//the stucture of the Behaviour Tree
private void BehaviourTree()
{
//create behvaiour tree
stdTank = new BehaviourTree.Tree();
//creates and add the root node to the Tree
Root root = stdTank.AddRoot();
//make root section
stdTank.MakeSectionFor(root);
seqEngageInCombat = stdTank.MakeSequence();
seqGetAmmo = stdTank.MakeSequence();
stdTank.AddToSection(seqEngageInCombat, seqGetAmmo);
stdTank.EndSection();
//engege in combat Sequence
stdTank.MakeSectionFor(seqEngageInCombat);
seqToRange = stdTank.MakeSequence();
seqFire = stdTank.MakeSequence();
stdTank.AddToSection(seqToRange, seqFire);
stdTank.EndSection();
//move into range for comabat Sequence
stdTank.MakeSectionFor(seqToRange);
actFindEnemy = stdTank.MakeAction();
actToRange = stdTank.MakeAction();
stdTank.AddToSection(actFindEnemy, actToRange);
stdTank.EndSection();
//fire the turret Sequence
stdTank.MakeSectionFor(seqFire);
actAim = stdTank.MakeAction();
actIsVisible = stdTank.MakeAction();
actFire = stdTank.MakeAction();
stdTank.AddToSection(actAim, actIsVisible, actFire);
stdTank.EndSection();
//get ammo Sequence
stdTank.MakeSectionFor(seqGetAmmo);
sucGetAmmo = stdTank.MakeSucceeder();
actMoveToAmmo = stdTank.MakeAction();
stdTank.AddToSection(actMoveToAmmo, sucGetAmmo);
stdTank.EndSection();
//get Ammo Succeeder
stdTank.MakeSectionFor(sucGetAmmo);
repGetAmmo = stdTank.MakeRepeater();
stdTank.AddToSection(repGetAmmo);
stdTank.EndSection();
//get ammmo Repeater
stdTank.MakeSectionFor(repGetAmmo);
actGetAmmo = stdTank.MakeAction();
stdTank.AddToSection(actGetAmmo);
stdTank.EndSection();
SetConditions();
SetActions();
BT_Debug();
}
public void Node_Throws_Exception()
{
Mock <INode> node = TestHelper.Mock <INode>(new Exception());
Succeeder cud = new Succeeder(node.Object);
TestHelper.AssertResult(cud, NodeStatus.Success);
}
public void WhenChildReturnRunning_ReturnRunning()
{
var sut = new Succeeder <MockContext>(new MockBehaviour {
ReturnStatus = BehaviourStatus.Running
});
var behaviourStatus = sut.Tick(new MockContext());
Assert.That(behaviourStatus, Is.EqualTo(BehaviourStatus.Running));
}
public void WhenChildReturnFailure_ReturnSuccess()
{
var sut = new Succeeder <MockContext>(new MockBehaviour {
ReturnStatus = BehaviourStatus.Failed
});
var behaviourStatus = sut.Tick(new MockContext());
Assert.That(behaviourStatus, Is.EqualTo(BehaviourStatus.Succeeded));
}
public void Succeeder_SucessWhenChildFailure()
{
INode node = Substitute.For <INode>();
node.Tick().Returns(NodeStatus.Failure);
Succeeder succeeder = new Succeeder(node);
Assert.AreEqual(NodeStatus.Sucess, succeeder.Tick());
}
public void Succeeder()
{
var state = new State();
var test = 0;
var routine = new Succeeder(new Conditional((_) => test < 50));
for (; test < 50; ++test)
{
Assert.Equal(RoutineStatus.Success, routine.Act(state));
state.Reset();
}
test++;
Assert.Equal(RoutineStatus.Success, routine.Act(state));
state.Reset();
Assert.Equal(RoutineStatus.Success, routine.Act(state));
state.Reset();
test = 1;
Assert.Equal(RoutineStatus.Success, routine.Act(state));
state.Reset();
}
private Node MakeDecoratorNode(DecoratorNodeType decorator, uint childNodeID, uint extra = 0)
{
Node newNode, result;
if (!m_nodeDic.TryGetValue(childNodeID, out result))
{
return(null); // failed to get childNodeID
}
switch (decorator)
{
case DecoratorNodeType.Inverter:
newNode = new Inverter(result);
break;
case DecoratorNodeType.Repeater:
newNode = new Repeater(result, extra);
break;
case DecoratorNodeType.RepeatTillFail:
newNode = new RepeatTillFail(result);
break;
case DecoratorNodeType.Limiter:
newNode = new Limiter(result);
break;
case DecoratorNodeType.Succeeder:
newNode = new Succeeder(result);
break;
default:
return(null); // tried to create unknown decorator node
}
return(newNode);
}
public void DrawInspector(Succeeder node)
{
EditorGUILayout.LabelField(new GUIContent("Succeeder"), TitleStyle);
EditorGUILayout.Space ();
string message = "Succeeder always returns a SUCCESS, no matter what its child returns.";
EditorGUILayout.HelpBox(message, MessageType.Info);
EditorGUILayout.HelpBox("Not yet implemented!", MessageType.Error);
}
public void Node_Fails()
{
Succeeder cud = CreateNode(NodeStatus.Failure);
TestHelper.AssertResult(cud, NodeStatus.Success);
}
public void Node_Keeps_Running()
{
Succeeder cud = CreateNode(NodeStatus.Running);
TestHelper.AssertResult(cud, NodeStatus.Success);
}
public void Visit(Succeeder <TContext> obj)
{
PrintNode(obj);
VisitChild(obj);
}
