private bool HandleHintInPathTo(NonLeafNode root, string nodeName, Common.HintType hint)
{
if (root.NodeName == nodeName)
{
return true;
}
else
{
Node[] children = root.Children;
for (byte i = 0; i < children.Length; i++)
{
if (children[i] is NonLeafNode)
{
bool has = HandleHintInPathTo((NonLeafNode)children[i], nodeName, hint);
// we find it at this hinted selector's child
if (has && root is HintedSelectorNode)
{
(root as HintedSelectorNode).Hinted(i, hint);
}
return true;
}
else if (children[i].NodeName == nodeName)
{
// we find it at this hinted selector's child
if (root is HintedSelectorNode)
{
(root as HintedSelectorNode).Hinted(i, hint);
}
return true;
}
}
return false;
}
}
/// <summary>
/// Search blackboard at parent
/// </summary>
private Blackboard FindParentBlackboard(NonLeafNode nonLeafNode)
{
if (nonLeafNode.Parent != null)
{
if (nonLeafNode.Parent.privateBlackboard != null)
{
return nonLeafNode.Parent.privateBlackboard;
}
return FindParentBlackboard(nonLeafNode.Parent);
}
return null;
}
public HintedBehaviourTree CreateBT(NonLeafNode root)
{
return new HintedBehaviourTree(root);
}
internal HintedBehaviourTree(NonLeafNode root)
{
m_root = root;
}
/// <summary>
/// Completing the creation and allocate IDs
/// </summary>
public void Complete(NonLeafNode root, byte id = 1)
{
// bfs
Queue<Node> nodeQueue = new Queue<Node>();
byte l = 1;
nodeQueue.Enqueue(root);
while (l > 0)
{
Node node = nodeQueue.Dequeue();
l -= 1;
// allocate ids via bread-first-search
node.ID = id;
id += 1;
if (node is NonLeafNode)
{
NonLeafNode nonLeafNode = (node as NonLeafNode);
if (nonLeafNode is CompositeNode)
{
(nonLeafNode as CompositeNode).Complete();
}
// Client can set the parents also.
// nonLeafNode.blackboard.Parent = FindParentBlackboard(nonLeafNode);
int childNumber = nonLeafNode.Children.Length;
for (int i = 0; i < childNumber; i++)
{
nodeQueue.Enqueue(nonLeafNode.Children[i]);
l += 1;
}
}
}
}
