public Node Create(NodeType type)
{
Node node = null;
switch (type)
{
case NodeType.Root:
node = new RootNode();
break;
case NodeType.Action:
node = new ActionNode();
break;
case NodeType.Sequencer:
node = new SequencerNode();
break;
case NodeType.Selector:
node = new SelectorNode();
break;
case NodeType.Random:
node = new RandomNode();
break;
case NodeType.RandomSelector:
node = new RandomSelectorNode();
break;
case NodeType.RandomSequencer:
node = new RandomSequencerNode();
break;
case NodeType.Decorator:
node = new DecoratorNode();
break;
case NodeType.Condition:
node = new ConditionNode();
break;
case NodeType.ConditionWhile:
node = new ConditionWhileNode();
break;
default:
Debug.Assert(false, "未定義のノードタイプ");
break;
}
if (node != null)
{
node.Init(idSeed);
Register(idSeed, node);
idSeed += 1;
}
return(node);
}
private void NodeActive_CheckChanged(object sender, EventArgs e)
{
CheckBox o = (CheckBox)sender;
SequencerNode node = pEngine.GetNodeInSequencer(FormNameFormating.GetPanelIndex(o), FormNameFormating.GetNodeIndex(o));
node.Active = o.Checked;
}
private void NodeGate_ValueChanged(object sender, EventArgs e)
{
NumericUpDown o = (NumericUpDown)sender;
SequencerNode node = pEngine.GetNodeInSequencer(FormNameFormating.GetPanelIndex(o), FormNameFormating.GetNodeIndex(o));
node.GateTime = (int)o.Value;
}
// Use this for initialization
void Start()
{
//nodes
rootNode = new SelectorNode();
//sequensers
sequencer1 = new SequencerNode();
sequencer2 = new SequencerNode();
//selectors
selector1 = new SelectorNode();
selector2 = new SelectorNode();
//repeaters
repeatUntilFail1 = new RepeatUntilFailNode();
//behaviours leaf
leafNodeIdle = new LeafNodeIdle();
leafNodeMove = new LeafNodeMove();
leafNodeMoveAway = new leafNodeMoveAway();
//behaviours nodes
nodeChooseAttack = new NodeChooseAttack();
//repeater nodes
repeatSetTimes1 = new RepeatSetTimesNode();
//check distance decorator
checkdst = new DecoratorNodeCheckDist();
bb = new Blackboard();
bb.Boss = GameObject.FindGameObjectWithTag("Boss");
bb.agent = bb.Boss.GetComponent <NavMeshAgent>();
bb.closestEnemyCursor = GameObject.FindGameObjectWithTag("Player");
bb.movespeed = bossMoveSpeed;
bb.aggroRange = bossAggroRange;
bb.rotationSpeed = bossRotationSpeed;
bb.maxValHealth = 100f;
bb.maxValTwoHealth = 100f;
bb.currentValHealth = 100f;
bb.currentValTwoHealth = 100f;
bb.fillAmountHealth = 1f;
bb.fillAmountTwoHealth = 1f;
//node inits
rootNode.InitSelector(bb, "Root");
nodeChooseAttack.InitAttack(bb, "Attack");
leafNodeIdle.InitIdle(bb, "Idle");
leafNodeMove.InitMove(bb, "Move");
leafNodeMoveAway.Init(bossMoveSpeed, bossRotationSpeed);
selector1.InitSelector(bb, "Selector");
sequencer1.InitSequenser(bb, "Sequence");
checkdst.initDistCheck(bb, "distanceCheck");
//sequence one children
rootNode.GetController().AddChild(selector1);
selector1.GetController().AddChild(leafNodeIdle);
selector1.GetController().AddChild(sequencer1);
sequencer1.GetController().AddChild(leafNodeMove);
sequencer1.GetController().AddChild(checkdst);
sequencer1.GetController().AddChild(nodeChooseAttack);
//test for debug
rootNode.SetCurrentTask(rootNode.GetController().GetChildList().First());
selector1.SetCurrentTask(selector1.GetController().GetChildList().First());
sequencer1.SetCurrentTask(sequencer1.GetController().GetChildList().First());
}
void Start()
{
_behaviorTreeController = new BehaviorTreeController();
// rootとなるSequencer
SequencerNode rootNode = new SequencerNode();
rootNode.name = "rootノード";
// 出発
ActionNode departure = new ActionNode();
departure.name = "出発する";
departure.SetRunningFunc(() => {
Debug.LogError("出発");
return(NodeStatus.SUCCESS);
});
// HP確認のDecorator
DecoratorNode confirmationHp = new DecoratorNode();
confirmationHp.name = "HP確認するのDecorator";
confirmationHp.SetConditionFunc(() => {
return(_myHp >= 100 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵に寄る
ActionNode enemyApproach = new ActionNode();
enemyApproach.name = "敵に寄るアクションノード";
enemyApproach.SetRunningFunc(() => {
Debug.LogError("敵に寄る");
return(NodeStatus.SUCCESS);
});
// HP確認のDecoratorの子供登録
confirmationHp.AddChild(enemyApproach);
// 友達2人を呼ぶParallelNode
ParallelNode callFriendAB = new ParallelNode();
callFriendAB.name = "友達2人を呼ぶParallelNode";
// 友達A
ActionNode friendA = new ActionNode();
friendA.name = "友達Aを呼ぶ";
friendA.SetRunningFunc(() => {
Debug.LogError("友達A");
return(NodeStatus.SUCCESS);
});
// 友達B
ActionNode friendB = new ActionNode();
friendB.name = "友達Bを呼ぶ";
friendB.SetRunningFunc(() => {
Debug.LogError("友達B");
return(NodeStatus.SUCCESS);
});
// 友達2人を呼ぶParallelNodeの子供登録
callFriendAB.AddChild(friendA);
callFriendAB.AddChild(friendB);
// スキルを繰り返し行うRepeaterNode
RepeaterNode skillRepeater = new RepeaterNode();
skillRepeater.name = "スキルを繰り返し行うRepeaterNode";
// スキルを選択するSelector
SelectorNode selectSkill = new SelectorNode();
selectSkill.name = "スキルを選択するSelector";
// スキルAの発動を確認するDecorator
DecoratorNode triggerSkillA = new DecoratorNode();
triggerSkillA.name = "スキルAの発動を確認するDecorator";
triggerSkillA.SetConditionFunc(() => {
int probability = Mathf.Clamp(probabilitySkillA, 0, 100);
int random = Random.Range(0, 100);
return(probability > random ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// スキルA
ActionNode skillA = new ActionNode();
skillA.name = "skillA";
skillA.SetRunningFunc(() => {
Debug.LogError("skillA");
_enemyHp -= 50;
return(NodeStatus.SUCCESS);
});
// スキルAの発動を確認するDecoratorの子供登録
triggerSkillA.AddChild(skillA);
// スキルB
ActionNode skillB = new ActionNode();
skillB.name = "skillB";
skillB.SetRunningFunc(() => {
Debug.LogError("skillB");
_enemyHp -= 60;
return(NodeStatus.SUCCESS);
});
// スキルを選択するSelectorの子供登録
selectSkill.AddChild(triggerSkillA);
selectSkill.AddChild(skillB);
// スキルを繰り返し行うRepeaterNodeの子供登録
skillRepeater._repeatNum = 2;
skillRepeater.AddChild(selectSkill);
// 敵の生存を確認するSelector
SelectorNode enemySurvial = new SelectorNode();
enemySurvial.name = "敵の生存を確認するSelector";
// 敵が死んでいるか確認するDecorator
DecoratorNode enemyDied = new DecoratorNode();
enemyDied.name = "敵が死んでいるか確認するDecorator";
enemyDied.SetConditionFunc(() => {
return(_enemyHp <= 0 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵が死んでいる
ActionNode died = new ActionNode();
died.name = "敵が死んでいる";
died.SetRunningFunc(() => {
Debug.LogError("End1");
Debug.LogError("EnemyHp : " + _enemyHp);
return(NodeStatus.SUCCESS);
});
// 敵が死んでいるか確認するDecoratorの子供登録
enemyDied.AddChild(died);
// 敵が生きているか確認するDecorator
DecoratorNode enemyAlive = new DecoratorNode();
enemyAlive.name = "敵が生きているか確認するDecorator";
enemyAlive.SetConditionFunc(() => {
return(_enemyHp > 0 ? NodeStatus.SUCCESS : NodeStatus.FAILURE);
});
// 敵が生きている
ActionNode alive = new ActionNode();
alive.name = "敵が生きている";
alive.SetRunningFunc(() => {
Debug.LogError("End2");
Debug.LogError("EnemyHp : " + _enemyHp);
return(NodeStatus.SUCCESS);
});
// 敵が生きているか確認するDecoratorの子供登録
enemyAlive.AddChild(alive);
// 敵の生存を確認するSelectorの子供登録
enemySurvial.AddChild(enemyDied);
enemySurvial.AddChild(enemyAlive);
// rootノードの子供登録
rootNode.AddChild(departure);
rootNode.AddChild(confirmationHp);
rootNode.AddChild(callFriendAB);
rootNode.AddChild(skillRepeater);
rootNode.AddChild(enemySurvial);
// ツリー実行
_behaviorTreeController.Initialize(rootNode);
_behaviorTreeController.OnStart();
}
public void SimpleSearcherTest()
{
const string hitpoint = "hp";
const string distanceToTower = "distance";
var machine = new BehaviourMachine();
machine.DataStorage[hitpoint] = 100;
machine.DataStorage[distanceToTower] = 10;
machine.OnExecuteEvent += (m) =>
{
var hp = (int)m.DataStorage[hitpoint];
var distance = (int)m.DataStorage[distanceToTower];
Debug.WriteLine($"HP: {hp}");
Debug.WriteLine($"Distance: {distance}");
};
var selector = new SelectorNode();
machine.RegisterRootNode(selector);
var decoratorHp = new DecoratorNode();
selector.ChildNodes.Add(decoratorHp);
decoratorHp.ConditionCallback = (m, n) => m.DataStorage.GetValue <int>(hitpoint) > 5;
var attackNearEnemy = new ActionNode();
attackNearEnemy.ActionCallback = (m, n) =>
{
Debug.WriteLine("近くの敵を攻撃");
var distance = (int)m.DataStorage[distanceToTower];
distance += 1;
m.DataStorage[distanceToTower] = distance;
var hp = (int)m.DataStorage[hitpoint];
hp -= 5;
m.DataStorage[hitpoint] = hp;
return(true);
};
decoratorHp.ChildNode = attackNearEnemy;
var sequencer = new SequencerNode();
selector.ChildNodes.Add(sequencer);
var moveToNearTower = new ActionNode();
sequencer.ChildNodes.Add(moveToNearTower);
moveToNearTower.ActionCallback = (m, n) =>
{
var distance = (int)m.DataStorage[distanceToTower];
if (distance <= 0)
{
return(true);
}
Debug.WriteLine("近くのタワーに移動");
distance--;
m.DataStorage[distanceToTower] = distance;
return(true);
};
var wait = new ActionNode();
sequencer.ChildNodes.Add(wait);
wait.ActionCallback = (m, n) =>
{
Debug.WriteLine("待機");
var distance = (int)m.DataStorage[distanceToTower];
if (distance < 5)
{
var hp = (int)m.DataStorage[hitpoint];
hp += 20;
m.DataStorage[hitpoint] = hp;
}
return(true);
};
for (var i = 0; i < 100; i++)
{
machine.Execute();
}
}
