public BehaviorTree BuildBehavior3TreeFromConfig(string path)
{
Behavior3TreeCfg cfg = LoadBehavior3TreeCfg(path);
var tree = new BehaviorTree();
tree.Initialize();
tree.Load(cfg);
return(tree);
}
public Behavior3TreeCfg LoadBehavior3TreeCfg(string path)
{
var res = new Behavior3TreeCfg();
using (StreamReader reader = new StreamReader(path))
{
string json = reader.ReadToEnd();
res = JsonConvert.DeserializeObject <Behavior3TreeCfg>(json);
}
return(res);
}
/**
* This method loads a Behavior Tree from a data structure, populating this
* object with the provided data. Notice that, the data structure must
* follow the format specified by Behavior3JS. Consult the guide to know
* more about this format.
*
* You probably want to use custom nodes in your BTs, thus, you need to
* provide the `names` object, in which this method can find the nodes by
* `names[NODE_NAME]`. This variable can be a namespace or a dictionary,
* as long as this method can find the node by its name, for example:
*
* //json
* ...
* 'node1': {
* 'name': MyCustomNode,
* 'title': ...
* }
* ...
*
* //code
* var bt = new b3.BehaviorTree();
* bt.load(data, {'MyCustomNode':MyCustomNode})
*
*
* @method load
* @param {Object} data The data structure representing a Behavior Tree.
* @param {Object} [names] A namespace or dict containing custom nodes.
**/
public void Load(Behavior3TreeCfg data)
{
this.title = data.title;
this.description = data.description;
this.properties = data.properties;
this.dumpinfo = data;
Dictionary <string, BaseNode> nodes = new Dictionary <string, BaseNode>();
Behavior3NodeCfg spec;
BaseNode node;
foreach (KeyValuePair <string, Behavior3NodeCfg> kv in data.nodes)
{
spec = kv.Value;
node = Behavior3Factory.singleton.CreateBehavior3Instance(spec.name);
if (node == null)
{
throw new Exception("BehaviorTree.load: Invalid node name:" + spec.name);
}
node.Initialize(spec);
nodes[spec.id] = node;
}
foreach (KeyValuePair <string, Behavior3NodeCfg> kv in data.nodes)
{
spec = kv.Value;
node = nodes[spec.id];
var category = node.GetCategory();
if (category == Constants.COMPOSITE && spec.children.Count > 0)
{
for (int i = 0; i < spec.children.Count; i++)
{
Composite comp = (Composite)node;
comp.AddChild(nodes[spec.children[i]]);
}
}
else if (category == Constants.DECORATOR && spec.child.Length > 0)
{
Decorator dec = (Decorator)node;
dec.SetChild(nodes[spec.child]);
}
}
this.root = nodes[data.root];
}
