//Execute(Agent* pAgent)method hava be change to Execute(Agent* pAgent, EBTStatus childStatus)
EBTStatus Action::Execute(const Agent* pAgent, EBTStatus childStatus)
{
EBTStatus result = BT_SUCCESS;
if (this->m_method)
{
//#if BEHAVIAC_ENABLE_PROFILING
// BEHAVIAC_PROFILE("Node");
//#endif
uint32_t nodeId = this->GetId();
uint32_t slot = SetNodeId(nodeId);
BEHAVIAC_ASSERT(slot != (uint32_t)-1, "no empty slot found!");
const Agent* pParent = this->m_method->GetParentAgent(pAgent);
this->m_method->run(pParent, pAgent);
if (this->m_resultOption != BT_INVALID)
{
result = this->m_resultOption;
}
else if (this->m_resultFunctor)
{
const Agent* pParentCheckResult = this->m_resultFunctor->GetParentAgent(pAgent);
result = (EBTStatus)this->m_method->CheckReturn(pParent, pParentCheckResult, this->m_resultFunctor);
}
else
{
this->m_method->CheckReturn(pParent, result);
}
ClearNodeId(slot);
}
else
{
//#if BEHAVIAC_ENABLE_PROFILING
// BEHAVIAC_PROFILE("ActionGenerated");
//#endif
result = this->update_impl((Agent*)pAgent, childStatus);
}
return result;
}
EBTStatus State::Execute(Agent* pAgent)
{
EBTStatus result = BT_RUNNING;
if (this->m_method)
{
uint32_t nodeId = this->GetId();
uint32_t slot = SetNodeId(nodeId);
BEHAVIAC_ASSERT(slot != (uint32_t)-1, "no empty slot found!");
const Agent* pParent = this->m_method->GetParentAgent(pAgent);
this->m_method->run(pParent, pAgent);
ClearNodeId(slot);
}
else
{
result = this->update_impl((Agent*)pAgent, BT_RUNNING);
}
return result;
}
EBTStatus ActionTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
BEHAVIAC_ASSERT(Action::DynamicCast(this->GetNode()));
Action* pActionNode = (Action*)(this->GetNode());
if (!this->CheckPredicates(pAgent))
{
return pActionNode->m_resultPreconditionFail;
}
EBTStatus result = BT_SUCCESS;
if (pActionNode->m_method)
{
//#if BEHAVIAC_ENABLE_PROFILING
// BEHAVIAC_PROFILE("Node");
//#endif
ParentType pt = pActionNode->m_method->GetParentType();
Agent* pParent = pAgent;
if (pt == PT_INSTANCE)
{
pParent = Agent::GetInstance(pActionNode->m_method->GetInstanceNameString(), pParent->GetContextId());
BEHAVIAC_ASSERT(pParent);
}
int nodeId = this->GetId();
int slot = SetNodeId(nodeId);
BEHAVIAC_ASSERT(slot != -1, "no empty slot found!");
pActionNode->m_method->run(pParent, pAgent);
if (pActionNode->m_resultOption != BT_INVALID)
{
result = pActionNode->m_resultOption;
}
else if (pActionNode->m_resultFunctor)
{
ParentType pt = pActionNode->m_resultFunctor->GetParentType();
Agent* pParentCheckResult = pAgent;
if (pt == PT_INSTANCE)
{
pParentCheckResult = Agent::GetInstance(pActionNode->m_resultFunctor->GetInstanceNameString(), pParentCheckResult->GetContextId());
BEHAVIAC_ASSERT(pParentCheckResult);
}
result = (EBTStatus)pActionNode->m_method->CheckReturn(pParent, pParentCheckResult, pActionNode->m_resultFunctor);
}
else
{
pActionNode->m_method->CheckReturn(pParent, result);
}
ClearNodeId(slot);
}
else
{
//#if BEHAVIAC_ENABLE_PROFILING
// BEHAVIAC_PROFILE("ActionGenerated");
//#endif
result = pActionNode->update_impl(pAgent, childStatus);
}
return result;
}
