public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
switch (runningNode.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
break;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
break;
}
}
foreach (BaseBTNode node in m_nodes)
{
if (node == runningNode)
{
continue;
}
switch (node.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
continue;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
continue;
}
}
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
}
//ノード状態の評価
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
switch (status)
{
case NodeStatus.STATUS_SUCCESS:
if (m_nodes[0] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[0].Evaluate();
m_preNode = m_nodes[0];
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
if (m_nodes[1] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[1].Evaluate();
m_preNode = m_nodes[1];
return(m_nodeStatus);
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = m_preNode.Evaluate();
return(m_nodeStatus);
}
}
//ここにくるのはおかしい
return(NodeStatus.STATUS_FAILURE);
}
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
m_isRunningNode = true;
}
//子ノードの処理を順番に実行
foreach (BaseBTNode node in m_nodes)
{
if (m_isRunningNode)
{
if (node != runningNode)
{
continue;
}
else
{
m_isRunningNode = false;
}
}
switch (node.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
continue;
case NodeStatus.STATUS_FAILURE:
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
}
}
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
}
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
switch (runningNode.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
break;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
break;
}
}
if (m_preNode != null)
{
m_failuerNodes.Add(m_preNode);
m_nodes.Remove(m_preNode);
}
while (m_nodes.Count > 0)
{
int selectNode = UnityEngine.Random.Range(0, m_nodes.Count);
switch (m_nodes[selectNode].Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
m_preNode = m_nodes[selectNode];
//元に戻すため
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
//ランダムに選ぶものから外すため
m_failuerNodes.Add(m_nodes[selectNode]);
m_nodes.RemoveAt(selectNode);
continue;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
//元に戻すため
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
return(m_nodeStatus);
default:
continue;
}
}
//元に戻すため
m_preNode = null;
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
}