//~Sequence()
//{
//}
#if BEHAVIAC_USE_HTN
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Sequence sequence = (Sequence)node;
bool bOk = false;
int childCount = sequence.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = sequence.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask == null)
{
break;
}
//clear the log cache so that the next node can log all properites
LogManager.Instance.PLanningClearCache();
seqTask.AddChild(childTask);
}
if (i == childCount)
{
bOk = true;
}
return(bOk);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Parallel parallel = (Parallel)node;
bool bOk = false;
//parallel currently is the same with sequence
int childCount = parallel.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = parallel.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask == null)
{
break;
}
seqTask.AddChild(childTask);
}
if (i == childCount)
{
bOk = true;
}
return(bOk);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
bool bOk = false;
Task task = (Task)node;
PlannerTask childTask = planner.decomposeTask((Task)task, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
return(bOk);
}
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))
{
Agent pAgent = planner.GetAgent();
string szTreePath = taskSubTree.GetReferencedTree(pAgent);
BehaviorTreeTask subTreeTask = Workspace.Instance.CreateBehaviorTreeTask(szTreePath);
taskSubTree.SetTaskParams(pAgent, subTreeTask);
Task task = taskSubTree.RootTaskNode(planner.GetAgent());
if (task != null)
{
planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
//task.Parent.InstantiatePars(this.LocalVars);
BehaviorTreeTask oldCurrentTreeTask = pAgent.ExcutingTreeTask;
pAgent.ExcutingTreeTask = subTreeTask;
PlannerTask childTask = planner.decomposeNode(task, depth);
pAgent.ExcutingTreeTask = oldCurrentTreeTask;
if (childTask != null)
{
//taskSubTree.SetTaskParams(planner.GetAgent(), childTask);
PlannerTaskReference subTreeRef = (PlannerTaskReference)seqTask;
subTreeRef.SubTreeTask = subTreeTask;
seqTask.AddChild(childTask);
bOk = true;
}
//task.Parent.UnInstantiatePars(this.LocalVars);
planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
Debug.Check(true);
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
return(bOk);
}
public override bool decompose(BehaviorNode branch, PlannerTaskComplex seqTask, int depth, Planner planner)
{
bool bOk = false;
int childCount = branch.GetChildrenCount();
Debug.Check(childCount == 1);
BehaviorNode childNode = branch.GetChild(0);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
return(bOk);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
DecoratorIterator pForEach = (DecoratorIterator)node;
bool bOk = false;
int childCount = pForEach.GetChildrenCount();
Debug.Check(childCount == 1);
BehaviorNode childNode = pForEach.GetChild(0);
bool bGoOn = true;
int count = 0;
int index = 0;
while (bGoOn)
{
int depth2 = planner.GetAgent().Variables.Depth;
using (AgentState currentState = planner.GetAgent().Variables.Push(false))
{
bGoOn = pForEach.IterateIt(planner.GetAgent(), index, ref count);
if (bGoOn)
{
planner.LogPlanForEachBegin(planner.GetAgent(), pForEach, index, count);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
planner.LogPlanForEachEnd(planner.GetAgent(), pForEach, index, count, childTask != null ? "success" : "failure");
if (childTask != null)
{
Debug.Check(seqTask is PlannerTaskIterator);
PlannerTaskIterator pForEachTask = seqTask as PlannerTaskIterator;
pForEachTask.Index = index;
seqTask.AddChild(childTask);
bOk = true;
break;
}
index++;
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
}
return(bOk);
}
private bool decomposeComplex(BehaviorNode node, PlannerTaskComplex seqTask, int depth)
{
try
{
int depth1 = this.agent.Variables.Depth;
bool bOk = false;
bOk = node.decompose(node, seqTask, depth, this);
Debug.Check(this.agent.Variables.Depth == depth1);
return(bOk);
}
catch (Exception ex)
{
Debug.Check(false, ex.Message);
}
return(false);
}
//~Selector()
//{
//}
#if BEHAVIAC_USE_HTN
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Selector sel = (Selector)node;
bool bOk = false;
int childCount = sel.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = sel.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
break;
}
}
return(bOk);
}
//~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 override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Debug.Check(false);
return(false);
}
public PlannerTask decomposeNode(BehaviorNode node, int depth)
{
try
{
// Ensure that the planner does not get stuck in an infinite loop
if (depth >= 256)
{
Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
return(null);
}
LogPlanNodeBegin(this.agent, node);
int depth1 = this.agent.Variables.Depth;
PlannerTask taskAdded = null;
bool isPreconditionOk = node.CheckPreconditions(this.agent, false);
if (isPreconditionOk)
{
bool bOk = true;
taskAdded = PlannerTask.Create(node, this.agent);
if (node is Action)
{
//nothing to do for action
Debug.Check(true);
}
else
{
Debug.Check(taskAdded is PlannerTaskComplex);
PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;
bOk = this.decomposeComplex(node, seqTask, depth);
}
if (bOk)
{
node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
}
else
{
BehaviorTask.DestroyTask(taskAdded);
taskAdded = null;
}
}
else
{
//precondition failed
LogPlanNodePreconditionFailed(this.agent, node);
}
LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");
Debug.Check(this.agent.Variables.Depth == depth1);
return(taskAdded);
}
catch (Exception ex)
{
Debug.Check(false, ex.Message);
}
return(null);
}
