private void FindTaskRecursively(List <TaskDescWrapper> tasks, uint taskId)
{
var task = (TaskState)Repository.States[TaskState.GetId(taskId)];
tasks.Add(task.Desc);
if (task.Desc is DecoratorTaskDescWrapper)
{
var desc = (DecoratorTaskDescWrapper)task.Desc;
if (desc.ChildTaskId > 0)
{
FindTaskRecursively(tasks, desc.ChildTaskId);
}
}
else if (task.Desc is CompositeTaskDescWrapper)
{
var desc = (CompositeTaskDescWrapper)task.Desc;
if (desc.ChildTaskIds.Count > 0)
{
foreach (var id in desc.ChildTaskIds)
{
FindTaskRecursively(tasks, id);
}
}
}
}
public BehaviorTreeNode(EditorDomain domain, BehaviorTreeView parent)
: base(domain
, parent
, string.Format("{0}-Node", parent.Tree.Id))
{
Tree = parent.Tree;
Tree.OnEventApplied += Tree_OnEventApplied;
if (Tree.RootTaskId > 0)
{
var task = (TaskState)Repository.States[TaskState.GetId(Tree.RootTaskId)];
RootView.Children.Add(TaskNode.Create(RootView, task));
}
}
public void Deserialize()
{
if (Domain != null)
{
return;
}
var repo = new EditorRepository();
var handler = new BehaviorTreeCommandHandler();
var domain = new EditorDomain(repo, handler);
domain.OnEventApplied += Domain_OnEventApplied;
var treeId = BehaviorTreeState.GetId();
var tree = new BehaviorTreeState(domain, treeId);
tree.Asset = this;
repo.States[treeId] = tree;
if (bytes != null && bytes.Length > 0)
{
var treeDesc = BehaviorTreeSerializer.DeserializeDesc(bytes);
tree.Title = treeDesc.Title;
tree.Comment = treeDesc.Comment;
tree.RootTaskId = treeDesc.RootTaskId;
if (treeDesc.Tasks != null && treeDesc.Tasks.Length > 0)
{
tree.NextTaskId = treeDesc.Tasks.Max(t => t.Id) + 1;
foreach (var taskDesc in treeDesc.Tasks)
{
var taskId = TaskState.GetId(taskDesc.Id);
var task = new TaskState(domain, taskId);
if (taskDesc.Id != treeDesc.RootTaskId)
{
task.ParentTaskId = EditorHelper.FindParentTask(treeDesc.Tasks, taskDesc.Id).Id;
}
task.Desc = taskDesc;
repo.States[task.Id] = task;
}
}
}
Domain = domain;
Tree = tree;
}
private static Node CreateTaskLayoutInfos(BehaviorTreeState tree, uint taskId)
{
var task = (TaskState)tree.Repository.States[TaskState.GetId(taskId)];
var node = new Node()
{
Task = task
};
node.LaneWidth = EditorConfiguration.NodeSize.x + EditorConfiguration.TaskNodeMinSpace.x / 2;
if (!node.Task.IsCollapsed)
{
if (node.Task.Desc is DecoratorTaskDescWrapper)
{
var childTaskId = ((DecoratorTaskDescWrapper)node.Task.Desc).ChildTaskId;
if (childTaskId > 0)
{
var childTaskInfo = CreateTaskLayoutInfos(tree, childTaskId);
node.Children = new[] { childTaskInfo };
node.LaneWidth = childTaskInfo.LaneWidth;
}
}
else if (node.Task.Desc is CompositeTaskDescWrapper)
{
var childTaskIds = ((CompositeTaskDescWrapper)node.Task.Desc).ChildTaskIds;
if (childTaskIds.Count > 0)
{
node.Children = (childTaskIds.Select(childTaskId => CreateTaskLayoutInfos(tree, childTaskId))).ToArray();
node.LaneWidth = node.Children.Sum(i => i.LaneWidth);
}
}
}
return(node);
}
private void OnCreateTaskCommand(CreateTaskCommand command)
{
var parent = Repository.States[command.Id];
var parentTaskId = 0u;
if (parent is BehaviorTreeState)
{
var tree = (BehaviorTreeState)parent;
if (tree.RootTaskId > 0)
{
parent.ApplyEvent(new TaskNotCreatedEvent(command.Id)
{
Reason = "Behavior tree already has root task"
});
return;
}
}
else if (parent is TaskState)
{
var task = (TaskState)parent;
if (task.Desc is LeafTaskDescWrapper)
{
parent.ApplyEvent(new TaskNotCreatedEvent(command.Id)
{
Reason = "Leaf task cannot have child task"
});
return;
}
else if (task.Desc is DecoratorTaskDescWrapper)
{
var desc = (DecoratorTaskDescWrapper)task.Desc;
if (desc.ChildTaskId != 0)
{
parent.ApplyEvent(new TaskNotCreatedEvent(command.Id)
{
Reason = "Decorator task can only has one child task"
});
return;
}
}
parentTaskId = task.Desc.Id;
}
else
{
throw new NotSupportedException(command.Id);
}
{
var tree = (BehaviorTreeState)Repository.States[BehaviorTreeState.GetId()];
TaskDescWrapper taskDescWrapper;
if (typeof(ILeafTaskDesc).IsAssignableFrom(command.TaskType))
{
taskDescWrapper = new LeafTaskDescWrapper();
}
else if (typeof(IDecoratorTaskDesc).IsAssignableFrom(command.TaskType))
{
taskDescWrapper = new DecoratorTaskDescWrapper();
}
else if (typeof(ICompositeTaskDesc).IsAssignableFrom(command.TaskType))
{
taskDescWrapper = new CompositeTaskDescWrapper();
}
else
{
throw new NotSupportedException(command.TaskType.ToString());
}
taskDescWrapper.Id = tree.NextTaskId;
taskDescWrapper.CustomDesc = (ITaskDesc)Activator.CreateInstance(command.TaskType);
var taskState = new TaskState(Domain, TaskState.GetId(tree.NextTaskId));
taskState.ParentTaskId = parentTaskId;
taskState.Desc = taskDescWrapper;
parent.ApplyEvent(new TaskCreatedEvent(command.Id)
{
NewTask = taskState
});
}
}
private void CreateChildTaskNode(uint taskId)
{
var task = (TaskState)Repository.States[TaskState.GetId(taskId)];
RootView.Children.Add(Create(RootView, task));
}