protected override bool CanAddChild(BTNode child, ref string errorMessage) {
if (_children.Count > 0) {
errorMessage = "Decorator Node cannot have more than 1 child!";
return false;
}
return true;
}
public void NodeDidStart(BTNode node) {
if (_activeNodes.Contains(node)) {
Debug.LogError("NodeDidStart - started node was in active nodes!");
return;
}
_activeNodes.Add(node);
}
public void NodeDidFinish(BTNode node) {
if (!_activeNodes.Contains(node)) {
Debug.LogError("NodeDidFinish - finished node was not in active nodes!");
return;
}
_activeNodes.Remove(node);
}
public virtual void AddChild(BTNode child, ref string errorMessage) {
if (!this.CanAddChild(child, ref errorMessage)) {
return;
}
_children.Add(child);
}
protected override void ReturnStateBasedOnFinishedChild(BTNode child) {
if (child.State == BTNodeState.SUCCESS || child.State == BTNodeState.FAILURE) {
Succeed();
} else {
// let parent handle invalid state
base.ReturnStateBasedOnFinishedChild(child);
}
}
protected override void HandleChildFinish(BTNode child) {
if (child.IsRunning()) {
Debug.LogError("BTDecoratorNode::HandleChildFinish - called when child is running");
return;
}
this.ReturnStateBasedOnFinishedChild(child);
}
protected virtual void ReturnStateBasedOnFinishedChild(BTNode child) {
if (child.State == BTNodeState.SUCCESS) {
Succeed();
} else if (child.State == BTNodeState.FAILURE) {
Fail();
} else {
Debug.LogError("BTDecoratorNode::ReturnStateBasedOnFinishedChild - child state is not handled: " + child.State + "!");
return;
}
}
protected override void ReturnStateBasedOnFinishedChild(BTNode child) {
if (child.State == BTNodeState.SUCCESS) {
this.ProcessOneChild();
} else if (child.State == BTNodeState.FAILURE) {
Fail();
} else {
// let parent handle invalid state
base.ReturnStateBasedOnFinishedChild(child);
}
}
protected override void HandleChildFinish(BTNode child) {
if (child.State == BTNodeState.SUCCESS) {
_succeededNodes++;
} else if (child.State != BTNodeState.FAILURE) {
Debug.LogError("BTSequenceCNode::HandleChildFinish - invalid child state!");
}
if (_succeededNodes > _minSucceededNodes) {
Succeed();
} else {
if (_chosenNodes.Count < _children.Count) {
ProcessOneChild();
} else {
Fail();
}
}
}
protected override void ReturnStateBasedOnFinishedChild(BTNode child) {
if (_numberOfRepeats == 0) {
if (child.State == BTNodeState.SUCCESS) {
Succeed();
} else if (child.State == BTNodeState.FAILURE) {
Fail();
} else {
// let parent handle invalid state
base.ReturnStateBasedOnFinishedChild(child);
}
} else {
this.ProcessOneChild();
if (_numberOfRepeats > 0) {
_numberOfRepeats--;
}
}
}
public BTSucceederDNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}
public BTRandomWeightedSNode(int nodeId, BehaviourTree tree, BTNode parent, int maxFailedNodes) : base(nodeId, tree, parent, maxFailedNodes)
{
_nodeWeightMap = new Dictionary <int, int>();
}
public BTRepeatUntilFailureDNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}
public BTSelectorCNode(int nodeId, BehaviourTree tree, BTNode parent) : this(nodeId, tree, parent, 0) {}
protected abstract void HandleChildFinish(BTNode child);
public BTRepeatUntilFailureDNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent)
{
}
public BTRepeaterDNode(int nodeId, BehaviourTree tree, BTNode parent, int numRepeats) : base(nodeId, tree, parent) {
_numberOfRepeats = numRepeats;
}
public BTNode(int nodeId, BehaviourTree tree, BTNode parent) {
_nodeId = nodeId;
_tree = tree;
_parent = parent;
_state = BTNodeState.SUCCESS;
}
protected override bool CanAddChild(BTNode child, ref string errorMessage)
{
return(false);
}
public BTRepeaterDNode(int nodeId, BehaviourTree tree, BTNode parent) : this(nodeId, tree, parent, -1) {}
protected override void HandleChildFinish(BTNode child)
{
Debug.LogError("BTLeafNode::HandleChildFinish - leaf node should not have a child that could've finished!");
}
public BTLeafNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent)
{
}
protected abstract void HandleChildFinish(BTNode child);
public BTRandomWeightedSNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent, 0)
{
}
public override void AddChild(BTNode child, ref string errorMessage) {
base.AddChild(child, ref errorMessage);
_nodeWeightMap[child.NodeId] = DEFAULT_CHILD_NODE_WEIGHT;
}
public BTInverterDNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}
public BTRandomSNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent, 0) {}
public BTSequenceCNode(int nodeId, BehaviourTree tree, BTNode parent, int maxFailedNodes) : base(nodeId, tree, parent) {
_maxFailedNodes = maxFailedNodes;
}
protected override void HandleChildFinish(BTNode child) {
Debug.LogError("BTLeafNode::HandleChildFinish - leaf node should not have a child that could've finished!");
}
protected virtual bool CanAddChild(BTNode child, ref string errorMessage) {
return true;
}
public BTRandomWeightedSNode(int nodeId, BehaviourTree tree, BTNode parent, int maxFailedNodes) : base(nodeId, tree, parent, maxFailedNodes) {
_nodeWeightMap = new Dictionary<int, int>();
}
public BTInverterDNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent)
{
}
public override void AddChild(BTNode child, ref string errorMessage)
{
base.AddChild(child, ref errorMessage);
_nodeWeightMap[child.NodeId] = DEFAULT_CHILD_NODE_WEIGHT;
}
protected override bool CanAddChild(BTNode child, ref string errorMessage) {
return false;
}
public BTDecoratorNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent)
{
}
public BTSelectorCNode(int nodeId, BehaviourTree tree, BTNode parent, int minSucceededNodes) : base(nodeId, tree, parent) {
_minSucceededNodes = minSucceededNodes;
}
protected virtual bool CanAddChild(BTNode child, ref string errorMessage)
{
return(true);
}
public BTCompositeNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}
public BTDecoratorNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}
public BTRandomSNode(int nodeId, BehaviourTree tree, BTNode parent, int maxFailedNodes) : base(nodeId, tree, parent, maxFailedNodes) {}
public BTLeafNode(int nodeId, BehaviourTree tree, BTNode parent) : base(nodeId, tree, parent) {}