コード例 #1
0
ファイル: Sequence.cs プロジェクト: P79N6A/behaviac3.6
        //~Sequence()
        //{
        //}

#if BEHAVIAC_USE_HTN
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            Sequence sequence   = (Sequence)node;
            bool     bOk        = false;
            int      childCount = sequence.GetChildrenCount();
            int      i          = 0;

            for (; i < childCount; ++i)
            {
                BehaviorNode childNode = sequence.GetChild(i);
                PlannerTask  childTask = planner.decomposeNode(childNode, depth);

                if (childTask == null)
                {
                    break;
                }

                //clear the log cache so that the next node can log all properites
                LogManager.Instance.PLanningClearCache();
                seqTask.AddChild(childTask);
            }

            if (i == childCount)
            {
                bOk = true;
            }

            return(bOk);
        }
コード例 #2
0
ファイル: Parallel.cs プロジェクト: q3640850400/Dream1
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            Parallel parallel = (Parallel)node;
            bool     bOk      = false;
            //parallel currently is the same with sequence
            int childCount = parallel.GetChildrenCount();
            int i          = 0;

            for (; i < childCount; ++i)
            {
                BehaviorNode childNode = parallel.GetChild(i);
                PlannerTask  childTask = planner.decomposeNode(childNode, depth);

                if (childTask == null)
                {
                    break;
                }

                seqTask.AddChild(childTask);
            }

            if (i == childCount)
            {
                bOk = true;
            }

            return(bOk);
        }
コード例 #3
0
ファイル: Task.cs プロジェクト: ChillyYep/AI-Demo
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            bool        bOk       = false;
            Task        task      = (Task)node;
            PlannerTask childTask = planner.decomposeTask((Task)task, depth);

            if (childTask != null)
            {
                seqTask.AddChild(childTask);
                bOk = true;
            }

            return(bOk);
        }
コード例 #4
0
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            ReferencedBehavior taskSubTree = (ReferencedBehavior)node;
            bool bOk = false;

            Debug.Check(taskSubTree != null);
            int depth2 = planner.GetAgent().Variables.Depth;

            using (AgentState currentState = planner.GetAgent().Variables.Push(false))
            {
                Agent pAgent = planner.GetAgent();

                string           szTreePath  = taskSubTree.GetReferencedTree(pAgent);
                BehaviorTreeTask subTreeTask = Workspace.Instance.CreateBehaviorTreeTask(szTreePath);

                taskSubTree.SetTaskParams(pAgent, subTreeTask);

                Task task = taskSubTree.RootTaskNode(planner.GetAgent());

                if (task != null)
                {
                    planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
                    //task.Parent.InstantiatePars(this.LocalVars);

                    BehaviorTreeTask oldCurrentTreeTask = pAgent.ExcutingTreeTask;
                    pAgent.ExcutingTreeTask = subTreeTask;
                    PlannerTask childTask = planner.decomposeNode(task, depth);
                    pAgent.ExcutingTreeTask = oldCurrentTreeTask;

                    if (childTask != null)
                    {
                        //taskSubTree.SetTaskParams(planner.GetAgent(), childTask);
                        PlannerTaskReference subTreeRef = (PlannerTaskReference)seqTask;

                        subTreeRef.SubTreeTask = subTreeTask;
                        seqTask.AddChild(childTask);
                        bOk = true;
                    }

                    //task.Parent.UnInstantiatePars(this.LocalVars);
                    planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
                    Debug.Check(true);
                }
            }

            Debug.Check(planner.GetAgent().Variables.Depth == depth2);
            return(bOk);
        }
コード例 #5
0
        public override bool decompose(BehaviorNode branch, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            bool bOk        = false;
            int  childCount = branch.GetChildrenCount();

            Debug.Check(childCount == 1);
            BehaviorNode childNode = branch.GetChild(0);
            PlannerTask  childTask = planner.decomposeNode(childNode, depth);

            if (childTask != null)
            {
                seqTask.AddChild(childTask);
                bOk = true;
            }

            return(bOk);
        }
コード例 #6
0
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            DecoratorIterator pForEach = (DecoratorIterator)node;
            bool bOk        = false;
            int  childCount = pForEach.GetChildrenCount();

            Debug.Check(childCount == 1);
            BehaviorNode childNode = pForEach.GetChild(0);

            bool bGoOn = true;
            int  count = 0;
            int  index = 0;

            while (bGoOn)
            {
                int depth2 = planner.GetAgent().Variables.Depth;
                using (AgentState currentState = planner.GetAgent().Variables.Push(false))
                {
                    bGoOn = pForEach.IterateIt(planner.GetAgent(), index, ref count);

                    if (bGoOn)
                    {
                        planner.LogPlanForEachBegin(planner.GetAgent(), pForEach, index, count);
                        PlannerTask childTask = planner.decomposeNode(childNode, depth);
                        planner.LogPlanForEachEnd(planner.GetAgent(), pForEach, index, count, childTask != null ? "success" : "failure");

                        if (childTask != null)
                        {
                            Debug.Check(seqTask is PlannerTaskIterator);
                            PlannerTaskIterator pForEachTask = seqTask as PlannerTaskIterator;
                            pForEachTask.Index = index;

                            seqTask.AddChild(childTask);
                            bOk = true;
                            break;
                        }

                        index++;
                    }
                }

                Debug.Check(planner.GetAgent().Variables.Depth == depth2);
            }

            return(bOk);
        }
コード例 #7
0
        private bool decomposeComplex(BehaviorNode node, PlannerTaskComplex seqTask, int depth)
        {
            try
            {
                int  depth1 = this.agent.Variables.Depth;
                bool bOk    = false;
                bOk = node.decompose(node, seqTask, depth, this);

                Debug.Check(this.agent.Variables.Depth == depth1);
                return(bOk);
            }
            catch (Exception ex)
            {
                Debug.Check(false, ex.Message);
            }

            return(false);
        }
コード例 #8
0
ファイル: Selector.cs プロジェクト: q3640850400/Dream1
        //~Selector()
        //{
        //}

#if BEHAVIAC_USE_HTN
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            Selector sel = (Selector)node;

            bool bOk        = false;
            int  childCount = sel.GetChildrenCount();
            int  i          = 0;

            for (; i < childCount; ++i)
            {
                BehaviorNode childNode = sel.GetChild(i);
                PlannerTask  childTask = planner.decomposeNode(childNode, depth);

                if (childTask != null)
                {
                    seqTask.AddChild(childTask);
                    bOk = true;
                    break;
                }
            }

            return(bOk);
        }
コード例 #9
0
        //~ReferencedBehavior()
        //{
        //}

        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            ReferencedBehavior taskSubTree = (ReferencedBehavior)node;
            bool bOk = false;

            Debug.Check(taskSubTree != null);
            int depth2 = planner.GetAgent().Variables.Depth;

            using (AgentState currentState = planner.GetAgent().Variables.Push(false))
            {
                //planner.agent.Variables.Log(planner.agent, true);
                taskSubTree.SetTaskParams(planner.GetAgent());

                Task task = taskSubTree.RootTaskNode(planner.GetAgent());

                if (task != null)
                {
                    planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
                    task.Parent.InstantiatePars(planner.GetAgent());

                    PlannerTask childTask = planner.decomposeNode(task, depth);

                    if (childTask != null)
                    {
                        seqTask.AddChild(childTask);
                        bOk = true;
                    }

                    task.Parent.UnInstantiatePars(planner.GetAgent());
                    planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
                    Debug.Check(true);
                }
            }

            Debug.Check(planner.GetAgent().Variables.Depth == depth2);
            return(bOk);
        }
コード例 #10
0
ファイル: FSM.cs プロジェクト: lixing1993122/ResetCore
        public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
        {
            Debug.Check(false);

            return(false);
        }
コード例 #11
0
        public PlannerTask decomposeNode(BehaviorNode node, int depth)
        {
            try
            {
                // Ensure that the planner does not get stuck in an infinite loop
                if (depth >= 256)
                {
                    Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
                    return(null);
                }

                LogPlanNodeBegin(this.agent, node);

                int         depth1    = this.agent.Variables.Depth;
                PlannerTask taskAdded = null;

                bool isPreconditionOk = node.CheckPreconditions(this.agent, false);

                if (isPreconditionOk)
                {
                    bool bOk = true;
                    taskAdded = PlannerTask.Create(node, this.agent);

                    if (node is Action)
                    {
                        //nothing to do for action
                        Debug.Check(true);
                    }
                    else
                    {
                        Debug.Check(taskAdded is PlannerTaskComplex);
                        PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;

                        bOk = this.decomposeComplex(node, seqTask, depth);
                    }

                    if (bOk)
                    {
                        node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
                    }
                    else
                    {
                        BehaviorTask.DestroyTask(taskAdded);
                        taskAdded = null;
                    }
                }
                else
                {
                    //precondition failed
                    LogPlanNodePreconditionFailed(this.agent, node);
                }

                LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");

                Debug.Check(this.agent.Variables.Depth == depth1);

                return(taskAdded);
            }
            catch (Exception ex)
            {
                Debug.Check(false, ex.Message);
            }

            return(null);
        }