public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
switch (runningNode.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
break;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
break;
}
}
foreach (BaseBTNode node in m_nodes)
{
if (node == runningNode)
{
continue;
}
switch (node.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
continue;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
continue;
}
}
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
}
private BaseBTNode m_preNode; //始めにランダムから省くため
public BTOnOffSelector(List <BaseBTNode> nodes, BaseBTCondition condNode = null)
{
m_nodes = nodes;
m_conditionNode = condNode;
m_failuerNodes = new List <BaseBTNode>();
m_preNode = null;
}
//ノード状態の評価
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
switch (status)
{
case NodeStatus.STATUS_SUCCESS:
if (m_nodes[0] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[0].Evaluate();
m_preNode = m_nodes[0];
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
if (m_nodes[1] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[1].Evaluate();
m_preNode = m_nodes[1];
return(m_nodeStatus);
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = m_preNode.Evaluate();
return(m_nodeStatus);
}
}
//ここにくるのはおかしい
return(NodeStatus.STATUS_FAILURE);
}
public override void SetFailuer()
{
m_nodeStatus = NodeStatus.STATUS_FAILURE;
m_preNode.SetFailuer();
m_firstSearch = true;
m_preNode = m_nodes[0];
}
//コンストラクタ
public BTBoolSelector(BaseBTNode trueNode, BaseBTNode falseNode, BaseBTCondition condNode)
{
m_nodes = new BaseBTNode[2];
m_nodes[0] = trueNode;
m_nodes[1] = falseNode;
m_conditionNode = condNode;
m_preNode = m_nodes[0];
}
private bool m_firstSearch; //ToEndNodeの実行が終了したときtrueになる
public BTNTEandTEBoolSelector(BaseBTNode notToEndNodeWithTrue, BaseBTNode toEndNodeWithFalse, BTConditionNotToEnd condNode)
{
m_nodes = new BaseBTNode[2];
m_nodes[0] = notToEndNodeWithTrue;
m_nodes[1] = toEndNodeWithFalse;
m_conditionNode = condNode;
m_preNode = m_nodes[1];
m_firstSearch = true;
}
public override void SetFailuer()
{
m_nodeStatus = NodeStatus.STATUS_FAILURE;
BaseBTNode node = computeRunningNode(m_nodes);
if (node != null)
{
node.SetFailuer();
}
}
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
m_isRunningNode = true;
}
//子ノードの処理を順番に実行
foreach (BaseBTNode node in m_nodes)
{
if (m_isRunningNode)
{
if (node != runningNode)
{
continue;
}
else
{
m_isRunningNode = false;
}
}
switch (node.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
continue;
case NodeStatus.STATUS_FAILURE:
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
}
}
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
}
public override void SetFailuer()
{
m_preNode = null;
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
m_nodeStatus = NodeStatus.STATUS_FAILURE;
BaseBTNode childNode = computeRunningNode(m_nodes);
if (childNode != null)
{
childNode.SetFailuer();
}
}
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
if (status == NodeStatus.STATUS_FAILURE)
{
SetFailuer();
return(m_nodeStatus);
}
}
BaseBTNode runningNode = computeRunningNode(m_nodes);
if (runningNode != null)
{
switch (runningNode.Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
break;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
return(m_nodeStatus);
default:
break;
}
}
if (m_preNode != null)
{
m_failuerNodes.Add(m_preNode);
m_nodes.Remove(m_preNode);
}
while (m_nodes.Count > 0)
{
int selectNode = UnityEngine.Random.Range(0, m_nodes.Count);
switch (m_nodes[selectNode].Evaluate())
{
case NodeStatus.STATUS_SUCCESS:
m_nodeStatus = NodeStatus.STATUS_SUCCESS;
m_preNode = m_nodes[selectNode];
//元に戻すため
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
//ランダムに選ぶものから外すため
m_failuerNodes.Add(m_nodes[selectNode]);
m_nodes.RemoveAt(selectNode);
continue;
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = NodeStatus.STATUS_RUNNING;
//元に戻すため
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
return(m_nodeStatus);
default:
continue;
}
}
//元に戻すため
m_preNode = null;
foreach (BaseBTNode node in m_failuerNodes)
{
m_nodes.Add(node); //m_nodesにはないはず
}
m_failuerNodes.Clear();
m_nodeStatus = NodeStatus.STATUS_FAILURE;
return(m_nodeStatus);
}
public BTRepeater(BaseBTNode node, int maxChargeTime)
{
m_node = node;
m_maxChargeTime = maxChargeTime;
m_chargeTimer = 0;
}
public override NodeStatus Evaluate()
{
if (m_conditionNode != null)
{
NodeStatus status = m_conditionNode.EvaluateCondition(m_nodeStatus);
switch (status)
{
case NodeStatus.STATUS_SUCCESS:
if (m_firstSearch)
{
m_firstSearch = false;
}
if (m_nodes[0] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[0].Evaluate();
m_preNode = m_nodes[0];
if (m_nodeStatus != NodeStatus.STATUS_RUNNING)
{
m_firstSearch = true;
}
return(m_nodeStatus);
case NodeStatus.STATUS_FAILURE:
//前がToEnd実行完了のとき
//前がNotToEnd実行中・NotToEnd実行完了のとき
if ((m_firstSearch && m_preNode == m_nodes[0]) ||
(!m_firstSearch && m_preNode == m_nodes[1]))
{
m_firstSearch = false;
if (m_nodes[1] != m_preNode)
{
m_preNode.SetFailuer();
}
m_nodeStatus = m_nodes[1].Evaluate();
m_preNode = m_nodes[1];
return(m_nodeStatus);
}
else
{
//前がToEnd実行中のとき
m_nodeStatus = m_nodes[0].Evaluate();
m_preNode = m_nodes[0];
if (m_nodeStatus != NodeStatus.STATUS_RUNNING)
{
m_firstSearch = true;
}
return(m_nodeStatus);
}
case NodeStatus.STATUS_RUNNING:
m_nodeStatus = m_preNode.Evaluate();
if (m_nodeStatus != NodeStatus.STATUS_RUNNING &&
m_preNode == m_nodes[0])
{
m_firstSearch = true;
}
return(m_nodeStatus);
}
}
//ここにくるのはおかしい
return(NodeStatus.STATUS_FAILURE);
}
public BTInverter(BaseBTNode node)
{
m_node = node;
}
public BTLimiter(BaseBTNode node, int maxCount)
{
m_node = node;
m_maxCount = maxCount;
m_counter = 0;
}
