/// <summary>
/// Run our selected child. If no child is selected, select one. If can't select one, return false.
/// </summary>
/// <param name="tank">Tank being controlled.</param>
/// <returns>Whether we want to continue running.</returns>
public override bool Tick(AIInput g)
{
BehaviorTreeNode next = SelectChild(g);
//Debug.Log(next);
if (next == null)
{
return(false);
}
if (selected != next)
{
Deactivate(g);
next.Activate(g);
selected = next;
}
bool response = next.Tick(g);
if (response == false)
{
Deactivate(g);
sequentialChild++;
sequentialChild %= Children.Count;
}
return(response);
}
public void RefreshChild(RootNode _Root, BehaviorTreeNode _Node)
{
if (_Node.m_ChildNode == null || _Node.m_ChildNode.Count < 1)
{
ActionNode a = _Node as ActionNode;
if (a != null)
{
_Root.m_ListActionNode.Add(a);
}
return;
}
for (int i = 0; i < _Node.m_ChildNode.Count; ++i)
{
_Node.m_RootNode = _Root;
if (_Node.m_ChildNode[i] == null)
{
_Node.m_ChildNode.RemoveAt(i);
}
else
{
RefreshChild(_Root, _Node.m_ChildNode[i]);
}
}
}
void DrawChildNode(BehaviorTreeNode _Node)
{
if (_Node.m_ChildNode == null)
{
return;
}
//string[] split = _Node.ToString().Split('(');
//string[] split2 = split[1].Split(')');
if (_Node.m_ChildNode.Count > 0 && (m_ListIsFoldout[m_FoldIndex] = EditorGUILayout.Foldout(IsFoldout(m_FoldIndex++), "branch")))
{
GUI.backgroundColor = Color.cyan;
EditorGUI.indentLevel += 2;
for (int i = 0; i < _Node.m_ChildNode.Count; ++i)
{
//GUI.color = Color.cyan;
_Node.m_ChildNode[i] = EditorGUILayout.ObjectField(_Node.m_ChildNode[i], typeof(BehaviorTreeNode), false) as BehaviorTreeNode;
//GUI.color = Color.white;
if (_Node.m_ChildNode[i] != null)
{
if (_Node.m_ChildNode[i].m_ChildNode != null)
{
DrawChildNode(_Node.m_ChildNode[i]);
}
}
//else
//{
// _Node.m_ChildNode.RemoveAt(i);
//}
}
EditorGUI.indentLevel -= 2;
}
//GUILayout.Space(5.0f);
}
// <summary>
///
/// </summary>
/// <returns></returns>
public override BehaviorReturnCode Run()
{
if (_children.Count == 0)
{
return(BehaviorReturnCode.BT_SUCCESS);
}
if (_currentPosition == -1)
{
Init();
}
System.Random random = new System.Random(DateTime.Now.Millisecond);
int randomNumber = 0;
BehaviorReturnCode status = BehaviorReturnCode.BT_FAILURE;
if (_currentPosition == -1)
{
randomNumber = random.Next(0, _children.Count);
}
else
{
randomNumber = _currentPosition;
}
BehaviorTreeNode currentRunningNode = _children[randomNumber];
status = currentRunningNode.Run();
if (status == BehaviorReturnCode.BT_SUCCESS || status == BehaviorReturnCode.BT_FAILURE)
{
_currentPosition = -1;
}
return(status);
}
public override STATUS Execute()
{
Debug.Log("[ProbabilityBT]");
STATUS finalStatus;
// This means that in the previous execution the choosen node
// returned RUNNING
if(mp_CurrentNode != null)
{
finalStatus = mp_CurrentNode.Execute();
if(finalStatus != STATUS.RUNNING)
mp_CurrentNode = null;
return finalStatus;
}
Init();
float randomWeight = Random.Range(0f, mf_TotalWeigth);
float weightSum = 0f;
foreach(KeyValuePair<BehaviorTreeNode, float> weightTuple in md_WeightList)
{
weightSum += weightTuple.Value;
if(randomWeight <= weightSum)
{
mp_CurrentNode = weightTuple.Key;
finalStatus = mp_CurrentNode.Execute();
if(finalStatus != STATUS.RUNNING)
mp_CurrentNode = null;
return finalStatus;
}
}
return STATUS.ERROR;
}
/// <summary>
///
/// </summary>
/// <param name="runLimit"></param>
/// <param name="child"></param>
public Limit(int runLimit, BehaviorTreeNode child)
{
_children = new List <BehaviorTreeNode>(1);
_children.Add(child);
_runLimit = runLimit;
_count = 0;
}
/// <summary>
/// Run our selected child. If no child is selected, select one. If can't select one, return false.
/// </summary>
/// <param name="tank">Tank being controlled.</param>
/// <returns>Whether we want to continue running.</returns>
public override bool Tick(AITankControl tank)
{
// Fill me in
BehaviorTreeNode s_child = SelectChild(tank);
if (s_child != null)
{
if (s_child != selected)
{
Deactivate(tank);
selected = s_child;
Activate(tank);
}
bool tick_val = selected.Tick(tank);
if (tick_val == false)
{
Deactivate(tank);
selected = null;
}
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Run the specified decider and returns its value
/// </summary>
/// <param name="d">Decider to run</param>
/// <param name="tank">Tank being controlled</param>
/// <returns>True if decider wants to run</returns>
public static bool Decide(this DeciderType d, AITankControl tank)
{
switch (d)
{
case DeciderType.Always:
return(true);
case DeciderType.TooManyBullets:
return(Physics2D.OverlapCircleAll(tank.transform.position, BulletSearchRadius, (int)Layers.Projectiles).Length
> MaxBullets);
case DeciderType.LineOfSightToPlayer:
return(!BehaviorTreeNode.WallBetween(tank.transform.position, BehaviorTreeNode.Player.position));
case DeciderType.CanFire:
float angle = Vector2.Angle(BehaviorTreeNode.Player.position - tank.transform.position,
tank.transform.up);
return(angle < MaxAngularDifference &&
Vector2.Distance(tank.transform.position, BehaviorTreeNode.Player.position)
< DistanceThreshold);
default:
throw new ArgumentException("Unknown Decider: " + d);
}
}
private void ShowFields(BehaviorTreeNode node)
{
foreach (var f in node.GetType().GetFields(BindingFlags.Instance | BindingFlags.Public | BindingFlags.FlattenHierarchy))
{
PropertyField(node, f);
}
}
private void ShowTreeNode(BehaviorTreeNode node)
{
EditorGUILayout.BeginHorizontal();
if (!foldouts.ContainsKey(node))
{
foldouts[node] = false;
}
foldouts[node] = EditorGUILayout.Foldout(foldouts[node], node.GetType().Name);
var newName = EditorGUILayout.TextField(node.name);
if (newName != node.name)
{
Undo.RecordObject(node, "set name");
node.name = newName;
}
EditorGUILayout.EndHorizontal();
if (foldouts[node])
{
ShowFields(node);
var d = node as GroupDecider;
if (d)
{
ShowChildren(d);
}
}
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public override BehaviorReturnCode Run()
{
if (_children.Count == 0)
{
return(BehaviorReturnCode.BT_SUCCESS);
}
if (_currentPosition == -1)
{
Init();
}
BehaviorTreeNode currentRunningNode = _children[_currentPosition];
BehaviorReturnCode status = BehaviorReturnCode.BT_FAILURE;
while ((status = currentRunningNode.Run()) == BehaviorReturnCode.BT_SUCCESS)
{
_currentPosition++;
// Fallan todos los hijos
if (_currentPosition == _children.Count)
{
_currentPosition = -1;
return(status);
}
currentRunningNode = _children[_currentPosition];
}
if (status == BehaviorReturnCode.BT_FAILURE)
{
_currentPosition = -1;
}
return(status);
}
//--------------------------------------------------
// Overrided/Overloaded methods
//--------------------------------------------------
#region OVERRIDED_OVERLOADED_METHODS
public override BehaviorTree Add (BehaviorTreeNode btNode)
{
DebugHelp.Assert(ml_Nodes.Count < 2, "[ERROR] ConditionalBT only needs two children.");
base.Add(btNode);
return this;
}
//--------------------------------------------------
// Overrided/Overloaded methods
//--------------------------------------------------
#region OVERRIDED_OVERLOADED_METHODS
public override BehaviorTree Add(BehaviorTreeNode btNode)
{
DebugHelp.Assert(ml_Nodes.Count < 2, "[ERROR] ConditionalBT only needs two children.");
base.Add(btNode);
return(this);
}
/// <summary>
/// We're not running anymore; recursively deactivate our selected child.
/// </summary>
/// <param name="tank">Tank being controlled</param>
public override void Deactivate(AITankControl tank)
{
if (selected)
{
selected.Deactivate(tank);
selected = null;
}
}
public void Add(string type, BehaviorTreeNode n)
{
var e = new Event();
e.type = type;
e.node = n;
events.Add(e);
}
/// <summary>
/// We're not running anymore; recursively deactivate our selected child.
/// </summary>
/// <param name="tank">Tank being controlled</param>
public override void Deactivate(AIInput g)
{
if (selected)
{
selected.Deactivate(g);
selected = null;
}
}
public Wait(float duration, TimerDelegate dlg, BehaviorTreeNode child)
{
_children = new List <BehaviorTreeNode>(1);
_children.Add(child);
_waitTime = duration;
_count = 0;
_timerDlg = dlg;
}
/// <summary>
/// Initializes a new instance of the <see cref="ConditionalNode"/> class.
/// </summary>
/// <param name="conditional">The conditional function.</param>
/// <param name="trueNode">The node that will execute when true.</param>
/// <param name="falseNode">The node that will execute when false.</param>
public ConditionalNode(
Func <Blackboard, bool> conditional,
BehaviorTreeNode trueNode = null,
BehaviorTreeNode falseNode = null)
{
this.Conditional = conditional ?? throw new ArgumentNullException(nameof(conditional));
this.TrueNode = trueNode;
this.FalseNode = falseNode;
}
/// <summary>
/// Initializes a new instance of the <see cref="TimeoutNode"/> class.
/// </summary>
/// <param name="child">The child node.</param>
/// <param name="timeout">The amount of time this node has until it times out.</param>
public TimeoutNode(BehaviorTreeNode child, TimeSpan timeout)
{
if (timeout == TimeSpan.MinValue)
{
throw new ArgumentOutOfRangeException(nameof(timeout));
}
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.Timeout = timeout;
}
/// <summary>
/// Initializes a new instance of the <see cref="TimerNode"/> class.
/// </summary>
/// <param name="child">The child.</param>
/// <param name="sleepTime">The amount of time in seconds that we will wait.</param>
/// <param name="durationKey">Blackboard Property key for storing the current duration.</param>
/// <param name="failureCode">The code that will return when the duration is hit.</param>
public TimerNode(
BehaviorTreeNode child,
float sleepTime,
string durationKey = null,
BehaviorReturnCode failureCode = BehaviorReturnCode.Running)
{
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.SleepTime = sleepTime;
this.DurationKey = durationKey ?? Guid.ToString();
this.FailureCode = failureCode;
}
/// <summary>
/// Initializes a new instance of the <see cref="RandomDecoratorNode"/> class.
/// </summary>
/// <param name="child">The child.</param>
/// <param name="probability">The probability that it will execute.</param>
/// <param name="function">The random function.</param>
/// <param name="failureCode">The code that will return if it wont execute.</param>
public RandomDecoratorNode(
BehaviorTreeNode child,
float probability,
Func <Blackboard, float> function = null,
BehaviorReturnCode failureCode = BehaviorReturnCode.Failure)
{
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.Probability = probability;
this.Function = function ?? RandomProbability;
this.FailureCode = failureCode;
}
BehaviorTreeNode BuildNode(Behavior behavior)
{
var node = new BehaviorTreeNode(behavior);
foreach (var child in behavior.GetChildren())
{
node.Nodes.Add(BuildNode(child));
}
return(node);
}
/// <summary>
/// Initializes a new instance of the <see cref="RepeatNode"/> class.
/// </summary>
/// <param name="child">The child node.</param>
/// <param name="times">The amount of times this will be executed at once.</param>
/// <param name="timesKey">The blackboard property key that will contain the how many times it has executed.</param>
public RepeatNode(BehaviorTreeNode child, int times, string timesKey = null)
{
if (times <= 0)
{
throw new ArgumentOutOfRangeException(nameof(times));
}
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.Times = times;
this.TimesKey = timesKey;
}
/// <summary>
/// Reorder the children pseudo-randomly
/// </summary>
private void Shuffle()
{
int n = _children.Count;
System.Random rnd = new System.Random();
while (n > 1)
{
int k = (rnd.Next(0, n) % n);
n--;
BehaviorTreeNode value = _children[k];
_children[k] = _children[n];
_children[n] = value;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="RetryNode"/> class.
/// </summary>
/// <param name="child">The child node.</param>
/// <param name="maxAttempts">The max attempts this node will be executed.</param>
/// <param name="attemptKey">The blackboard property key that will contain the how many attempts have passed.</param>
/// <param name="failureCode">The code that will return if exceed max attempts.</param>
public RetryNode(
BehaviorTreeNode child,
int maxAttempts,
string attemptKey = null,
BehaviorReturnCode failureCode = BehaviorReturnCode.Failure)
{
if (maxAttempts <= 0)
{
throw new ArgumentOutOfRangeException(nameof(maxAttempts));
}
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.MaxAttempts = maxAttempts;
this.AttemptKey = attemptKey;
this.FailureCode = failureCode;
}
/// <summary>
/// Select a child to run based on the policy.
/// </summary>
/// <param name="tank">Tank being controlled</param>
/// <returns>Child to run, or null if no runnable children.</returns>
private BehaviorTreeNode SelectChild(AIInput g)
{
switch (Policy)
{
case SelectionPolicy.Prioritized:
for (int i = 0; i < Children.Count; i++)
{
BehaviorTreeNode child = Children[i];
//Debug.Log(child +" - "+i);
if (selected == child)
{
return(child);
}
if (child.Decide(g))
{
return(child);
}
}
//Debug.Log("none");
return(null);
case SelectionPolicy.Sequential:
for (int i = 0; i < Children.Count; i++)
{
int j = (i + sequentialChild) % Children.Count;
BehaviorTreeNode child = Children[j];
//Debug.Log(child +" - "+i);
if (selected == child)
{
return(child);
}
if (child.Decide(g))
{
sequentialChild = j;
return(child);
}
}
//Debug.Log("none");
return(null);
default:
throw new NotImplementedException("Unimplemented policy: " + Policy);
}
}
/// <summary>
/// Compute the Neighbors list
/// </summary>
internal void Start()
{
var position = transform.position;
if (AllWaypoints == null)
{
AllWaypoints = FindObjectsOfType <Waypoint>();
}
foreach (var wp in AllWaypoints)
{
if (wp != this && !BehaviorTreeNode.WallBetween(position, wp.transform.position))
{
Neighbors.Add(wp);
}
}
}
/// <summary>
/// Nearest waypoint to specified location that is reachable by a straight-line path.
/// </summary>
/// <param name="position"></param>
/// <returns></returns>
public static Waypoint NearestWaypointTo(Vector2 position)
{
Waypoint nearest = null;
var minDist = float.PositiveInfinity;
for (int i = 0; i < AllWaypoints.Length; i++)
{
var wp = AllWaypoints[i];
var p = wp.transform.position;
var d = Vector2.Distance(position, p);
if (d < minDist && !BehaviorTreeNode.WallBetween(p, position))
{
nearest = wp;
minDist = d;
}
}
return(nearest);
}
public override STATUS Execute()
{
Debug.Log("[ProbabilityBT]");
STATUS finalStatus;
// This means that in the previous execution the choosen node
// returned RUNNING
if (mp_CurrentNode != null)
{
finalStatus = mp_CurrentNode.Execute();
if (finalStatus != STATUS.RUNNING)
{
mp_CurrentNode = null;
}
return(finalStatus);
}
Init();
float randomWeight = Random.Range(0f, mf_TotalWeigth);
float weightSum = 0f;
foreach (KeyValuePair <BehaviorTreeNode, float> weightTuple in md_WeightList)
{
weightSum += weightTuple.Value;
if (randomWeight <= weightSum)
{
mp_CurrentNode = weightTuple.Key;
finalStatus = mp_CurrentNode.Execute();
if (finalStatus != STATUS.RUNNING)
{
mp_CurrentNode = null;
}
return(finalStatus);
}
}
return(STATUS.ERROR);
}
/// <summary>
/// Initializes a new instance of the <see cref="CounterNode"/> class.
/// </summary>
/// <param name="child">The child node.</param>
/// <param name="maxCount">The number of times this node will be exectued.</param>
/// <param name="counterKey">Blackboard Property key for storing the current counter index.</param>
public CounterNode(BehaviorTreeNode child, int maxCount, string counterKey = null)
{
this.Child = child ?? throw new ArgumentNullException(nameof(child));
this.MaxCount = maxCount;
this.CounterKey = counterKey ?? Guid.ToString();
}
public override BehaviorTree Add(BehaviorTreeNode btNode)
{
Add (btNode, 1f);
return this;
}
public void Add(BehaviorTreeNode btNode, float weight)
{
md_WeightList.Add(new KeyValuePair<BehaviorTreeNode, float>(btNode, weight));
mf_TotalWeigth += weight;
}
public void AddChild(BehaviorTreeNode child)
{
ChildNodes = child;
}
public override void Init()
{
base.Init();
mp_CurrentNode = null;
}
//--------------------------------------------------
// Public Methods
//--------------------------------------------------
#region PUBLIC_METHODS
public virtual BehaviorTree Add(BehaviorTreeNode btNode)
{
ml_Nodes.Add(btNode);
return(this);
}
public virtual BehaviorTree Add(BehaviorTreeNode btNode)
{
ml_Nodes.Add(btNode);
return this;
}
