void UpdateBehaviorTree()
{
if (rootNode == null)
{
rootNode = GetRootNode <BehaviorTreeNode>();
}
if (navigator == null)
{
if (string.IsNullOrEmpty(navigatorPath))
{
navigator = GetRootNode <INavAgent>();
}
else
{
navigator = GetNode(navigatorPath) as INavAgent;
}
}
if (rootNode != null)
{
rootNode.AssignChildNodes();
AssignBehaviorTreeOnChildren(rootNode);
}
else
{
GD.Print("The Behavior Tree '" + GetName() + "' needs a root BehaviorTreeNode!");
}
}
public override void AssignChildNodes()
{
List <BehaviorTreeNode> nodes = GetChildNodesByType <BehaviorTreeNode>();
int nodeCount = nodes.Count;
if (nodeCount == 0)
{
Godot.GD.Print("Warning: a Decorator node needs one (and only one) Leaf node. '" + GetName() + "' will automatically return SUCCESS");
leafNode = null;
}
else
{
leafNode = nodes[0];
if (nodeCount > 1)
{
Godot.GD.Print("Warning: a Decorator node only accepts one sub node, only the first one will be used: '" + GetName() + "' will only use '" + leafNode.GetName() + "'");
}
}
for (int i = 0; i < nodeCount; i++)
{
nodes[i].AssignChildNodes();
}
base.AssignChildNodes();
}
protected void SetParentNode(BehaviorTreeNode rParentNode)
{
if (rParentNode == null)
{
return;
}
mParentNode = rParentNode;
}
public void SetActiveNode(BehaviorTreeNode rNode)
{
mActiveNodeLast = mActiveNodeCur;
mActiveNodeCur = rNode;
if (mParentNode != null)
{
mParentNode.SetActiveNode(rNode);
}
}
public ParallelNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mFinishCondition = ParallelFinishCondition.OR;
mChildrenStatus = new NodeRunningStatus[BehaviorTreeNode._maxChildNodeCount];
for (int i = 0; i < BehaviorTreeNode._maxChildNodeCount; i++)
{
mChildrenStatus[i] = NodeRunningStatus.Executing;
}
}
public ParallelNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mFinishCondition = ParallelFinishCondition.OR;
mChildrenStatus = new NodeRunningStatus[BehaviorTreeNode._maxChildNodeCount];
for (int i = 0; i < BehaviorTreeNode._maxChildNodeCount; i++ )
{
mChildrenStatus[i] = NodeRunningStatus.Executing;
}
}
public BehaviorTreeNode AddChildNode(BehaviorTreeNode rNode)
{
if (mChildrenCount >= _maxChildNodeCount)
{
Debug.Log("children count up to max value:> " + NodeName);
return(this);
}
mChildren[mChildrenCount] = rNode;
mChildrenCount++;
return(this);
}
void AssignBehaviorTreeOnChildren(BehaviorTreeNode node)
{
List <BehaviorTreeNode> nodes = node.GetChildNodesByType <BehaviorTreeNode>();
node.SetBehaviorTree(this);
for (int i = 0; i < nodes.Count; i++)
{
nodes[i].SetBehaviorTree(this);
AssignBehaviorTreeOnChildren(nodes[i]);
}
}
public BehaviorTreeNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
{
NodeName = "UNNAMED";
mChildrenCount = 0;
mActiveNodeCur = null;
mActiveNodeLast = null;
mCondition = null;
mChildren = new BehaviorTreeNode[_maxChildNodeCount];
for (int i = 0; i < _maxChildNodeCount; i++)
{
mChildren[i] = null;
}
SetParentNode(rParentNode);
SetExternalCondition(rCondition);
}
public BehaviorTreeNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
{
NodeName = "UNNAMED";
mChildrenCount = 0;
mActiveNodeCur = null;
mActiveNodeLast = null;
mCondition = null;
mChildren = new BehaviorTreeNode[_maxChildNodeCount];
for( int i=0; i < _maxChildNodeCount; i++ )
{
mChildren[i] = null;
}
SetParentNode(rParentNode);
SetExternalCondition(rCondition);
}
public void SetActiveNode(BehaviorTreeNode rNode)
{
mActiveNodeLast = mActiveNodeCur;
mActiveNodeCur = rNode;
if (mParentNode != null) mParentNode.SetActiveNode(rNode);
}
public PriortySelectorNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mSelectIndexCur = mSelectIndexLast = BehaviorTreeNode._invalidChildNodeIndex;
}
public ActionNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondtion = null)
: base(rParentNode, rCondtion)
{
mActionStatus = NodeActionStaus.Ready;
mNeedExit = false;
}
public BehaviorTreeNode CreateSequenceNode(BehaviorTreeNode rParentNode, string rNodeName)
{
return new BehaviorTreeNode(rParentNode, new ConditionTrue());
}
public LoopNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null, int rLoopCount = _infiniteLoop)
: base(rParentNode, rCondition)
{
mLoopCount = rLoopCount;
mCountCur = 0;
}
public BehaviorTreeNode CreateNonePrioritySelectorNode(BehaviorTreeNode rParentNode, string rNodeName)
{
return(new BehaviorTreeNode(rParentNode, new ConditionTrue()));
}
public BehaviorTreeNode AddChildNode(BehaviorTreeNode rNode)
{
if(mChildrenCount >= _maxChildNodeCount)
{
Debug.Log("children count up to max value:> " + NodeName);
return this;
}
mChildren[mChildrenCount] = rNode;
mChildrenCount++;
return this;
}
BehaviorTreeNode CreateNodeCommon(BehaviorTreeNode rSelfNode, BehaviorTreeNode rParentNode, string rNodeName)
{
return new BehaviorTreeNode(rParentNode, new ConditionTrue());
}
public BehaviorTreeNode CreatePrioritySelectorNode(BehaviorTreeNode rParentNode, string rNodeName)
{
return new BehaviorTreeNode(rParentNode, new ConditionTrue());
}
public BehaviorTreeNode CreateActionNode(BehaviorTreeNode rParentNode, string rNodeName)
{
return(new BehaviorTreeNode(rParentNode, new ConditionTrue()));
}
public SequenceNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mNodeIndexCur = BehaviorTreeNode._invalidChildNodeIndex;
}
public SequenceNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mNodeIndexCur = BehaviorTreeNode._invalidChildNodeIndex;
}
public ActionNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondtion = null)
: base(rParentNode, rCondtion)
{
mActionStatus = NodeActionStaus.Ready;
mNeedExit = false;
}
public LoopNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null, int rLoopCount = _infiniteLoop)
: base(rParentNode, rCondition)
{
mLoopCount = rLoopCount;
mCountCur = 0;
}
protected void SetParentNode(BehaviorTreeNode rParentNode)
{
if (rParentNode == null) return;
mParentNode = rParentNode;
}
public NonePrioritySelectorNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
}
public BehaviorTreeNode oCreateLoopNode(BehaviorTreeNode rParentNode, string rNodeName, int rLoopCount)
{
return new BehaviorTreeNode(rParentNode, new ConditionTrue());
}
public BehaviorTreeNode CreateParalleNode(BehaviorTreeNode rParentNode, ParallelFinishCondition rPCondition, string rNodeName)
{
return(new BehaviorTreeNode(rParentNode, new ConditionTrue()));
}
public PriortySelectorNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
mSelectIndexCur = mSelectIndexLast = BehaviorTreeNode._invalidChildNodeIndex;
}
public BehaviorTreeNode oCreateLoopNode(BehaviorTreeNode rParentNode, string rNodeName, int rLoopCount)
{
return(new BehaviorTreeNode(rParentNode, new ConditionTrue()));
}
public NonePrioritySelectorNode(BehaviorTreeNode rParentNode, BehaviorTreeCondition rCondition = null)
: base(rParentNode, rCondition)
{
}
BehaviorTreeNode CreateNodeCommon(BehaviorTreeNode rSelfNode, BehaviorTreeNode rParentNode, string rNodeName)
{
return(new BehaviorTreeNode(rParentNode, new ConditionTrue()));
}
public BehaviorTreeNode CreateParalleNode(BehaviorTreeNode rParentNode, ParallelFinishCondition rPCondition, string rNodeName)
{
return new BehaviorTreeNode(rParentNode, new ConditionTrue());
}
