public static Leaf RepeatUntilFail(Leaf leaf)
{
return(() =>
{
State leafState = leaf();
switch (leafState)
{
case State.SUCCESS: return RepeatUntilFail(leaf)();
case State.FAILURE: return State.SUCCESS;
default: return leafState;
}
});
}
public void Node_Succeeds()
{
RepeatUntilFail cud = Create_Repeater(false);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Success);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Success);
}
private RepeatUntilFail Create_Repeater(bool yieldable)
{
FakeProcesses set = new FakeProcesses(NodeStatus.Success, NodeStatus.Running, NodeStatus.Failure);
RepeatUntilFail cud = new RepeatUntilFail(set, yieldable);
return(cud);
}
public void Reset_The_Yieldable()
{
RepeatUntilFail cud = Create_Repeater(true);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Running);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Running);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Success);
TestHelper.AssertResult <RepeatUntilFail>(cud, NodeStatus.Success);
cud.Reset();
}
private Sequence AggressiveAI()
{
BehaviorAction stop = new BehaviorAction(aiToTarget.Stop);
Sequence sequenceShootWhileMove = new Sequence(Shoot(), DoTransitionBehavior());
RepeatUntilFail followPathLoop = new RepeatUntilFail(sequenceShootWhileMove);
RepeatUntilFail stopLoop = new RepeatUntilFail(stop);
IndexSelector minDistance = new IndexSelector(MinDistanceReached, stopLoop, followPathLoop);
return(new Sequence(Shoot(), new StatefulSequence(CalculatePath(aiToTarget.CalculatePath), minDistance)));
}
private Sequence DefensiveAI()
{
Conditional targetAlive = new Conditional(aiWeapon.TargetAlive);
Conditional aiIsOnTransitionOrDodge = new Conditional(aiToTarget.OnTransitionOrDodge);
Conditional isBreakValid = new Conditional(aiToTarget.IsBreakValid);
Conditional canIShoot = new Conditional(aiWeapon.IsTargetHittable);
Selector shootSelect = new Selector(new Inverter(targetAlive), canIShoot, aiIsOnTransitionOrDodge);
StatefulSelector stayOrMove = new StatefulSelector(isBreakValid, DoTransitionBehavior());
Sequence shootAndOrMove = new Sequence(stayOrMove, shootSelect);
RepeatUntilFail followPathLoop = new RepeatUntilFail(shootAndOrMove);
return(new Sequence(new Sequence(Dodge(), Shoot()), new StatefulSequence(CalculatePath(aiToTarget.CalculatePathToUpperNode), followPathLoop)));
}
// Use this for initialization
void Start ()
{
mRoot = new RepeatUntilFail(null);
//Level 0 (Not normally a thing but I didnt think it through ...
//normally starts at root then level 1 comes next
Sequence l0_sequence = new Sequence(mRoot);
//level 1
GetStackOfPOIs l1_getStack = new GetStackOfPOIs(l0_sequence, "poiStack");
RepeatUntilFail l1_RepeatUntilFail = new RepeatUntilFail(l0_sequence);
SpawnPOIs l1_spawnPOIs = new SpawnPOIs(l0_sequence, mPOIPrefab);
//level 2
Sequence l2_sequence = new Sequence(l1_RepeatUntilFail);
//level 3
Inverter l3_inverter = new Inverter(l2_sequence);
RepeatUntilFail l3_ruf = new RepeatUntilFail(l2_sequence);
WalkToObject l3_walkToObject = new WalkToObject(l2_sequence, "Basket");
DropPOI l3_dropPOI = new DropPOI(l2_sequence);
//level 4
IsStackEmpty l4_isStackEmpty = new IsStackEmpty(l3_inverter, "poiStack");
Sequence l4_sequence = new Sequence(l3_ruf);
//level 5
CanCarryPOI l5_canCarry = new CanCarryPOI(l4_sequence);
Sequence l5_sequence = new Sequence(l4_sequence);
//level 6
PopFromStack l6_popFromStack = new PopFromStack(l5_sequence, "poiStack", "item");
WalkToPOI l6_walkTo = new WalkToPOI(l5_sequence, "item");
PickupPOI l6_pickup = new PickupPOI(l5_sequence, "item");
if(mBehaveOnStart) Begin();
}
public BTGuard(Guard ownerBrain) : base(ownerBrain)
{
// Actions
chaseAction = new Chase(NodeOwner);
investigateAction = new Investigate(NodeOwner);
lookAroundAction = new LookAround(NodeOwner);
moveToNextPatrolPointAction = new MoveToPatrolPoint(NodeOwner);
chooseNextPatrolPointAction = new ChooseNextPatrolPoint(NodeOwner);
catchSpyAction = new CatchSpy(NodeOwner);
// Conditions
canIHearSpyCondition = new CanIHearSpy(NodeOwner);
canISeeSpyCondition = new CanISeeSpy(NodeOwner);
haveIArrivedToThePatrolPointCondition = new HaveIArrivedToThePatrolPoint(NodeOwner);
haveIFinishedLookingAroundCondition = new HaveIFinishedLookingAround(NodeOwner);
amIChasingCondition = new AmIChasing(NodeOwner);
haveIFinishedInvestigatingCondition = new HaveIFinishedInvestigating(NodeOwner);
canICatchSpyCondition = new CanICatchSpy(NodeOwner);
// Composites
rootSequence = new Sequence();
patrolSequence = new Sequence();
patrolParallel = new Parallel(3, 1);
chaseParallel = new Parallel(3, 1);
chaseSequence = new PrioritisedSequence();
engageSelector = new Selector();
patrolSelector = new Selector();
investigationParallel = new Parallel(3, 1);
investigationSequence = new Sequence();
hearChaseSequence = new Sequence();
seeChaseSequence = new Sequence();
// Decorators
repeatUntilFailDecoratorForPatrolSequence = new RepeatUntilFail(patrolSequence);
// Tree Structure
// Tree level 0
rootSequence.AddChildNode(patrolSelector);
rootSequence.AddChildNode(engageSelector);
// Tree level 1
patrolSelector.AddChildNode(amIChasingCondition);
patrolSelector.AddChildNode(patrolParallel);
engageSelector.AddChildNode(chaseParallel);
engageSelector.AddChildNode(investigationParallel);
// Tree level 2
patrolParallel.AddChildNode(repeatUntilFailDecoratorForPatrolSequence);
patrolParallel.AddChildNode(canIHearSpyCondition);
patrolParallel.AddChildNode(canISeeSpyCondition);
chaseParallel.AddChildNode(chaseSequence);
chaseParallel.AddChildNode(hearChaseSequence);
chaseParallel.AddChildNode(seeChaseSequence);
investigationParallel.AddChildNode(investigationSequence);
investigationParallel.AddChildNode(canIHearSpyCondition);
investigationParallel.AddChildNode(canISeeSpyCondition);
// Tree level 3
patrolSequence.AddChildNode(moveToNextPatrolPointAction);
patrolSequence.AddChildNode(haveIArrivedToThePatrolPointCondition);
patrolSequence.AddChildNode(lookAroundAction);
patrolSequence.AddChildNode(haveIFinishedLookingAroundCondition);
patrolSequence.AddChildNode(chooseNextPatrolPointAction);
chaseSequence.AddChildNode(chaseAction);
chaseSequence.AddChildNode(canICatchSpyCondition);
chaseSequence.AddChildNode(catchSpyAction);
hearChaseSequence.AddChildNode(canIHearSpyCondition);
hearChaseSequence.AddChildNode(chaseAction);
seeChaseSequence.AddChildNode(canISeeSpyCondition);
seeChaseSequence.AddChildNode(chaseAction);
investigationSequence.AddChildNode(investigateAction);
investigationSequence.AddChildNode(haveIFinishedInvestigatingCondition);
}
