private void CreateFiniteStateMachine()
{
stateMachine = new StateMachineEngine(false);
arriveToHouse = stateMachine.CreatePerception <ArriveToDestination>(new ArriveToDestination());
arriveToHouse.SetDestination(housePoint.position);
ValuePerception enemyNear = stateMachine.CreatePerception <ValuePerception>(() => Vector3.Distance(transform.position, badBoy.transform.position) < 8);
BehaviourTreeStatusPerception enterTheHouse = stateMachine.CreatePerception <BehaviourTreeStatusPerception>(behaviourTree, ReturnValues.Succeed);
pointToRun = stateMachine.CreatePerception <ArriveToDestination>(new ArriveToDestination());
State goToHouse = stateMachine.CreateEntryState("Go to house", ToHouse);
State subBehaviourTree = stateMachine.CreateSubStateMachine("Sub behaviour tree", behaviourTree);
State runAway = stateMachine.CreateState("Run away", RunAway);
State enterHouse = stateMachine.CreateState("Enter in house", EnterHouse);
stateMachine.CreateTransition("To enter the house", goToHouse, arriveToHouse, subBehaviourTree);
stateMachine.CreateTransition("To run away", goToHouse, enemyNear, runAway);
behaviourTree.CreateExitTransition("Run away", subBehaviourTree, enemyNear, runAway);
behaviourTree.CreateExitTransition("Enter the house", subBehaviourTree, enterTheHouse, enterHouse);
stateMachine.CreateTransition("Stop running", runAway, pointToRun, goToHouse);
}
private void CreateStateMachine()
{
radarFSM = new StateMachineEngine(false);
// Perceptions
Perception direct = radarFSM.CreatePerception <PushPerception>();
Perception breakDown = radarFSM.CreatePerception <TimerPerception>(30);
Perception fix = radarFSM.CreatePerception <TimerPerception>(15);
// States
State entryState = radarFSM.CreateEntryState("Entry State");
State workingState = radarFSM.CreateSubStateMachine("Working", workingSubFSM);
brokenState = radarFSM.CreateState("Broken", Broken);
// Transitions
radarFSM.CreateTransition("Direct", entryState, direct, workingState);
workingSubFSM.CreateExitTransition("To broken", workingState, breakDown, brokenState);
radarFSM.CreateTransition("To working", brokenState, fix, workingState);
radarFSM.Fire("Direct");
}