public void InterruptionTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Sequence("Sequence")
.Inverter("Inverter")
.Do("Reach limit", TestActions.ReachLimitAction)
.End()
.Wait("Wait 5 ticks", 5, tickProvider)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
for (var i = 0; i < 5; i++)
{
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
tickProvider.Tick();
}
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public void InvertRunningTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Inverter("Invert status")
.Wait("Increment counter 1", 3, tickProvider)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Failure, data.Statuses[root.Id]);
Assert.AreEqual(0, data.Stack.Count);
}
public void SelectorRunningTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Selector("Sequence")
.AlwaysFail("Fail increment")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.End()
.Wait("Wait 1 tick", 1, tickProvider)
.Do("Increment counter 2", TestActions.IncrementCounter2)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
Assert.AreEqual(0, data.Stack.Count);
}
public void RepeatUntilStatusReachedNodeTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.UntilSucceess("Repeat until success")
.Do("Reach limit", TestActions.ReachLimitAction)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(2, blackboard.Counter1);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(3, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_failedCountId] = 0;
data.Variables[_succeededCountId] = 0;
foreach (var node in Children)
{
executor.Start(data, node, this);
}
}
public void ActionTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Do("Increment counter 1", TestActions.IncrementCounter1)
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
var status = data.Statuses[root.Id];
Assert.AreEqual(BehaviourTreeStatus.Success, status);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public void Execute(Entity <TScope> entity)
{
var data = entity.Get <BehaviourTreeData <TScope> >();
var executionData = data.ExecutionData;
if (executionData == null)
{
executionData = _metadata.CreateExecutionData();
entity.Replace(new BehaviourTreeData <TScope>(data.BehaviourTree, executionData));
}
if (executionData.Stack.Count == 0)
{
_executor.Start(executionData, _root);
}
_executor.Tick(executionData, entity);
}
public void IfNodeFalseTest()
{
var root = new SimpleBehaviourTreeBuilder <TestBlackboard>()
.If("If false", TestActions.False)
.Do("Increment counter 1", TestActions.IncrementCounter1)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
var status = data.Statuses[root.Id];
Assert.AreEqual(BehaviourTreeStatus.Failure, status);
Assert.AreEqual(0, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public void SelectorSuccessTest()
{
var root = new SimpleBehaviourTreeBuilder <TestBlackboard>()
.Selector("Sequence")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.Do("Increment counter 2", TestActions.IncrementCounter2)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
Assert.AreEqual(0, data.Stack.Count);
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
var node = GetCurrentChild(execution);
if (execution.Statuses[node.Id] == BehaviourTreeStatus.Success)
{
executor.Stop(execution, this, BehaviourTreeStatus.Success);
return;
}
var currentChild = ++execution.Variables[_currentChildId];
if (currentChild == ChildrenCount)
{
executor.Stop(execution, this, BehaviourTreeStatus.Failure);
}
else
{
executor.Start(execution, GetCurrentChild(execution), this);
}
}
public void WaitNodeTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Wait("Increment counter 1", 3, tickProvider)
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
for (var i = 0; i < 3; i++)
{
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
}
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(0, data.Stack.Count);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
executor.Start(data, Node, this);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_currentChildId] = 0;
executor.Start(data, GetCurrentChild(data), this);
}