/// <summary>
/// Test if the aborter may abort the node.
/// Make sure that the node orders are pre-computed before calling this function.
/// This method is mainly used by the editor.
/// </summary>
/// <param name="aborter">The node to perform the abort.</param>
/// <param name="node">The node that gets aborted.</param>
/// <returns></returns>
public static bool IsAbortable(ConditionalAbort aborter, BehaviourNode node)
{
// This makes sure that dangling nodes do not show that they can abort nodes under main tree.
if (aborter.preOrderIndex == kInvalidOrder)
{
return(false);
}
// Parallel subtrees cannot abort each other.
if (aborter.Parent && aborter.Parent is Parallel)
{
return(false);
}
switch (aborter.abortType)
{
case AbortType.LowerPriority:
return
(!BehaviourTree.IsUnderSubtree(aborter, node) &&
BehaviourTree.IsUnderSubtree(aborter.Parent, node) &&
aborter.Priority() > GetSubtree(aborter.Parent, node).Priority());
// Self aborts always interrupt, regardless of the condition.
case AbortType.Self:
return(BehaviourTree.IsUnderSubtree(aborter, node));
case AbortType.Both:
return
(BehaviourTree.IsUnderSubtree(aborter, node) ||
(BehaviourTree.IsUnderSubtree(aborter.Parent, node) &&
aborter.Priority() > GetSubtree(aborter.Parent, node).Priority()));
}
return(false);
}
public bool IsAbortSatisfied()
{
// Aborts need to be enabled in order to test them.
if (abortType == AbortType.None)
{
return(false);
}
// The main node we wish to abort from if possible.
// Aborts only occur within the same parent subtree of the aborter.
BehaviourNode active = Tree.allNodes[_iterator.CurrentIndex];
// The abort type dictates the final criteria to check
// if the abort is satisfied and if the condition check changed state.
switch (abortType)
{
case AbortType.LowerPriority:
return
(!BehaviourTree.IsUnderSubtree(this, active) &&
BehaviourTree.IsUnderSubtree(Parent, active) &&
this.Priority() > _iterator.GetRunningSubtree(Parent).Priority() &&
Reevaluate());
// Self aborts always interrupt, regardless of the condition.
case AbortType.Self:
return(BehaviourTree.IsUnderSubtree(this, active) && Reevaluate());
case AbortType.Both:
return
((BehaviourTree.IsUnderSubtree(this, active) ||
(BehaviourTree.IsUnderSubtree(Parent, active) &&
this.Priority() > _iterator.GetRunningSubtree(Parent).Priority())) &&
Reevaluate());
}
return(false);
}