public BehaviourTree(BT_Node _root)
{
root = _root;
interrupts = new List <BT_Interrupt>();
timings = new List <Timing>();
continueNodes = new Queue <BT_Node>();
}
public BT_While(BT_Node _c, BT_Node _p, IfEvent _e)
{
children = new List <BT_Node>();
children.Add(_c);
parent = _p;
condition = _e;
}
public BT_Execute(BT_Node _c, BT_Node _p, NodeEvent _e)
{
nodeEvent = _e;
children = new List <BT_Node>();
children.Add(_c);
parent = _p;
}
virtual public void AddChild(BT_Node c)
{
if (children == null)
{
children = new List <BT_Node>();
}
children.Add(c);
}
public BT_Node()
{
children = new List <BT_Node>();
parent = null;
}
public BT_Sequence(List <BT_Node> cList, BT_Node parent)
{
children = cList;
currentIndex = 0;
}
public BT_Selector(List <BT_Node> cList, BT_Node _p)
{
children = cList;
parent = _p;
}
public Timer(BT_Node node, double _waitTime) : base(node)
{
startTime = 0;
waitTime = _waitTime;
}
public void Tick()
{
// Check Timings
int timingLength = timings.Count;
bool isTimingActivated = false;
int activatedIndex = -1;
for (int i = 0; i < timingLength; i++)
{
if (timings[i].Check() && !isTimingActivated)
{
isTimingActivated = true;
activatedIndex = i;
}
}
if (isTimingActivated && activatedIndex >= 0)
{
ResultContainer _result = timings[activatedIndex].Next();
ProcessResult(_result);
timings.RemoveAt(activatedIndex);
return;
}
bool isInterruptActivated = false;
if (!isTimingActivated)
{
// Check Interrupts
foreach (BT_Interrupt interrupt in interrupts)
{
if (interrupt.IsInterrupt())
{
ResultContainer _result = interrupt.Next();
ProcessResult(_result);
isInterruptActivated = true;
return;
}
}
}
if (!isTimingActivated && !isInterruptActivated)
{
ResultContainer result = new ResultContainer();
if (continueNodes.Count > 0)
{
do
{
BT_Node nextNode = continueNodes.Dequeue();
result = nextNode.Next();
} while (result.Result == BT_Result.FAILURE && continueNodes.Count > 0);
if (result.Result == BT_Result.FAILURE)
{
result = root.Next();
}
}
else
{
result = root.Next();
}
ProcessResult(result);
}
}
