void CreateBehaviourTree()
{
// Create tree
tree = new BehaviourTree("ExampleTree");
blackboard = new Blackboard();
// SERVICE
Service exampleService = new Service("ExampleBB", 2f, 0.25f, ExampleBlackboardService, false, true);
// MOVES
Action move1 = new Action("Move1", () => Move(point1.position));
Action move2 = new Action("Move2", () => Move(point2.position));
Action move3 = new Action("Move3", () => Move(point3.position));
Action move4 = new Action("Move4", () => Move(point4.position));
// PARALLELS
Parallel parallel1 = new Parallel("P1", Parallel.Policy.SEQUENCE, Parallel.Executor.ENTIRE,
move1,
new Succeeder(
new Failer(new Action("Color1", () => ColorAction(color1)))
)
);
Parallel parallel2 = new Parallel("P2", Parallel.Policy.SEQUENCE_CONTINUE, Parallel.Executor.ENTIRE,
move2,
new Action("Color1", () => ColorAction(color2))
);
Parallel parallel3 = new Parallel("P3",
move3,
new Action("Color1", () => ColorAction(color3))
);
Parallel parallel4 = new Parallel("P4", Parallel.Policy.SELECTOR_CONTINUE, Parallel.Executor.ENTIRE,
move4,
new Action(() => ColorAction(color4))
);
// COOLDOWN
Cooldown limiter = new Cooldown("Limiter", 5.0f, 0.1f, true, new Action(LimitExample));
// PARALLEL MOVE
Sequence parallelMove = new Sequence("ParallelMove", parallel1, parallel2, parallel3, parallel4);
// SELECTOR MOVE
Selector selectorMove = new Selector("SelectMove",
new Failer(true, move1), move2, move3, move4
);
Sequence sequence = new Sequence("Sequence", parallelMove, limiter);
tree.SetRoot(exampleService);
exampleService.AddChild(sequence);
tree.Enable();
// blackboard.Enable();
//
// blackboard.RegisterListener("test_vector3", BlackboardListener);
// blackboard["test_vector3"] = new Vector3(1, 2, 3);
}