/// <summary>
/// Used to set up the defender type tree
/// </summary>
void SetupDefender()
{
DecisionNode isHealthLow = new DecisionNode(Decisions.Shared_IsHealthLow, this);
ActionNode findPickup = new ActionNode(Actions.Shared_SearchForHealthpack, this);
DecisionNode enemyInRadiusNode = new DecisionNode(Decisions.Shared_IsEnemyInAttackRadius, this);
isHealthLow.AddSuccessNode(findPickup);
isHealthLow.AddFailureNode(enemyInRadiusNode);
DecisionNode enemyHasFlag = new DecisionNode(Decisions.Defender_DoesEnemyHaveTeamFlag, this);
ActionNode attackTarget = new ActionNode(Actions.Shared_AttackEnemyTarget, this);
enemyInRadiusNode.AddFailureNode(enemyHasFlag);
enemyInRadiusNode.AddSuccessNode(attackTarget);
ActionNode attackEnemyWithFlag = new ActionNode(Actions.Defender_AttackEnemyWithTeamFlag, this);
DecisionNode teamFlagOutsideBase = new DecisionNode(Decisions.Defender_IsTeamFlagOutsideBase, this);
enemyHasFlag.AddSuccessNode(attackEnemyWithFlag);
enemyHasFlag.AddFailureNode(teamFlagOutsideBase);
DecisionNode hasTeamFlagInside = new DecisionNode(Decisions.Defender_HasFriendlyFlag, this);
DecisionNode hasTeamFlagOutside = new DecisionNode(Decisions.Defender_HasFriendlyFlag, this);
teamFlagOutsideBase.AddFailureNode(hasTeamFlagInside);
teamFlagOutsideBase.AddSuccessNode(hasTeamFlagOutside);
DecisionNode hasSpottedEnemy = new DecisionNode(Decisions.Shared_HasSeenEnemy, this);
ActionNode dropTeamFlag = new ActionNode(Actions.Defender_DropTeamFlag, this);
hasTeamFlagInside.AddFailureNode(hasSpottedEnemy);
hasTeamFlagInside.AddSuccessNode(dropTeamFlag);
ActionNode goToTeamBase = new ActionNode(Actions.Defender_ReturnToBase, this);
ActionNode attackEnemy = new ActionNode(Actions.Shared_AttackEnemyTarget, this);
hasSpottedEnemy.AddFailureNode(goToTeamBase);
hasSpottedEnemy.AddSuccessNode(attackEnemy);
DecisionNode teamMateHasFriendlyFlag = new DecisionNode(Decisions.Shared_TeamHasFriendlyFlag, this);
hasTeamFlagOutside.AddFailureNode(teamMateHasFriendlyFlag);
hasTeamFlagOutside.AddSuccessNode(goToTeamBase);
ActionNode collectFriendlyFlag = new ActionNode(Actions.Defender_CollectFriendlyFlag, this);
DecisionNode hasSpottedEnemyNearFlagCarrier = new DecisionNode(Decisions.Shared_HasSeenEnemy, this);
teamMateHasFriendlyFlag.AddSuccessNode(hasSpottedEnemyNearFlagCarrier);
teamMateHasFriendlyFlag.AddFailureNode(collectFriendlyFlag);
ActionNode followTeamFlagCarrier = new ActionNode(Actions.Defender_FollowTeamMateWithFlag, this);
hasSpottedEnemyNearFlagCarrier.AddSuccessNode(attackEnemy);
hasSpottedEnemyNearFlagCarrier.AddFailureNode(followTeamFlagCarrier);
decTree = new DecisionTree(isHealthLow);
}
/// <summary>
/// Used to set up the attacker type tree
/// </summary>
void SetupAttacker()
{
DecisionNode hasFlagNode = new DecisionNode(Decisions.Attacker_HasEnemyFlag, this);
DecisionNode teamHasEnemyFlagNode = new DecisionNode(Decisions.Shared_TeamHasEnemyFlag, this);
ActionNode runBackAndScore = new ActionNode(Actions.Attacker_GoBackToTeamFlag, this);
hasFlagNode.AddFailureNode(teamHasEnemyFlagNode);
hasFlagNode.AddSuccessNode(runBackAndScore);
DecisionNode enemyInRadiusNode = new DecisionNode(Decisions.Shared_IsEnemyInAttackRadius, this);
DecisionNode enemySpottedNotInRadius = new DecisionNode(Decisions.Shared_HasSeenEnemy, this);
teamHasEnemyFlagNode.AddFailureNode(enemyInRadiusNode);
teamHasEnemyFlagNode.AddSuccessNode(enemySpottedNotInRadius);
ActionNode attackTarget = new ActionNode(Actions.Shared_AttackEnemyTarget, this);
ActionNode followTeamMateWithFlag = new ActionNode(Actions.Shared_FollowTeamMateWithFlag, this);
enemySpottedNotInRadius.AddSuccessNode(attackTarget);
enemySpottedNotInRadius.AddFailureNode(followTeamMateWithFlag);
DecisionNode isHealthLow = new DecisionNode(Decisions.Shared_IsHealthLow, this);
ActionNode findPickup = new ActionNode(Actions.Shared_SearchForHealthpack, this);
enemyInRadiusNode.AddFailureNode(isHealthLow);
enemyInRadiusNode.AddSuccessNode(attackTarget);
DecisionNode canTakeEnemyFlag = new DecisionNode(Decisions.Attacker_CanTakeEnemyFlag, this);
isHealthLow.AddFailureNode(canTakeEnemyFlag);
isHealthLow.AddSuccessNode(findPickup);
ActionNode moveToEnemyFlag = new ActionNode(Actions.Attacker_MoveToEnemyFlag, this);
ActionNode takeEnemyFlag = new ActionNode(Actions.Attacker_TakeEnemyFlag, this);
canTakeEnemyFlag.AddSuccessNode(takeEnemyFlag);
canTakeEnemyFlag.AddFailureNode(moveToEnemyFlag);
decTree = new DecisionTree(hasFlagNode);
}