public void StartBehavior()
{
if (Status != BEHAVIOR_STATUS.INACTIVE)
{
BehaviorTree.Start();
}
}
protected override IEnumerable <BEHAVIOR_STATUS> Execute()
{
g_Status = BEHAVIOR_STATUS.RUNNING;
// Only a single node will be considered
g_Child = Children[0];
g_Child.Start();
while (!Finished)
{
if (g_Assertion != null)
{
// Only considers the assertion's outcome
g_Assertion.Start();
g_Assertion.UpdateNode();
if (g_Assertion.Status == BEHAVIOR_STATUS.FAILURE)
{
g_Status = g_Assertion.Status;
}
else
{
if (g_Child.Finished)
{
g_Child.Start();
}
g_Child.UpdateNode();
yield return(g_Status);
}
}
else
{
// Keep executing and restaring until failure
g_Child.UpdateNode();
if (g_Child.Finished)
{
if (g_Child.Status == BEHAVIOR_STATUS.FAILURE)
{
g_Status = g_Child.Status;
break;
}
else
{
g_Child.Start();
}
}
yield return(g_Status);
}
}
yield return(g_Status);
}
