public BehaviourTree()
{
finished = false;
// Hard coding of the specific behaviour tree for a student
// outlined in more detail in the provide diagram
// intermediate nodes take a parent, action leaf nodes take in the type of action they are
BNode root = new RepeaterNode(null);
BNode getadvising = new SequenceNode(root);
BNode branch = new SelectorNode(getadvising);
BNode checkdata = new ActionNode(branch, Astar.Actiontype.CHECKDATA);
BNode randomplaque = new SequenceNode(branch);
BNode pathplaque = new ActionNode(randomplaque, Astar.Actiontype.PATHPLAQUE);
BNode checkplaque = new ActionNode(randomplaque, Astar.Actiontype.CHECKPLAQUE);
BNode pathprof3 = new ActionNode(getadvising, Astar.Actiontype.PATHPROF);
BNode pickprof3 = new ActionNode(getadvising, Astar.Actiontype.PICKPROF);
BNode randbranch = new RandSelectorNode(getadvising);
BNode finish = new ActionNode(randbranch, Astar.Actiontype.FINISH);
BNode pathrand = new ActionNode(randbranch, Astar.Actiontype.PATHRAND);
// current is the node being looked at in the tree at any time
current = root;
}
public void Tick_AlwaysReturnsTrue(NodeStatus status)
{
var blackboard = this.GetBlackboard();
var action = new ActionNode <TestBlackboard>((TestBlackboard bb) =>
{
return(status);
});
var repeaterNode = new RepeaterNode <TestBlackboard>(action);
Assert.AreEqual(NodeStatus.Running, repeaterNode.Tick(blackboard));
}
public async Task RunAsync_ShouldReturnRunningAndTriggerEventWhenCountIsDone()
{
// Arrange
var child = new TestNode();
var node = new RepeaterNode <object>("", child, 1);
// Act
await node.BeforeRunAsync();
var result = await node.RunAsync();
child.TriggerFinishedEvent(ResultType.Succeeded);
// Assert
Assert.Equal(ResultType.Running, result);
Assert.Equal(1, node.RanCount);
}
public void Repeat()
{
var ctx = new SimpleContext();
var init = 0; //DateTime.UtcNow.Ticks % 0xFFFFFF;
for (int i = 1; i < 128; i++)
{
ctx.SetInteger("A" + i, init);
var chg = new IntegerChangeCmd("A" + i, 1);
var rep = new RepeaterNode("Repeat", chg, i);
while (Result.Processing == rep.Tick(ctx))
{
}
Assert.AreEqual(init + i, ctx.GetInteger("A" + i));
}
}
public void Until()
{
var ctx = new SimpleContext();
var items = new Result [] { Result.Error, Result.Failure, Result.Processing, Result.Success, Result.Unknown };
foreach (var i in items)
{
var res = new HashSet <Result> ();
res.Add(i);
var rep = new RepeaterNode("Repeat", new AlwaysCmd(i), 10, res);
var x = rep.Tick(ctx);
while (Result.Processing == x)
{
x = rep.Tick(ctx);
}
Assert.AreEqual(Result.Success, x);
}
}
public async Task RunAsync_ShouldRunChildCountTimes(int count)
{
// Arrange
var child = new Mock <Node <object> >();
child.Setup(c => c.RunAsync())
.Returns(new ValueTask <ResultType>(ResultType.Succeeded));
var node = new RepeaterNode <object>("", child.Object, count);
// Act
await node.BeforeRunAsync();
var result = await node.RunAsync();
// Assert
Assert.Equal(ResultType.Succeeded, result);
Assert.Equal(count, node.RanCount);
}
Node AddRepeater(Random r)
{
var a = r.Next() % 5;
var b = new HashSet <Result> ();
if (r.Next() % 2 == 0)
{
var c = r.Next() % 4;
for (int i = 0; i < c; i++)
{
b.Add(RandomEnum <Result> (r));
}
}
else
{
b = null;
}
var xx = new RepeaterNode("Repeater", null, a, b);
AddLeaf(xx, r);
return(xx);
}
void Start()
{
_behaviorTreeController = new BehaviorTreeController();
// rootとなるSequencer
SequencerNode rootNode = new SequencerNode();
rootNode.name = "rootノード";
// 出発
ActionNode departure = new ActionNode();
departure.name = "出発する";
departure.SetRunningFunc(() => {
Debug.LogError("出発");
return(NodeStatus.SUCCESS);
});
// HP確認のDecorator
DecoratorNode confirmationHp = new DecoratorNode();
confirmationHp.name = "HP確認するのDecorator";
confirmationHp.SetConditionFunc(() => {
return(_myHp >= 100 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵に寄る
ActionNode enemyApproach = new ActionNode();
enemyApproach.name = "敵に寄るアクションノード";
enemyApproach.SetRunningFunc(() => {
Debug.LogError("敵に寄る");
return(NodeStatus.SUCCESS);
});
// HP確認のDecoratorの子供登録
confirmationHp.AddChild(enemyApproach);
// 友達2人を呼ぶParallelNode
ParallelNode callFriendAB = new ParallelNode();
callFriendAB.name = "友達2人を呼ぶParallelNode";
// 友達A
ActionNode friendA = new ActionNode();
friendA.name = "友達Aを呼ぶ";
friendA.SetRunningFunc(() => {
Debug.LogError("友達A");
return(NodeStatus.SUCCESS);
});
// 友達B
ActionNode friendB = new ActionNode();
friendB.name = "友達Bを呼ぶ";
friendB.SetRunningFunc(() => {
Debug.LogError("友達B");
return(NodeStatus.SUCCESS);
});
// 友達2人を呼ぶParallelNodeの子供登録
callFriendAB.AddChild(friendA);
callFriendAB.AddChild(friendB);
// スキルを繰り返し行うRepeaterNode
RepeaterNode skillRepeater = new RepeaterNode();
skillRepeater.name = "スキルを繰り返し行うRepeaterNode";
// スキルを選択するSelector
SelectorNode selectSkill = new SelectorNode();
selectSkill.name = "スキルを選択するSelector";
// スキルAの発動を確認するDecorator
DecoratorNode triggerSkillA = new DecoratorNode();
triggerSkillA.name = "スキルAの発動を確認するDecorator";
triggerSkillA.SetConditionFunc(() => {
int probability = Mathf.Clamp(probabilitySkillA, 0, 100);
int random = Random.Range(0, 100);
return(probability > random ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// スキルA
ActionNode skillA = new ActionNode();
skillA.name = "skillA";
skillA.SetRunningFunc(() => {
Debug.LogError("skillA");
_enemyHp -= 50;
return(NodeStatus.SUCCESS);
});
// スキルAの発動を確認するDecoratorの子供登録
triggerSkillA.AddChild(skillA);
// スキルB
ActionNode skillB = new ActionNode();
skillB.name = "skillB";
skillB.SetRunningFunc(() => {
Debug.LogError("skillB");
_enemyHp -= 60;
return(NodeStatus.SUCCESS);
});
// スキルを選択するSelectorの子供登録
selectSkill.AddChild(triggerSkillA);
selectSkill.AddChild(skillB);
// スキルを繰り返し行うRepeaterNodeの子供登録
skillRepeater._repeatNum = 2;
skillRepeater.AddChild(selectSkill);
// 敵の生存を確認するSelector
SelectorNode enemySurvial = new SelectorNode();
enemySurvial.name = "敵の生存を確認するSelector";
// 敵が死んでいるか確認するDecorator
DecoratorNode enemyDied = new DecoratorNode();
enemyDied.name = "敵が死んでいるか確認するDecorator";
enemyDied.SetConditionFunc(() => {
return(_enemyHp <= 0 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵が死んでいる
ActionNode died = new ActionNode();
died.name = "敵が死んでいる";
died.SetRunningFunc(() => {
Debug.LogError("End1");
Debug.LogError("EnemyHp : " + _enemyHp);
return(NodeStatus.SUCCESS);
});
// 敵が死んでいるか確認するDecoratorの子供登録
enemyDied.AddChild(died);
// 敵が生きているか確認するDecorator
DecoratorNode enemyAlive = new DecoratorNode();
enemyAlive.name = "敵が生きているか確認するDecorator";
enemyAlive.SetConditionFunc(() => {
return(_enemyHp > 0 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵が生きている
ActionNode alive = new ActionNode();
alive.name = "敵が生きている";
alive.SetRunningFunc(() => {
Debug.LogError("End2");
Debug.LogError("EnemyHp : " + _enemyHp);
return(NodeStatus.SUCCESS);
});
// 敵が生きているか確認するDecoratorの子供登録
enemyAlive.AddChild(alive);
// 敵の生存を確認するSelectorの子供登録
enemySurvial.AddChild(enemyDied);
enemySurvial.AddChild(enemyAlive);
// rootノードの子供登録
rootNode.AddChild(departure);
rootNode.AddChild(confirmationHp);
rootNode.AddChild(callFriendAB);
rootNode.AddChild(skillRepeater);
rootNode.AddChild(enemySurvial);
// ツリー実行
_behaviorTreeController.Initialize(rootNode);
_behaviorTreeController.OnStart();
}
