A composite that runs all children, regardless of returned status

[bcristian]

Hello

The following composite will run all the children, regardless of their return status.
The same can be achieved using the Optional decorator, but on large graphs that is error-prone and does not immediately convey intent. For example, iterating an empty collection yields a failure. But depending on context, this might or might not be the proper semantic.
Using this composite clearly conveys the intent of executing all the actions.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99

using System.Collections.Generic; using NodeCanvas.Framework; using ParadoxNotion.Design; using UnityEngine;   namespace NodeCanvas.BehaviourTrees {       [Category("Composites")]     [Description("Execute the child nodes in order or randomly and return Success if all children return Success, else return Failure.\nAll the children are executed, regardless of their return status.")]     [Icon("StepIterator")]     [Color("bf7fff")]     public class Serial : BTComposite     {         public bool random;           int lastRunningNodeIndex = 0;         new Status status;           public override string name         {             get { return base.name.ToUpper(); }         }           protected override Status OnExecute(Component agent, IBlackboard blackboard)         {             for (var i = lastRunningNodeIndex; i < outConnections.Count; i++)             {                 var status = outConnections<em class="d4pbbc-italic"></em>.Execute(agent, blackboard);                   switch (status)                 {                     case Status.Running:                         lastRunningNodeIndex = i;                         return Status.Running;                       case Status.Failure:                         if (this.status == Status.Success)                             this.status = Status.Failure;                         continue;                       case Status.Error:                         this.status = Status.Error;                         continue;                 }             }               return status;         }           protected override void OnReset()         {             lastRunningNodeIndex = 0;             status = Status.Success;             if (random)                 outConnections = Shuffle(outConnections);         }           public override void OnChildDisconnected(int index)         {             if (index != 0 && index == lastRunningNodeIndex)                 lastRunningNodeIndex--;         }           public override void OnGraphStarted()         {             OnReset();         }           //Fisher-Yates shuffle algorithm         private List<Connection> Shuffle(List<Connection> list)         {             for (var i = list.Count - 1; i > 0; i--)             {                 var j = (int)Mathf.Floor(Random.value * (i + 1));                 var temp = list<em class="d4pbbc-italic"></em>;                 list<em class="d4pbbc-italic"></em> = list[j];                 list[j] = temp;             }               return list;         }           /////////////////////////////////////////         /////////GUI AND EDITOR STUFF////////////         ///////////////////////////////////////// #if UNITY_EDITOR           protected override void OnNodeGUI()         {             if (random)                 GUILayout.Label("<b>RANDOM</b>");         }   #endif     } }

[arachnidjacob]

Is there a reason why most behaviour tree implementations dont include a node like this? Is it considered bad design to have many nodes “running” at the same time?

[timv]

I made an icon for this node. I think it turned out ok. You may find it useful.

Attachments:

You must be logged in to view attached files.

[Gavalakis]

Hey,
Thanks for sharing 🙂

Join us on Discord: https://discord.gg/97q2Rjh

[Author]

Posts