Sequence Nodes

翻译自：https://www.behaviortree.dev

Sequences [序列]

A Sequence ticks all its children as long as they return SUCCESS. If any child returns FAILURE, the sequence is aborted. [只要返回 SUCCESS，Sequence 就会对它的所有子代tick。如果任何孩子返回 FAILURE，则序列被中止。]

Currently the framework provides three kinds of nodes: [目前该框架提供了三种节点：]

• Sequence [序列]
• SequenceStar [标记序列]
• ReactiveSequence [再激活序列]

They share the following rules: [他们共享以下规则：]

• Before ticking the first child, the node status becomes RUNNING. [在tick第一个子节点之前，节点状态变为 RUNNING。]

• If a child returns SUCCESS, it ticks the next child. [如果一个孩子返回 SUCCESS，它会tick下一个孩子。]

• If the last child returns SUCCESS too, all the children are halted and the sequence returns SUCCESS. [如果最后一个孩子也返回 SUCCESS，则所有孩子都停止并且序列返回 SUCCESS。]

To understand how the three ControlNodes differ, refer to the following table: [要了解三个 ControlNode 有何不同，请参阅下表：]

Type of ControlNode	Child returns FAILURE	Child returns RUNNING
Sequence	Restart	Tick again
ReactiveSequence	Restart	Restart
SequenceStar	Tick again	Tick again

• “Restart” means that the entire sequence is restarted from the first child of the list. [“重新开始”意味着整个序列从列表的第一个孩子重新开始。]

• “Tick again” means that the next time the sequence is ticked, the same child is ticked again. Previous sibling, which returned SUCCESS already, are not ticked again. [“再次tick”意味着下一次tick序列时，再次tick相同的孩子。已经返回 SUCCESS 的前一个兄弟不再tick。]

Sequence

This tree represents the behavior of a sniper in a computer game. [这棵树代表了电脑游戏中狙击手的行为。]

example “See the pseudocode”

		status = RUNNING;
         // _index is a private member
		while(_index < number_of_children)
		{
			child_status = child[_index]->tick();
			
	        if( child_status == SUCCESS ) {
	            _index++;
			}
			else if( child_status == RUNNING ) {
	            // keep same index
				return RUNNING;
			}
			else if( child_status == FAILURE ) {
				HaltAllChildren();
	            _index = 0;
				return FAILURE;
			}
		}
		// all the children returned success. Return SUCCESS too.
		HaltAllChildren();
	    _index = 0;
		return SUCCESS;

ReactiveSequence

This node is particularly useful to continuously check Conditions; but the user should also be careful when using asynchronous children, to be sure that they are not ticked more often that expected. [该节点对于连续检查条件特别有用；但是用户在使用异步子节点时也应该小心，以确保它们不会比预期的更频繁。]

Let’s take a look at another example: [让我们看另一个例子：]

ApproachEnemy is an asynchronous action that returns RUNNING until it is, eventually, completed. [ApproachEnemy 是一个异步操作，它返回 RUNNING 直到最终完成。]

The condition isEnemyVisible will be called many times and, if it becomes false (i,e, “FAILURE”), ApproachEnemy is halted. [条件 isEnemyVisible 将被多次调用，如果它变为假（即“FAILURE”），则 ApproachEnemy 将停止。]

example “See the pseudocode”

		status = RUNNING;
	
		for (int index=0; index < number_of_children; index++)
		{
			child_status = child[index]->tick();
			
			if( child_status == RUNNING ) {
				return RUNNING;
			}
			else if( child_status == FAILURE ) {
				HaltAllChildren();
				return FAILURE;
			}
		}
		// all the children returned success. Return SUCCESS too.
		HaltAllChildren();
		return SUCCESS;

SequenceStar

Use this ControlNode when you don’t want to tick children again that already returned SUCCESS. [当您不想再次tick已返回 SUCCESS 的子项时，请使用此 ControlNode。]

Example:

This is a patrolling agent/robot that must visit locations A, B and C only once. If the action GoTo(B) fails, GoTo(A) will not be ticked again. [这是一个巡逻代理/机器人，必须只访问位置 A、B 和 C 一次。如果动作 GoTo(B) 失败，则不会再次tick GoTo(A)。]

On the other hand, isBatteryOK must be checked at every tick, for this reason its parent must be a ReactiveSequence. [另一方面，isBatteryOK 必须在每次tick时检查，因此它的父级必须是 ReactiveSequence。]

example “See the pseudocode”

		status = RUNNING;
        // _index is a private member

		while( index < number_of_children)
		{
			child_status = child[index]->tick();
			
	        if( child_status == SUCCESS ) {
	            _index++;
			}
			else if( child_status == RUNNING || 
	                 child_status == FAILURE ) 
	        {
				// keep same index
				return child_status;
			}
		}
		// all the children returned success. Return SUCCESS too.
		HaltAllChildren();
	    _index = 0;
		return SUCCESS;