private void Start()
{
_target = transform;
_behaviorTree = new SimpleBehaviorTree(gameObject);
// ポイント1へ向かっているかの分岐
ConditionalNode condition = new ConditionalNode((owner) =>
{
return(_forPoint1 ? BehaviorStatus.Sucess : BehaviorStatus.Failure);
});
#region ### ポイント1への移動 ###
ActionNode rotateToPoint1 = new ActionNode((owner) =>
{
_target.LookAt(_point1);
return(BehaviorStatus.Sucess);
});
ActionNode movetoPoint1 = new ActionNode((owner) =>
{
Vector3 dir = (_point1.position - _target.position).normalized;
_target.position += dir * _speed;
const float ep = 0.1f;
Vector3 dv = _point1.position - _target.position;
if (Mathf.Abs(dv.x) <= ep && Mathf.Abs(dv.y) <= ep && Mathf.Abs(dv.z) <= ep)
{
_forPoint1 = false;
return(BehaviorStatus.Sucess);
}
return(BehaviorStatus.Running);
});
Sequencer seq1 = new Sequencer();
seq1.NeedsConditionalAbort = true;
seq1.AddNodes(condition, rotateToPoint1, movetoPoint1);
#endregion ### ポイント1への移動 ###
#region ### ポイント2への移動 ###
ActionNode rotateToPoint2 = new ActionNode((owner) =>
{
_target.LookAt(_point2);
return(BehaviorStatus.Sucess);
});
ActionNode movetoPoint2 = new ActionNode((owner) =>
{
Vector3 dir = (_point2.position - _target.position).normalized;
_target.position += dir * _speed;
_target.Rotate(Vector3.up, 1f);
const float ep = 0.1f;
Vector3 dv = _point2.position - _target.position;
if (Mathf.Abs(dv.x) <= ep && Mathf.Abs(dv.y) <= ep && Mathf.Abs(dv.z) <= ep)
{
_forPoint1 = true;
return(BehaviorStatus.Sucess);
}
return(BehaviorStatus.Running);
});
Sequencer seq2 = new Sequencer();
seq2.NeedsConditionalAbort = true;
seq2.AddNodes(rotateToPoint2, movetoPoint2);
#endregion ### ポイント2への移動 ###
// 定義したビヘイビアを設定
Selector selector = new Selector();
selector.AddNodes(seq1, seq2);
Repeater repeater = new Repeater();
repeater.AddNode(selector);
_behaviorTree.SetRootNode(repeater);
_behaviorTree.Start();
}
