(agentData);
if (result != ExecutionStatus.Running)
{
// Tear down.
TearDown(agentData, data);
}
return result;
}