internal Task CreateTask(BehaviorTree tree, BehaviorTreeDesc treeDesc, Task parentTask, uint taskId)
{
var descWrapper = treeDesc.FindTaskDesc(taskId);
var desc = descWrapper.CustomDesc;
var task = desc.CreateTask(tree, parentTask, descWrapper.Id);
if (!(task is LeafTask))
{
if (task is DecoratorTask)
{
var decoratorTask = (DecoratorTask)task;
var childTaskId = ((DecoratorTaskDescWrapper)descWrapper).ChildTaskId;
var childTask = CreateTask(tree, treeDesc, task, childTaskId);
decoratorTask.InitializeChild(childTask);
}
else
{
var compositeTask = (CompositeTask)task;
var childTaskIds = ((CompositeTaskDescWrapper)descWrapper).ChildTaskIds;
var childTasks = childTaskIds.Select(i => CreateTask(tree, treeDesc, task, i)).ToArray();
compositeTask.InitializeChildren(childTasks);
}
}
tree.InitializeTask(task);
return(task);
}
public static byte[] SerializeDesc(BehaviorTreeDesc desc)
{
CheckInstanceInitialized();
return(instance.SerializeDesc(desc));
}
public BehaviorTree CreateTree(IBehaviorTreeOwner owner, BehaviorTreeDesc treeDesc, Task parentTask = null)
{
return(new BehaviorTree(this, owner, treeDesc, parentTask));
}
internal BehaviorTree(BehaviorTreeManager treeManager, IBehaviorTreeOwner owner, BehaviorTreeDesc description, Task parentTask)
{
this.treeManager = treeManager;
this.owner = owner;
this.parentTask = parentTask;
eventBus = new EventBus(this);
timerManager = new TimerManager(this);
taskScheduler = new TaskScheduler(this);
rootTask = treeManager.CreateTask(this, description, parentTask, description.RootTaskId);
}