//~ParallelTask()
//{
// this.m_children.Clear();
//}
protected override bool onenter(Agent pAgent)
{
Debug.Check(this.m_activeChildIndex == CompositeTask.InvalidChildIndex);
// reset the status cache of the children
for (int i = 0; i < this.m_children.Count; ++i)
{
BehaviorTask pChild = this.m_children[i];
pChild.reset(pAgent);
}
return(true);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int idx = -1;
for (int i = 0; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
EBTStatus returnStatus = pSubTree.GetReturnStatus();
if (returnStatus != EBTStatus.BT_INVALID)
{
pSubTree.SetReturnStatus(EBTStatus.BT_INVALID);
if (returnStatus == EBTStatus.BT_SUCCESS)
{
return(EBTStatus.BT_SUCCESS);
}
else if (returnStatus == EBTStatus.BT_FAILURE)
{
idx = i;
break;
}
}
}
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = (idx + 1); i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pPrecondTree = pSubTree.PreconditionNode();
EBTStatus status = pPrecondTree.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex && this.m_activeChildIndex != index)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
Debug.Check(pCurrentSubTree is WithPreconditionTask);
BehaviorTask pCurrentActionTree = pCurrentSubTree.Action();
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[index];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pActionTree = pSubTree.Action();
Debug.Check(pCurrentActionTree != pActionTree);
pCurrentActionTree.abort(pAgent);
pCurrentSubTree.abort(pAgent);
this.m_activeChildIndex = index;
}
for (int i = index; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
if (i > index)
{
BehaviorTask pPreconditionTree = pSubTree.PreconditionNode();
EBTStatus status = pPreconditionTree.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask pActionTree = pSubTree.Action();
EBTStatus s = pActionTree.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = index;
}
else
{
pActionTree.reset(pAgent);
if (s == EBTStatus.BT_FAILURE || s == EBTStatus.BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
