//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;
BaseBTNode node = computeRunningNode(m_nodes);
if (node != null)
{
node.SetFailuer();
}
}
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 void SetFailuer()
{
m_nodeStatus = NodeStatus.STATUS_FAILURE;
m_node.SetFailuer();
}
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);
}
