| 49 | } |
| 50 | |
| 51 | BehaviorUpdateResult BehaviorTreeNode::InvokeUpdate(const BehaviorUpdateContext& context) |
| 52 | { |
| 53 | ASSERT_LOW_LAYER(_executionIndex != -1); |
| 54 | const BitArray<>& relevantNodes = *(const BitArray<>*)context.RelevantNodes; |
| 55 | |
| 56 | // If node is not yet relevant |
| 57 | if (relevantNodes.Get(_executionIndex) == false) |
| 58 | { |
| 59 | // Check decorators if node can be executed |
| 60 | for (BehaviorTreeDecorator* decorator : _decorators) |
| 61 | { |
| 62 | ASSERT_LOW_LAYER(decorator->_executionIndex != -1); |
| 63 | if (relevantNodes.Get(decorator->_executionIndex) == false) |
| 64 | decorator->BecomeRelevant(context); |
| 65 | if (!decorator->CanUpdate(context)) |
| 66 | { |
| 67 | return BehaviorUpdateResult::Failed; |
| 68 | } |
| 69 | } |
| 70 | |
| 71 | // Make node relevant |
| 72 | BecomeRelevant(context); |
| 73 | } |
| 74 | |
| 75 | // Update decorators |
| 76 | bool decoratorFailed = false; |
| 77 | for (BehaviorTreeDecorator* decorator : _decorators) |
| 78 | { |
| 79 | decoratorFailed |= decorator->Update(context) == BehaviorUpdateResult::Failed; |
| 80 | } |
| 81 | |
| 82 | // Node-specific update |
| 83 | BehaviorUpdateResult result; |
| 84 | if (decoratorFailed) |
| 85 | result = BehaviorUpdateResult::Failed; |
| 86 | else |
| 87 | result = Update(context); |
| 88 | if ((int32)result < 0 || (int32)result > (int32)BehaviorUpdateResult::Failed) |
| 89 | result = BehaviorUpdateResult::Failed; // Invalid value is a failure |
| 90 | |
| 91 | // Post-process result from decorators |
| 92 | for (BehaviorTreeDecorator* decorator : _decorators) |
| 93 | { |
| 94 | decorator->PostUpdate(context, result); |
| 95 | } |
| 96 | |
| 97 | // Check if node is not relevant anymore |
| 98 | if (result != BehaviorUpdateResult::Running) |
| 99 | BecomeIrrelevant(context); |
| 100 | |
| 101 | return result; |
| 102 | } |
| 103 | |
| 104 | void BehaviorTreeNode::BecomeRelevant(const BehaviorUpdateContext& context) |
| 105 | { |
no test coverage detected