/// <summary>
/// Adds a type of <see cref="State"/> with a sub-state machine in it and its transition to the entry state
/// </summary>
/// <param name="stateName">The name of the state</param>
/// <param name="subBehaviourEngine">The sub behaviour engine inside the state. It will enter in the entry state of the sub behaviour engine</param>
public State CreateSubStateMachine(string stateName, BehaviourEngine subBehaviourEngine)
{
State stateTo = subBehaviourEngine.GetEntryState();
State state = new State(stateName, subBehaviourEngine.GetState("Entry_Machine"), stateTo, subBehaviourEngine, this);
states.Add(state.Name, state);
return(state);
}
/// <summary>
/// Adds a type of <see cref="LeafNode"/> with a sub-behaviour engine in it and its transition to the entry state
/// </summary>
/// <param name="stateName">The name of the state</param>
/// <param name="subBehaviourTree">The sub-behaviour tree inside the </param>
public LeafNode CreateSubBehaviour(string nodeName, BehaviourEngine subBehaviourEngine)
{
State stateTo = subBehaviourEngine.GetEntryState();
State state = new State(nodeName, subBehaviourEngine.GetState("Entry_Machine"), stateTo, subBehaviourEngine, this);
LeafNode leafNode = new LeafNode("Node to return", state, this);
subBehaviourEngine.NodeToReturn = leafNode;
states.Add(leafNode.StateNode.Name, leafNode.StateNode);
return(subBehaviourEngine.NodeToReturn);
}
/// <summary>
/// Adds a type of <see cref="UtilityAction"/> with a sub-behaviour engine in it and its transition to the entry state
/// </summary>
/// <param name="actionName">The name of the action</param>
/// <param name="factor">The factor that gives the utility value to the action</param>
/// <param name="subBehaviourEngine">The sub-behaviour tree inside the </param>
public UtilityAction CreateSubBehaviour(string actionName, Factor factor, BehaviourEngine subBehaviourEngine)
{
if (!states.ContainsKey(actionName))
{
State stateTo = subBehaviourEngine.GetEntryState();
State state = new State(actionName, subBehaviourEngine.GetState("Entry_Machine"), stateTo, subBehaviourEngine, this);
UtilityAction utilAction = new UtilityAction(state, factor, this, subBehaviourEngine);
states.Add(utilAction.utilityState.Name, utilAction.utilityState);
actions.Add(utilAction);
return(utilAction);
}
else
{
throw new DuplicateWaitObjectException(actionName, "The utility action already exists in the utility engine");
}
}
