protected override int OnUpdate(BTWorkingData wData)
{
var thisContext = (BTCActionSequence *)wData.GetContext(_uniqueKey);
int runningStatus = BTRunningStatus.FINISHED;
BTAction node = GetChild <BTAction>(thisContext->currentSelectedIndex);
runningStatus = node.Update(wData);
if (_continueIfErrorOccors == false && BTRunningStatus.IsError(runningStatus))
{
thisContext->currentSelectedIndex = -1;
return(runningStatus);
}
if (BTRunningStatus.IsFinished(runningStatus))
{
thisContext->currentSelectedIndex++;
if (IsIndexValid(thisContext->currentSelectedIndex))
{
runningStatus = BTRunningStatus.EXECUTING;
}
else
{
thisContext->currentSelectedIndex = -1;
}
}
return(runningStatus);
}
//------------------------------------------------------
protected override bool OnEvaluate(/*in*/ BTWorkingData wData)
{
var thisContext = (BTCActionParallel *)wData.GetContext(_uniqueKey);
thisContext->evaluationStatus.Init(false);
bool finalResult = false;
for (int i = 0; i < GetChildCount(); ++i)
{
BTAction node = GetChild <BTAction>(i);
bool ret = node.Evaluate(wData);
//early break
if (_evaluationRelationship == ECHILDREN_RELATIONSHIP.AND && ret == false)
{
finalResult = false;
break;
}
if (ret == true)
{
finalResult = true;
}
thisContext->evaluationStatus[i] = ret;
}
return(finalResult);
}
protected sealed override int OnUpdate(BTWorkingData wData)
{
int runningState = BTRunningStatus.FINISHED;
var thisContext = (BTCActionLeaf *)wData.GetContext(_uniqueKey);
if (thisContext->status == ACTION_READY)
{
OnEnter(wData);
thisContext->needExit = true;
thisContext->status = ACTION_RUNNING;
}
if (thisContext->status == ACTION_RUNNING)
{
runningState = OnExecute(wData);
if (BTRunningStatus.IsFinished(runningState))
{
thisContext->status = ACTION_FINISHED;
}
}
if (thisContext->status == ACTION_FINISHED)
{
if (thisContext->needExit)
{
OnExit(wData, runningState);
}
thisContext->status = ACTION_READY;
thisContext->needExit = false;
}
return(runningState);
}
protected override int OnUpdate(BTWorkingData wData)
{
var thisContext = (BTCActionPrioritizedSelector *)wData.GetContext(_uniqueKey);
int runningState = BTRunningStatus.FINISHED;
if (thisContext->currentSelectedIndex != thisContext->lastSelectedIndex)
{
if (IsIndexValid(thisContext->lastSelectedIndex))
{
BTAction node = GetChild <BTAction>(thisContext->lastSelectedIndex);
node.Transition(wData);
}
thisContext->lastSelectedIndex = thisContext->currentSelectedIndex;
}
if (IsIndexValid(thisContext->lastSelectedIndex))
{
BTAction node = GetChild <BTAction>(thisContext->lastSelectedIndex);
runningState = node.Update(wData);
if (BTRunningStatus.IsFinished(runningState))
{
thisContext->lastSelectedIndex = -1;
}
}
return(runningState);
}
public BTWorkingData Clone()
{
var ret = new BTWorkingData();
ret.Init(this._dataOffset, this._dataLen);
NativeHelper.MemCpy(this._pDatas, ret._pDatas, _dataLen);
return(ret);
}
protected override void OnTransition(BTWorkingData wData)
{
var thisContext = (BTActionLoopContext *)wData.GetContext(_uniqueKey);
if (IsIndexValid(0))
{
BTAction node = GetChild <BTAction>(0);
node.Transition(wData);
}
thisContext->currentCount = 0;
}
protected override void OnTransition(BTWorkingData wData)
{
var thisContext = (BTCActionSequence *)wData.GetContext(_uniqueKey);
BTAction node = GetChild <BTAction>(thisContext->currentSelectedIndex);
if (node != null)
{
node.Transition(wData);
}
thisContext->currentSelectedIndex = -1;
}
protected sealed override void OnTransition(BTWorkingData wData)
{
var thisContext = (BTCActionLeaf *)wData.GetContext(_uniqueKey);
if (thisContext->needExit)
{
OnExit(wData, BTRunningStatus.TRANSITION);
}
thisContext->status = ACTION_READY;
thisContext->needExit = false;
}
protected override void OnTransition(BTWorkingData wData)
{
var thisContext = (BTCActionParallel *)wData.GetContext(_uniqueKey);
for (int i = 0; i < GetChildCount(); ++i)
{
BTAction node = GetChild <BTAction>(i);
node.Transition(wData);
}
//clear running status
thisContext->StatusRunning.Init((byte)(int)BTRunningStatus.EXECUTING);
}
protected override bool OnEvaluate(/*in*/ BTWorkingData wData)
{
var thisContext = (BTCActionNonPrioritizedSelector *)wData.GetContext(_uniqueKey);
//check last node first
if (IsIndexValid(thisContext->currentSelectedIndex))
{
BTAction node = GetChild <BTAction>(thisContext->currentSelectedIndex);
if (node.Evaluate(wData))
{
return(true);
}
}
return(base.OnEvaluate(wData));
}
//-------------------------------------------------------
protected override bool OnEvaluate(/*in*/ BTWorkingData wData)
{
var thisContext = (BTActionLoopContext *)wData.GetContext(_uniqueKey);
bool checkLoopCount = (_loopCount == INFINITY || thisContext->currentCount < _loopCount);
if (checkLoopCount == false)
{
return(false);
}
if (IsIndexValid(0))
{
BTAction node = GetChild <BTAction>(0);
return(node.Evaluate(wData));
}
return(false);
}
protected override int OnUpdate(BTWorkingData wData)
{
var thisContext = (BTCActionParallel *)wData.GetContext(_uniqueKey);
//first time initialization
bool hasFinished = false;
bool hasExecuting = false;
for (int i = 0; i < GetChildCount(); ++i)
{
if (thisContext->evaluationStatus[i] == false)
{
continue;
}
if (BTRunningStatus.IsFinished(thisContext->StatusRunning[i]))
{
hasFinished = true;
continue;
}
BTAction node = GetChild <BTAction>(i);
int runningStatus = node.Update(wData);
if (BTRunningStatus.IsFinished(runningStatus))
{
hasFinished = true;
}
else
{
hasExecuting = true;
}
thisContext->StatusRunning[i] = (byte)runningStatus;
}
if (_runningStatusRelationship == ECHILDREN_RELATIONSHIP.OR && hasFinished ||
_runningStatusRelationship == ECHILDREN_RELATIONSHIP.AND && hasExecuting == false)
{
thisContext->StatusRunning.Init((byte)(int)BTRunningStatus.EXECUTING);
return(BTRunningStatus.FINISHED);
}
return(BTRunningStatus.EXECUTING);
}
protected override bool OnEvaluate(/*in*/ BTWorkingData wData)
{
var thisContext = (BTCActionPrioritizedSelector *)wData.GetContext(_uniqueKey);
thisContext->currentSelectedIndex = -1;
int childCount = GetChildCount();
for (int i = 0; i < childCount; ++i)
{
BTAction node = GetChild <BTAction>(i);
if (node.Evaluate(wData))
{
thisContext->currentSelectedIndex = i;
return(true);
}
}
return(false);
}
protected override int OnUpdate(BTWorkingData wData)
{
var thisContext = (BTActionLoopContext *)wData.GetContext(_uniqueKey);
int runningStatus = BTRunningStatus.FINISHED;
if (IsIndexValid(0))
{
BTAction node = GetChild <BTAction>(0);
runningStatus = node.Update(wData);
if (BTRunningStatus.IsFinished(runningStatus))
{
thisContext->currentCount++;
if (thisContext->currentCount < _loopCount || _loopCount == INFINITY)
{
runningStatus = BTRunningStatus.EXECUTING;
}
}
}
return(runningStatus);
}
//------------------------------------------------------
protected override bool OnEvaluate(/*in*/ BTWorkingData wData)
{
var thisContext = (BTCActionSequence *)wData.GetContext(_uniqueKey);
int checkedNodeIndex = -1;
if (IsIndexValid(thisContext->currentSelectedIndex))
{
checkedNodeIndex = thisContext->currentSelectedIndex;
}
else
{
checkedNodeIndex = 0;
}
if (IsIndexValid(checkedNodeIndex))
{
BTAction node = GetChild <BTAction>(checkedNodeIndex);
if (node.Evaluate(wData))
{
thisContext->currentSelectedIndex = checkedNodeIndex;
return(true);
}
}
return(false);
}
protected virtual int OnUpdate(BTWorkingData wData)
{
return(BTRunningStatus.FINISHED);
}
//--------------------------------------------------------
// inherented by children-
protected virtual void OnEnter(/*in*/ BTWorkingData wData)
{
}
protected void *GetUserContextData(BTWorkingData wData)
{
return((byte *)wData.GetContext(_uniqueKey) + sizeof(BTCActionLeaf));
}
//-------------------------------------------------------------
public bool Evaluate(/*in*/ BTWorkingData wData)
{
return((_precondition == null || _precondition.IsTrue(wData)) && OnEvaluate(wData));
}
protected virtual void OnExit(BTWorkingData wData, int runningStatus)
{
}
public void Transition(BTWorkingData wData)
{
OnTransition(wData);
}
public int Update(BTWorkingData wData)
{
return(OnUpdate(wData));
}
//--------------------------------------------------------
// inherented by children
protected virtual bool OnEvaluate(/*in*/ BTWorkingData wData)
{
return(true);
}
public override bool IsTrue(/*in*/ BTWorkingData wData)
{
return(GetChild <BTPrecondition>(0).IsTrue(wData) &&
GetChild <BTPrecondition>(1).IsTrue(wData));
}
public override bool IsTrue(/*in*/ BTWorkingData wData)
{
return(false);
}
public abstract bool IsTrue(/*in*/ BTWorkingData wData);
protected virtual void OnTransition(BTWorkingData wData)
{
}