protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int num = -1;
for (int i = 0; i < base.m_children.Count; i++)
{
WithPreconditionTask task = (WithPreconditionTask)base.m_children[i];
if (task.PreconditionNode().exec(pAgent) == EBTStatus.BT_SUCCESS)
{
num = i;
break;
}
}
if (num != -1)
{
if (base.m_activeChildIndex != -1)
{
WithPreconditionTask task3 = (WithPreconditionTask)base.m_children[base.m_activeChildIndex];
BehaviorTask task4 = task3.Action();
BehaviorTask task6 = ((WithPreconditionTask)base.m_children[num]).Action();
if (task4 != task6)
{
task4.abort(pAgent);
task3.abort(pAgent);
base.m_activeChildIndex = num;
}
}
for (int j = 0; j < base.m_children.Count; j++)
{
WithPreconditionTask task7 = (WithPreconditionTask)base.m_children[j];
EBTStatus status2 = task7.exec(pAgent);
if ((j >= num) && ((j <= num) || (task7.PreconditionNode().exec(pAgent) == EBTStatus.BT_SUCCESS)))
{
EBTStatus status4 = task7.Action().exec(pAgent);
switch (status4)
{
case EBTStatus.BT_RUNNING:
base.m_activeChildIndex = num;
return(status4);
case EBTStatus.BT_FAILURE:
case EBTStatus.BT_INVALID:
{
continue;
}
}
return(status4);
}
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int idx = -1;
for (int i = 0; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
EBTStatus returnStatus = pSubTree.GetReturnStatus();
if (returnStatus != EBTStatus.BT_INVALID)
{
pSubTree.SetReturnStatus(EBTStatus.BT_INVALID);
if (returnStatus == EBTStatus.BT_SUCCESS)
{
return(EBTStatus.BT_SUCCESS);
}
else if (returnStatus == EBTStatus.BT_FAILURE)
{
idx = i;
break;
}
}
}
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = (idx + 1); i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pPrecondTree = pSubTree.PreconditionNode();
EBTStatus status = pPrecondTree.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex && this.m_activeChildIndex != index)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
Debug.Check(pCurrentSubTree is WithPreconditionTask);
BehaviorTask pCurrentActionTree = pCurrentSubTree.Action();
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[index];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pActionTree = pSubTree.Action();
Debug.Check(pCurrentActionTree != pActionTree);
pCurrentActionTree.abort(pAgent);
pCurrentSubTree.abort(pAgent);
this.m_activeChildIndex = index;
}
for (int i = index; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
if (i > index)
{
BehaviorTask pPreconditionTree = pSubTree.PreconditionNode();
EBTStatus status = pPreconditionTree.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask pActionTree = pSubTree.Action();
EBTStatus s = pActionTree.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = index;
}
else
{
pActionTree.reset(pAgent);
if (s == EBTStatus.BT_FAILURE || s == EBTStatus.BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int num = -1;
for (int i = 0; i < this.m_children.get_Count(); i++)
{
WithPreconditionTask withPreconditionTask = (WithPreconditionTask)this.m_children.get_Item(i);
BehaviorTask behaviorTask = withPreconditionTask.PreconditionNode();
EBTStatus eBTStatus = behaviorTask.exec(pAgent);
if (eBTStatus == EBTStatus.BT_SUCCESS)
{
num = i;
break;
}
}
if (num != -1)
{
if (this.m_activeChildIndex != -1)
{
WithPreconditionTask withPreconditionTask2 = (WithPreconditionTask)this.m_children.get_Item(this.m_activeChildIndex);
BehaviorTask behaviorTask2 = withPreconditionTask2.Action();
WithPreconditionTask withPreconditionTask3 = (WithPreconditionTask)this.m_children.get_Item(num);
BehaviorTask behaviorTask3 = withPreconditionTask3.Action();
if (behaviorTask2 != behaviorTask3)
{
behaviorTask2.abort(pAgent);
withPreconditionTask2.abort(pAgent);
this.m_activeChildIndex = num;
}
}
for (int j = 0; j < this.m_children.get_Count(); j++)
{
WithPreconditionTask withPreconditionTask4 = (WithPreconditionTask)this.m_children.get_Item(j);
EBTStatus eBTStatus2 = withPreconditionTask4.exec(pAgent);
if (j >= num)
{
if (j > num)
{
BehaviorTask behaviorTask4 = withPreconditionTask4.PreconditionNode();
EBTStatus eBTStatus3 = behaviorTask4.exec(pAgent);
if (eBTStatus3 != EBTStatus.BT_SUCCESS)
{
goto IL_158;
}
}
BehaviorTask behaviorTask5 = withPreconditionTask4.Action();
EBTStatus eBTStatus4 = behaviorTask5.exec(pAgent);
if (eBTStatus4 == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = num;
}
else if (eBTStatus4 == EBTStatus.BT_FAILURE || eBTStatus4 == EBTStatus.BT_INVALID)
{
goto IL_158;
}
return(eBTStatus4);
}
IL_158 :;
}
}
return(EBTStatus.BT_FAILURE);
}
