/// <summary>
/// Removes this event from the object, restoring autonomy if appropriate
/// </summary>
/// <returns>true if the event is successfully detached</returns>
private RunStatus Detach(BehaviorObject obj)
{
// If we were the object's current event, restore autonomy (even if the
// object has another pending event -- that event will just stop it)
if (obj.CurrentEvent == this)
{
obj.FinishEvent();
obj.StartBehavior();
}
// If we were a pending event, then the response depends
if (obj.PendingEvent == this)
{
// Was the object terminating because of us? If so, wait until it's
// done terminating, and then restart it
if (obj.Status == BehaviorStatus.Terminating)
{
return(RunStatus.Running);
}
// If the object isn't terminating (anymore), restart it if it's
// idle and then clear the pending event
if (obj.Status == BehaviorStatus.Idle)
{
obj.StartBehavior();
}
obj.PendingEvent = null;
// Don't worry if another pending event swoops in and replaces us,
// it'll handle the object whether its terminating, running, or idle
}
return(RunStatus.Success);
}
/// <summary>
/// if you want to control a behavior agent, use this function to free agent
/// from event, but after that, you have to call stopbehavior to stop agent's own autonomy.
/// And most importantly, you have to use an interactive behavior tree as the root of
/// event behavior tree because nodes related to the controlled agent should change correspondingly.
/// With normal tree root, Do not use this Function, otherwise the event BT will mess up with agent's own BT!
/// </summary>
/// <param name="obj"></param>
internal void Drop(BehaviorObject obj)
{
if (this.participants.Contains(obj) == true)
{
this.Detach(obj);
}
}
/// <summary>
/// Terminates the object's current activity and gets it ready to execute
/// </summary>
private RunStatus Acquire(BehaviorObject obj)
{
// Reality check, make sure we're still the pending event
if (obj.PendingEvent != this)
{
return(RunStatus.Failure);
}
// Either kill the active event or suspend the agent
RunStatus result;
if (obj.CurrentEvent != null)
{
result = obj.CurrentEvent.Yield(obj);
}
else
{
result = obj.StopBehavior();
}
// If the current event is finished, clear it out
if (result == RunStatus.Success)
{
obj.ClearEvent();
}
return(result);
}
public void LoadBehavior(File file, string fileContent)
{
if (file.configurationID != ma2MaComManager.robotManager.currentConfigurationID)
{
ma2MaComManager.ma2UIComManager.uI2MaComDirector.statusBarDirector.SetTempTextMessage("Cannot load behavior: Wrong configuration.");
return;
}
XmlSerializer serializer = new XmlSerializer(typeof(BehaviorObject));
XmlReaderSettings settings = new XmlReaderSettings();
// No settings need modifying here
using (StringReader textReader = new StringReader(fileContent)) {
using (XmlReader xmlReader = XmlReader.Create(textReader, settings)) {
BehaviorObject bo = serializer.Deserialize(xmlReader) as BehaviorObject;
ma2MaComManager.behaviorManager.currentBehaviorObject = bo;
ma2MaComManager.ma2UIComManager.uI2MaComDirector.panelBehaviorDirector.ClearAllButtons();
foreach (RobotStateObject rso in bo.listOfRobotStateObjects)
{
rso.button = ma2MaComManager.ma2UIComManager.uI2MaComDirector.panelBehaviorDirector.AddButton(rso);
}
ma2MaComManager.behaviorManager.robotStateObjectIndex = 0;
}
}
}
/// <summary>
/// Gives up a participating object for use in another event
/// </summary>
protected virtual RunStatus Yield(BehaviorObject obj)
{
if (this.participants.Contains(obj) == true)
{
return(this.StopEvent());
}
// We don't have that object anyway
return(RunStatus.Success);
}
protected override RunStatus Yield(BehaviorObject obj)
{
Debug.Log("CrowdBehaviorEvent: Yielding " + obj.ToString());
if (this.participants.Contains(obj))
{
ForEach <T> root = (ForEach <T>) this.treeRoot;
return(root.RemoveParticipant(this.behaviorObjToParticipant[obj]));
}
return(RunStatus.Success);
}
public void InitializeModule()
{
g_NPCController = GetComponent <NPCController>();
g_BehaviorObject = new BehaviorAgent(
new DecoratorLoop(
new LeafAssert(() => true)));
BehaviorManager.Instance.Register((IBehaviorUpdate)g_BehaviorObject);
g_NPCController.Debug("NPCBehavior - Initialized: " + name);
g_Initialized = true;
}
/// <summary>
/// Registers this event as an object's pending event
/// </summary>
private RunStatus Enroll(BehaviorObject obj)
{
// Are we already enrolled?
if (obj.PendingEvent == this)
{
return(RunStatus.Success);
}
// Kill any pending event and just replace it
RunStatus result = RunStatus.Success;
if (obj.PendingEvent != null)
{
result = obj.PendingEvent.Yield(obj);
}
if (result == RunStatus.Success)
{
obj.PendingEvent = this;
}
return(result);
}
/// <summary>
/// Checks whether we're eligible for a given objects
/// </summary>
protected RunStatus CheckEligible(BehaviorObject obj)
{
// if (obj == null)//
// Debug.Log("null object" + obj.ToString());
return obj.IsElegible(this);
}
/// <summary>
/// Removes this event from the object, restoring autonomy if appropriate
/// </summary>
/// <returns>true if the event is successfully detached</returns>
private RunStatus Detach(BehaviorObject obj)
{
// If we were the object's current event, restore autonomy (even if the
// object has another pending event -- that event will just stop it)
if (obj.CurrentEvent == this)
{
obj.FinishEvent();
obj.StartBehavior();
}
// If we were a pending event, then the response depends
if (obj.PendingEvent == this)
{
// Was the object terminating because of us? If so, wait until it's
// done terminating, and then restart it
if (obj.Status == BehaviorStatus.Terminating)
return RunStatus.Running;
// If the object isn't terminating (anymore), restart it if it's
// idle and then clear the pending event
if (obj.Status == BehaviorStatus.Idle)
obj.StartBehavior();
obj.PendingEvent = null;
// Don't worry if another pending event swoops in and replaces us,
// it'll handle the object whether its terminating, running, or idle
}
return RunStatus.Success;
}
/// <summary>
/// Terminates the object's current activity and gets it ready to execute
/// </summary>
private RunStatus Acquire(BehaviorObject obj)
{
// Reality check, make sure we're still the pending event
if (obj.PendingEvent != this)
return RunStatus.Failure;
// Either kill the active event or suspend the agent
RunStatus result;
if (obj.CurrentEvent != null)
result = obj.CurrentEvent.Yield(obj);
else
result = obj.StopBehavior();
// If the current event is finished, clear it out
if (result == RunStatus.Success)
obj.ClearEvent();
return result;
}
/// <summary>
/// Registers this event as an object's pending event
/// </summary>
private RunStatus Enroll(BehaviorObject obj)
{
// Are we already enrolled?
if (obj.PendingEvent == this)
return RunStatus.Success;
// Kill any pending event and just replace it
RunStatus result = RunStatus.Success;
if (obj.PendingEvent != null)
result = obj.PendingEvent.Yield(obj);
if (result == RunStatus.Success)
obj.PendingEvent = this;
return result;
}
/// <summary>
/// Gives up a participating object for use in another event
/// </summary>
protected virtual RunStatus Yield(BehaviorObject obj)
{
if (this.participants.Contains(obj) == true)
return this.StopEvent();
// We don't have that object anyway
return RunStatus.Success;
}
// Use this for initialization
void Start()
{
currentBehaviorObject = new BehaviorObject();
}
protected virtual void Initialize(BehaviorObject obj)
{
this.InitializeState();
this.Register();
this.RegisterAffordances();
this.Behavior = obj;
this.Behavior.StartBehavior();
}
/// <summary>
/// Checks whether we're eligible for a given objects
/// </summary>
protected RunStatus CheckEligible(BehaviorObject obj)
{
return(obj.IsElegible(this));
}
protected void StartTree(
Node root,
BehaviorObject.StatusChangedEventHandler statusChanged = null)
{
}
/// <summary>
/// Checks whether we're eligible for a given objects
/// </summary>
protected RunStatus CheckEligible(BehaviorObject obj)
{
return obj.IsElegible(this);
}
protected override void Initialize(BehaviorObject obj)
{
base.Initialize(obj);
this.character = this.GetComponent<CharacterMecanim>();
this.behavior = this.GetComponent<BehaviorMecanim>();
if (this.MarkerHead == null)
this.MarkerHead =
this.GetComponent<Animator>().GetBoneTransform(
HumanBodyBones.Head);
}
void Start()
{
g_BehaviorObject = new BehaviorObject();
}
/// <summary>
/// Checks whether we're eligible for a given objects
/// </summary>
protected RunStatus CheckEligible(BehaviorObject obj)
{
// if (obj == null)//
// Debug.Log("null object" + obj.ToString());
return(obj.IsElegible(this));
}
