static BehaviorTreeDesc BuildTreeDesc()
{
var builder = new BehaviorTreeBuilder();
builder.Composite <SequenceTaskDesc>()
.AppendChild(builder.Leaf <LogTaskDesc>(
d => d.Message = "Start"))
.AppendChild(builder.Leaf <WaitTimerTaskDesc>(
d => d.Time = new VariableDesc(VariableType.UInteger, VariableSource.LiteralConstant, "3000")))
.AppendChild(builder.Leaf <LogTaskDesc>(d =>
d.Message = "End"));
return(builder.Build());
}
void Start()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
builder.Sequence("sequence1");
builder.Action("action1", Action01);
builder.Action("action2", Action02);
builder.Sequence("sequence02");
builder.Action("action03", Action03);
builder.Action("action04", Action04);
builder.End();
builder.Action("Action05", Action05);
builder.Action("Action06", Action06);
builder.End();
tree = builder.Build();
}
BehaviorTreeDesc IBehaviorTreeLoader.LoadTree(string path)
{
var builder = new BehaviorTreeBuilder();
switch (path)
{
case "Log":
{
builder.Leaf <LogTaskDesc>(d => d.Message = "Log");
break;
}
case "WaitTimer":
{
builder.Composite <SequenceTaskDesc>()
.AppendChild(builder.Leaf <DumpLogTaskDesc>(
d => d.Text = "Start"))
.AppendChild(builder.Leaf <WaitTimerTaskDesc>(
d => d.Time = new VariableDesc(VariableType.UInteger, VariableSource.LiteralConstant, "3000")))
.AppendChild(builder.Leaf <DumpLogTaskDesc>(d =>
d.Text = "CheckPoint1"))
.AppendChild(builder.Leaf <WaitTimerTaskDesc>(
d => d.Time = new VariableDesc(VariableType.UInteger, VariableSource.TreeOwnerProperty, "uint.3000")))
.AppendChild(builder.Leaf <DumpLogTaskDesc>(d =>
d.Text = "CheckPoint2"))
.AppendChild(builder.Leaf <WaitTimerTaskDesc>(
d => d.Time = new VariableDesc(VariableType.UInteger, VariableSource.GlobalConstant, "uint.5000")))
.AppendChild(builder.Leaf <DumpLogTaskDesc>(d =>
d.Text = "End"));
break;
}
case "ConditionEvaluator1":
{
builder.Composite <SelectorTaskDesc>()
.AppendChild(builder.Leaf <ConditionalEvaluatorTaskDesc>(d =>
{
d.Left = new VariableDesc(VariableType.UInteger, VariableSource.GlobalConstant, "uint.5000");
d.Op = ComparisonOperator.LessThan;
d.Right = new VariableDesc(VariableType.UInteger, VariableSource.LiteralConstant, "100");
}))
.AppendChild(builder.Leaf <ConditionalEvaluatorTaskDesc>(d =>
{
d.Left = new VariableDesc(VariableType.Float, VariableSource.GlobalConstant, "float.pi");
d.Op = ComparisonOperator.GreaterThan;
d.Right = new VariableDesc(VariableType.Float, VariableSource.LiteralConstant, "4");
}))
.AppendChild(builder.Leaf <ConditionalEvaluatorTaskDesc>(d =>
{
d.Left = new VariableDesc(VariableType.Float, VariableSource.GlobalConstant, "float.pi");
d.Op = ComparisonOperator.Equal;
d.Right = new VariableDesc(VariableType.Float, VariableSource.GlobalConstant, "float.pi");
}));
}
break;
default:
throw new KeyNotFoundException(path);
}
return(builder.Build());
}