public Task buildTree()
{
List <Task> tasks = new List <Task>();
// if !locked, open door
Task checkLock = new doorUnlocked(door);
Task waitASec = new Wait(1f);
Task openDoor = new OpenDoor(door);
tasks.Add(checkLock);
tasks.Add(waitASec);
tasks.Add(openDoor);
Sequence openUnlockedDoor = new Sequence(tasks);
// barge it
tasks = new List <Task>();
Task checkDoorClosed = new doorClosed(door);
Task bargeIt = new BargeDoor(door);
tasks.Add(checkDoorClosed);
tasks.Add(waitASec);
tasks.Add(bargeIt);
Sequence bargeClosedDoor = new Sequence(tasks);
// ways to open a closed door
tasks = new List <Task>();
tasks.Add(openUnlockedDoor);
tasks.Add(bargeClosedDoor);
Selector openIt = new Selector(tasks);
// get the cheese when door closed
tasks = new List <Task>();
Task toDoor = new MoveToDoor(mouse, door);
Task toTarget = new MoveToTarget(mouse, cheese);
tasks.Add(toDoor);
tasks.Add(waitASec);
tasks.Add(openIt);
tasks.Add(waitASec);
tasks.Add(toTarget);
Sequence reachTargetBehindClosedDoor = new Sequence(tasks);
// get the cheese when door is open
tasks = new List <Task>();
Task checkDoorOpen = new doorOpen(door);
tasks.Add(checkDoorOpen);
tasks.Add(toTarget);
Sequence reachTargetBehindOpenDoor = new Sequence(tasks);
// get that cheese
tasks = new List <Task>();
tasks.Add(reachTargetBehindOpenDoor);
tasks.Add(reachTargetBehindClosedDoor);
Selector reachTarget = new Selector(tasks);
return(reachTarget);
}
public ITask ConfigureBehavior()
{
List <ITask> moveToOpenRoom = new List <ITask>();
ITask CheckOpenDoor = new isDoorOpen(door);
ITask MoveIntoRoom = new MoveToTarget();
moveToOpenRoom.Add(CheckOpenDoor);
moveToOpenRoom.Add(MoveIntoRoom);
Sequence moveToOpenRoomSeq = new Sequence(moveToOpenRoom);
List <ITask> tryToOpenDoor = new List <ITask>();
ITask isUnlocked = new isDoorUnlocked(door);
ITask openDoor = new OpenDoor(door);
tryToOpenDoor.Add(isUnlocked);
tryToOpenDoor.Add(openDoor);
ITask tryToOpenSeq = new Sequence(tryToOpenDoor);
List <ITask> breakLockedDoor = new List <ITask>();
ITask doorClosed = new isDoorClosed(door);
ITask bargeDoor = new BargeDoor(door);
breakLockedDoor.Add(doorClosed);
breakLockedDoor.Add(bargeDoor);
ITask breakDoor = new Sequence(breakLockedDoor);
List <ITask> interactWithDoor = new List <ITask>();
interactWithDoor.Add(tryToOpenSeq);
interactWithDoor.Add(breakDoor);
ITask interact = new Selector(interactWithDoor);
List <ITask> moveToDoor = new List <ITask>();
ITask goToDoor = new MoveToDoor();
ITask goToRoom = new MoveToTarget();
moveToDoor.Add(goToDoor);
moveToDoor.Add(interact);
moveToDoor.Add(goToRoom);
ITask moveToClosedRoomSeq = new Sequence(moveToDoor);
List <ITask> taskList = new List <ITask>();
taskList.Add(moveToOpenRoomSeq);
taskList.Add(moveToClosedRoomSeq);
ITask root = new Selector(taskList);
return(root);
}
