Basic house ah

project/BehaviourTree.cpp

@@ -1,7 +1,133 @@
-#pragma once
+#include "stdafx.h"
+#include "BehaviourTree.h"
+#include "SurvivalAgentPlugin.h"
 
-class BehaviorTree
-{
-public:
+using namespace BT;
 
-};
+#pragma region COMPOSITES
+Composite::Composite(const std::vector<IBehavior*>& childBehaviors) {
+	m_ChildBehaviors = childBehaviors;
+}
+
+Composite::~Composite() {
+	for (auto pb : m_ChildBehaviors)
+		SAFE_DELETE(pb)
+		m_ChildBehaviors.clear();
+}
+
+//SELECTOR
+State Selector::Execute(Blackboard* blackboardPtr) {
+	// Loop over all children in m_ChildBehaviors
+	for (IBehavior* pBeh : m_ChildBehaviors) {
+		//Every Child: Execute and store the result in m_CurrentState
+		m_CurrentState = pBeh->Execute(blackboardPtr);
+
+		//Check the currentstate and apply the selector Logic:
+		//if a child returns Success:
+		if (m_CurrentState == State::Success) {
+			//stop looping over all children and return Success
+			return m_CurrentState;
+		}
+
+		//if a child returns Running:
+		if (m_CurrentState == State::Running) {
+			//Running: stop looping and return Running
+			return m_CurrentState;
+		}
+		//The selector fails if all children failed.	
+	}
+
+	//All children failed
+	m_CurrentState = State::Failure;
+	return m_CurrentState;
+}
+//SEQUENCE
+State Sequence::Execute(Blackboard* blackboardPtr) {
+	//Loop over all children in m_ChildBehaviors
+	for (IBehavior* pBeh : m_ChildBehaviors) {
+		//Every Child: Execute and store the result in m_CurrentState
+		m_CurrentState = pBeh->Execute(blackboardPtr);
+
+		//Check the currentstate and apply the sequence Logic:
+		//if a child returns Failed:
+		if (m_CurrentState == State::Failure) {
+			//stop looping over all children and return Failed
+			return m_CurrentState;
+		}
+
+		//if a child returns Running:
+		if (m_CurrentState == State::Running) {
+			//Running: stop looping and return Running
+			return m_CurrentState;
+
+		}
+
+		//The selector succeeds if all children succeeded.
+	}
+
+	//All children succeeded 
+	m_CurrentState = State::Success;
+	return m_CurrentState;
+}
+
+State PartialSequence::Execute(Blackboard* blackboardPtr) {
+	while (m_CurrentBehaviorIndex < m_ChildBehaviors.size()) {
+		m_CurrentState = m_ChildBehaviors[m_CurrentBehaviorIndex]->Execute(blackboardPtr);
+		switch (m_CurrentState) {
+		case State::Failure:
+			m_CurrentBehaviorIndex = 0;
+			return m_CurrentState;
+		case State::Success:
+			++m_CurrentBehaviorIndex;
+			m_CurrentState = State::Running;
+			return m_CurrentState;
+		case State::Running:
+			return m_CurrentState;
+		}
+	}
+
+	m_CurrentBehaviorIndex = 0;
+	m_CurrentState = State::Success;
+	return m_CurrentState;
+}
+#pragma endregion
+
+
+State Conditional::Execute(Blackboard* blackboardPtr) {
+	if (m_ConditionalPtr == nullptr)
+		return State::Failure;
+
+	if (m_ConditionalPtr(blackboardPtr)) {
+		m_CurrentState = State::Success;
+	}
+	else {
+		m_CurrentState = State::Failure;
+	}
+	return m_CurrentState;
+}
+
+State Action::Execute(Blackboard* blackboardPtr) {
+	if (m_ActionPtr == nullptr)
+		return State::Failure;
+
+	m_CurrentState = m_ActionPtr(blackboardPtr);
+	return m_CurrentState;
+}
+
+BehaviorTree::~BehaviorTree() {
+	SAFE_DELETE(m_RootBehaviorPtr)
+		SAFE_DELETE(m_BlackboardPtr) //Takes ownership of passed blackboard!
+}
+
+void BehaviorTree::Update() {
+	if (m_RootBehaviorPtr == nullptr) {
+		m_CurrentState = State::Failure;
+		return;
+	}
+
+	m_CurrentState = m_RootBehaviorPtr->Execute(m_BlackboardPtr);
+}
+
+Blackboard* BehaviorTree::GetBlackboard() const {
+	return m_BlackboardPtr;
+}