Handle collapsed subtrees for pointing to execute after nodes.

Author: calvertdw

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXBehaviorTreeNode.java

@@ -124,6 +124,8 @@ public void update()
       if (deltaChildren > 0 && deltaChildren < 5)
          treeWidgetExpanded = true;
 
+      offsetY = Float.NaN;
+
       while (!state.getLogger().getRecentMessages().isEmpty())
       {
          LogMessage message = state.getLogger().getRecentMessages().poll();

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXLeafNode.java

@@ -79,9 +79,13 @@ public void renderConcurrencyGraph()
             executeAfterY = rootNode.offsetY;
          else
          {
-            RDXLeafNode<?, ?> executeAfterLeaf = getExecuteAfterLeaf();
-            if (executeAfterLeaf != null)
-               executeAfterY = executeAfterLeaf.offsetY + frameHeight * 0.5f;
+            RDXBehaviorTreeNode<?, ?> nodeToPointTo = getExecuteAfterLeaf();
+            if (nodeToPointTo != null)
+            {
+               while (Float.isNaN(nodeToPointTo.offsetY)) // Handle collapsed subtrees
+                  nodeToPointTo = nodeToPointTo.getParent();
+               executeAfterY = nodeToPointTo.offsetY + frameHeight * 0.5f;
+            }
          }
 
          if (!Float.isNaN(executeAfterY))