protected override bool CheckPreconditions(Agent pAgent, bool bIsAlive)
{
if (!bIsAlive)
{
//only try to Push when enter
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
}
bool bOk = base.CheckPreconditions(pAgent, bIsAlive);
if (!bIsAlive && !bOk)
{
this.currentState.Pop();
this.currentState = null;
}
return(bOk);
}
public override IInstantiatedVariable GetVariable(uint varId)
{
if (this.state_stack != null && this.state_stack.Count > 0)
{
for (int i = this.state_stack.Count - 1; i >= 0; --i)
{
AgentState t = this.state_stack[i];
IInstantiatedVariable pVar = t.GetVariable(varId);
if (pVar != null)
{
return(pVar);
}
}
}
return(base.GetVariable(varId));
}
public override object GetObject(Agent pAgent, bool bMemberGet, CMemberBase pMember, uint varId)
{
if (this.state_stack != null && this.state_stack.Count > 0)
{
for (int i = this.state_stack.Count - 1; i >= 0; --i)
{
AgentState t = this.state_stack[i];
object result = t.GetObject(pAgent, false, pMember, varId);
if (result != null)
{
return(result);
}
}
}
object result1 = base.GetObject(pAgent, bMemberGet, pMember, varId);
return(result1);
}
public override void SetObject(bool bMemberSet, Agent pAgent, bool bLocal, CMemberBase pMember, string variableName, object value, uint varId)
{
//if (variableName == "DirtyRooms")
//{
// Debug.Check(true);
//}
// not in planning
if (pAgent.PlanningTop == -1 && !bLocal)
{
base.SetObject(bMemberSet, pAgent, bLocal, pMember, variableName, value, varId);
return;
}
if (this.state_stack != null && this.state_stack.Count > 0)
{
int stackIndex = 0;
if (bLocal)
{
//top
stackIndex = this.state_stack.Count - 1;
}
else
{
//bottom
stackIndex = pAgent.PlanningTop;
}
AgentState t = this.state_stack[stackIndex];
//if there are something in the state stack, it is used for planning, so, don't really set member
t.SetObject(false, pAgent, bLocal, null, variableName, value, varId);
}
else
{
base.SetObject(bMemberSet, pAgent, bLocal, pMember, variableName, value, varId);
}
}
public void Pop()
{
#if BEHAVIAC_ENABLE_PUSH_OPT
if (this.m_pushed > 0)
{
this.m_pushed--;
if (this.m_variables.Count > 0)
{
this.m_variables.Clear();
return;
}
return;
}
#endif
if (this.state_stack != null && this.state_stack.Count > 0)
{
AgentState top = this.state_stack[this.state_stack.Count - 1];
top.Pop();
return;
}
this.Clear();
Debug.Check(this.state_stack == null);
Debug.Check(this.parent != null);
this.parent.PopTop();
this.parent = null;
lock (pool)
{
Debug.Check(!pool.Contains(this));
pool.Push(this);
}
}
//~ReferencedBehavior()
//{
//}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
ReferencedBehavior taskSubTree = (ReferencedBehavior)node;
bool bOk = false;
Debug.Check(taskSubTree != null);
int depth2 = planner.GetAgent().Variables.Depth;
using (AgentState currentState = planner.GetAgent().Variables.Push(false))
{
//planner.agent.Variables.Log(planner.agent, true);
taskSubTree.SetTaskParams(planner.GetAgent());
Task task = taskSubTree.RootTaskNode(planner.GetAgent());
if (task != null)
{
planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
task.Parent.InstantiatePars(planner.GetAgent());
PlannerTask childTask = planner.decomposeNode(task, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
task.Parent.UnInstantiatePars(planner.GetAgent());
planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
Debug.Check(true);
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
return(bOk);
}
public AgentState(AgentState parent)
{
this.parent = parent;
}
public AgentState Push(bool bForcePush)
{
#if BEHAVIAC_ENABLE_PUSH_OPT
if (!bForcePush)
{
//if the top has nothing new added, to use it again
if (this.state_stack != null && this.state_stack.Count > 0)
{
AgentState t = this.state_stack[this.state_stack.Count - 1];
if (!t.m_forced && t.m_variables.Count == 0)
{
t.m_pushed++;
return t;
}
}
}
#endif
AgentState newly = null;
lock(pool)
{
if (pool.Count > 0)
{
newly = pool.Pop();
//set the parent
newly.parent = this;
}
else
{
newly = new AgentState(this);
}
newly.m_forced = bForcePush;
if (bForcePush)
{
base.CopyTo(null, newly);
}
}
if (this.state_stack == null)
{
this.state_stack = new List<AgentState>();
}
//add the newly one at the end of the list as the top
this.state_stack.Add(newly);
return newly;
}
public AgentState(AgentState parent)
{
this.parent = parent;
}
public void Pop()
{
#if BEHAVIAC_ENABLE_PUSH_OPT
if (this.m_pushed > 0)
{
this.m_pushed--;
if (this.m_variables.Count > 0)
{
this.m_variables.Clear();
return;
}
return;
}
#endif
if (this.state_stack != null && this.state_stack.Count > 0)
{
AgentState top = this.state_stack[this.state_stack.Count - 1];
top.Pop();
return;
}
this.Clear();
Debug.Check(this.state_stack == null);
Debug.Check(this.parent != null);
this.parent.PopTop();
this.parent = null;
lock(pool)
{
Debug.Check(!pool.Contains(this));
pool.Push(this);
}
}
protected override bool CheckPreconditions(Agent pAgent, bool bIsAlive)
{
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
bool bOk = base.CheckPreconditions(pAgent, bIsAlive);
if (!bOk)
{
this.currentState.Pop();
this.currentState = null;
}
return bOk;
}
protected override void onexit(Agent pAgent, EBTStatus s)
{
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
base.onexit(pAgent, s);
}
protected override bool onenter(Agent pAgent)
{
//this.m_root = null;
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
if (this.ReQuery(pAgent))
{
return true;
}
return false;
}
private void CopyTopValueTo(AgentState newly)
{
var e = this.m_variables.Keys.GetEnumerator();
while (e.MoveNext())
{
uint id = e.Current;
IInstantiatedVariable pVar = this.GetVariable(id);
IInstantiatedVariable pNew = pVar.clone();
newly.m_variables[id] = pNew;
}
}
//~ReferencedBehaviorTask()
//{
// Workspace.Instance.DestroyBehaviorTreeTask(this.m_subTree, null);
// this.m_subTree = null;
//}
protected override bool CheckPreconditions(Agent pAgent, bool bIsAlive)
{
#if BEHAVIAC_USE_HTN
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
#endif//
bool bOk = base.CheckPreconditions(pAgent, bIsAlive);
#if BEHAVIAC_USE_HTN
if (!bOk)
{
this.currentState.Pop();
this.currentState = null;
}
#endif//
return bOk;
}
protected override void onexit(Agent pAgent, EBTStatus s)
{
this.currentState = pAgent.Variables.Push(false);
Debug.Check(currentState != null);
base.onexit(pAgent, s);
}
