/// <summary>
/// Re evalate BT
/// </summary>
/// <returns>result status</returns>
internal Status Think()
{
Status status;
LastRunningNode = null;
status = _root.Update(this);
if (status == Status.Running)
{
//save current BT state for next time
//swap
var tmp = _lastRunningPath;
_lastRunningPath = _currentPath;
_currentPath = tmp;
}
else
{
_lastRunningPath.Clear();
}
_currentPath.Clear();
return(status);
}
public OptionalActionNode(ActionNode <TBlackboard> child, bool startSuccessRequired)
: base("Optional_" + child.Name)
{
_child = child;
_startSuccessRequired = startSuccessRequired;
}
/// <summary>
/// Create Optional action node
/// </summary>
/// <param name="child">Optional action</param>
/// <returns>ActionNode</returns>
public ActionNode <TBlackboard> Optional(ActionNode <TBlackboard> child)
{
ActionNode <TBlackboard> node = new OptionalActionNode <TBlackboard>(child, false);
return(node);
}
/// <summary>
/// Create Optional action node
/// </summary>
/// <param name="child">Optional action</param>
/// <param name="startSuccessRequired">If False action will starts even if child.Start failed</param>
/// <returns>ActionNode</returns>
public ActionNode <TBlackboard> Optional(ActionNode <TBlackboard> child, bool startSuccessRequired)
{
ActionNode <TBlackboard> node = new OptionalActionNode <TBlackboard>(child, startSuccessRequired);
return(node);
}