public BehaviourTreeStatus Tick(
BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
TBlackboard blackboard)
{
Logger.Instance.Log(LogLevel.Trace, "[BT] {0} ", Name);
if (data.Statuses[Id] != BehaviourTreeStatus.Running)
{
data.Statuses[Id] = BehaviourTreeStatus.Uninitialized;
Initialize(executor, data, blackboard);
}
var status = Update(executor, data, blackboard);
data.Statuses[Id] = status;
if (status != BehaviourTreeStatus.Running)
{
OnTerminate(data, status);
}
Logger.Instance.Log(LogLevel.Trace, "[BT] {0} {1}", Name, status);
return(status);
}
protected override void Deactivate(BehaviourTreeExecutionData <TBlackboard> instance)
{
instance.Deactivate();
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
return(BehaviourTreeStatus.Running);
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
executor.Stop(execution, this, InvertStatus(status));
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
executor.Start(data, Node, this);
}
public void Abort(BehaviourTreeExecutionData <TBlackboard> data)
{
data.Statuses[Id] = BehaviourTreeStatus.Aborted;
OnTerminate(data, BehaviourTreeStatus.Aborted);
}
public virtual void OnTerminate(BehaviourTreeExecutionData <TBlackboard> behaviourTreeExecutor, BehaviourTreeStatus status)
{
}
protected abstract BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard);
public virtual void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
// nothing to do
}
public bool IsRunning(BehaviourTreeExecutionData <TBlackboard> executionData)
{
return(executionData.Statuses[Id] == BehaviourTreeStatus.Running);
}
public bool IsTerminated(BehaviourTreeExecutionData <TBlackboard> executionData)
{
var status = executionData.Statuses[Id];
return(status == BehaviourTreeStatus.Success || status == BehaviourTreeStatus.Failure);
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
return(_predicate(blackboard) ? BehaviourTreeStatus.Success : BehaviourTreeStatus.Failure);
}
public BehaviourTreeMetadata(BehaviourTreeNode <TBlackboard> root)
{
root.DeclareNode(this);
_pool = new BehaviourTreeExecutionData <TBlackboard> .Pool(this);
}