#include <u.h>#include <libc.h> #include "bt.h"#include "impl.h" static void_initnode(BehaviorNode *node, unsigned char *idx){	int i;	BehaviorNode *child;	BehaviorBranch *branch; 	if(node->id != 0)		return; 	node->id = *idx;	(*idx)++; 	//print("%s = %hhud\n", node->name, node->id); 	switch(node->type){	case BT_LEAF:		break;	case BT_SEQUENCE:	case BT_PRIORITY:	case BT_PARALLEL:	case BT_DYNGUARD:	case BT_INVERT:		branch = (BehaviorBranch*) node; 		for(i = 0; i < branch->childcount; i++){			child = branch->children[i];			_initnode(child, idx);		} 		break;	default:		abort();	}} Behavior*btroot(BehaviorNode *root){	unsigned char idx;	Behavior *b; 	assert(root != nil); 	b = mallocz(sizeof(Behavior), 1);	if(b == nil)		return nil; 	idx = 0;	_initnode(root, &idx); 	// TODO: alloc idx size array	b->root = root;	b->nstates = idx; 	return b;} BehaviorState*btstatenew(Behavior *b){	BehaviorState *state; 	assert(b != nil); 	state = mallocz(sizeof(BehaviorState) + b->nstates * sizeof(state->states[0]), 1);	if(state == nil)		return nil; 	state->behavior = b; 	return state;} voidbtstatefree(BehaviorState *bs, void *agent){	assert(bs != nil); 	btcancel(bs->behavior->root, bs, agent);	free(bs);}