private ITicker _CollisionWayfindingStrategy()
{
var th = new TurnHandler(this);
var builder = new Regulus.BehaviourTree.Builder();
return(builder
.Sequence()
.Action(
(delta) =>
{
var result = _CheckCollide();
th.Input(Regulus.Utility.Random.Instance.NextFloat(1, 360));
return result;
})
.Action((delta) => th.Run(delta))
.Action(_MoveForward)
.Action(() => new WaitSecondStrategy(0.5f), t => t.Tick, t => t.Start, t => t.End)
.End()
.Build());
}
private void _BuildNode()
{
var th = new TurnHandler(_Behavior);
float angle = 0.0f;
var builder = new Regulus.BehaviourTree.Builder();
_Node = builder.Sequence()
.Action(
(delta) =>
{
var result = _Behavior.GetTargetAngle(_Target, ref angle);
th.Input(angle);
return(result);
})
.Action((delta) => th.Run(delta))
.Not()
.Sequence()
.Action((delta) => _Not(_Behavior.CheckDistance(_Target, _Distance)))
.Action(_Behavior.MoveForward)
.End()
.End()
.Action((delta) => _Behavior.GetTargetAngle(_Target, ref angle))
.Action((delta) => _Behavior.CheckAngle(angle))
.Action(_Behavior.StopMove)
.End().Build();
}
private ITicker _InvestigateStrategy()
{
var th = new TurnHandler(this);
var builder = new Regulus.BehaviourTree.Builder();
var node = builder
.Sequence()
.Action(_NotEnemy)
.Action(_NeedInvestigate)
.Action(
(delta) =>
{
var angel = Regulus.Utility.Random.Instance.NextFloat(135, 225);
th.Input(angel);
return(TICKRESULT.SUCCESS);
})
.Action((delta) =>
{
if (GetTrunSpeed() > 0)
{
return(th.Run(delta));
}
return(TICKRESULT.FAILURE);
})
.Action((delta) => _Talk("?"))
.Action(_DoneInvestigate)
.End()
.Build();
return(node);
}
private ITicker _DistanceWayfindingStrategy()
{
var builder = new Regulus.BehaviourTree.Builder();
var th = new TurnHandler(this);
var od = new ObstacleDetector();
od.OutputEvent += th.Input;
return(builder
.Sequence()
// 是否碰到障礙物
.Action((delta) => _DetectObstacle(delta, _Entiry.GetViewLength() / 2, _GetOffsetDirection(10.31f * 2)))
// 停止移動
//.Action(_StopMove)
// 檢查周遭障礙物
.Action((delta) => od.Detect(delta, _DecisionTime, _Entiry, this, _Entiry.GetViewLength(), 180))
// 旋轉至出口
.Action((delta) => th.Run(delta))
.End().Build());
}
private ITicker _InvestigateStrategy()
{
var th = new TurnHandler(this);
var builder = new Regulus.BehaviourTree.Builder();
var node = builder
.Sequence()
.Action(_NotEnemy)
.Action(_NeedInvestigate )
.Action(
(delta) =>
{
var angel = Regulus.Utility.Random.Instance.NextFloat(135, 225);
th.Input(angel);
return TICKRESULT.SUCCESS;
})
.Action((delta) =>
{
if (GetTrunSpeed() > 0)
{
return th.Run(delta);
}
return TICKRESULT.FAILURE;
})
.Action((delta) => _Talk("?"))
.Action(_DoneInvestigate)
.End()
.Build();
return node;
}
private ITicker _DistanceWayfindingStrategy()
{
var builder = new Regulus.BehaviourTree.Builder();
var th = new TurnHandler(this);
var od = new ObstacleDetector();
od.OutputEvent += th.Input;
return builder
.Sequence()
// �O�_�I����
.Action((delta) => _DetectObstacle(delta, _Entiry.GetViewLength() / 2, _GetOffsetDirection(10.31f * 2)))
// �����
//.Action(_StopMove)
// �ˬd�P�D��ê��
.Action((delta) => od.Detect(delta , _DecisionTime, _Entiry, this, _Entiry.GetViewLength(), 180) )
// ����ܥX�f
.Action((delta) => th.Run(delta) )
.End().Build();
}
private ITicker _CollisionWayfindingStrategy()
{
var th = new TurnHandler(this);
var builder = new Regulus.BehaviourTree.Builder();
return builder
.Sequence()
.Action(
(delta) =>
{
var result = _CheckCollide();
th.Input(Regulus.Utility.Random.Instance.NextFloat(1, 360));
return result;
} )
.Action((delta) => th.Run(delta))
.Action(_MoveForward)
.Action(()=>new WaitSecondStrategy(0.5f))
.End()
.Build();
}
