private void doAutoPlanning()
{
if (!this.AutoReplan)
{
return;
}
this.timeTillReplan -= Workspace.Instance.DeltaTime;
var noPlan = this.m_rootTask == null || this.m_rootTask.GetStatus() != EBTStatus.BT_RUNNING;
//if (noPlan || timeTillReplan <= 0)
if (noPlan)
{
timeTillReplan += AutoReplanInterval;
PlannerTask newPlan = this.GeneratePlan();
if (newPlan != null)
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
raisePlanAborted(this.m_rootTask);
}
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = newPlan;
}
}
}
private void doAutoPlanning()
{
if (!this.AutoReplan)
{
return;
}
var noPlan = this.m_rootTask == null || this.m_rootTask.GetStatus() != EBTStatus.BT_RUNNING;
if (noPlan)
{
PlannerTask newPlan = this.GeneratePlan();
if (newPlan != null)
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
}
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = newPlan;
}
}
}
private void OnDisable()
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = null;
}
}
public static void DestroyBehaviorTreeTask(BehaviorTreeTask behaviorTreeTask, Agent agent)
{
if (behaviorTreeTask != null)
{
if (Workspace.ms_allBehaviorTreeTasks.ContainsKey(behaviorTreeTask.GetName()))
{
Workspace.BTItem_t bTItem_t = Workspace.ms_allBehaviorTreeTasks.get_Item(behaviorTreeTask.GetName());
bTItem_t.bts.Remove(behaviorTreeTask);
if (agent != null)
{
bTItem_t.agents.Remove(agent);
}
}
BehaviorTask.DestroyTask(behaviorTreeTask);
}
}
public static void DestroyBehaviorTreeTask(BehaviorTreeTask behaviorTreeTask, Agent agent)
{
if (behaviorTreeTask != null)
{
if (ms_allBehaviorTreeTasks.ContainsKey(behaviorTreeTask.GetName()))
{
BTItem_t _t = ms_allBehaviorTreeTasks[behaviorTreeTask.GetName()];
_t.bts.Remove(behaviorTreeTask);
if (agent != null)
{
_t.agents.Remove(agent);
}
}
BehaviorTask.DestroyTask(behaviorTreeTask);
}
}
public PlannerTask decomposeNode(BehaviorNode node, int depth)
{
try
{
// Ensure that the planner does not get stuck in an infinite loop
if (depth >= 256)
{
Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
return(null);
}
LogPlanNodeBegin(this.agent, node);
int depth1 = this.agent.Variables.Depth;
PlannerTask taskAdded = null;
bool isPreconditionOk = node.CheckPreconditions(this.agent, false);
if (isPreconditionOk)
{
bool bOk = true;
taskAdded = PlannerTask.Create(node, this.agent);
if (node is Action)
{
//nothing to do for action
Debug.Check(true);
}
else
{
Debug.Check(taskAdded is PlannerTaskComplex);
PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;
bOk = this.decomposeComplex(node, seqTask, depth);
}
if (bOk)
{
node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
}
else
{
BehaviorTask.DestroyTask(taskAdded);
taskAdded = null;
}
}
else
{
//precondition failed
LogPlanNodePreconditionFailed(this.agent, node);
}
LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");
Debug.Check(this.agent.Variables.Depth == depth1);
return(taskAdded);
}
catch (Exception ex)
{
Debug.Check(false, ex.Message);
}
return(null);
}
