// Handles additional firing behavior that can be called by inherited gun nodes.
protected static double Fire(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
robot.GunHeat > double.Epsilon ||
!blackboard.TryGetValue(BB.lastScannedEventKey, out ScannedRobotEvent evnt))
{
return(0);
}
// Decide upon the bullet power based on the distance from the enemy.
var bulletPowerT = Utility.Map(evnt.Distance, minPowerDistance, maxPowerDistance, 0, 1);
double bulletPower = Utility.Lerp(Rules.MIN_BULLET_POWER, Rules.MAX_BULLET_POWER, bulletPowerT);
// Never make the bulletPower higher than the remaining victims energy
bulletPower = Math.Min(bulletPower, evnt.Energy);
var bullet = robot.SetFireBullet(bulletPower);
// Add the bullet to the fired bullets list.
var bullets = blackboard.GetValue <List <Bullet> >(BB.bulletsKey);
bullets.Add(bullet);
blackboard.SetValue(BB.bulletsKey, bullets);
return(bullet.Power);
}
public BTBot()
{
blackboard.SetValue(BB.robotKey, this);
blackboard.SetValue(BB.enemyPositionLogKey, new Vector[7]);
blackboard.SetValue(BB.bulletsKey, new List <Bullet>());
// Scanner behavior tree
behaviorTrees.Add
(
new Sequencer(
new NoRepeat(new RoamScanningToCenter())
, new NoRepeat(new ContinueOnFail(new ThinLock()), 2)
, new NoRepeat(new RoamScanningToOppositeDirection())
, new NoRepeat(new ContinueOnFail(new NarrowLock()))
, new Looper(
new RoamScanningToOppositeDirection()
, new ContinueOnFail(new FixedLock())
)
)
);
// Gun behavior tree
behaviorTrees.Add
(
new Sequencer(
new NoRepeat(new TurnGunWithScanner())
, new NoRepeat(new TurnGunToEnemy())
, new FireAtEnemy()
)
);
// Wheels behavior tree
behaviorTrees.Add
(
new Selector(
new Ram()
, new AwayFromWall()
, new Spin()
)
);
}