public void RandomTest()
{
var blackboard = new TestBlackboard();
var node = new Random <TestBlackboard>();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Decorator(node).Leaf(new TrackingLeaf())
.Build(blackboard);
ushort[] result = new ushort[2];
for (var i = 0; i < 100; i++)
{
this.UpdateAndStep(tree, 0.1f);
if (node.Status == BTTaskStatus.Succeeded)
{
result[1]++;
}
else
{
result[0]++;
}
}
// We should get a decently even spread but we can't rely on it, 50% sway should be plenty enough to have a stable result
Assert.Greater(result[0], 25);
Assert.Greater(result[1], 25);
Assert.AreEqual(100, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
public static BehaviorTreeBuilder ExampleAction(this BehaviorTreeBuilder builder, string name, Action callback)
{
return(builder.AddNode(new BehaviorTreeBuilderExtensionActionTest.ExtensionAction {
Name = name,
callback = callback,
}));
}
[Test] public void TreeA()
{
MockCondition isSafe = new MockCondition(BehaviorStatus.Failure);
MockCondition isFoodNearby = new MockCondition(BehaviorStatus.Success);
MockAction run = new MockAction(BehaviorStatus.Running);
MockAction eat = new MockAction(BehaviorStatus.Running);
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Sequence("Run")
.Decorator(new Invert())
.Condition(isSafe)
.Action(run)
.End()
.Sequence("Eat")
.Condition(isFoodNearby)
.Action(eat)
.End()
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Running);
run.status = BehaviorStatus.Success;
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
isSafe.status = BehaviorStatus.Success;
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Running);
eat.status = BehaviorStatus.Success;
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
isFoodNearby.status = BehaviorStatus.Failure;
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
}
[Test] public void Action_Success()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Action(new MockAction(BehaviorStatus.Success))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
}
[Test] public void Condition_Failure()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Condition(new MockCondition(BehaviorStatus.Failure))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
}
[Test] public void Sequence_BothChildrenFailure()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Sequence())
.Condition(new MockCondition(BehaviorStatus.Failure))
.Condition(new MockCondition(BehaviorStatus.Failure))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
}
[Test] public void Sequence_FirstChildFailureAndNextChildSuccess()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Sequence())
.Condition(new MockCondition(BehaviorStatus.Failure))
.Condition(new MockCondition(BehaviorStatus.Success))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
}
[Test] public void Selector_BothChildrenSuccess()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Condition(new MockCondition(BehaviorStatus.Success))
.Condition(new MockCondition(BehaviorStatus.Success))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
}
[Test] public void Decorator_Invert_ChildFailure()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Decorator(new Invert())
.Condition(new MockCondition(BehaviorStatus.Failure))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
}
[Test] public void Decorator_Repeat_ChildFailure()
{
Repeat repeat = new Repeat(10);
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Decorator(repeat)
.Condition(new MockCondition(BehaviorStatus.Failure))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
Assert.IsTrue(repeat.repetitionCount == 0);
}
private void bulidSelfAbortTree()
{
var builder = BehaviorTreeBuilder <SlimeBehaviorTree> .begin(this);
builder.selector(AbortTypes.Self);
builder.conditionalDecorator(m =>
{
return(m.slime.actorProperty.HP <= 0);
}, false);
builder.sequence()
.logAction("-- dead! --")
.action(m => m.slime.dead())
.endComposite();
builder.conditionalDecorator(m =>
{
return(m.slime.startLostTarget);
});
builder.sequence()
.logAction("-- lostTarget!--")
.action(m => m.slime.lostTarget())
.endComposite();
builder.conditionalDecorator(
m => m.slime.isLostTarget, false
);
builder.sequence()
.logAction("--back! --")
.action(m => m.slime.back())
.endComposite();
builder.conditionalDecorator(
m => m.slime.isFindTarget, false
);
builder.sequence()
.logAction("--chase! --")
.action(m => m.slime.chase())
.endComposite();
builder.sequence()
.logAction("--idle --")
//.action(m => m.slime.idle())
.waitAction(2f)
.action(m => m.slime.patrol())
.endComposite()
;
builder.endComposite();
tree = builder.build(1f / 60);
}
protected override IBehaviorTreeNode createBehaviorTree()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
return(AIExtensions.WithFightingAI(
builder
.Sequence()
.End()
.Build(),
Entity
));
}
static BehaviorTreeDesc BuildTreeDesc()
{
var builder = new BehaviorTreeBuilder();
builder.Composite <SequenceTaskDesc>()
.AppendChild(builder.Leaf <LogTaskDesc>(
d => d.Message = "Start"))
.AppendChild(builder.Leaf <WaitTimerTaskDesc>(
d => d.Time = new VariableDesc(VariableType.UInteger, VariableSource.LiteralConstant, "3000")))
.AppendChild(builder.Leaf <LogTaskDesc>(d =>
d.Message = "End"));
return(builder.Build());
}
public void It_should_run_the_custom_action()
{
var result = false;
var tree = new BehaviorTreeBuilder(null)
.Sequence()
.ExampleAction("test", () => result = true)
.End()
.Build();
tree.Tick();
Assert.IsTrue(result);
}
protected override IBehaviorTreeNode createBehaviorTree()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
return(AIExtensions.WithFightingAI(
builder
.Sequence()
.LongRunningResultCached(() => new WaitTask(Entity, TimeSpan.FromMilliseconds(1000)))
.LongRunningResultCached(() => new WanderTask(Entity, BlockStartPosition, BlockRadius))
.End()
.Build(),
Entity
));
}
[Test] public void Sequence_FirstChildRunningAndNextChildSuccess()
{
MockAction mockActionA = new MockAction(BehaviorStatus.Running);
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Sequence())
.Action(mockActionA)
.Condition(new MockCondition(BehaviorStatus.Success))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Running);
mockActionA.status = BehaviorStatus.Failure;
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Failure);
}
protected override IBehaviorTreeNode createBehaviorTree()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
return(AIExtensions.WithFightingAI(
builder
.Sequence()
.LongRunningResultCached(() => new WaitTask(Entity, TimeSpan.FromMilliseconds(200)))
.LongRunningResultCached(() => new FollowTask(Entity, targetID, tillDistance, teleportDistance))
.End()
.Build(),
Entity
));
}
public void InvertTest()
{
var blackboard = new TestBlackboard();
var node = new Invert <TestBlackboard>();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Decorator(node).Leaf(new TrackingLeaf())
.Build(blackboard);
this.UpdateAndStep(tree, 0.1f);
Assert.AreEqual(BTTaskStatus.Failed, node.Status);
Assert.AreEqual(1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
public void It_should_run_the_custom_action()
{
var result = false;
var tree = new BehaviorTreeBuilder(null)
.CustomSequence("test")
.Do(() => {
result = true;
return(TaskStatus.Success);
})
.End()
.Build();
tree.Tick();
Assert.IsTrue(result);
}
void Start()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
builder.Sequence("sequence1");
builder.Action("action1", Action01);
builder.Action("action2", Action02);
builder.Sequence("sequence02");
builder.Action("action03", Action03);
builder.Action("action04", Action04);
builder.End();
builder.Action("Action05", Action05);
builder.Action("Action06", Action06);
builder.End();
tree = builder.Build();
}
public void It_should_not_fail_when_aborting_a_built_condition()
{
var treeAlt = new BehaviorTreeBuilder(null)
.Sequence()
.Condition(() => false)
.End()
.Build();
var tree = _builder
.Parallel()
.Splice(treeAlt)
.Build();
Assert.DoesNotThrow(() => {
tree.Tick();
});
}
protected override IBehaviorTreeNode createBehaviorTree()
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder();
return(AIExtensions.WithFightingAI(
builder
.Sequence()
.LongRunningResultCached(() => new GoToTask(Entity, BlockGuardPosition))
.SingleStep((GameTime gameTime) => {
Entity.Direction = LookDirection;
return BehaviourTreeStatus.Success;
})
.End()
.Build(),
Entity
));
}
public static BehaviorTree <BehaviorTreeMinerState> BuildSelfAbortTree()
{
var builder = BehaviorTreeBuilder <BehaviorTreeMinerState> .Begin(new BehaviorTreeMinerState());
builder.Selector(AbortTypes.Self);
// sleep is most important
builder.ConditionalDecorator(m => m.MinerState.Fatigue >= MinerState.MAX_FATIGUE, false);
builder.Sequence()
.LogAction("--- Tired! Gotta go home")
.Action(m => m.GoToLocation(MinerState.Location.Home))
.LogAction("--- Prep me my bed!")
.Action(m => m.Sleep())
.EndComposite();
// thirst is next most important
builder.ConditionalDecorator(m => m.MinerState.Thirst >= MinerState.MAX_THIRST, false);
builder.Sequence()
.LogAction("--- Thirsty! Time for a drink")
.Action(m => m.GoToLocation(MinerState.Location.Saloon))
.LogAction("--- Get me a drink!")
.Action(m => m.Drink())
.EndComposite();
// dropping off gold is next
builder.ConditionalDecorator(m => m.MinerState.Gold >= MinerState.MAX_GOLD, false);
builder.Sequence()
.LogAction("--- Bags are full! Gotta drop this off at the bank.")
.Action(m => m.GoToLocation(MinerState.Location.Bank))
.LogAction("--- Take me gold!")
.Action(m => m.DepositGold())
.EndComposite();
// fetching gold is last
builder.Sequence()
.Action(m => m.GoToLocation(MinerState.Location.Mine))
.LogAction("--- Time to get me some gold!")
.Action(m => m.DigForGold())
.EndComposite();
builder.EndComposite();
return(builder.Build());
}
// the same tree is here, once with LowerPriority aborts and once with Self aborts and ConditionalDecorators
public void buildLowerPriorityAbortTree()
{
var builder = BehaviorTreeBuilder <BehaviorTreeMiner> .begin(this);
builder.selector();
// sleep is most important
builder.sequence(AbortTypes.LowerPriority)
.conditional(m => m.minerState.fatigue >= MinerState.MAX_FATIGUE)
.logAction("--- tired! gotta go home")
.action(m => m.goToLocation(MinerState.Location.Home))
.logAction("--- prep me my bed!")
.action(m => m.sleep())
.endComposite();
// thirst is next most important
builder.sequence(AbortTypes.LowerPriority)
.conditional(m => m.minerState.thirst >= MinerState.MAX_THIRST)
.logAction("--- thirsty! time for a drink")
.action(m => m.goToLocation(MinerState.Location.Saloon))
.logAction("--- get me a drink!")
.action(m => m.drink())
.endComposite();
// dropping off gold is next
builder.sequence(AbortTypes.LowerPriority)
.conditional(m => m.minerState.gold >= MinerState.MAX_GOLD)
.logAction("--- bags are full! gotta drop this off at the bank.")
.action(m => m.goToLocation(MinerState.Location.Bank))
.logAction("--- take me gold!")
.action(m => m.depositGold())
.endComposite();
// fetching gold is last
builder.sequence()
.action(m => m.goToLocation(MinerState.Location.Mine))
.logAction("--- time to get me some gold!")
.action(m => m.digForGold())
.endComposite();
builder.endComposite();
_tree = builder.build();
}
// the same tree is here, once with LowerPriority aborts and once with Self aborts and ConditionalDecorators
public void BuildLowerPriorityAbortTree()
{
var builder = BehaviorTreeBuilder <BehaviorTreeMiner> .Begin(this);
builder.Selector();
// sleep is most important
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Fatigue >= MinerState.MaxFatigue)
.LogAction("--- tired! gotta go home")
.Action(m => m.GoToLocation(MinerState.Location.Home))
.LogAction("--- prep me my bed!")
.Action(m => m.Sleep())
.EndComposite();
// thirst is next most important
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Thirst >= MinerState.MaxThirst)
.LogAction("--- thirsty! time for a drink")
.Action(m => m.GoToLocation(MinerState.Location.Saloon))
.LogAction("--- get me a drink!")
.Action(m => m.Drink())
.EndComposite();
// dropping off gold is next
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Gold >= MinerState.MaxGold)
.LogAction("--- bags are full! gotta drop this off at the bank.")
.Action(m => m.GoToLocation(MinerState.Location.Bank))
.LogAction("--- take me gold!")
.Action(m => m.DepositGold())
.EndComposite();
// fetching gold is last
builder.Sequence()
.Action(m => m.GoToLocation(MinerState.Location.Mine))
.LogAction("--- time to get me some gold!")
.Action(m => m.DigForGold())
.EndComposite();
builder.EndComposite();
_tree = builder.Build();
}
public static IBehaviorTreeNode WithFightingAI(IBehaviorTreeNode tree, MovingEntity entity)
{
BehaviorTreeBuilder builder = new BehaviorTreeBuilder(((RootNode)tree).TickFrequency);
return(builder
.Selector()
.LongRunning(() => new FightTask(entity))
.Sequence()
.SingleStepResultCached((GameTime gameTime) =>
{
entity.StopWalking();
return BehaviourTreeStatus.Success;
})
.Splice(tree)
.End()
.End()
.Build());
}
public void FluentTreeBuilderTest()
{
var behaviorBuilder = new BehaviorTreeBuilder <AIContext>();
var tree =
behaviorBuilder
.Selector
.Behavior(context => BehaviorResult.Success)
.Sequence
.Behavior(context => BehaviorResult.Success)
.End
.Sequence
.Decorate(DecorateFor.AlwaysSucceeding)
.Behavior(context => BehaviorResult.Success)
.Sequence
.Behavior(context => BehaviorResult.Success)
.End
.Question(context => 1 == 1)
.End
.End
.Tree;
}
public void IntervalTest()
{
var blackboard = new TestBlackboard();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Interval().Leaf(new TrackingLeaf())
.Build(blackboard);
for (var n = 0; n < 10; n++)
{
for (var i = 0; i < 9; i++)
{
this.UpdateAndStep(tree, 0.1f);
}
Assert.AreEqual(n, blackboard.GetTracking(TestBlackboard.TrackingExecution));
this.UpdateAndStep(tree, 0.1f);
Assert.AreEqual(n + 1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
}
private void buildBehaviorTree()
{
//Initialize pathfinding
_origin = (entity.position / Game1.TILE_SIZE).ToPoint();
_waypoints = _grid.search(new Point(_origin.X, _origin.Y), new Point(_origin.X + 5, _origin.Y));
BehaviorTreeBuilder <EnemyController> _behaviorTreeBuilder = BehaviorTreeBuilder <EnemyController> .begin(this);
_behaviorTreeBuilder.untilSuccess();
//Creates a method with input of EnemyController and output of TaskStatus
Func <EnemyController, TaskStatus> chasePlayer = delegate(EnemyController context) {
if (target == null)
{
return(TaskStatus.Failure);
}
Point currentNode = (entity.position / Game1.TILE_SIZE).ToPoint();
Point targetNode = (target.position / Game1.TILE_SIZE).ToPoint();
_waypoints = _grid.search(currentNode, targetNode);
_currentWaypointIndex = 0;
//Check to see if path exists
if (_waypoints == null)
{
return(TaskStatus.Failure);
}
return(TaskStatus.Running);
};
_behaviorTreeBuilder.action(chasePlayer);
_behaviorTree = _behaviorTreeBuilder.build();
}
public override void Init()
{
base.Init();
_boss.SetMaxHealth(MAX_HEALTH);
#region behavior tree
_tree = new BehaviorTreeBuilder(gameObject)
.Selector()
.Condition(() => _boss.IsDead)
.Condition(() => _boss.IsInvincible)
.Sequence()
.Selector("Attack")
.Sequence("Drone")
.Condition(() => _attackType == AttackType.DRONE)
.Do("Drone Attack", () => {
DroneAttack();
return(TaskStatus.Success);
})
.WaitTime(0.8f)
.End()
.Sequence("Shotgun")
.Condition(() => _attackType == AttackType.SHOTGUN)
.Do("Fire Shotgun", () => {
FireShotgun();
return(TaskStatus.Success);
})
.WaitTime(1.5f)
.End()
.Sequence("Laser")
.Condition(() => _attackType == AttackType.LASER)
.Do("Fire Laser", () => {
Laser(Vector2.right);
return(TaskStatus.Success);
})
.WaitTime(3f)
.End()
.Sequence("ExplosionCore")
.Condition(() => _attackType == AttackType.EXPLOSION_CORE)
.Do("Fire Explosion Core", () => {
FireExplosionCore();
return(TaskStatus.Success);
})
.WaitTime(0.8f)
.End()
.Sequence("Smash")
.Condition(() => _attackType == AttackType.SMASH)
.Do("Smash Player", () => {
Smash();
return(TaskStatus.Success);
})
.WaitTime(3f)
.End()
.End()
.Do("Choose Random Attack Type", () => {
// _attackType = BS.Utils.Random.RandomEnum<AttackType>();
_attackType = AttackType.SMASH;
return(TaskStatus.Success);
})
.End()
.Build();
#endregion
}
