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Make bt nodes execute subnodes immediately (and not across several updates) whenever possible

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This commit is contained in:
Nikita Lisitsa 2025-07-08 20:21:59 +03:00
parent 14b18197bf
commit d826940b4c
3 changed files with 15 additions and 17 deletions
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22
libs/bt/include/psemek/bt/conditional.hpp
View file

@ -39,10 +39,7 @@ namespace psemek::bt
{ {
if (condition_result_) if (condition_result_)
{ {
if (*condition_result_) return current_node()->update(dt, args...);
return true_branch_->update(dt, args...);
else
return false_branch_->update(dt, args...);
} }
else else
{ {
@ -51,11 +48,8 @@ namespace psemek::bt
if (auto finished = std::get_if<typename node_type::finished>(&result)) if (auto finished = std::get_if<typename node_type::finished>(&result))
{ {
condition_result_ = finished->result; condition_result_ = finished->result;
if (*condition_result_) current_node()->start(args...);
true_branch_->start(args...); return current_node()->update(Time{}, args...);
else
false_branch_->start(args...);
return running{};
} }
return result; return result;
@ -71,10 +65,7 @@ namespace psemek::bt
{ {
if (condition_result_) if (condition_result_)
{ {
if (*condition_result_) return current_node()->event(event, args...);
return true_branch_->event(event, args...);
else
return false_branch_->event(event, args...);
} }
else else
return condition_->event(event, args...); return condition_->event(event, args...);
@ -85,6 +76,11 @@ namespace psemek::bt
node_ptr<tree_type> true_branch_; node_ptr<tree_type> true_branch_;
node_ptr<tree_type> false_branch_; node_ptr<tree_type> false_branch_;
std::optional<bool> condition_result_; std::optional<bool> condition_result_;
node<tree_type> * current_node()
{
return *condition_result_ ? true_branch_.get() : false_branch_.get();
}
}; };
template <typename Tree> template <typename Tree>

5
libs/bt/include/psemek/bt/selector.hpp
View file

@ -32,7 +32,7 @@ namespace psemek::bt
status update(Time dt, Args ... args) override status update(Time dt, Args ... args) override
{ {
if (current_index_ < children_.size()) while (current_index_ < children_.size())
{ {
if (!current_started_) if (!current_started_)
{ {
@ -41,13 +41,14 @@ namespace psemek::bt
} }
auto result = children_[current_index_]->update(dt, args...); auto result = children_[current_index_]->update(dt, args...);
dt = Time{};
if (auto f = std::get_if<finished>(&result)) if (auto f = std::get_if<finished>(&result))
{ {
if (f->result) if (f->result)
return finished{true}; return finished{true};
++current_index_; ++current_index_;
current_started_ = false; current_started_ = false;
return running{}; continue;
} }
else else
return result; return result;

5
libs/bt/include/psemek/bt/sequence.hpp
View file

@ -32,7 +32,7 @@ namespace psemek::bt
status update(Time dt, Args ... args) override status update(Time dt, Args ... args) override
{ {
if (current_index_ < children_.size()) while (current_index_ < children_.size())
{ {
if (!current_started_) if (!current_started_)
{ {
@ -41,13 +41,14 @@ namespace psemek::bt
} }
auto result = children_[current_index_]->update(dt, args...); auto result = children_[current_index_]->update(dt, args...);
dt = Time{};
if (auto f = std::get_if<finished>(&result)) if (auto f = std::get_if<finished>(&result))
{ {
if (!f->result) if (!f->result)
return finished{false}; return finished{false};
++current_index_; ++current_index_;
current_started_ = false; current_started_ = false;
return running{}; continue;
} }
else else
return result; return result;