private void CreateBehaviourTree()
{
//LeafNode lookRecipe = behaviourTree.CreateLeafNode("Look recipe", CreateRecipe, IsRecipeCreated);
LeafNode bake = behaviourTree.CreateLeafNode("Bake pizza", BakePizza, IsPizzaBaked);
SequenceNode makePizza = behaviourTree.CreateSequenceNode("Make a pizza", false);
makePizza.AddChild(lookRecipe);
makePizza.AddChild(subFSM);
makePizza.AddChild(bake);
LoopDecoratorNode loopNode = behaviourTree.CreateLoopNode("Loop root", makePizza);
behaviourTree.SetRootNode(loopNode);
}
/// <summary>
/// Creates a new infinite <see cref="LoopDecoratorNode"/> in the behaviour tree
/// </summary>
/// <param name="name">The name of the node</param>
/// <param name="child">The child of the node</param>
/// <returns></returns>
public LoopDecoratorNode CreateLoopNode(string name, TreeNode child)
{
if (!states.ContainsKey(name))
{
LoopDecoratorNode loopNode = new LoopDecoratorNode(name, child, this);
BTnodes.Add(loopNode);
states.Add(name, loopNode.StateNode);
return(loopNode);
}
else
{
throw new DuplicateWaitObjectException(name, "The node already exists in the behaviour tree");
}
}
private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(false);
LeafNode throwRod = behaviourTree.CreateLeafNode("Throw rod", ThrowRod, RodThrown);
LeafNode catchSomething = behaviourTree.CreateLeafNode("Catch something", Catch, SomethingCatched);
LeafNode returnToWater = behaviourTree.CreateLeafNode("Return to water", () => Invoke("ReturnToWater", 2), ReturnedToWater);
LeafNode storeInBasket = behaviourTree.CreateLeafNode("Store in the basket", () => Invoke("StoreBasket", 2), StoredInBasket);
TimerDecoratorNode timerNode = behaviourTree.CreateTimerNode("Timer node", catchSomething, 3);
SelectorNode selectorNode = behaviourTree.CreateSelectorNode("Selector node");
selectorNode.AddChild(returnToWater);
selectorNode.AddChild(storeInBasket);
SequenceNode sequenceNode = behaviourTree.CreateSequenceNode("Sequence node", false);
sequenceNode.AddChild(throwRod);
sequenceNode.AddChild(timerNode);
sequenceNode.AddChild(selectorNode);
LoopDecoratorNode rootNode = behaviourTree.CreateLoopNode("Root node", sequenceNode);
behaviourTree.SetRootNode(rootNode);
}
private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(false);
LeafNode toPoint1 = behaviourTree.CreateLeafNode("To point 1", () => ToPoint(routePoints[0]), () => ArrivedToPoint(routePoints[0]));
LeafNode toPoint2 = behaviourTree.CreateLeafNode("To point 2", () => ToPoint(routePoints[1]), () => ArrivedToPoint(routePoints[1]));
LeafNode toPoint3 = behaviourTree.CreateLeafNode("To point 3", () => ToPoint(routePoints[2]), () => ArrivedToPoint(routePoints[2]));
LeafNode toPoint4 = behaviourTree.CreateLeafNode("To point 4", () => ToPoint(routePoints[3]), () => ArrivedToPoint(routePoints[3]));
LeafNode toPoint5 = behaviourTree.CreateLeafNode("To point 5", () => ToPoint(routePoints[4]), () => ArrivedToPoint(routePoints[4]));
LeafNode toPoint6 = behaviourTree.CreateLeafNode("To point 6", () => ToPoint(routePoints[5]), () => ArrivedToPoint(routePoints[5]));
SequenceNode sequenceRoute = behaviourTree.CreateSequenceNode("Route", false);
sequenceRoute.AddChild(toPoint1);
sequenceRoute.AddChild(toPoint2);
sequenceRoute.AddChild(toPoint3);
sequenceRoute.AddChild(toPoint4);
sequenceRoute.AddChild(toPoint5);
sequenceRoute.AddChild(toPoint6);
LoopDecoratorNode loopNode = behaviourTree.CreateLoopNode("Loop root", sequenceRoute);
behaviourTree.SetRootNode(loopNode);
}
