private void doAutoPlanning()
{
if (!this.AutoReplan)
{
return;
}
this.timeTillReplan -= Workspace.Instance.DeltaTime;
var noPlan = this.m_rootTask == null || this.m_rootTask.GetStatus() != EBTStatus.BT_RUNNING;
//if (noPlan || timeTillReplan <= 0)
if (noPlan)
{
timeTillReplan += AutoReplanInterval;
PlannerTask newPlan = this.GeneratePlan();
if (newPlan != null)
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
raisePlanAborted(this.m_rootTask);
}
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = newPlan;
}
}
}
/// <summary>
/// Generate a new task for the <paramref name="agent"/> based on the current world state as
/// described by the <paramref name="agentState"/>.
/// </summary>
/// <param name="agent">
/// The agent for which the task is being generated. This object instance must be of the
/// same type as the type for which the Task was developed
/// </param>
/// <param name="agentState">The current world state required by the planner</param>
/// <returns></returns>
private PlannerTask GeneratePlan()
{
// If the planner is currently executing a task marked NotInterruptable, do not generate
// any new plans.
if (!canInterruptCurrentPlan())
{
return(null);
}
try
{
PlannerTask newPlan = this.BuildPlan(this.m_rootTaskNode);
if (newPlan == null)
{
return(null);
}
if (!newPlan.IsHigherPriority(this.m_rootTask))
{
return(null);
}
return(newPlan);
}
finally
{
}
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Sequence sequence = (Sequence)node;
bool bOk = false;
int childCount = sequence.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = sequence.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask == null)
{
break;
}
//clear the log cache so that the next node can log all properites
LogManager.Instance.PLanningClearCache();
seqTask.AddChild(childTask);
}
if (i == childCount)
{
bOk = true;
}
return(bOk);
}
private PlannerTask BuildPlan(Task root)
{
LogManager.Instance.PLanningClearCache();
int depth = this.agent.Variables.Depth;
PlannerTask rootTask = null;
using (var currentState = this.agent.Variables.Push(true))
{
this.agent.PlanningTop = this.agent.Variables.Top;
Debug.Check(this.agent.PlanningTop >= 0);
LogPlanBegin(this.agent, root);
rootTask = this.decomposeNode(root, 0);
LogPlanEnd(this.agent, root);
#if !BEHAVIAC_RELEASE
BehaviorTask.CHECK_BREAKPOINT(this.agent, root, "plan", EActionResult.EAR_all);
#endif
this.agent.PlanningTop = -1;
}
Debug.Check(this.agent.Variables.Depth == depth);
return(rootTask);
}
private void raisePlanGenerated(PlannerTask task)
{
if (this.PlanGenerated != null)
{
this.PlanGenerated(this, task);
}
}
private void doAutoPlanning()
{
if (!this.AutoReplan)
{
return;
}
var noPlan = this.m_rootTask == null || this.m_rootTask.GetStatus() != EBTStatus.BT_RUNNING;
if (noPlan)
{
PlannerTask newPlan = this.GeneratePlan();
if (newPlan != null)
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
}
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = newPlan;
}
}
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Parallel parallel = (Parallel)node;
bool bOk = false;
//parallel currently is the same with sequence
int childCount = parallel.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = parallel.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask == null)
{
break;
}
seqTask.AddChild(childTask);
}
if (i == childCount)
{
bOk = true;
}
return(bOk);
}
private void raiseTaskSucceeded(PlannerTask task)
{
if (task != null && this.TaskSucceeded != null)
{
this.TaskSucceeded(this, task);
}
}
public static PlannerTask Create(BehaviorNode node, Agent pAgent)
{
if (ms_factory == null)
{
ms_factory = new Dictionary <Type, TaskCreator>();
Register <Action>((n, a) => new PlannerTaskAction(n, a));
Register <Task>((n, a) => new PlannerTaskTask(n, a));
Register <Method>((n, a) => new PlannerTaskMethod(n, a));
Register <Sequence>((n, a) => new PlannerTaskSequence(n, a));
Register <Selector>((n, a) => new PlannerTaskSelector(n, a));
Register <Parallel>((n, a) => new PlannerTaskParallel(n, a));
Register <ReferencedBehavior>((n, a) => new PlannerTaskReference(n, a));
Register <DecoratorLoop>((n, a) => new PlannerTaskLoop(n, a));
Register <DecoratorIterator>((n, a) => new PlannerTaskIterator(n, a));
}
Type type = node.GetType();
while (!ms_factory.ContainsKey(type))
{
type = type.BaseType;
Debug.Check(type != null);
}
if (ms_factory.ContainsKey(type))
{
TaskCreator c = ms_factory[type];
PlannerTask task = c(node, pAgent);
return(task);
}
return(null);
}
public void AddChild(PlannerTask task)
{
if (this.m_children == null)
{
this.m_children = new List <BehaviorTask>();
}
this.m_children.Add(task);
task.Parent = this;
}
private void raisePlanFailed(PlannerTask task)
{
if (this.TaskFailed != null)
{
this.TaskFailed(this, task);
}
if (this.PlanFailed != null)
{
this.PlanFailed(this, task);
}
}
private void OnDisable()
{
if (this.m_rootTask != null)
{
if (this.m_rootTask.GetStatus() == EBTStatus.BT_RUNNING)
{
this.m_rootTask.abort(this.agent);
BehaviorTask.DestroyTask(this.m_rootTask);
}
this.m_rootTask = null;
}
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
bool bOk = false;
Task task = (Task)node;
PlannerTask childTask = planner.decomposeTask((Task)task, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
return(bOk);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
ReferencedBehavior taskSubTree = (ReferencedBehavior)node;
bool bOk = false;
Debug.Check(taskSubTree != null);
int depth2 = planner.GetAgent().Variables.Depth;
using (AgentState currentState = planner.GetAgent().Variables.Push(false))
{
Agent pAgent = planner.GetAgent();
string szTreePath = taskSubTree.GetReferencedTree(pAgent);
BehaviorTreeTask subTreeTask = Workspace.Instance.CreateBehaviorTreeTask(szTreePath);
taskSubTree.SetTaskParams(pAgent, subTreeTask);
Task task = taskSubTree.RootTaskNode(planner.GetAgent());
if (task != null)
{
planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
//task.Parent.InstantiatePars(this.LocalVars);
BehaviorTreeTask oldCurrentTreeTask = pAgent.ExcutingTreeTask;
pAgent.ExcutingTreeTask = subTreeTask;
PlannerTask childTask = planner.decomposeNode(task, depth);
pAgent.ExcutingTreeTask = oldCurrentTreeTask;
if (childTask != null)
{
//taskSubTree.SetTaskParams(planner.GetAgent(), childTask);
PlannerTaskReference subTreeRef = (PlannerTaskReference)seqTask;
subTreeRef.SubTreeTask = subTreeTask;
seqTask.AddChild(childTask);
bOk = true;
}
//task.Parent.UnInstantiatePars(this.LocalVars);
planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
Debug.Check(true);
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
return(bOk);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
DecoratorIterator pForEach = (DecoratorIterator)node;
bool bOk = false;
int childCount = pForEach.GetChildrenCount();
Debug.Check(childCount == 1);
BehaviorNode childNode = pForEach.GetChild(0);
bool bGoOn = true;
int count = 0;
int index = 0;
while (bGoOn)
{
int depth2 = planner.GetAgent().Variables.Depth;
using (AgentState currentState = planner.GetAgent().Variables.Push(false))
{
bGoOn = pForEach.IterateIt(planner.GetAgent(), index, ref count);
if (bGoOn)
{
planner.LogPlanForEachBegin(planner.GetAgent(), pForEach, index, count);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
planner.LogPlanForEachEnd(planner.GetAgent(), pForEach, index, count, childTask != null ? "success" : "failure");
if (childTask != null)
{
Debug.Check(seqTask is PlannerTaskIterator);
PlannerTaskIterator pForEachTask = seqTask as PlannerTaskIterator;
pForEachTask.Index = index;
seqTask.AddChild(childTask);
bOk = true;
break;
}
index++;
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
}
return(bOk);
}
public override bool decompose(BehaviorNode branch, PlannerTaskComplex seqTask, int depth, Planner planner)
{
bool bOk = false;
int childCount = branch.GetChildrenCount();
Debug.Check(childCount == 1);
BehaviorNode childNode = branch.GetChild(0);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
return(bOk);
}
//~Selector()
//{
//}
#if BEHAVIAC_USE_HTN
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Selector sel = (Selector)node;
bool bOk = false;
int childCount = sel.GetChildrenCount();
int i = 0;
for (; i < childCount; ++i)
{
BehaviorNode childNode = sel.GetChild(i);
PlannerTask childTask = planner.decomposeNode(childNode, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
break;
}
}
return(bOk);
}
//~ReferencedBehavior()
//{
//}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
ReferencedBehavior taskSubTree = (ReferencedBehavior)node;
bool bOk = false;
Debug.Check(taskSubTree != null);
int depth2 = planner.GetAgent().Variables.Depth;
using (AgentState currentState = planner.GetAgent().Variables.Push(false))
{
//planner.agent.Variables.Log(planner.agent, true);
taskSubTree.SetTaskParams(planner.GetAgent());
Task task = taskSubTree.RootTaskNode(planner.GetAgent());
if (task != null)
{
planner.LogPlanReferenceTreeEnter(planner.GetAgent(), taskSubTree);
task.Parent.InstantiatePars(planner.GetAgent());
PlannerTask childTask = planner.decomposeNode(task, depth);
if (childTask != null)
{
seqTask.AddChild(childTask);
bOk = true;
}
task.Parent.UnInstantiatePars(planner.GetAgent());
planner.LogPlanReferenceTreeExit(planner.GetAgent(), taskSubTree);
Debug.Check(true);
}
}
Debug.Check(planner.GetAgent().Variables.Depth == depth2);
return(bOk);
}
//private PlannerTask decomposeTask(Task task, int depth) {
//because called form other node , so change the private to public
public PlannerTask decomposeTask(Task task, int depth)
{
var methodsCount = task.GetChildrenCount();
if (methodsCount == 0)
{
return(null);
}
int depth1 = this.agent.Variables.Depth;
PlannerTask methodTask = null;
for (int i = 0; i < methodsCount; i++)
{
BehaviorNode method = task.GetChild(i);
Debug.Check(method is Method);
int depth2 = this.agent.Variables.Depth;
using (var currentState = this.agent.Variables.Push(false))
{
LogPlanMethodBegin(this.agent, method);
methodTask = this.decomposeNode(method, depth + 1);
LogPlanMethodEnd(this.agent, method, methodTask != null ? "success" : "failure");
if (methodTask != null)
{
// succeeded
break;
}
}
Debug.Check(this.agent.Variables.Depth == depth2);
}
Debug.Check(this.agent.Variables.Depth == depth1);
return(methodTask);
}
public bool IsHigherPriority(PlannerTask other)
{
return(true);
}
public void RemoveChild(PlannerTask childTask)
{
Debug.Check(this.m_children.Count > 0 && this.m_children[this.m_children.Count - 1] == childTask);
this.m_children.Remove(childTask);
}
public PlannerTask decomposeNode(BehaviorNode node, int depth)
{
try
{
// Ensure that the planner does not get stuck in an infinite loop
if (depth >= 256)
{
Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
return(null);
}
LogPlanNodeBegin(this.agent, node);
int depth1 = this.agent.Variables.Depth;
PlannerTask taskAdded = null;
bool isPreconditionOk = node.CheckPreconditions(this.agent, false);
if (isPreconditionOk)
{
bool bOk = true;
taskAdded = PlannerTask.Create(node, this.agent);
if (node is Action)
{
//nothing to do for action
Debug.Check(true);
}
else
{
Debug.Check(taskAdded is PlannerTaskComplex);
PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;
bOk = this.decomposeComplex(node, seqTask, depth);
}
if (bOk)
{
node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
}
else
{
BehaviorTask.DestroyTask(taskAdded);
taskAdded = null;
}
}
else
{
//precondition failed
LogPlanNodePreconditionFailed(this.agent, node);
}
LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");
Debug.Check(this.agent.Variables.Depth == depth1);
return(taskAdded);
}
catch (Exception ex)
{
Debug.Check(false, ex.Message);
}
return(null);
}
