public ModelTask(ModelTask guard, params ModelTask[] children)
{
this.guard = guard;
this.children = new List<ModelTask>();
foreach (ModelTask t in children) {
this.children.Add(t);
}
this.position = new Position();
}
public ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
this.modelTask = modelTask;
this.executor = executor;
this.spawnable = true;
this.tickable = false;
this.status = TaskStatus.UNINITIALISED;
if (parent == null) {
this.position = new Position();
}
else {
this.position = new Position(parent.position);
this.position.AddMove(GetMove());
this.parent = parent;
}
}
public DataContext GetTaskState(Position pos)
{
if (this.taskStates.ContainsKey(pos)) {
return this.taskStates[pos];
}
return null;
}
public void SetTaskState(Position pos, DataContext taskState)
{
this.taskStates[pos] = taskState;
}
// reflection ctor
public ModelTask()
{
this.children = new List<ModelTask>();
this.position = new Position();
}
private void RecursiveComputePositions(ModelTask t)
{
for (int i = 0; i < t.children.Count; ++i) {
ModelTask currentChild = t.children[i];
Position currentChildPos = new Position(t.position);
currentChildPos.AddMove(i);
currentChild.position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
/// <summary>
/// This method computes the positions of all the tasks of the behaviour tree
/// whose root is this node. After calling this method, the positions of all
/// the tasks below this one will be available and accessible through
/// {@link #getPosition()}.
///
/// It is important to note that, when calling this method, this task is
/// considered to be the root of the behaviour tree, so its position will be
/// set to an empty sequence of moves, with no offset, and the positions of
/// the tasks below it will be computed from it.
/// </summary>
public void ComputePositions()
{
// assume this node is the root of the tree
this.position = new Position(new LinkedList<int>());
/*
* Set the position of all of the children of this task and recursively
* compute the position of the rest of the tasks.
*/
for (int i = 0; i < this.children.Count; ++i) {
ModelTask currentChild = this.children[i];
Position currentChildPos = new Position(this.position);
currentChildPos.AddMove(i);
currentChild.position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
public Position(Position copy)
{
this.moves = new LinkedList<int>(copy.moves);
}