public override BehaviorResult Exec(IBehaviorTree tree)
{
if (OnAction == null)
{
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
BehaviorResult result = OnAction();
if (result == BehaviorResult.success)
{
SetCompleted();
}
else if (result == BehaviorResult.failed)
{
SetFailed();
}
return(result);
}
public static void ShowTree(IBehaviorTree tree, string name)
{
var window = GetWindow <BehaviorTreeWindow>(false);
window.titleContent = new GUIContent($"Behavior Tree: {name}");
window.SetTree(tree, name);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (ActionNode == null)
{
// Debug.LogError("missing action node");
return(BehaviorResult.failed);
}
SetStarting();
BehaviorResult result = ActionNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(BehaviorResult.failed);
}
else
{
SetAborted();
return(BehaviorResult.abort);
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (TargetNode == null)
{
return(BehaviorResult.failed);
}
SetStarting();
BehaviorResult result = TargetNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(BehaviorResult.failed);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
SetAborted();
return(BehaviorResult.abort);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (OnAction == null)
{
// Debug.LogError("missing action event method");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
OnAction();
SetCompleted();
return(BehaviorResult.success);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
// Debug.LogError("missing sequence children node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
SetFailed();
return(BehaviorResult.failed);
}
}
SetStarting();
}
if (nodes == null)
{
nodes = new List <BehaviorNode>(m_ChildNodes);
nodes.Sort(delegate(BehaviorNode x, BehaviorNode y) { return(tree.RandomMgr.Next(-1, 1)); });
}
while (true)
{
if (currentIndex >= nodes.Count)
{
break;
}
BehaviorResult result = nodes[currentIndex].Exec(tree);
if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(BehaviorResult.failed);
}
else if (result == BehaviorResult.success)
{
currentIndex++;
if (currentIndex == m_ChildNodes.Count)
{
SetCompleted();
return(result);
}
}
}
SetCompleted();
return(BehaviorResult.success);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (TargetNode == null)
{
//Debug.LogError("missing target node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
if (N == 0.0f)
{
N = tree.GameTime;
}
BehaviorResult result = TargetNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
N = 0.0f;
return(BehaviorResult.success);
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(BehaviorResult.failed);
}
else if (result == BehaviorResult.running)
{
if (tree.GameTime - N < Interval)
{
return(BehaviorResult.running);
}
else
{
TargetNode.Abort();
N = 0.0f;
return(BehaviorResult.failed);
}
}
else
{
return(BehaviorResult.abort);
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
return(BehaviorResult.failed);
}
SetStarting();
while (true)
{
if (curNode == null)
{
curNode = CheckPreconditionChild();
}
if (curNode != null)
{
//每次都重新检查子节点条件
BehaviorWithPreconditonNode newNode = CheckPreconditionChild();
if (newNode != curNode)
{
curNode.Abort();
curNode = newNode;
if (curNode == null)
{
// 等待到下一帧再跳到循环开头继续检测
return(BehaviorResult.running);
}
}
BehaviorResult result = curNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.failed)
{
// 子节点执行失败时不退出，继续选择
curNode = null;
return(BehaviorResult.running);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);// 等待一帧
}
}
else
{
return(BehaviorResult.running);
}
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
// Debug.LogError("missing select children node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
// 概率
if (Probability == -1)
{
Probability = tree.RandomMgr.Next(0, 100);
}
while (true)
{
if (currentIndex >= m_RunningNodes.Count)
{
break;
}
if (Probability <= (m_RunningNodes[currentIndex] as BehaviorProbabilityWeightNode).Weight)
{
BehaviorResult result = m_RunningNodes[currentIndex].Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
else if (result == BehaviorResult.failed)
{
currentIndex++;
}
}
}
SetFailed();
return(BehaviorResult.failed);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
// Debug.LogError("missing sequence children node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
SetFailed();
return(BehaviorResult.failed);
}
}
SetStarting();
}
// var runingNode = m_ChildNodes[currentIndex];
while (true)
{
if (currentIndex >= m_ChildNodes.Count)
{
break;
}
BehaviorResult result = m_ChildNodes[currentIndex].Exec(tree);
if (result == BehaviorResult.success)
{
currentIndex++;
if (currentIndex == m_ChildNodes.Count)
{
SetCompleted();
return(result);
}
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(result);
}
else if (result == BehaviorResult.running)
{
return(result);
}
}
SetFailed();
return(BehaviorResult.failed);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (OnCondition == null)
{
// Debug.LogError("missing condition event method");
return(BehaviorResult.failed);
}
if (TrueNode == null)
{
//Debug.LogError("missing true node");
return(BehaviorResult.failed);
}
if (FalseNode == null)
{
// Debug.LogError("missing false node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnCondition())
{
m_BranchNode = TrueNode;
}
else
{
m_BranchNode = FalseNode;
}
SetStarting();
}
BehaviorResult result = m_BranchNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
else if (result == BehaviorResult.failed)
{
SetFailed();
return(BehaviorResult.failed);
}
SetAborted();
return(BehaviorResult.abort);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
return BehaviorResult.failed;
}
if (! Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return BehaviorResult.failed;
}
}
SetStarting();
}
while (m_RunningList.Count > 0)
{
if (currentNode == null)
{
int index = tree.RandomMgr.Next(0, m_RunningList.Count - 1);
currentNode = m_RunningList[index];
m_RunningList.RemoveAt(index);
}
BehaviorResult result = currentNode.Exec(tree);
if(result == BehaviorResult.running)
{
return BehaviorResult.running;
}
else if(result == BehaviorResult.success)
{
SetCompleted();
return BehaviorResult.success;
}
else if(result == BehaviorResult.failed)
{
return BehaviorResult.running;
}
}
SetFailed();
return BehaviorResult.failed;
}
public BehaviorTreePrinter(IBehaviorTree tree, Vector2 windowSize)
{
StatusIcons = new StatusIcons();
SharedStyles = new GuiStyleCollection();
var container = new GraphContainerVertical();
container.SetGlobalPosition(SCROLL_PADDING, SCROLL_PADDING);
_root = new VisualTask(tree.Root, container);
container.CenterAlignChildren();
_containerSize = new Rect(0, 0,
container.Width + SCROLL_PADDING * 2,
container.Height + SCROLL_PADDING * 2);
CenterScrollView(windowSize, container);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (TargetNode == null)
{
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
while (true)
{
if (N == 0.0f)
{
N = tree.GameTime;
}
while (tree.GameTime - N < CDTime)
{
return(BehaviorResult.running);
}
BehaviorResult result = TargetNode.Exec(tree);
if (result == BehaviorResult.success)
{
Reset();
}
else if (result == BehaviorResult.failed)
{
Reset();
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
SetStarting();
if (N == 0.0f)
{
N = tree.GameTime;
}
while (tree.GameTime - N < Interval)
{
return(BehaviorResult.running);
}
SetCompleted();
N = 0.0f;
return(BehaviorResult.success);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (OnConditionEvent == null)
{
return(BehaviorResult.failed);
}
SetStarting();
if (OnConditionEvent())
{
SetCompleted();
return(BehaviorResult.success);
}
else
{
SetFailed();
return(BehaviorResult.failed);
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (TargetNode == null)
{
// Debug.LogError("missing target node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
while (true)
{
BehaviorResult result = TargetNode.Exec(tree);
if (result == BehaviorResult.success)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (result == BehaviorResult.running)
{
return(BehaviorResult.running);
}
else if (result == BehaviorResult.failed)
{
return(BehaviorResult.running);
}
}
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (TargetNode == null)
{
return(BehaviorResult.failed);
}
SetStarting();
while (LoopCount < 0 || m_CounterLoop < LoopCount)
{
BehaviorResult result = TargetNode.Exec(tree);
if (result == BehaviorResult.success)
{
if (LoopCount > 0)
{
m_CounterLoop++;
}
//return BehaviorResult.running;
}
else if (result == BehaviorResult.failed)
{
if (LoopCount > 0)
{
m_CounterLoop++;
}
}
else if (result == BehaviorResult.running)
{
//return BehaviorResult.running;
}
return(BehaviorResult.running);
}
SetCompleted();
return(BehaviorResult.success);
}
// private IEnumerator<BehaviorResult> m_CurrentTask;
public BehaviorTreeExecutor(IBehaviorTree owner)
{
m_Owner = owner;
m_Root = new BehaviorRootNode();
m_Blackboard = new BehaviorBlackboard();
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
return(BehaviorResult.failed);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
return(BehaviorResult.success);
}
public override BehaviorResult Exec(IBehaviorTree tree)
{
if (m_ChildNodes.Count == 0)
{
// Debug.LogError("missing parallel children node");
return(BehaviorResult.failed);
}
if (!Running)
{
if (OnPrecondition != null)
{
if (!OnPrecondition())
{
return(BehaviorResult.failed);
}
}
SetStarting();
}
//var taskNodeMap = new Dictionary<BehaviorResult, BehaviorNode>();
var RunnimgTaskList = new List <BehaviorNode>();
var taskList = new List <BehaviorResult>();
foreach (BehaviorNode child in m_ChildNodes)
{
BehaviorResult task = child.Exec(tree);
taskList.Add(task);
if (task == BehaviorResult.running)
{
RunnimgTaskList.Add(child);
}
//taskNodeMap[task] = child;
}
var tasksToKill = new List <BehaviorResult>();
while (true)
{
foreach (var task in taskList)
{
if (ParallelPolicy == ParallelPolicyType.FailedIfOneFaileds)
{
if (task == BehaviorResult.success)
{
tasksToKill.Add(task);
}
else if (task == BehaviorResult.running)
{
// do nothing, wait for all task MoveNext complete
}
else if (task == BehaviorResult.failed)
{
foreach (var t in RunnimgTaskList)
{
t.Abort();
}
SetFailed();
return(BehaviorResult.failed);
}
}
else if (ParallelPolicy == ParallelPolicyType.SuccessedIfOneSuccesseds)
{
if (task == BehaviorResult.success)
{
foreach (var t in RunnimgTaskList)
{
t.Abort();
}
SetCompleted();
return(BehaviorResult.success);
}
else if (task == BehaviorResult.running)
{
// do nothing, wait for all task MoveNext complete
}
else if (task == BehaviorResult.failed)
{
tasksToKill.Add(task);
}
}
}
if (tasksToKill.Count > 0)
{
foreach (var t in tasksToKill)
{
taskList.Remove(t);
}
tasksToKill.Clear();
}
if (taskList.Count == 0)
{
if (ParallelPolicy == ParallelPolicyType.FailedIfOneFaileds)
{
SetCompleted();
return(BehaviorResult.success);
}
else if (ParallelPolicy == ParallelPolicyType.SuccessedIfOneSuccesseds)
{
SetFailed();
return(BehaviorResult.failed);
}
}
else
{
return(BehaviorResult.running);
}
}
}
/// <summary>
/// Solves all sub tree reference tasks and replaces them by real references to the sub tree.
/// </summary>
/// <param name="tree"> Tree in which to solve references. </param>
public void SolveReferences(IBehaviorTree tree)
{
tree.Root = this.SolveReferences(tree.Root);
}
private void SetTree(IBehaviorTree tree, string name)
{
_printer?.Unbind();
_printer = new BehaviorTreePrinter(tree, position.size);
_name = name;
}
public abstract BehaviorResult Exec(IBehaviorTree tree);
/// <summary>
/// Create a BehaviorStatus
/// </summary>
/// <param name="tree">BehaviorTree</param>
public BehaviorTreeStatus(IBehaviorTree tree)
{
this.Tree = tree;
this.Exception = null;
this.RunningActions = new RunningActionCollection();
}
/// <summary>
/// Solves all sub tree reference tasks and replaces them by real references to the sub tree.
/// </summary>
/// <param name="tree"> Tree in which to solve references. </param>
public void SolveReferences(IBehaviorTree tree)
{
tree.Root = this.SolveReferences(tree.Root);
}
