//------------------------------------------------------
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 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 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);
}
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 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 = (BTCActionPrioritizedSelector *)wData.GetContext(_uniqueKey);
BTAction node = GetChild <BTAction>(thisContext->lastSelectedIndex);
if (node != null)
{
node.Transition(wData);
}
thisContext->lastSelectedIndex = -1;
}
public static BTInfo CreateBtInfo(BTAction bt)
{
var offsets = bt.GetTotalOffsets();
var memSize = bt.GetTotalMemSize();
return(new BTInfo()
{
MemSize = memSize,
Offsets = offsets,
RootNode = bt,
});
}
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);
}