public override BTState Update()
{
BT selected;
if (lastContinue != null)
{
selected = lastContinue;
}
else
{
selected = child[UnityEngine.Random.Range(0, childSize - 1)];
}
BTState state = selected.Update();
if (state == BTState.CONTINUE)
{
lastContinue = selected;
}
else
{
lastContinue = null;
}
return(state);
}
static LandPredatorBrain()
{
FindAndAttackEnemyTree =
BT.Selector("Select Attacking",
BT.If("Looking for an enemy", PredatorBehaviors.FindEnemy,
BT.Selector("Try attacking",
BT.If("Ready For Attack", PredatorBehaviors.CheckAttacking,
BT.Selector("Attack Enemy",
BT.If("Try Wake Up", x => ((x.State == AnimalState.Sleeping || x.State == AnimalState.LyingDown) &&
x.Alertness < Animal.WakeUpAlertness, "sleeping/lying and alert"),
Anim(AnimalState.Idle, true, x => x.Species.TimeLayToStand)),
BT.If("Try Make Route", PredatorBehaviors.ChasePrey)
)
),
PredatorBehaviors.TryFleeing
)
));
LandPredatorTreeRoot =
BT.Selector("Land Predator Brain",
MovementBehaviors.Flee,
FindAndAttackEnemyTree,
FindAndEatCorpse,
LyingDownTree,
MovementBehaviors.TryReturnHome,
RelaxBehaviors.Relax,
MovementBehaviors.Wander,
RelaxBehaviors.Idle
);
}
private void OnEnable()
{
m_EnemyBehaviour = GetComponent <SupportBot>();
m_Animator = GetComponent <Animator>();
m_Ai.OpenBranch(
//BT.If(() => { return m_EnemyBehaviour.Target != null; }).OpenBranch(
// BT.Call(m_EnemyBehaviour.CheckTargetStillVisible),
// BT.Call(m_EnemyBehaviour.OrientToTarget),
// BT.If(() => { return m_EnemyBehaviour.CheckLaunchMode() == true; }).OpenBranch(
// BT.Call(() => { m_EnemyBehaviour.StartLaunch(true); })
// ),
// BT.If(() => { return m_EnemyBehaviour.CheckLaunchMode() == false; }).OpenBranch(
// BT.Call(() => { m_EnemyBehaviour.StartLaunch(false); })
// ),
// BT.Call(m_EnemyBehaviour.RememberTargetPos)
//),
BT.If(() => { return(m_EnemyBehaviour.Target == null); }).OpenBranch(
BT.RandomSequence().OpenBranch(
BT.Sequence().OpenBranch(
BT.SetBool(m_Animator, "Patrol", true),
BT.Call(() => m_EnemyBehaviour.SetFacingData(Random.Range(0f, 1f) > 0.5f ? -1 : 1))
),
BT.SetBool(m_Animator, "Patrol", false)
),
BT.Wait(Random.Range(3f, 5f))
)
);
}
IEnumerator LateStart()
{
yield return(new WaitUntil(delegate()
{
m_Arrester = Array.Find(
GameObject.FindGameObjectsWithTag("Character"),
delegate(GameObject go) { return go.GetComponent <Character>().GetID() == m_ArresterID; }
);
return m_Arrester != null;
}));
yield return(new WaitUntil(delegate()
{
m_Player = Array.Find(
GameObject.FindGameObjectsWithTag("Character"),
delegate(GameObject go) { return go.GetComponent <Character>().GetID() == 0; }
);
return m_Player != null;
}));
m_PlayerInitPos = m_Player.transform.position;
m_AI = GetComponent <AI>();
m_Tree = BT.Root();
m_Tree.OpenBranch(
BT.Call(m_AI.Stand),
BT.Call(m_AI.RotateTo)
);
}
/// <summary>
/// AI 小怪智能 行为树模式
/// </summary>
/// <param name="self"></param>
void TreeMonsterInit(MonsterBehaviorTreeComponent self)
{
self.root = BT.Root();
self.root.OpenBranch(
BT.Selector().OpenBranch(
BT.Sequence().OpenBranch(
BT.Call(self.GetParent <Unit>().GetComponent <AttackComponent>().CheckDeath),
BT.Send(self.GetParent <Unit>().GetComponent <AttackComponent>().GetExpAndCoin),
BT.Send(self.GetParent <Unit>().GetComponent <AttackComponent>().RemoveUnit)
),
BT.Selector().OpenBranch(
BT.Sequence().OpenBranch(
BT.Call(self.GetParent <Unit>().GetComponent <SeekComponent>().CheckSeekTarget),
BT.Selector().OpenBranch(
BT.Sequence().OpenBranch(
BT.Call(self.GetParent <Unit>().GetComponent <AttackComponent>().MonsterCheckAttackTarget),
BT.Send(self.GetParent <Unit>().GetComponent <AttackComponent>().AttackTarget)
),
BT.Send(self.GetParent <Unit>().GetComponent <SeekComponent>().SeekTarget)
)
),
BT.Sequence().OpenBranch(
BT.Send(self.GetParent <Unit>().GetComponent <RecoverComponent>().RecoverHp),
BT.Send(self.GetParent <Unit>().GetComponent <PatrolComponent>().UpdatePatrol)
)
)
)
);
}
// Use this for initialization
void Awake()
{
m_TargetToTrack = GameObject.FindGameObjectWithTag("Player").transform;
m_HashHitEffect = VFXController.StringToHash("CFX_Hit_Red");
m_HashDieEffect = VFXController.StringToHash("ExplodingHitEffectDark");
m_Animator = GetComponent <Animator>();
m_RigidBody2D = GetComponent <Rigidbody2D>();
m_SpriteRenderer = GetComponent <SpriteRenderer>();
//m_Damageable = GetComponent<Damageable>();
m_TargetPosition = m_TargetToTrack.transform.position;
//Behaviour tree
m_Ai.OpenBranch(
BT.If(() => { return((m_TargetPosition - transform.position).sqrMagnitude < 0.9f); }).OpenBranch(
BT.Call(() => m_Animator.ResetTrigger(m_HashWalkPara)),
BT.Call(() => SetHorizontalSpeed(0f)),
BT.Call(() => m_Animator.SetTrigger(m_HashAttackPara)),
BT.Wait(0.5f),
BT.WaitForAnimatorState(m_Animator, "MiniSoldier_Idle")
),
BT.If(() => { return((m_TargetPosition - transform.position).sqrMagnitude >= 0.9f); }).OpenBranch(
BT.Call(() => m_Animator.SetTrigger(m_HashWalkPara)),
BT.Call(() => SetHorizontalSpeed(1f))
),
BT.Call(() => m_TargetPosition = m_TargetToTrack.transform.position),
BT.Wait(0.5f),
BT.Call(OrientToTarget)
);
}
public void BT_GetRate_SuccessfulCall_ReturnsData()
{
BT unitUnderTest = new BT();
var result = unitUnderTest.getRate();
Assert.IsTrue(result.Count > 0 && result.Count % 4 == 0, ERR_MESSAGE);
}
public void TestEmptyTree()
{
/// Test empty tree
BT testTree = new BT();
Assert.Throws <NullReferenceException>(() => Program.IsBinaryTreeBalanced(testTree.Root));
}
public void MaxPathSum_OnTreeHoldingAllPositiveNodes()
{
int expected = 18;
int actual = BT.MaxPathSum(treeOne);
Assert.AreEqual(expected, actual);
}
public void TestHeightofNull()
{
/// Test empty tree
BT testTree = new BT();
Assert.Throws <NullReferenceException>(() => Program.CalculateBinaryTreeHeight(testTree.Root));
}
public void TestNonPerfectTree()
{
/// Test non perfect tree
BT testTree = new BT();
testTree.Root = new Nodeb(100);
Nodeb leftChild = new Nodeb(5);
testTree.Root.Left = leftChild;
Nodeb rightChild = new Nodeb(10);
testTree.Root.Right = rightChild;
Nodeb rightLeftRightChild = new Nodeb(12);
testTree.Root.Right.Left = rightLeftRightChild;
Nodeb rightRightChild = new Nodeb(15);
testTree.Root.Right.Right = rightRightChild;
Assert.Equal(2, Program.CalculateBinaryTreeHeight(testTree.Root));
}
public void TestHeightofThree()
{
/// Test height of three
BT testTree = new BT();
testTree.Root = new Nodeb(100);
Nodeb leftChild = new Nodeb(5);
testTree.Root.Left = leftChild;
Nodeb rightChild = new Nodeb(10);
testTree.Root.Right = rightChild;
Nodeb leftLeftChild = new Nodeb(15);
testTree.Root.Left.Left = leftLeftChild;
Nodeb leftRightChild = new Nodeb(20);
testTree.Root.Left.Right = leftRightChild;
Nodeb rightRightChild = new Nodeb(20);
testTree.Root.Right.Right = rightRightChild;
Nodeb leftLeftLeftChild = new Nodeb(15);
testTree.Root.Left.Left.Left = leftLeftLeftChild;
Assert.Equal(3, Program.CalculateBinaryTreeHeight(testTree.Root));
}
public void TestLevelofNull()
{
/// Test empty tree
BT testTree = new BT();
Assert.Throws <NullReferenceException>(() => Program.FindLevel(testTree));
}
public void TestLevelofThree()
{
/// Test height of three
BT testTree = new BT();
testTree.Root = new Nodeb(100);
Nodeb leftChild = new Nodeb(5);
testTree.Root.Left = leftChild;
Nodeb rightChild = new Nodeb(10);
testTree.Root.Right = rightChild;
Nodeb leftLeftChild = new Nodeb(15);
testTree.Root.Left.Left = leftLeftChild;
Nodeb leftRightChild = new Nodeb(20);
testTree.Root.Left.Right = leftRightChild;
Assert.Equal(3, Program.FindLevel(testTree));
}
public void stopTurn()
{
SteerOutput.Power = 0;
SteerOutput.TurnRatio = 0;
BT.SendCommand(SteerOutput.ToCommand());
}
public void MaxPathSum_OnTreeHoldingPositiveAndNegetiveNodes()
{
int expected = 6;
int actual = BT.MaxPathSum(treeTwo);
Assert.AreEqual(expected, actual);
}
protected override void Awake()
{
base.Awake();
this.contoller = new BTContoller
(
BT.Root
(
BT.Selector
(
BT.Sequence
(
BT.Call(SearchEnemy),
BT.Call(WaypointToTarget),
BT.Call(Move),
BT.Call(Attack)
)
,
BT.Sequence
(
BT.Call(FindWayPoint),
BT.Call(Move)
)
)
)
);
}
// Use this for initialization
void Start()
{
m_Animator = GetComponent <Animator>();
m_EnemyBehaviour = GetComponent <SimpleEnemyBehaviour>();
m_AI.OpenBranch(
BT.If(() => { return(m_EnemyBehaviour.CurrentTarget != null); }).OpenBranch(
BT.Call(m_EnemyBehaviour.CheckTargetStillVisible),
//Run to target
BT.If(() => { return(!m_EnemyBehaviour.CheckMeleeAttack()); }).OpenBranch(
BT.Call(() => m_EnemyBehaviour.RunToTarget(0.2f))
),
//Attack
BT.If(() => { return(m_EnemyBehaviour.CheckMeleeAttack()); }).OpenBranch(
BT.Call(m_EnemyBehaviour.StopPatrolling),
BT.Call(m_EnemyBehaviour.StopRunning),
BT.Call(m_EnemyBehaviour.PerformMeleeAttack),
BT.Wait(0.5f),
BT.WaitForAnimatorState(m_Animator, "MiniSoldier_Idle")
)
),
//Patrolling Around
BT.If(() => { return(m_EnemyBehaviour.CurrentTarget == null); }).OpenBranch(
BT.Call(m_EnemyBehaviour.ScanForTarget),
BT.Call(() => m_EnemyBehaviour.Patrolling(0.2f))
)
);
}
IEnumerator LateStart()
{
yield return(new WaitUntil(delegate()
{
m_Player = Array.Find(
GameObject.FindGameObjectsWithTag("Character"),
delegate(GameObject go) { return go.GetComponent <Character>().GetID() == 0; }
);
return m_Player != null;
}));
m_PlayerInitPos = m_Player.transform.position;
m_Character = GetComponent <Character>();
m_AI = GetComponent <AI>();
m_Tree = BT.Root();
m_Tree.OpenBranch(
BT.If(m_AI.InRange).OpenBranch(
BT.Sequence().OpenBranch(
BT.Call(m_AI.Punch),
BT.While(m_AI.ActionPlaying).OpenBranch(
BT.Call(m_AI.RotateTo)
)
)
),
BT.If(m_AI.OutOfRange).OpenBranch(
BT.Call(m_AI.Walk),
BT.Call(m_AI.RotateTo)
)
);
}
/// <summary>
/// Take in a binary tree and traverses it using breadth first principles, using a queue
/// </summary>
/// <param name="tree">binary tree</param>
/// <returns> list of tree nodes in breadth first order</returns>
public static List <int> BreadthFirst(BT tree)
{
List <int> list = new List <int>();
Queue bfQueue = new Queue();
bfQueue.Enqueue(tree.Root);
if (tree.Root == null)
{
return(null);
}
while (bfQueue.Front != null)
{
Nodeb temp = bfQueue.Dequeue();
list.Add(temp.Value);
Console.Write($" {temp.Value} =>");
if (temp.Left != null)
{
bfQueue.Enqueue(temp.Left);
}
if (temp.Right != null)
{
bfQueue.Enqueue(temp.Right);
}
}
return(list);
}
public void CheckBT(string textStream)
{
string[] entries = textStream.Split(new char[] { '\n' }, System.StringSplitOptions.RemoveEmptyEntries);
BTAchieveList = new BT[entries.Length];
for (int i = 0; i < entries.Length; i++)
{
string[] entryInfo = entries[i].Split(new char[] { '|' });
string username = entryInfo[0];
int beaten = int.Parse(entryInfo[1]);
BTAchieveList[i] = new BT(username, beaten);
if (PlayerPrefs.GetString("Username") + beat == BTAchieveList[i].username)
{
gotUserBT = true;
if (BTAchieveList [i].beaten == 1)
{
Color c = ten.color;
c.a = 1f;
ten.color = c;
}
else if (gotUserBT == false)
{
Color c = ten.color;
c.a = 0.5f;
ten.color = c;
}
}
else if (gotUserBT == false)
{
Color c = collision.color;
c.a = 0.5f;
ten.color = c;
}
}
}
public static void Main(string[] args)
{
Console.WriteLine("Hello World!");
BT tree = new BT();
tree.Root = new Nodeb(100);
Nodeb leftChild = new Nodeb(5);
tree.Root.Left = leftChild;
Nodeb rightChild = new Nodeb(10);
tree.Root.Right = rightChild;
Nodeb leftLeftLeaf = new Nodeb(15);
tree.Root.Left.Left = leftLeftLeaf;
Nodeb leftRightLeaf = new Nodeb(20);
tree.Root.Left.Right = leftRightLeaf;
Nodeb rightLeftLeaf = new Nodeb(30);
tree.Root.Right.Left = rightLeftLeaf;
Nodeb rightRightLeaf = new Nodeb(35);
tree.Root.Right.Right = rightRightLeaf;
BreadthFirst(tree);
Console.ReadLine();
}
protected override void Start()
{
base.Start();
skillReaderList.Add(new SkillReader(SkillManager.FindSkill("FrogGeneralAttack")));
BT BTAttack = BT.Sequence
(
BT.Call(GeneralAttack)
);
BT BTPatrol = BT.Sequence
(
BT.Success(BT.Call(RandomWayPoint)),
BT.Success(BT.Call(FindAroundEnemy)),
BT.Condition(() => { return(!isFoundEnemy); }, BT.Call(Move))
);
AI = BT.Root
(
BT.Sequence
(
BT.Success(BT.Call(FindAroundEnemy)),
BT.Selector
(
BT.Condition(() => { return(isFoundEnemy); }, BTAttack),
BT.Probability(0.3f * Time.fixedDeltaTime, BTPatrol)
)
)
);
moveMaxDelay = new Delay();
}
public void TestMaxOnEmptyTree()
{
/// Test when maximum value is root
BT testTree = new BT();
Assert.Throws <NullReferenceException>(() => Program.FindMaxValue(testTree));
}
private void OnEnable()
{
m_Dead = false;
m_Collider.enabled = true;
bossAudio.PlayAudio(end, 1);
m_Ai.OpenBranch(
BT.RandomSequence(new int[] { 2, 6, 1 }).OpenBranch(
BT.Root().OpenBranch(
BT.SetBool(m_Animator, "Walk 1", true),
BT.Wait(Random.Range(1f, 2f)),
BT.SetBool(m_Animator, "Walk 1", false),
BT.WaitForAnimatorState(m_Animator, "Idle 1")
),
BT.Root().OpenBranch(
BT.If(() => { return(CheckMeleeAttack()); }).OpenBranch(
BT.Wait(0.2f),
BT.WaitForAnimatorState(m_Animator, "Idle 1")
)
),
BT.Repeat(stage1StrafeTimes).OpenBranch(
BT.Call(OrientToTarget),
BT.Trigger(m_Animator, "RangeAttack 1"),
BT.Wait(0.2f),
BT.WaitForAnimatorState(m_Animator, "Idle 1"),
BT.Wait(strafeInterval)
)
)
);
tick = true;
}
static LandPredatorBrain()
{
PredatorTreeRoot = BT.Selector(
LandAnimalBrain.LyingDownTree,
BT.If(x => x.Alertness > LandAnimalBrain.AlertThreshold && x.Alertness < LandAnimalBrain.FullyAlertThreshold && x.AnimationState != AnimalAnimationState.Flee && x.AnimationState != AnimalAnimationState.AlertIdle && x.OnFlatGround,
// play an alert reaction before fleeing and intermittently while alert
PlayFixedTimeAnimation(AnimalAnimationState.AlertIdle, LandAnimalBrain.AlertIdleTime)),
MovementBehaviors.Flee,
GroupBehaviors.SleepNearLeader,
BT.If(x => x.Hunger > HungerThreshold,
BT.Selector(
TryEatNearbyCorpses,
new HuntMemoryBehavior()
{
NoNearbyFoodBehavior = LandAnimalBrain.LandAnimalFindFood
})),
GroupBehaviors.StayNearLeader(10f),
//TODO: show a failed chase if there are no corpses neary to eat
BT.If(MovementBehaviors.ShouldReturnHome,
MovementBehaviors.WanderHome),
BT.If(x => x.Alertness < Animal.FleeThreshold && RandomUtil.Chance(LandAnimalBrain.ChanceToLieDown) && x.OnFlatGround,
PlayAnimation(AnimalAnimationState.LyingDown, LandAnimalBrain.LyingTickDuration)),
BT.If(x => RandomUtil.Chance(LandAnimalBrain.ChanceToIdle) && x.OnFlatGround,
PlayAnimation(AnimalAnimationState.Idle, _ => RandomUtil.Range(LandAnimalBrain.MinIdleTime, LandAnimalBrain.MaxIdleTime))),
MovementBehaviors.Wander);
}
private void OnEnable()
{
points = GameObject.FindGameObjectsWithTag("WanderPoints"); //wander function
randomwaittime = UnityEngine.Random.Range(1, 5);
aiRoot.OpenBranch(BT.If(Playerisvisible).OpenBranch(BT.Call(Chase)), BT.If(Playerisnotvisible).OpenBranch(BT.Call(Walk)));
}
static LandAnimalBrain()
{
LyingDownTree =
BT.If("Lying", animal => (animal.LyingDown(), "currently lying"),
BT.Selector("Select Lying",
BT.If("Try Getup", x => ((x.State == AnimalState.Sleeping || x.State == AnimalState.LyingDown) && x.Alertness >= Animal.WakeUpAlertness, "sleeping/lying and alert"),
Anim(AnimalState.Idle, true, x => x.Species.TimeLayToStand)), // waking up takes time, start the transition animation then decide what to do next tick
BT.If("Try Flee", x => (x.Alertness > Animal.FleeThreshold, $"{x.Alertness} alert > {Animal.FleeThreshold} flee"),
Anim(AnimalState.Flee, false, x => x.Species.TimeLayToStand)),
BT.If("Try Hungry", x => (x.Hunger > HungerToStartEating, $"{x.Hunger} hunger > {HungerToStartEating}"),
Anim(AnimalState.Idle, true, x => x.Species.TimeLayToStand)),
RelaxBehaviors.TrySleep,
RelaxBehaviors.RandomWake,
Anim(AnimalState.LyingDown, true, _ => RandomUtil.Range(MinLyingIdleTime, MaxLyingIdleTime))));
LandAnimalTreeRoot =
BT.Selector("Land Animal",
LyingDownTree,
PerceptionBehaviors.Alert,
MovementBehaviors.Flee,
FindAndEatPlants,
MovementBehaviors.TryReturnHome,
RelaxBehaviors.Relax,
MovementBehaviors.Wander,
RelaxBehaviors.Idle);
}
/// <summary>
/// start the behaviourtree assigned to NPC
/// </summary>
private void InitializeBehaviourTree()
{
// Contains useful data for the behavior tree
DataModel d = new DataModel(this);
_bt = AIFactory.Instance.CreateBehaviourTree(Difficulty, d);
}
// Use this for initialization
void Awake()
{
DieEffectHash = VFXController.StringToHash("Smoke");
rigidbody2D = GetComponent <Rigidbody2D>();
animator = GetComponent <Animator>();
rmx6Moving = GetComponent <rmx6Moving>();
oldVelocity = new Vector2(0, 0);
die = false;
rmx6_BT.OpenBranch(
BT.If(() => { return(targetInRange); }).OpenBranch(
BT.Call(() => animator.SetBool("walk", true)),
BT.WaitForAnimatorState(animator, "rmx6_walking"),
//BT.Wait(0.3f),
BT.Call(() => { if (!die)
{
rmx6Moving.canWalk = true;
}
})
),
BT.If(() => { return(!targetInRange); }).OpenBranch(
BT.Call(() => animator.SetBool("walk", false)),
BT.Call(() => animator.SetBool("hide", true)),
BT.WaitForAnimatorState(animator, "rmx6_hiding"),
//BT.Wait(0.3f),
BT.Call(() => rmx6Moving.canWalk = false)
)
);
}