Ejemplo n.º 1
0
        public void RandomTest()
        {
            var blackboard = new TestBlackboard();
            var node       = new Random <TestBlackboard>();
            var tree       = BehaviorTreeBuilder <TestBlackboard> .Begin()
                             .Sequence()
                             .Decorator(node).Leaf(new TrackingLeaf())
                             .Build(blackboard);

            ushort[] result = new ushort[2];
            for (var i = 0; i < 100; i++)
            {
                this.UpdateAndStep(tree, 0.1f);
                if (node.Status == BTTaskStatus.Succeeded)
                {
                    result[1]++;
                }
                else
                {
                    result[0]++;
                }
            }

            // We should get a decently even spread but we can't rely on it, 50% sway should be plenty enough to have a stable result
            Assert.Greater(result[0], 25);
            Assert.Greater(result[1], 25);

            Assert.AreEqual(100, blackboard.GetTracking(TestBlackboard.TrackingExecution));
        }
Ejemplo n.º 2
0
        public void InvertTest()
        {
            var blackboard = new TestBlackboard();
            var node       = new Invert <TestBlackboard>();
            var tree       = BehaviorTreeBuilder <TestBlackboard> .Begin()
                             .Sequence()
                             .Decorator(node).Leaf(new TrackingLeaf())
                             .Build(blackboard);

            this.UpdateAndStep(tree, 0.1f);

            Assert.AreEqual(BTTaskStatus.Failed, node.Status);
            Assert.AreEqual(1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
        }
Ejemplo n.º 3
0
        // the same tree is here, once with LowerPriority aborts and once with Self aborts and ConditionalDecorators
        public void BuildLowerPriorityAbortTree()
        {
            var builder = BehaviorTreeBuilder <BehaviorTreeMiner> .Begin(this);

            builder.Selector();

            // sleep is most important
            builder.Sequence(AbortTypes.LowerPriority)
            .Conditional(m => m.MinerState.Fatigue >= MinerState.MaxFatigue)
            .LogAction("--- tired! gotta go home")
            .Action(m => m.GoToLocation(MinerState.Location.Home))
            .LogAction("--- prep me my bed!")
            .Action(m => m.Sleep())
            .EndComposite();

            // thirst is next most important
            builder.Sequence(AbortTypes.LowerPriority)
            .Conditional(m => m.MinerState.Thirst >= MinerState.MaxThirst)
            .LogAction("--- thirsty! time for a drink")
            .Action(m => m.GoToLocation(MinerState.Location.Saloon))
            .LogAction("--- get me a drink!")
            .Action(m => m.Drink())
            .EndComposite();

            // dropping off gold is next
            builder.Sequence(AbortTypes.LowerPriority)
            .Conditional(m => m.MinerState.Gold >= MinerState.MaxGold)
            .LogAction("--- bags are full! gotta drop this off at the bank.")
            .Action(m => m.GoToLocation(MinerState.Location.Bank))
            .LogAction("--- take me gold!")
            .Action(m => m.DepositGold())
            .EndComposite();

            // fetching gold is last
            builder.Sequence()
            .Action(m => m.GoToLocation(MinerState.Location.Mine))
            .LogAction("--- time to get me some gold!")
            .Action(m => m.DigForGold())
            .EndComposite();

            builder.EndComposite();

            _tree = builder.Build();
        }
Ejemplo n.º 4
0
        public static BehaviorTree <BehaviorTreeMinerState> BuildSelfAbortTree()
        {
            var builder = BehaviorTreeBuilder <BehaviorTreeMinerState> .Begin(new BehaviorTreeMinerState());

            builder.Selector(AbortTypes.Self);

            // sleep is most important
            builder.ConditionalDecorator(m => m.MinerState.Fatigue >= MinerState.MAX_FATIGUE, false);
            builder.Sequence()
            .LogAction("--- Tired! Gotta go home")
            .Action(m => m.GoToLocation(MinerState.Location.Home))
            .LogAction("--- Prep me my bed!")
            .Action(m => m.Sleep())
            .EndComposite();

            // thirst is next most important
            builder.ConditionalDecorator(m => m.MinerState.Thirst >= MinerState.MAX_THIRST, false);
            builder.Sequence()
            .LogAction("--- Thirsty! Time for a drink")
            .Action(m => m.GoToLocation(MinerState.Location.Saloon))
            .LogAction("--- Get me a drink!")
            .Action(m => m.Drink())
            .EndComposite();

            // dropping off gold is next
            builder.ConditionalDecorator(m => m.MinerState.Gold >= MinerState.MAX_GOLD, false);
            builder.Sequence()
            .LogAction("--- Bags are full! Gotta drop this off at the bank.")
            .Action(m => m.GoToLocation(MinerState.Location.Bank))
            .LogAction("--- Take me gold!")
            .Action(m => m.DepositGold())
            .EndComposite();

            // fetching gold is last
            builder.Sequence()
            .Action(m => m.GoToLocation(MinerState.Location.Mine))
            .LogAction("--- Time to get me some gold!")
            .Action(m => m.DigForGold())
            .EndComposite();

            builder.EndComposite();

            return(builder.Build());
        }
Ejemplo n.º 5
0
        public void IntervalTest()
        {
            var blackboard = new TestBlackboard();
            var tree       = BehaviorTreeBuilder <TestBlackboard> .Begin()
                             .Sequence()
                             .Interval().Leaf(new TrackingLeaf())
                             .Build(blackboard);

            for (var n = 0; n < 10; n++)
            {
                for (var i = 0; i < 9; i++)
                {
                    this.UpdateAndStep(tree, 0.1f);
                }

                Assert.AreEqual(n, blackboard.GetTracking(TestBlackboard.TrackingExecution));

                this.UpdateAndStep(tree, 0.1f);

                Assert.AreEqual(n + 1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
            }
        }