public EBTStatus resume(Agent pAgent, EBTStatus status)
{
BranchTask prev = null;
BehaviorTask p = this.m_currentTask;
while (p != null)
{
BranchTask branch = p as BranchTask;
if (branch != null)
{
prev = branch;
p = branch.GetCurrentTask();
}
else
{
prev = p.GetParent();
break;
}
}
if (prev != null)
{
//prev is the last interrupted node, to find and let its parent update with 'status' which is the subtree's return status
Debug.Check(status == EBTStatus.BT_SUCCESS || status == EBTStatus.BT_FAILURE);
prev.onexit_action(pAgent, status);
prev.SetReturnStatus(status);
}
return(status);
}
public EBTStatus resume(Agent pAgent, EBTStatus status)
{
BranchTask parent = null;
BehaviorTask currentTask = base.m_currentTask;
while (currentTask != null)
{
BranchTask task3 = currentTask as BranchTask;
if (task3 != null)
{
parent = task3;
currentTask = task3.GetCurrentTask();
}
else
{
parent = currentTask.GetParent();
break;
}
}
if (parent != null)
{
parent.onexit_action(pAgent, status);
parent.SetReturnStatus(status);
}
return(status);
}
private bool CheckParentUpdatePreconditions(Agent pAgent)
{
bool bValid = true;
if (this.m_bHasManagingParent)
{
bool bHasManagingParent = false;
const int kMaxParentsCount = 512;
int parentsCount = 0;
BehaviorTask[] parents = new BehaviorTask[kMaxParentsCount];
BranchTask parentBranch = this.GetParent();
parents[parentsCount++] = this;
//back track the parents until the managing branch
while (parentBranch != null)
{
Debug.Check(parentsCount < kMaxParentsCount, "weird tree!");
parents[parentsCount++] = parentBranch;
if (parentBranch.GetCurrentTask() == this)
{
//Debug.Check(parentBranch->GetNode()->IsManagingChildrenAsSubTrees());
bHasManagingParent = true;
break;
}
parentBranch = parentBranch.GetParent();
}
if (bHasManagingParent)
{
for (int i = parentsCount - 1; i >= 0; --i)
{
BehaviorTask pb = parents[i];
bValid = pb.CheckPreconditions(pAgent, true);
if (!bValid)
{
break;
}
}
}
}
else
{
bValid = this.CheckPreconditions(pAgent, true);
}
return(bValid);
}
