EBTStatus PlannerTaskReference::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(childStatus);
BEHAVIAC_ASSERT(ReferencedBehavior::DynamicCast(this->m_node) != 0);
//BEHAVIAC_ASSERT(this->m_node is ReferencedBehavior);
ReferencedBehavior* pNode = (ReferencedBehavior*)this->m_node;
//ReferencedBehavior pNode = this->m_node as ReferencedBehavior;
BEHAVIAC_ASSERT(pNode != NULL);
EBTStatus status = BT_RUNNING;
//pNode->SetTaskParams(pAgent);
if (pNode->RootTaskNode() == NULL)
{
status = this->m_subTree->exec(pAgent);
}
else
{
#if !BEHAVIAC_RELEASE
if (!_logged)
{
pAgent->LogJumpTree(pNode->GetReferencedTree());
_logged = true;
}
#endif
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
status = c->exec(pAgent);
}
return status;
}
bool ReferencedBehavior::decompose(BehaviorNode* node, PlannerTaskComplex* seqTask, int depth, Planner* planner)
{
bool bOk = false;
ReferencedBehavior* taskSubTree = (ReferencedBehavior*)node;// as ReferencedBehavior;
BEHAVIAC_ASSERT(taskSubTree != 0);
int depth2 = planner->GetAgent()->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth2);
{
AgentState::AgentStateScope scopedState(planner->GetAgent()->m_variables.Push(false));
//planner.agent.Variables.Log(planner.agent, true);
taskSubTree->SetTaskParams(planner->GetAgent());
Task* task = taskSubTree->RootTaskNode();
if (task != 0)
{
planner->LogPlanReferenceTreeEnter(planner->GetAgent(), taskSubTree);
const BehaviorNode* tree = task->GetParent();
tree->InstantiatePars(planner->GetAgent());
PlannerTask* childTask = planner->decomposeNode(task, depth);
if (childTask != 0)
{
seqTask->AddChild(childTask);
bOk = true;
}
tree->UnInstantiatePars(planner->GetAgent());
planner->LogPlanReferenceTreeExit(planner->GetAgent(), taskSubTree);
BEHAVIAC_ASSERT(true);
}
}
BEHAVIAC_ASSERT(planner->GetAgent()->m_variables.Depth() == depth2);
return bOk;
}
