private void BuildBehaviourTree()
{
var chaseAction = new ActionNode(Chase);
var canChaseDecorator = new DecoratorNode(chaseAction, () => remainingTimeToChase > 0.0f);
var approachAction = new ActionNode(ApproachToTarget);
var canApproachDecorator = new DecoratorNode(approachAction, () => isTargetInDetectionArea);
var selector1 = new SelectorNode(canApproachDecorator, canChaseDecorator);
var fireAction = new ActionNode(Fire);
var canFireDecorator = new DecoratorNode(fireAction, () => { return(gun.CanFire()); });
var faceToTargetAction = new ActionNode(FaceToTarget);
var selector2 = new SelectorNode(canFireDecorator, faceToTargetAction);
var canSeeTargetDecorator = new DecoratorNode(selector2, CanSeeTarget);
var selector3 = new SelectorNode(canSeeTargetDecorator, approachAction);
var isTargetInRangeDecorator = new DecoratorNode(selector3, () => isTargetInRange);
var selector4 = new SelectorNode(isTargetInRangeDecorator, selector1);
var isTargetNullDecorator = new DecoratorNode(selector4, () => { return(target != null); });
var waitAction = new ActionNode(Wait);
var selector5 = new SelectorNode(isTargetNullDecorator, waitAction);
var blownChecker = new DecoratorNode(waitAction, () => { return(core.isBlown); });
var selector6 = new SelectorNode(blownChecker, selector5);
behaviourTree = new BehaviourTree(selector6);
}