private PlannerTask BuildPlan(Task root)
{
LogManager.PLanningClearCache();
int depth = this.agent.Variables.Depth;
PlannerTask rootTask = null;
using (var currentState = this.agent.Variables.Push(true))
{
this.agent.PlanningTop = this.agent.Variables.Top;
Debug.Check(this.agent.PlanningTop >= 0);
LogPlanBegin(this.agent, root);
rootTask = this.decomposeNode(root, 0);
LogPlanEnd(this.agent, root);
#if !BEHAVIAC_RELEASE
BehaviorTask.CHECK_BREAKPOINT(this.agent, root, "plan", EActionResult.EAR_all);
#endif
this.agent.PlanningTop = -1;
}
Debug.Check(this.agent.Variables.Depth == depth);
return(rootTask);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Sequence sequence = (Sequence)node;
bool bOk = false;
int childCount = sequence.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = sequence.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask == null)
{
break;
}
//clear the log cache so that the next node can log all properites
LogManager.PLanningClearCache();
seqTask.AddChild(childTask);
}
if (i == childCount)
{
bOk = true;
}
return(bOk);
}
