void DefineNode()
{
currentNode = GetRootNode();
currentNode._Inject(_ctx);
var state = currentNode.Start();
if (state != BehaviourNode <X> .State.IN_PROGRESS)
{
currentNode = null;
Debug.LogWarning("[BehaviourTree] Execution of the tree was instantaneous");
}
}
public override State Update()
{
var state = _current.Recalculate() ? _current.Start() : _current.Update();
if (state == State.FAILURE)
{
return(CalculateState(State.FAILURE));
}
else if (state == State.SUCCESS)
{
return(ToNextNode());
}
else
{
return(State.IN_PROGRESS);
}
}
State DefineNode()
{
foreach (var s in _childs)
{
var pick = s.shouldPick(ctx);
if (pick)
{
_currentNode = s.node;
_currentNode._Inject(ctx);
var state = _currentNode.Start();
return(state);
}
}
return(State.SUCCESS);
}
State ToNextNode()
{
while (_childs.MoveNext())
{
_current = _childs.Current;
_current._Inject(ctx);
var state = _current.Start();
if (state == State.FAILURE)
{
return(CalculateState(State.FAILURE));
}
else if (state == State.IN_PROGRESS)
{
return(State.IN_PROGRESS);
}
}
return(CalculateState(State.SUCCESS));
}
IEnumerator Routine()
{
while (true)
{
if (currentNode == null)
{
DefineNode();
}
if (currentNode != null)
{
var state = currentNode.Recalculate() ? currentNode.Start() : currentNode.Update();
if (state != BehaviourNode <X> .State.IN_PROGRESS)
{
currentNode = null;
}
}
yield return(null);
}
}
public override State Update()
{
return(_currentNode.Recalculate() ? _currentNode.Start() : _currentNode.Update());
}
