[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 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);
}
[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 Action_Success()
{
BehaviorTree behaviorTree = new BehaviorTreeBuilder<BehaviorTree>(new Selector())
.Action(new MockAction(BehaviorStatus.Success))
.Build();
Assert.IsTrue(behaviorTree.Tick() == BehaviorStatus.Success);
}
[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 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 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 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);
}
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);
}
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);
}