/// <summary> /// Run every tick, while node this node in Running State /// </summary> /// <param name="blackboard">Blackboard object</param> protected internal abstract void Tick(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext);
/// <summary>
/// Run on node complete (immediately after Run method returs False )
/// </summary>
/// <param name="blackboard">Blackboard object</param>
/// <returns>True in case of Ok status, false in case of Fail</returns>
protected internal virtual bool Complete(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(true);
}
/// <summary> /// Run on node start /// </summary> /// <param name="blackboard">Blackboard object</param> /// <returns>True if success and node moves to Status.Running state, False in case of Fail</returns> protected internal abstract bool Start(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext);
/// <summary> /// Check if action is complete /// </summary> /// <param name="blackboard">Balckboard object</param> /// <returns>True if node is still in Status.Running state, False - node execution is complete</returns> protected internal abstract bool IsInProgress(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext);
protected internal override bool Complete(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(Childs.All(x => x.Complete(blackboard, nodeContext)));
}
protected override CompositeStatus UpdateChilds(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext)
{
CompositeStatus result = new CompositeStatus()
{
Status = Status.Ok
};
int startIndex = 0;
//if node contains running childs, update it firstly
if (nodeContext.IsRunning)
{
int index = nodeContext.ChildNodeIndex;
Node <TBlackboard> node = Childs[index];
result.Status = node.Update(context);
result.ChidlNodeIndex = index;
startIndex = index + 1;
}
//if previous node was successful
if (result.Status == Status.Ok)
{
for (int i = startIndex; i < Childs.Length; i++)
{
Node <TBlackboard> node = Childs[i];
if (node == null)
{
throw new NullReferenceException("BTNode child can not be null");
}
result.Status = node.Update(context);
//stop if node Fails or in running state
if (result.Status == Status.Fail || result.Status == Status.Running)
{
result.ChidlNodeIndex = i;
break;
}
}
}
return(result);
}
protected internal override bool Start(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(Childs.All(x => x.Start(blackboard, nodeContext)));
}
protected override CompositeStatus UpdateChilds(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext)
{
CompositeStatus result = new CompositeStatus()
{
Status = Status.Fail
};
for (int i = 0; i < Childs.Length; i++)
{
Node <TBlackboard> node = Childs[i];
if (node == null)
{
throw new NullReferenceException("BTNode child can not be null");
}
//check if this child is running in previous update
bool isRunning = nodeContext.IsRunning && (i == nodeContext.ChildNodeIndex);
//update child
result.Status = node.Update(context);
//stop if Succeed
if (result.Status == Status.Ok || result.Status == Status.Running)
{
result.ChidlNodeIndex = i;
break;
}
}
return(result);
}
protected internal override bool Complete(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(true);
}
/// <summary> /// Evaluate state of composite node based on their child nodes /// </summary> /// <param name="context">BT Context</param> /// <param name="runningNodeIndex">Index of child node, which currantly in running state, null if node does not have such child node</param> /// <returns></returns> protected abstract CompositeStatus UpdateChilds(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext);
protected internal override bool IsInProgress(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(true);
}
/// <summary>
/// Save currently visiting node
/// </summary>
/// <param name="node">visiting node</param>
internal NodeContext <TBlackboard> PushVisitingNode(Node <TBlackboard> node)
{
NodeContext <TBlackboard> result = _currentPath.Push(node, _lastRunningPath);
return(result);
}
/// <summary> /// Run on update this node /// </summary> /// <param name="context">Context for BT current update</param> /// <param name="nodeContext">node context</param> /// <returns></returns> protected abstract Status OnUpdate(Context <TBlackboard> context, NodeContext <TBlackboard> nodeContext);
public void Release(NodeContext <T> nodeContext)
{
//nothing
}
protected internal override bool IsInProgress(TBlackboard blackboard, NodeContext <TBlackboard> nodeContext)
{
return(Childs.All(x => x.IsInProgress(blackboard, nodeContext)));
}
public void Release(NodeContext <T> nodeContext)
{
_freeObjects.Push(nodeContext);
}
private void Add(NodeContext <TBlackboard> nodeContext)
{
_nodesContext.Add(nodeContext);
}
