public void InitBehaviourTree()
{
// ********************
// Initialise Blackboard and store data for later use
// ********************
bb = new Blackboard();
bb.AddData(_agentData.EnemyFlagName, GameObject.Find(_agentData.EnemyFlagName));
bb.AddData(_agentData.FriendlyFlagName, GameObject.Find(_agentData.FriendlyFlagName));
bb.AddData(_agentData.EnemyBase.name, GameObject.Find(_agentData.EnemyBase.name));
bb.AddData(_agentData.FriendlyBase.name, GameObject.Find(_agentData.FriendlyBase.name));
bb.AddData(Names.HealthKit, GameObject.Find(Names.HealthKit));
bb.AddData(Names.PowerUp, GameObject.Find(Names.PowerUp));
bb.AddData("HasEnemyFlag", _agentData.HasEnemyFlag);
bb.AddData("HasFriendlyFlag", _agentData.HasFriendlyFlag);
bb.AddData("EnemyFlagCarrier", enemyFlagCarrier);
enemyFlag = (GameObject)bb.GetData(_agentData.EnemyFlagName);
friendlyFlag = (GameObject)bb.GetData(_agentData.FriendlyFlagName);
enemyBase = (GameObject)bb.GetData(_agentData.EnemyBase.name);
friendlyBase = (GameObject)bb.GetData(_agentData.FriendlyBase.name);
// ********************
// Composite Nodes
// ********************
Sequence mainEntryLoop = new Sequence(true);
Selector selecMainEntry = new Selector();
Sequence seqStealFlag = new Sequence();
Sequence seqCarryFlag = new Sequence();
Sequence seqAttack = new Sequence();
Sequence seqRecoverFlag = new Sequence();
Selector selecRecoverFlag = new Selector();
Sequence seqRecoverPathA = new Sequence();
Sequence seqRecoverPathB = new Sequence();
// ********************
// Node connections
// ********************
mainEntryLoop.AddNode(selecMainEntry);
mainEntryLoop.AddNode(new Repeater(mainEntryLoop));
selecMainEntry.AddNode(seqStealFlag);
selecMainEntry.AddNode(seqCarryFlag);
selecMainEntry.AddNode(seqRecoverFlag);
AttackNearbyEnemy attackNode = new AttackNearbyEnemy(_agentActions, _agentSenses, 0);
seqAttack.AddNode(attackNode);
seqAttack.AddNode(new RepeatUntilNodeFails(attackNode));
seqStealFlag.AddNode(new GoToRandomPos(_agentActions));
seqStealFlag.AddNode(new Wait(2));
seqStealFlag.AddNode(new ComparePosition(enemyFlag, enemyBase, 5));
seqStealFlag.AddNode(new GoToPos(this, _agentActions, enemyBase, 2, seqAttack));
seqStealFlag.AddNode(new IsItemInView(_agentSenses, enemyFlag));
seqStealFlag.AddNode(new GoToPos(this, _agentActions, enemyFlag));
seqStealFlag.AddNode(new CollectItem(_agentActions, _agentSenses, _agentInventory, enemyFlag));
seqCarryFlag.AddNode(new IsCarryingEnemyFlag(_agentData));
seqCarryFlag.AddNode(new GoToRandomPos(_agentActions));
seqCarryFlag.AddNode(new Wait(1));
seqCarryFlag.AddNode(new GoToPos(this, _agentActions, friendlyBase, 2));
seqCarryFlag.AddNode(new DropItem(_agentActions, enemyFlag));
seqRecoverFlag.AddNode(new Inverter(new ComparePosition(friendlyFlag, friendlyBase, 5)));
seqRecoverFlag.AddNode(selecRecoverFlag);
selecRecoverFlag.AddNode(seqRecoverPathA);
selecRecoverFlag.AddNode(seqRecoverPathB);
seqRecoverPathA.AddNode(new GetEnemyFlagCarrier(this, bb));
seqRecoverPathA.AddNode(new GoToPos(this, _agentActions, "EnemyFlagCarrier", bb));
seqRecoverPathA.AddNode(attackNode);
seqRecoverPathB.AddNode(new GoToPos(this, _agentActions, friendlyFlag));
seqRecoverPathB.AddNode(new IsItemInView(_agentSenses, friendlyFlag));
seqRecoverPathB.AddNode(new CollectItem(_agentActions, _agentSenses, _agentInventory, friendlyFlag));
seqRecoverPathB.AddNode(new GoToPos(this, _agentActions, friendlyBase, 2));
seqRecoverPathB.AddNode(new DropItem(_agentActions, friendlyFlag));
// ********************
// Set root node here and start tree
// ********************
myTree = new BehaviourTree(mainEntryLoop, this);
myTree.Traverse();
}
