void CompositeBehavior::doAction(bool directlyExecuted) {
if (agent->isDead() || agent->isIncapacitated() || (agent->getZone() == NULL)) {
agent->setFollowObject(NULL);
return;
}
if (!started())
this->start();
else if (!checkConditions())
endWithFailure();
if (finished()) {
Behavior::doAction(directlyExecuted);
return;
}
Behavior* currentChild;
do {
currentChild = children.get(currentPos);
if (currentChild == NULL) {
agent->error("NULL child or empty children list in CompositeBehavior");
endWithError();
Behavior::doAction(directlyExecuted);
return;
}
if (!currentChild->started())
currentChild->start();
else if (!currentChild->checkConditions()) // if this isn't here, I can get a single recursion where the child will call the parent's (this) doAction()
endWithFailure();
if (!currentChild->finished())
currentChild->doAction();
if (currentChild->finished()) {
if (currentChild->succeeded())
this->childSucceeded();
else if (currentChild->failed())
this->childFailed();
currentChild->end();
}
} while (currentChild != NULL && currentChild->finished() && !this->finished() && currentPos < children.size());
if (currentChild->finished())
Behavior::doAction(directlyExecuted);
}
void ParallelBehavior::doAction(bool directlyExecuted) {
if (finished()) {
Behavior::doAction(directlyExecuted);
return;
}
if (!started())
this->start();
for (int i = 0; i < children.size(); i++) {
Behavior* currentChild = children.get(i);
if (currentChild == NULL) { // this shouldn't happen. Bail.
agent->error("NULL child or empty children list in ParallelBehavior");
endWithError();
Behavior::doAction(directlyExecuted);
return;
}
if (!unfinishedChildren.contains(currentChild)) // we don't want to process a child after it has already ended
continue;
if (!currentChild->started())
currentChild->start();
else if (currentChild->finished()) {
if (currentChild->succeeded())
this->childSucceeded();
else if (currentChild->failed())
this->childFailed();
currentChild->end();
unfinishedChildren.removeElement(currentChild);
} else {
currentChild->doAction();
}
}
if (unfinishedChildren.isEmpty())
this->finish();
Behavior::doAction(directlyExecuted);
}
