From d826940b4c636f038241b3629af65fc0bd69fa82 Mon Sep 17 00:00:00 2001
From: lisyarus <lisyarus@gmail.com>
Date: Tue, 8 Jul 2025 20:21:59 +0300
Subject: [PATCH] Make bt nodes execute subnodes immediately (and not across
 several updates) whenever possible

---
 libs/bt/include/psemek/bt/conditional.hpp | 22 +++++++++-------------
 libs/bt/include/psemek/bt/selector.hpp    |  5 +++--
 libs/bt/include/psemek/bt/sequence.hpp    |  5 +++--
 3 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/libs/bt/include/psemek/bt/conditional.hpp b/libs/bt/include/psemek/bt/conditional.hpp
index 3e4c5b23..d8a94f4d 100644
--- a/libs/bt/include/psemek/bt/conditional.hpp
+++ b/libs/bt/include/psemek/bt/conditional.hpp
@@ -39,10 +39,7 @@ namespace psemek::bt
 			{
 				if (condition_result_)
 				{
-					if (*condition_result_)
-						return true_branch_->update(dt, args...);
-					else
-						return false_branch_->update(dt, args...);
+					return current_node()->update(dt, args...);
 				}
 				else
 				{
@@ -51,11 +48,8 @@ namespace psemek::bt
 					if (auto finished = std::get_if<typename node_type::finished>(&result))
 					{
 						condition_result_ = finished->result;
-						if (*condition_result_)
-							true_branch_->start(args...);
-						else
-							false_branch_->start(args...);
-						return running{};
+						current_node()->start(args...);
+						return current_node()->update(Time{}, args...);
 					}
 
 					return result;
@@ -71,10 +65,7 @@ namespace psemek::bt
 		{
 			if (condition_result_)
 			{
-				if (*condition_result_)
-					return true_branch_->event(event, args...);
-				else
-					return false_branch_->event(event, args...);
+				return current_node()->event(event, args...);
 			}
 			else
 				return condition_->event(event, args...);
@@ -85,6 +76,11 @@ namespace psemek::bt
 		node_ptr<tree_type> true_branch_;
 		node_ptr<tree_type> false_branch_;
 		std::optional<bool> condition_result_;
+
+		node<tree_type> * current_node()
+		{
+			return *condition_result_ ? true_branch_.get() : false_branch_.get();
+		}
 	};
 
 	template <typename Tree>
diff --git a/libs/bt/include/psemek/bt/selector.hpp b/libs/bt/include/psemek/bt/selector.hpp
index 9acdb188..9a46c4eb 100644
--- a/libs/bt/include/psemek/bt/selector.hpp
+++ b/libs/bt/include/psemek/bt/selector.hpp
@@ -32,7 +32,7 @@ namespace psemek::bt
 
 		status update(Time dt, Args ... args) override
 		{
-			if (current_index_ < children_.size())
+			while (current_index_ < children_.size())
 			{
 				if (!current_started_)
 				{
@@ -41,13 +41,14 @@ namespace psemek::bt
 				}
 
 				auto result = children_[current_index_]->update(dt, args...);
+				dt = Time{};
 				if (auto f = std::get_if<finished>(&result))
 				{
 					if (f->result)
 						return finished{true};
 					++current_index_;
 					current_started_ = false;
-					return running{};
+					continue;
 				}
 				else
 					return result;
diff --git a/libs/bt/include/psemek/bt/sequence.hpp b/libs/bt/include/psemek/bt/sequence.hpp
index 49395087..a207a441 100644
--- a/libs/bt/include/psemek/bt/sequence.hpp
+++ b/libs/bt/include/psemek/bt/sequence.hpp
@@ -32,7 +32,7 @@ namespace psemek::bt
 
 		status update(Time dt, Args ... args) override
 		{
-			if (current_index_ < children_.size())
+			while (current_index_ < children_.size())
 			{
 				if (!current_started_)
 				{
@@ -41,13 +41,14 @@ namespace psemek::bt
 				}
 
 				auto result = children_[current_index_]->update(dt, args...);
+				dt = Time{};
 				if (auto f = std::get_if<finished>(&result))
 				{
 					if (!f->result)
 						return finished{false};
 					++current_index_;
 					current_started_ = false;
-					return running{};
+					continue;
 				}
 				else
 					return result;