public override NodeResult Execute()
{
if (children.Count == 1)
{
Node child = children[0];
if (child.status == Status.Success || child.status == Status.Failure)
{
return(NodeResult.From(child.status));
}
return(child.runningNodeResult);
}
return(NodeResult.failure);
}
public override NodeResult Execute()
{
Node node = GetChild();
if (node == null || limitReached)
{
return(NodeResult.failure);
}
if (node.status == Status.Success || node.status == Status.Failure)
{
return(NodeResult.From(node.status));
}
return(node.runningNodeResult);
}
public override NodeResult Execute()
{
// Return fialure when subtree is not defined
if (tree == null)
{
return(NodeResult.failure);
}
Node root = tree.GetRoot();
if (root.status == Status.Success || root.status == Status.Failure)
{
return(NodeResult.From(root.status));
}
return(root.runningNodeResult);
}
public override NodeResult Execute()
{
Node node = GetChild();
if (node == null)
{
return(NodeResult.failure);
}
if (node.status == Status.Success || node.status == Status.Failure)
{
return(NodeResult.From(node.status));
}
if (roll > probability.Value)
{
return(NodeResult.failure);
}
return(node.runningNodeResult);
}
public override NodeResult Execute()
{
Node node = GetChild();
if (node == null)
{
return(NodeResult.failure);
}
if (node.status == Status.Success || node.status == Status.Failure)
{
return(NodeResult.From(node.status));
}
lastConditionCheckResult = Check();
if (lastConditionCheckResult == false)
{
return(NodeResult.failure);
}
return(node.runningNodeResult);
}
/// <summary>
/// Update tree state.
/// </summary>
public void Tick()
{
_TickMarker.Begin();
// Fire Tick event
onTick.Invoke();
// Check if there are any interrupting nodes
EvaluateInterruptions();
// Max number of traversed nodes
int executionLimit = maxExecutionsPerTick;
// Traverse tree
while (executionStack.Count > 0)
{
if (executionLimit == 0)
{
_TickMarker.End();
return;
}
executionLimit -= 1;
// Execute last element in stack
Node currentNode = executionStack[executionStack.Count - 1];
NodeResult nodeResult = currentNode.Execute();
// Set new status
currentNode.status = nodeResult.status;
if (nodeResult.status == Status.Running)
{
// If node is running, then stop execution or continue children
Node child = nodeResult.child;
if (child == null)
{
// Stop execution and continue next tick
_TickMarker.End();
return;
}
else
{
// Add child to execution stack and execute it in next loop
executionStack.Add(child);
executionLog.Add(child);
// IMPORTANT: Priority must be > 0 and assigned in this order
child.runtimePriority = executionLog.Count;
child.OnAllowInterrupt();
child.OnEnter();
#if UNITY_EDITOR
// Stop execution if breakpoint is set on this node
if (child.breakpoint)
{
Debug.Break();
UnityEditor.Selection.activeGameObject = this.gameObject;
Debug.Log("MBT Breakpoint: " + child.title, this);
_TickMarker.End();
return;
}
#endif
continue;
}
}
else
{
// Remove last node from stack and move up (closer to root)
currentNode.OnExit();
executionStack.RemoveAt(executionStack.Count - 1);
}
}
// Run this when execution stack is empty and BT should repeat
if (repeatOnFinish)
{
Restart();
}
_TickMarker.End();
}