lyh916

  博客园  :: 首页  :: 新随笔  :: 联系 :: 订阅 订阅  :: 管理

之前介绍了组合节点中三大常用的节点:BTSequence、BTSelector和BTParallel,一般来说,这三种就够用了,可以满足很多的需求。

接下来可以完善一下装饰节点,增加几种新的节点。

 

1.BTInverter

 1 --[[
 2 结果取反:
 3 1.子节点返回Running,则节点返回Running
 4 2.子节点返回Success,则节点返回Failure
 5 3.子节点返回Failure,则节点返回Success
 6 --]]
 7 BTInverter = BTDecorator:New();
 8 
 9 local this = BTInverter;
10 this.name = "BTInverter";
11 
12 function this:New()
13     local o = {};
14     setmetatable(o, self);
15     self.__index = self;
16     o.childTasks = {};
17     return o;
18 end
19 
20 function this:OnUpdate()
21     if (not self.currentChildTask) then
22         self.currentChildTask = self:GetChild();
23         if (not self.currentChildTask) then
24             return BTTaskStatus.Failure;
25         end
26     end
27 
28     self.executionStatus = self.currentChildTask:OnUpdate();
29 
30     if (self.executionStatus == BTTaskStatus.Running) then
31         return BTTaskStatus.Running;
32     elseif (self.executionStatus == BTTaskStatus.Success) then
33         return BTTaskStatus.Failure;
34     else
35         return BTTaskStatus.Success;
36     end
37 end
38 
39 function this:Reset()
40     self.executionStatus = BTTaskStatus.Inactive;
41     BTParentTask.Reset(self);
42 end

测试:

 1 TestBehaviorTree2 = BTBehaviorTree:New();
 2 
 3 local this = TestBehaviorTree2;
 4 this.name = "TestBehaviorTree2";
 5 
 6 function this:New()
 7     local o = {};
 8     setmetatable(o, self);
 9     self.__index = self;
10     o:Init();
11     return o;
12 end
13 
14 function this:Init()
15     local sequence = BTSequence:New();
16     local inverter = BTInverter:New();
17     local isNullOrEmpty = BTIsNullOrEmpty:New("123");
18     local log = BTLog:New("This is a tree!!!");
19 
20     self:SetStartTask(sequence);
21 
22     inverter:AddChild(isNullOrEmpty);
23 
24     sequence:AddChild(inverter);
25     sequence:AddChild(log);
26 end

输出:

 

2.BTReturnFailure

 1 --[[
 2 结果返回失败:
 3 1.子节点返回Running,则节点返回Running
 4 2.其余情况,则节点返回Failure
 5 --]]
 6 BTReturnFailure = BTDecorator:New();
 7 
 8 local this = BTReturnFailure;
 9 this.name = "BTReturnFailure";
10 
11 function this:New()
12     local o = {};
13     setmetatable(o, self);
14     self.__index = self;
15     o.childTasks = {};
16     return o;
17 end
18 
19 function this:OnUpdate()
20     if (not self.currentChildTask) then
21         self.currentChildTask = self:GetChild();
22         if (not self.currentChildTask) then
23             return BTTaskStatus.Failure;
24         end
25     end
26 
27     self.executionStatus = self.currentChildTask:OnUpdate();
28 
29     if (self.executionStatus == BTTaskStatus.Running) then
30         return BTTaskStatus.Running;
31     else
32         return BTTaskStatus.Failure;
33     end
34 end
35 
36 function this:Reset()
37     self.executionStatus = BTTaskStatus.Inactive;
38     BTParentTask.Reset(self);
39 end

测试:

 1 TestBehaviorTree2 = BTBehaviorTree:New();
 2 
 3 local this = TestBehaviorTree2;
 4 this.name = "TestBehaviorTree2";
 5 
 6 function this:New()
 7     local o = {};
 8     setmetatable(o, self);
 9     self.__index = self;
10     o:Init();
11     return o;
12 end
13 
14 function this:Init()
15     local selector = BTSelector:New();
16     local returnFailure = BTReturnFailure:New();
17     local isNullOrEmpty = BTIsNullOrEmpty:New();
18     local log = BTLog:New("This is a tree!!!");
19 
20     self:SetStartTask(selector);
21 
22     returnFailure:AddChild(isNullOrEmpty);
23 
24     selector:AddChild(returnFailure);
25     selector:AddChild(log);
26 end

输出:

 

3.BTUntilFailure

 1 --[[
 2 结果返回失败:
 3 1.子节点返回Failure,则节点返回Failure
 4 2.其余情况,则节点返回Running
 5 --]]
 6 BTUntilFailure = BTDecorator:New();
 7 
 8 local this = BTUntilFailure;
 9 this.name = "BTUntilFailure";
10 
11 function this:New()
12     local o = {};
13     setmetatable(o, self);
14     self.__index = self;
15     o.childTasks = {};
16     return o;
17 end
18 
19 function this:OnUpdate()
20     if (not self.currentChildTask) then
21         self.currentChildTask = self:GetChild();
22         if (not self.currentChildTask) then
23             return BTTaskStatus.Failure;
24         end
25     end
26 
27     self.executionStatus = self.currentChildTask:OnUpdate();
28 
29     if (self.executionStatus ~= BTTaskStatus.Failure) then
30         return BTTaskStatus.Running;
31     else
32         return BTTaskStatus.Failure;
33     end
34 end
35 
36 function this:Reset()
37     self.executionStatus = BTTaskStatus.Inactive;
38     BTParentTask.Reset(self);
39 end

测试:

 1 TestBehaviorTree2 = BTBehaviorTree:New();
 2 
 3 local this = TestBehaviorTree2;
 4 this.name = "TestBehaviorTree2";
 5 
 6 function this:New()
 7     local o = {};
 8     setmetatable(o, self);
 9     self.__index = self;
10     o:Init();
11     return o;
12 end
13 
14 function this:Init()
15     local selector = BTSelector:New();
16     local untilFailure = BTUntilFailure:New();
17     local action = self:GetBTActionUniversal();
18     local log = BTLog:New("This is a tree!!!");
19 
20     self:SetStartTask(selector);
21 
22     untilFailure:AddChild(action);
23 
24     selector:AddChild(untilFailure);
25     selector:AddChild(log);
26 end
27 
28 function this:GetBTActionUniversal()
29     local count = 1;
30     local a = function ()
31         if (count == 1) then
32             count = count + 1;
33             print("11");
34             return BTTaskStatus.Success;
35         elseif (count == 2) then
36             count = count + 1;
37             print("22");
38             return BTTaskStatus.Running;
39         else
40             print("33");
41             return BTTaskStatus.Failure;
42         end
43     end
44     local universal = BTActionUniversal:New(nil, a);
45     return universal;
46 end

输出:

 

最后给出这个系列的源码:

https://pan.baidu.com/s/1QwjozJ3dEpqNRL04oLvfHw

posted on 2018-09-24 17:31  艰苦奋斗中  阅读(731)  评论(0编辑  收藏  举报