limboai/bt/tasks/composites/bt_dynamic_selector.cpp

34 lines
968 B
C++

/**
* bt_dynamic_selector.cpp
* =============================================================================
* Copyright 2021-2023 Serhii Snitsaruk
*
* Use of this source code is governed by an MIT-style
* license that can be found in the LICENSE file or at
* https://opensource.org/licenses/MIT.
* =============================================================================
*/
#include "bt_dynamic_selector.h"
void BTDynamicSelector::_enter() {
last_running_idx = 0;
}
int BTDynamicSelector::_tick(double p_delta) {
int status = SUCCESS;
int i;
for (i = 0; i < get_child_count(); i++) {
status = get_child(i)->execute(p_delta);
if (status != FAILURE) {
break;
}
}
// If the last node ticked is earlier in the tree than the previous runner,
// cancel previous runner.
if (last_running_idx > i && get_child(last_running_idx)->get_status() == RUNNING) {
get_child(last_running_idx)->cancel();
}
last_running_idx = i;
return status;
}