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);
}
}
private bool Step(BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
var current = data.Stack.RemoveFront();
if (current == null)
{
return(false);
}
var status = current.Tick(this, data, blackboard);
if (status != BehaviourTreeStatus.Running)
{
if (current.Observer != null)
{
current.Observer.OnComplete(this, data, status);
}
}
else
{
data.Stack.AddBack(current);
}
return(true);
}
private void Stop(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeStatus status)
{
AbortRunningChildren(executor, data);
executor.Stop(data, this, status);
}
public void Tick(BehaviourTreeExecutionData <TBlackboard> executionData, TBlackboard blackboard)
{
executionData.Stack.AddBack(null);
while (Step(executionData, blackboard))
{
}
}
private static void RemoveNode(BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeNode <TBlackboard> node)
{
var index = data.Stack.IndexOf(node);
if (index >= 0)
{
data.Stack.RemoveAt(index);
}
}
public void Schedule(BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeNode <TBlackboard> node,
ICompletionObserver <TBlackboard> observer = null)
{
if (observer != null)
{
node.Observer = observer;
}
data.Stack.AddBack(node);
}
public void AbortRunningChildren(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data)
{
foreach (var node in Children)
{
if (node.IsRunning(data))
{
executor.Abort(data, node);
}
}
}
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 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 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);
}
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
const int undefined = int.MinValue;
var tick = _tickSupplier.Supply();
if (data.Variables[_startTickId] == undefined)
{
data.Variables[_startTickId] = tick;
}
if (tick - data.Variables[_startTickId] < _ticksToWaitSupplier.Supply(blackboard))
{
return(BehaviourTreeStatus.Running);
}
data.Variables[_startTickId] = undefined;
return(BehaviourTreeStatus.Success);
}
public void Abort(BehaviourTreeExecutionData <TBlackboard> data, BehaviourTreeNode <TBlackboard> node)
{
RemoveNode(data, node);
node.Abort(data);
}
public void Start(BehaviourTreeExecutionData <TBlackboard> data)
{
Start(data, _root);
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
TBlackboard blackboard)
{
return(BehaviourTreeStatus.Running);
}
private BehaviourTreeNode <TBlackboard> GetCurrentChild(BehaviourTreeExecutionData <TBlackboard> data)
{
return(Children[data.Variables[_currentChildId]]);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_startTickId] = int.MinValue;
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_currentChildId] = 0;
executor.Start(data, GetCurrentChild(data), this);
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
executor.Stop(execution, this, BehaviourTreeStatus.Failure);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
executor.Start(data, Node, this);
}
public BehaviourTreeData(BehaviourTree <TScope> behaviourTree, BehaviourTreeExecutionData <Entity <TScope> > executionData = null)
{
BehaviourTree = behaviourTree;
ExecutionData = executionData;
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_failedCountId] = 0;
data.Variables[_succeededCountId] = 0;
foreach (var node in Children)
{
executor.Start(data, node, this);
}
}
