/**
* This method sets the positions of all tasks below <code>t</code> in the
* tree.
*
* @param t
* the task whose descendants will be computed their positions.
*/
private void RecursiveComputePositions(ModelTask t)
{
/*
* Set the position of all of the children of this task and recursively
* compute the position of the rest of the tasks.
*/
for (var i = 0; i < t._children.Count; i++)
{
var currentChild = t._children[i];
var currentChildPos = new Position(t.Position);
currentChildPos.AddMove(i);
currentChild._position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
/**
* 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()}.
* <p>
* 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.
*/
public void ComputePositions()
{
/* Assume this node is the root of the tree. */
_position = new Position(new List <int>());
/*
* Set the position of all of the children of this task and recursively
* compute the position of the rest of the tasks.
*/
for (var i = 0; i < _children.Count; i++)
{
ModelTask currentChild = _children[i];
var currentChildPos = new Position(_position);
currentChildPos.AddMove(i);
currentChild._position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List<ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if(_modelTask != null)
AlwaysFail = modelTask.AlwaysFail;
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}
/**
* This method sets the positions of all tasks below <code>t</code> in the
* tree.
*
* @param t
* the task whose descendants will be computed their positions.
*/
private void RecursiveComputePositions(ModelTask t)
{
/*
* Set the position of all of the children of this task and recursively
* compute the position of the rest of the tasks.
*/
for (var i = 0; i < t._children.Count; i++)
{
var currentChild = t._children[i];
var currentChildPos = new Position(t.Position);
currentChildPos.AddMove(i);
currentChild._position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
/**
* 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()}.
* <p>
* 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.
*/
public void ComputePositions()
{
/* Assume this node is the root of the tree. */
_position = new Position(new List<int>());
/*
* Set the position of all of the children of this task and recursively
* compute the position of the rest of the tasks.
*/
for (var i = 0; i < _children.Count; i++)
{
ModelTask currentChild = _children[i];
var currentChildPos = new Position(_position);
currentChildPos.AddMove(i);
currentChild._position = currentChildPos;
RecursiveComputePositions(currentChild);
}
}
