protected override IEnumerator process(BehaviourTreeAgent agent)
{
BehaviourTreeNodeState myState = stateForAgent(agent);
foreach (ConnectionPort knob in outputPorts)
{
if (knob.connected())
{
BehaviourTreeNode node = knob.connection(0).body as BehaviourTreeNode;
BehaviourTreeNodeState childState = node.stateForAgent(agent);
yield return(agent.StartCoroutine(node.routine(childState)));
if (childState.actualCondition == processCondition.Sucess)
{
myState.actualCondition = processCondition.Sucess;
}
if (myState.actualCondition == processCondition.Sucess)
{
yield break;
}
}
}
if (myState.actualCondition == processCondition.Running)
{
myState.actualCondition = processCondition.Failure;
}
}
private IEnumerator refreshNode(BehaviourTreeNodeState state)
{
yield return(new WaitForSeconds(2.0f));
state.actualCondition = processCondition.Stopped;
stopNode = null;
}
void Start()
{
nodes = new List <BehaviourTreeNodeState>();
states = new Dictionary <Vector2, BehaviourTreeNodeState>();
if (tree == null)
{
throw new MissingReferenceException(name + " has no Behaviour Tree");
}
tree.Validate();
foreach (Node node in tree.nodes)
{
BehaviourTreeNodeState state = new BehaviourTreeNodeState
{
agent = this,
node = node as BehaviourTreeNode,
actualCondition = processCondition.Stopped
};
nodes.Add(state);
states.Add(node.position, state);
if (node.isInput())
{
root = node as BehaviourTreeNode;
}
}
StartThinking();
}
protected override IEnumerator process(BehaviourTreeAgent agent)
{
BehaviourTreeNodeState state = stateForAgent(agent);
state.actualCondition = processCondition.Running;
yield return(new WaitForSeconds(waitTime));
state.actualCondition = processCondition.Sucess;
}
protected override IEnumerator process(BehaviourTreeAgent agent)
{
BehaviourTreeNodeState state = stateForAgent(agent);
BehaviourTreeNode child = outputKnob.connection(0).body as BehaviourTreeNode;
BehaviourTreeNodeState childState = child.stateForAgent(agent);
yield return(agent.StartCoroutine(child.routine(childState)));
state.actualCondition = processCondition.Sucess;
}
public IEnumerator routine(BehaviourTreeNodeState parentState)
{
BehaviourTreeNodeState state = stateForAgent(parentState.agent);
if (stopNode != null)
{
parentState.agent.StopCoroutine(stopNode);
}
state.actualCondition = processCondition.Running;
yield return(parentState.agent.StartCoroutine(process(parentState.agent)));
parentState.agent.StartCoroutine(refreshNode(state));
}
protected override IEnumerator process(BehaviourTreeAgent agent)
{
actualRepetition = 0;
BehaviourTreeNodeState state = stateForAgent(agent);
BehaviourTreeNode child = outputKnob.connection(0).body as BehaviourTreeNode;
BehaviourTreeNodeState childState = child.stateForAgent(agent);
while (repeatForever || actualRepetition < repetitionQuantity)
{
yield return(agent.StartCoroutine(child.routine(childState)));
actualRepetition++;
}
state.actualCondition = childState.actualCondition;
}
protected override IEnumerator process(BehaviourTreeAgent agent)
{
actualRepetition = 0;
BehaviourTreeNodeState state = stateForAgent(agent);
BehaviourTreeNode child = outputKnob.connection(0).body as BehaviourTreeNode;
BehaviourTreeNodeState childState = child.stateForAgent(agent);
do
{
yield return(agent.StartCoroutine(child.routine(childState)));
actualRepetition++;
} while ((repeatForever || actualRepetition < repetitionQuantity) && childState.actualCondition != processCondition.Failure);
if (childState.actualCondition == processCondition.Failure)
{
state.actualCondition = processCondition.Sucess;
}
if (childState.actualCondition == processCondition.Sucess)
{
state.actualCondition = processCondition.Failure;
}
}
public BehaviourTreeNodeState stateForAgent(BehaviourTreeAgent agent)
{
BehaviourTreeNodeState state = agent.nodes.Where(x => x.node.position == this.position).First();
return(state);
}
void StartThinking()
{
BehaviourTreeNodeState rootState = nodes.Where(x => x.node == root).First();
coroutine = StartCoroutine(root.routine(rootState));
}
