protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int num = -1;
for (int i = 0; i < base.m_children.Count; i++)
{
WithPreconditionTask task = (WithPreconditionTask)base.m_children[i];
if (task.PreconditionNode().exec(pAgent) == EBTStatus.BT_SUCCESS)
{
num = i;
break;
}
}
if (num != -1)
{
if (base.m_activeChildIndex != -1)
{
WithPreconditionTask task3 = (WithPreconditionTask)base.m_children[base.m_activeChildIndex];
BehaviorTask task4 = task3.Action();
BehaviorTask task6 = ((WithPreconditionTask)base.m_children[num]).Action();
if (task4 != task6)
{
task4.abort(pAgent);
task3.abort(pAgent);
base.m_activeChildIndex = num;
}
}
for (int j = 0; j < base.m_children.Count; j++)
{
WithPreconditionTask task7 = (WithPreconditionTask)base.m_children[j];
EBTStatus status2 = task7.exec(pAgent);
if ((j >= num) && ((j <= num) || (task7.PreconditionNode().exec(pAgent) == EBTStatus.BT_SUCCESS)))
{
EBTStatus status4 = task7.Action().exec(pAgent);
switch (status4)
{
case EBTStatus.BT_RUNNING:
base.m_activeChildIndex = num;
return(status4);
case EBTStatus.BT_FAILURE:
case EBTStatus.BT_INVALID:
{
continue;
}
}
return(status4);
}
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
Parallel parallel = (Parallel)base.GetNode();
bool flag = false;
bool flag2 = false;
bool flag3 = false;
bool flag4 = true;
bool flag5 = true;
bool flag6 = parallel.m_childFinishPolicy == CHILDFINISH_POLICY.CHILDFINISH_LOOP;
for (int i = 0; i < this.m_children.get_Count(); i++)
{
BehaviorTask behaviorTask = this.m_children.get_Item(i);
EBTStatus status = behaviorTask.GetStatus();
if (flag6 || status == EBTStatus.BT_RUNNING || status == EBTStatus.BT_INVALID)
{
EBTStatus eBTStatus = behaviorTask.exec(pAgent);
if (eBTStatus == EBTStatus.BT_FAILURE)
{
flag2 = true;
flag5 = false;
}
else if (eBTStatus == EBTStatus.BT_SUCCESS)
{
flag = true;
flag4 = false;
}
else if (eBTStatus == EBTStatus.BT_RUNNING)
{
flag3 = true;
flag4 = false;
flag5 = false;
}
}
else if (status == EBTStatus.BT_SUCCESS)
{
flag = true;
flag4 = false;
}
else
{
flag2 = true;
flag5 = false;
}
}
EBTStatus eBTStatus2 = (!flag3) ? EBTStatus.BT_FAILURE : EBTStatus.BT_RUNNING;
if ((parallel.m_failPolicy == FAILURE_POLICY.FAIL_ON_ALL && flag4) || (parallel.m_failPolicy == FAILURE_POLICY.FAIL_ON_ONE && flag2))
{
eBTStatus2 = EBTStatus.BT_FAILURE;
}
else if ((parallel.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ALL && flag5) || (parallel.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ONE && flag))
{
eBTStatus2 = EBTStatus.BT_SUCCESS;
}
if (parallel.m_exitPolicy == EXIT_POLICY.EXIT_ABORT_RUNNINGSIBLINGS && (eBTStatus2 == EBTStatus.BT_FAILURE || eBTStatus2 == EBTStatus.BT_SUCCESS))
{
for (int j = 0; j < this.m_children.get_Count(); j++)
{
BehaviorTask behaviorTask2 = this.m_children.get_Item(j);
EBTStatus status2 = behaviorTask2.GetStatus();
if (status2 == EBTStatus.BT_RUNNING)
{
behaviorTask2.abort(pAgent);
}
}
}
return(eBTStatus2);
}
public EBTStatus ParallelUpdate(Agent pAgent, List <BehaviorTask> children)
{
bool sawSuccess = false;
bool sawFail = false;
bool sawRunning = false;
bool sawAllFails = true;
bool sawAllSuccess = true;
bool bLoop = (this.m_childFinishPolicy == CHILDFINISH_POLICY.CHILDFINISH_LOOP);
// go through all m_children
for (int i = 0; i < children.Count; ++i)
{
BehaviorTask pChild = children[i];
EBTStatus treeStatus = pChild.GetStatus();
if (bLoop || (treeStatus == EBTStatus.BT_RUNNING || treeStatus == EBTStatus.BT_INVALID))
{
EBTStatus status = pChild.exec(pAgent);
if (status == EBTStatus.BT_FAILURE)
{
sawFail = true;
sawAllSuccess = false;
}
else if (status == EBTStatus.BT_SUCCESS)
{
sawSuccess = true;
sawAllFails = false;
}
else if (status == EBTStatus.BT_RUNNING)
{
sawRunning = true;
sawAllFails = false;
sawAllSuccess = false;
}
}
else if (treeStatus == EBTStatus.BT_SUCCESS)
{
sawSuccess = true;
sawAllFails = false;
}
else
{
Debug.Check(treeStatus == EBTStatus.BT_FAILURE);
sawFail = true;
sawAllSuccess = false;
}
}
EBTStatus result = sawRunning ? EBTStatus.BT_RUNNING : EBTStatus.BT_FAILURE;
if ((this.m_failPolicy == FAILURE_POLICY.FAIL_ON_ALL && sawAllFails) ||
(this.m_failPolicy == FAILURE_POLICY.FAIL_ON_ONE && sawFail))
{
result = EBTStatus.BT_FAILURE;
}
else if ((this.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ALL && sawAllSuccess) ||
(this.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ONE && sawSuccess))
{
result = EBTStatus.BT_SUCCESS;
}
//else if (m_failPolicy == FAIL_ON_ALL && m_succeedPolicy == SUCCEED_ON_ALL && sawRunning)
//{
// return EBTStatus.BT_RUNNING;
//}
if (this.m_exitPolicy == EXIT_POLICY.EXIT_ABORT_RUNNINGSIBLINGS && (result == EBTStatus.BT_FAILURE || result == EBTStatus.BT_SUCCESS))
{
for (int i = 0; i < children.Count; ++i)
{
BehaviorTask pChild = children[i];
//Debug.Check(BehaviorTreeTask.DynamicCast(pChild));
EBTStatus treeStatus = pChild.GetStatus();
if (treeStatus == EBTStatus.BT_RUNNING)
{
pChild.abort(pAgent);
}
}
}
return(result);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int idx = -1;
for (int i = 0; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
EBTStatus returnStatus = pSubTree.GetReturnStatus();
if (returnStatus != EBTStatus.BT_INVALID)
{
pSubTree.SetReturnStatus(EBTStatus.BT_INVALID);
if (returnStatus == EBTStatus.BT_SUCCESS)
{
return(EBTStatus.BT_SUCCESS);
}
else if (returnStatus == EBTStatus.BT_FAILURE)
{
idx = i;
break;
}
}
}
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = (idx + 1); i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pPrecondTree = pSubTree.PreconditionNode();
EBTStatus status = pPrecondTree.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex && this.m_activeChildIndex != index)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
Debug.Check(pCurrentSubTree is WithPreconditionTask);
BehaviorTask pCurrentActionTree = pCurrentSubTree.Action();
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[index];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pActionTree = pSubTree.Action();
Debug.Check(pCurrentActionTree != pActionTree);
pCurrentActionTree.abort(pAgent);
pCurrentSubTree.abort(pAgent);
this.m_activeChildIndex = index;
}
for (int i = index; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
if (i > index)
{
BehaviorTask pPreconditionTree = pSubTree.PreconditionNode();
EBTStatus status = pPreconditionTree.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask pActionTree = pSubTree.Action();
EBTStatus s = pActionTree.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = index;
}
else
{
pActionTree.reset(pAgent);
if (s == EBTStatus.BT_FAILURE || s == EBTStatus.BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int idx = -1;
if (childStatus != EBTStatus.BT_RUNNING)
{
Debug.Check(this.m_activeChildIndex != CompositeTask.InvalidChildIndex);
if (childStatus == EBTStatus.BT_SUCCESS)
{
return(EBTStatus.BT_SUCCESS);
}
else if (childStatus == EBTStatus.BT_FAILURE)
{
//the next for starts from (idx + 1), so that it starts from next one after this failed one
idx = this.m_activeChildIndex;
}
else
{
Debug.Check(false);
}
}
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = (idx + 1); i < this.m_children.Count; ++i)
{
Debug.Check(this.m_children[i] is WithPreconditionTask);
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
BehaviorTask pre = pSubTree.PreconditionNode;
EBTStatus status = pre.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex &&
this.m_activeChildIndex != index)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
BehaviorTask action = pCurrentSubTree.ActionNode;
action.abort(pAgent);
//don't set it here
//this.m_activeChildIndex = index;
}
for (int i = index; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
if (i > index)
{
BehaviorTask pre = pSubTree.PreconditionNode;
EBTStatus status = pre.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask action = pSubTree.ActionNode;
EBTStatus s = action.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = i;
}
else
{
if (s == EBTStatus.BT_FAILURE)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int num = -1;
for (int i = 0; i < this.m_children.get_Count(); i++)
{
WithPreconditionTask withPreconditionTask = (WithPreconditionTask)this.m_children.get_Item(i);
BehaviorTask behaviorTask = withPreconditionTask.PreconditionNode();
EBTStatus eBTStatus = behaviorTask.exec(pAgent);
if (eBTStatus == EBTStatus.BT_SUCCESS)
{
num = i;
break;
}
}
if (num != -1)
{
if (this.m_activeChildIndex != -1)
{
WithPreconditionTask withPreconditionTask2 = (WithPreconditionTask)this.m_children.get_Item(this.m_activeChildIndex);
BehaviorTask behaviorTask2 = withPreconditionTask2.Action();
WithPreconditionTask withPreconditionTask3 = (WithPreconditionTask)this.m_children.get_Item(num);
BehaviorTask behaviorTask3 = withPreconditionTask3.Action();
if (behaviorTask2 != behaviorTask3)
{
behaviorTask2.abort(pAgent);
withPreconditionTask2.abort(pAgent);
this.m_activeChildIndex = num;
}
}
for (int j = 0; j < this.m_children.get_Count(); j++)
{
WithPreconditionTask withPreconditionTask4 = (WithPreconditionTask)this.m_children.get_Item(j);
EBTStatus eBTStatus2 = withPreconditionTask4.exec(pAgent);
if (j >= num)
{
if (j > num)
{
BehaviorTask behaviorTask4 = withPreconditionTask4.PreconditionNode();
EBTStatus eBTStatus3 = behaviorTask4.exec(pAgent);
if (eBTStatus3 != EBTStatus.BT_SUCCESS)
{
goto IL_158;
}
}
BehaviorTask behaviorTask5 = withPreconditionTask4.Action();
EBTStatus eBTStatus4 = behaviorTask5.exec(pAgent);
if (eBTStatus4 == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = num;
}
else if (eBTStatus4 == EBTStatus.BT_FAILURE || eBTStatus4 == EBTStatus.BT_INVALID)
{
goto IL_158;
}
return(eBTStatus4);
}
IL_158 :;
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
Parallel node = (Parallel)base.GetNode();
bool flag = false;
bool flag2 = false;
bool flag3 = false;
bool flag4 = true;
bool flag5 = true;
bool flag6 = node.m_childFinishPolicy == CHILDFINISH_POLICY.CHILDFINISH_LOOP;
for (int i = 0; i < base.m_children.Count; i++)
{
BehaviorTask task = base.m_children[i];
EBTStatus status = task.GetStatus();
if ((flag6 || (status == EBTStatus.BT_RUNNING)) || (status == EBTStatus.BT_INVALID))
{
EBTStatus status2 = task.exec(pAgent);
switch (status2)
{
case EBTStatus.BT_FAILURE:
{
flag2 = true;
flag5 = false;
continue;
}
case EBTStatus.BT_SUCCESS:
{
flag = true;
flag4 = false;
continue;
}
}
if (status2 == EBTStatus.BT_RUNNING)
{
flag3 = true;
flag4 = false;
flag5 = false;
}
}
else if (status == EBTStatus.BT_SUCCESS)
{
flag = true;
flag4 = false;
}
else
{
flag2 = true;
flag5 = false;
}
}
EBTStatus status3 = !flag3 ? EBTStatus.BT_FAILURE : EBTStatus.BT_RUNNING;
if (((node.m_failPolicy == FAILURE_POLICY.FAIL_ON_ALL) && flag4) || ((node.m_failPolicy == FAILURE_POLICY.FAIL_ON_ONE) && flag2))
{
status3 = EBTStatus.BT_FAILURE;
}
else if (((node.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ALL) && flag5) || ((node.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ONE) && flag))
{
status3 = EBTStatus.BT_SUCCESS;
}
if ((node.m_exitPolicy == EXIT_POLICY.EXIT_ABORT_RUNNINGSIBLINGS) && ((status3 == EBTStatus.BT_FAILURE) || (status3 == EBTStatus.BT_SUCCESS)))
{
for (int j = 0; j < base.m_children.Count; j++)
{
BehaviorTask task2 = base.m_children[j];
if (task2.GetStatus() == EBTStatus.BT_RUNNING)
{
task2.abort(pAgent);
}
}
}
return(status3);
}
