public void SimpleTreeTest()
{
int treeResult0 = 0;
int treeResult1 = 0;
TestBlackboard testBlackboard = new TestBlackboard()
{
FirstNode = true
};
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new Selector <TestBlackboard>
(
(blackboard) => blackboard.FirstNode,
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult1;
return(BehaviorTreeStatus.Success);
}
)
),
testBlackboard
);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(0, treeResult1);
testBlackboard.FirstNode = false;
tree.Tick();
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(2, treeResult1);
}
public void InverterTreeTest()
{
int treeResult0 = 0;
int treeResult1 = 0;
TestBlackboard testBlackboard = new TestBlackboard()
{
FirstNode = true
};
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new Sequence <TestBlackboard>
(
new Inverter <TestBlackboard>
(
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
)
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult1;
return(BehaviorTreeStatus.Success);
}
)
),
testBlackboard
);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(0, treeResult1);
tree.Tick();
tree.Tick();
Assert.AreEqual(3, treeResult0);
Assert.AreEqual(0, treeResult1);
}
public void WaterfallTreeTest()
{
int treeResult0 = 0;
int treeResult1 = 0;
int treeResult2 = 0;
TestBlackboard testBlackboard = new TestBlackboard()
{
};
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new Waterfall <TestBlackboard>
(
new Leaf <TestBlackboard>((b) => { ++treeResult2; return(BehaviorTreeStatus.Success); }),
(
(blackboard) => treeResult0 == 0,
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
)
),
(
(blackboard) => treeResult0 == 1,
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
)
),
(
(blackboard) => treeResult0 == 2,
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult1;
return(BehaviorTreeStatus.Success);
}
)
)
),
testBlackboard
);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(0, treeResult1);
Assert.AreEqual(0, treeResult2);
tree.Tick();
tree.Tick();
Assert.AreEqual(2, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(0, treeResult2);
++treeResult0;
tree.Tick();
tree.Tick();
Assert.AreEqual(3, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(2, treeResult2);
}
public void SequenceTreeTest()
{
int treeResult0 = 0;
int treeResult1 = 0;
int treeResult2 = 0;
TestBlackboard testBlackboard = new TestBlackboard();
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new Sequence <TestBlackboard>
(
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult1;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult2;
return(BehaviorTreeStatus.Failed);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
)
),
testBlackboard
);
tree.Tick();
Assert.AreEqual(0, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(0, treeResult2);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(0, treeResult2);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(1, treeResult2);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(2, treeResult1);
Assert.AreEqual(1, treeResult2);
}
public void OngoingTreeTestResume()
{
int treeResult0 = 0;
int treeResult1 = 0;
int treeResult2 = 0;
TestBlackboard testBlackboard = new TestBlackboard();
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new Sequence <TestBlackboard>
(
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult1;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult2;
return(treeResult2 < 5 ? BehaviorTreeStatus.Ongoing : BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult0;
return(BehaviorTreeStatus.Success);
}
)
),
testBlackboard,
true
);
Assert.AreEqual(true, tree.ResumeOngoingNodes);
Assert.AreEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(0, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(0, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(0, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(1, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(2, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(3, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(4, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(1, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(5, treeResult2);
Assert.AreNotEqual(null, tree.OngoingNode);
tree.Tick();
Assert.AreEqual(2, treeResult0);
Assert.AreEqual(1, treeResult1);
Assert.AreEqual(5, treeResult2);
Assert.AreEqual(null, tree.OngoingNode);
}
public void DualSelectorTreeTest()
{
int treeResult00 = 0;
int treeResult10 = 0;
int treeResult01 = 0;
int treeResult11 = 0;
TestBlackboard testBlackboard = new TestBlackboard();
AmeisenBotBehaviorTree <TestBlackboard> tree = new AmeisenBotBehaviorTree <TestBlackboard>
(
new DualSelector <TestBlackboard>
(
(blackboard) => blackboard.FirstNode,
(blackboard) => blackboard.SecondFirstNode,
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult00;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult10;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult01;
return(BehaviorTreeStatus.Success);
}
),
new Leaf <TestBlackboard>
(
(blackboard) =>
{
++treeResult11;
return(BehaviorTreeStatus.Success);
}
)
),
testBlackboard
);
testBlackboard.FirstNode = false;
testBlackboard.SecondFirstNode = false;
tree.Tick();
Assert.AreEqual(1, treeResult00);
Assert.AreEqual(0, treeResult10);
Assert.AreEqual(0, treeResult01);
Assert.AreEqual(0, treeResult11);
testBlackboard.FirstNode = true;
tree.Tick();
Assert.AreEqual(1, treeResult00);
Assert.AreEqual(1, treeResult10);
Assert.AreEqual(0, treeResult01);
Assert.AreEqual(0, treeResult11);
testBlackboard.FirstNode = false;
testBlackboard.SecondFirstNode = true;
tree.Tick();
Assert.AreEqual(1, treeResult00);
Assert.AreEqual(1, treeResult10);
Assert.AreEqual(1, treeResult01);
Assert.AreEqual(0, treeResult11);
testBlackboard.FirstNode = true;
testBlackboard.SecondFirstNode = true;
tree.Tick();
Assert.AreEqual(1, treeResult00);
Assert.AreEqual(1, treeResult10);
Assert.AreEqual(1, treeResult01);
Assert.AreEqual(1, treeResult11);
}
