private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(false);
rootSequence = behaviourTree.CreateSequenceNode("Root", false);
selectorDoor = behaviourTree.CreateSelectorNode("Selector door");
sequenceDoor = behaviourTree.CreateSequenceNode("Sequence door", false);
walkToDoor1 = behaviourTree.CreateLeafNode("Walk to door 1", WalkToDoor, ArriveToDoor);
walkToDoor2 = behaviourTree.CreateLeafNode("Walk to door 2", WalkToDoor, ArriveToDoor);
enterTheHouse = behaviourTree.CreateLeafNode("Enter the house", EnterTheHouse, HasEnteredTheHouse);
openDoor1 = behaviourTree.CreateLeafNode("Open the door 1", OpenDoor, DoorOpened);
openDoor2 = behaviourTree.CreateLeafNode("Open the door 2", OpenDoor, DoorOpened);
unlockDoor = behaviourTree.CreateLeafNode("Find key", UnlockDoor, IsTheDoorUnlocked);
smashDoor = behaviourTree.CreateLeafNode("Explode door", SmashDoor, DoorSmashed);
rootSequence.AddChild(walkToDoor1);
rootSequence.AddChild(selectorDoor);
rootSequence.AddChild(enterTheHouse);
selectorDoor.AddChild(openDoor1);
selectorDoor.AddChild(sequenceDoor);
selectorDoor.AddChild(smashDoor);
sequenceDoor.AddChild(unlockDoor);
sequenceDoor.AddChild(walkToDoor2);
sequenceDoor.AddChild(openDoor2);
behaviourTree.SetRootNode(rootSequence);
}
protected override void InitTreeNode()
{
_NodeRoot = new SelectorNode(this);
SelectorNode temp = _NodeRoot as SelectorNode;
temp.AddChild(new MoveAction(this, temp));
temp.AddChild(new MoveAction(this, temp));
_CurNode = _NodeRoot;
}
void SetUpBehaviorTree()
{
SequenceNode rootSequence = new SequenceNode("Root");
behaviorTree.AddRoot(rootSequence);
InverterNode isDeadInverter = new InverterNode();
rootSequence.AddChild(isDeadInverter);
ConditionalNode isDead = new DeathCondition <Miner>(this);
isDeadInverter.AddChild(isDead);
SelectorNode mainSelector = new SelectorNode("Main");
rootSequence.AddChild(mainSelector);
SequenceNode miningSequence = new SequenceNode("Mining");
mainSelector.AddChild(miningSequence);
SequenceNode depositingSequence = new SequenceNode("Depositing");
mainSelector.AddChild(depositingSequence);
InverterNode isBagFullInverter = new InverterNode();
miningSequence.AddChild(isBagFullInverter);
ConditionalNode isBagFull = new BagFullCondition <Miner>(this);
isBagFullInverter.AddChild(isBagFull);
LeafNode walkToMine = new WalkToAction <Miner>(this, targetMiningPoint.position, targetMiningPoint.gameObject.name);
miningSequence.AddChild(walkToMine);
LeafNode mine = new MineAction <Miner>(this, mineIntervals, resourceMinedPerInterval);
miningSequence.AddChild(mine);
LeafNode walkToBase = new WalkToAction <Miner>(this, targetDeployPoint.position, targetDeployPoint.gameObject.name);
depositingSequence.AddChild(walkToBase);
LeafNode deposit = new DepositAction <Miner>(this, depositDuration);
depositingSequence.AddChild(deposit);
}
public static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
LanceDetectsEnemiesNode lanceDetectsEnemies0000 = new LanceDetectsEnemiesNode("lanceDetectsEnemies0000", behaviorTree, unit);
FindDetectedEnemiesNode findDetectedEnemies0000 = new FindDetectedEnemiesNode("findDetectedEnemies0000", behaviorTree, unit);
IsMovementAvailableForUnitNode movementAvailable0000 = new IsMovementAvailableForUnitNode("movementAvailable0000", behaviorTree, unit);
BlockUntilPathfindingReadyNode blockUntilPathfindingReady0000 = new BlockUntilPathfindingReadyNode("blockUntilPathfindingReady0000", behaviorTree, unit);
ClearMoveCandidatesNode clearMoveCandidates0000 = new ClearMoveCandidatesNode("clearMoveCandidates0000", behaviorTree, unit);
GenerateMoveCandidatesNode generateMoveCandidates0000 = new GenerateMoveCandidatesNode("generateMoveCandidates0000", behaviorTree, unit);
SortMoveCandidatesByDecreasingDistanceToHostilesNode sortMoveCandidatesByDecreasingDistanceToHostiles0000 = new SortMoveCandidatesByDecreasingDistanceToHostilesNode("sortMoveCandidatesByDecreasingDistanceToHostiles0000", behaviorTree, unit);
FilterMoveCandidatesByLowestLOSToHostilesNode filterMoveCandidatesByLowestLOSToHostiles0000 = new FilterMoveCandidatesByLowestLOSToHostilesNode("filterMoveCandidatesByLowestLOSToHostiles0000", behaviorTree, unit);
MoveTowardsHighestPriorityMoveCandidateNode moveTowardsHighestPriorityMoveCandidate0000 = new MoveTowardsHighestPriorityMoveCandidateNode("moveTowardsHighestPriorityMoveCandidate0000", behaviorTree, unit, false);
SequenceNode run_away = new SequenceNode("run_away", behaviorTree, unit);
run_away.AddChild(lanceDetectsEnemies0000);
run_away.AddChild(findDetectedEnemies0000);
run_away.AddChild(movementAvailable0000);
run_away.AddChild(blockUntilPathfindingReady0000);
run_away.AddChild(clearMoveCandidates0000);
run_away.AddChild(generateMoveCandidates0000);
run_away.AddChild(sortMoveCandidatesByDecreasingDistanceToHostiles0000);
run_away.AddChild(filterMoveCandidatesByLowestLOSToHostiles0000);
run_away.AddChild(moveTowardsHighestPriorityMoveCandidate0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode flee_AI_root = new SelectorNode("flee_AI_root", behaviorTree, unit);
flee_AI_root.AddChild(run_away);
flee_AI_root.AddChild(brace0000);
return(flee_AI_root);
}
public void Selector_Node_Stays_Running_When_A_Child_Is_Running()
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(NodeState.Running);
SelectorNode seq = new SelectorNode();
seq.AddChild(mock);
Assert.IsTrue(seq.Update() == NodeState.Running);
}
private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(false);
LeafNode throwRod = behaviourTree.CreateLeafNode("Throw rod", ThrowRod, RodThrown);
LeafNode catchSomething = behaviourTree.CreateLeafNode("Catch something", Catch, SomethingCatched);
LeafNode returnToWater = behaviourTree.CreateLeafNode("Return to water", () => Invoke("ReturnToWater", 2), ReturnedToWater);
LeafNode storeInBasket = behaviourTree.CreateLeafNode("Store in the basket", () => Invoke("StoreBasket", 2), StoredInBasket);
TimerDecoratorNode timerNode = behaviourTree.CreateTimerNode("Timer node", catchSomething, 3);
SelectorNode selectorNode = behaviourTree.CreateSelectorNode("Selector node");
selectorNode.AddChild(returnToWater);
selectorNode.AddChild(storeInBasket);
SequenceNode sequenceNode = behaviourTree.CreateSequenceNode("Sequence node", false);
sequenceNode.AddChild(throwRod);
sequenceNode.AddChild(timerNode);
sequenceNode.AddChild(selectorNode);
LoopDecoratorNode rootNode = behaviourTree.CreateLoopNode("Root node", sequenceNode);
behaviourTree.SetRootNode(rootNode);
}
public static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
IsAttackAvailableForUnitNode attackAvailable0000 = new IsAttackAvailableForUnitNode("attackAvailable0000", behaviorTree, unit);
FindPlayerTutorialTargetNode findPlayerTutorialTarget0000 = new FindPlayerTutorialTargetNode("findPlayerTutorialTarget0000", behaviorTree, unit);
ShootTrainingWeaponsAtTargetNode shootTrainingWeaponsAtTarget0000 = new ShootTrainingWeaponsAtTargetNode("shootTrainingWeaponsAtTarget0000", behaviorTree, unit);
SequenceNode attack_sequence = new SequenceNode("attack_sequence", behaviorTree, unit);
attack_sequence.AddChild(attackAvailable0000);
attack_sequence.AddChild(findPlayerTutorialTarget0000);
attack_sequence.AddChild(shootTrainingWeaponsAtTarget0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode selector0000 = new SelectorNode("selector0000", behaviorTree, unit);
selector0000.AddChild(attack_sequence);
selector0000.AddChild(brace0000);
return(selector0000);
}
public static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
UnitHasRouteNode unitHasRoute0000 = new UnitHasRouteNode("unitHasRoute0000", behaviorTree, unit);
LanceHasStartedRouteNode lanceHasStartedRoute0000 = new LanceHasStartedRouteNode("lanceHasStartedRoute0000", behaviorTree, unit);
LanceStartRouteNode lanceStartRoute0000 = new LanceStartRouteNode("lanceStartRoute0000", behaviorTree, unit);
SelectorNode selector0000 = new SelectorNode("selector0000", behaviorTree, unit);
selector0000.AddChild(lanceHasStartedRoute0000);
selector0000.AddChild(lanceStartRoute0000);
LanceHasCompletedRouteNode lanceHasCompletedRoute0000 = new LanceHasCompletedRouteNode("lanceHasCompletedRoute0000", behaviorTree, unit);
InverterNode inverter0000 = new InverterNode("inverter0000", behaviorTree, unit);
inverter0000.AddChild(lanceHasCompletedRoute0000);
MoveAlongRouteNode moveAlongRoute0000 = new MoveAlongRouteNode("moveAlongRoute0000", behaviorTree, unit);
SequenceNode incrementally_patrol = new SequenceNode("incrementally_patrol", behaviorTree, unit);
incrementally_patrol.AddChild(unitHasRoute0000);
incrementally_patrol.AddChild(selector0000);
incrementally_patrol.AddChild(inverter0000);
incrementally_patrol.AddChild(moveAlongRoute0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode route_AI_root = new SelectorNode("route_AI_root", behaviorTree, unit);
route_AI_root.AddChild(incrementally_patrol);
route_AI_root.AddChild(brace0000);
return(route_AI_root);
}
public void runs_the_first_node_if_it_succeeds()
{
Init();
var time = new MyTimeData();
var mockChild1 = new Mock <IMyBehaviourTreeNode>();
mockChild1
.Setup(m => m.Tick(time))
.Returns(MyBehaviourTreeStatus.Success);
var mockChild2 = new Mock <IMyBehaviourTreeNode>();
testObject.AddChild(mockChild1.Object);
testObject.AddChild(mockChild2.Object);
Assert.Equal(MyBehaviourTreeStatus.Success, testObject.Tick(time));
mockChild1.Verify(m => m.Tick(time), Times.Once());
mockChild2.Verify(m => m.Tick(time), Times.Never());
}
public void Selector_Properly_Resets_After_Finishing(NodeState finishState)
{
SelectorNode seq = new SelectorNode();
int finishIdx = finishState == NodeState.Failure ? 2 : 1;
for (int i = 0; i < 3; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(i == finishIdx ? finishState : NodeState.Failure);
seq.AddChild(mock);
}
// if it runs correctly after the second time, it has been properly reset
for (int j = 0; j < 2; j++)
{
for (int i = 0; i <= finishIdx; i++)
{
var expected = i == finishIdx ? finishState : NodeState.Running;
Assert.IsTrue(seq.Update() == expected);
}
}
}
public void Sequence_Node_Succeds_When_One_Child_Succeeds(int childsCount, int successAt)
{
SelectorNode seq = new SelectorNode();
for (int i = 0; i < childsCount; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(i == successAt ? NodeState.Success : NodeState.Failure);
seq.AddChild(mock);
}
for (int i = 0; i <= successAt; i++)
{
if (i == successAt)
{
Assert.IsTrue(seq.Update() == NodeState.Success);
}
else
{
Assert.IsTrue(seq.Update() == NodeState.Running);
}
}
}
public void Selector_Node_Fails_If_All_Of_Its_Children_Fails(int childsCount)
{
SelectorNode seq = new SelectorNode();
for (int i = 0; i < childsCount; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(NodeState.Failure);
seq.AddChild(mock);
}
for (int i = 0; i < childsCount; i++)
{
if (i == childsCount - 1)
{
Assert.IsTrue(seq.Update() == NodeState.Failure);
}
else
{
Assert.IsTrue(seq.Update() == NodeState.Running);
}
}
}
public static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
LanceHasLOSNode lanceHasLOS0000 = new LanceHasLOSNode("lanceHasLOS0000", behaviorTree, unit);
FindVisibleEnemiesNode findVisibleEnemies0000 = new FindVisibleEnemiesNode("findVisibleEnemies0000", behaviorTree, unit);
IsMovementAvailableForUnitNode movementAvailable0000 = new IsMovementAvailableForUnitNode("movementAvailable0000", behaviorTree, unit);
SortEnemiesByThreatNode sortEnemiesByThreat0000 = new SortEnemiesByThreatNode("sortEnemiesByThreat0000", behaviorTree, unit);
MoveTowardsHighestPriorityEnemyNode moveTowardsHighestPriorityEnemy0000 = new MoveTowardsHighestPriorityEnemyNode("moveTowardsHighestPriorityEnemy0000", behaviorTree, unit);
SequenceNode canMove = new SequenceNode("canMove", behaviorTree, unit);
canMove.AddChild(movementAvailable0000);
canMove.AddChild(sortEnemiesByThreat0000);
canMove.AddChild(moveTowardsHighestPriorityEnemy0000);
IsAttackAvailableForUnitNode attackAvailable0000 = new IsAttackAvailableForUnitNode("attackAvailable0000", behaviorTree, unit);
SortEnemiesByEffectivenessNode sortEnemiesByEffectiveness0000 = new SortEnemiesByEffectivenessNode("sortEnemiesByEffectiveness0000", behaviorTree, unit);
ShootAtHighestPriorityEnemyNode shootAtHighestPriorityEnemy0000 = new ShootAtHighestPriorityEnemyNode("shootAtHighestPriorityEnemy0000", behaviorTree, unit);
SequenceNode canAttack = new SequenceNode("canAttack", behaviorTree, unit);
canAttack.AddChild(attackAvailable0000);
canAttack.AddChild(sortEnemiesByEffectiveness0000);
canAttack.AddChild(shootAtHighestPriorityEnemy0000);
SelectorNode selector0000 = new SelectorNode("selector0000", behaviorTree, unit);
selector0000.AddChild(canMove);
selector0000.AddChild(canAttack);
SequenceNode free_engage = new SequenceNode("free_engage", behaviorTree, unit);
free_engage.AddChild(lanceHasLOS0000);
free_engage.AddChild(findVisibleEnemies0000);
free_engage.AddChild(selector0000);
IsMovementAvailableForUnitNode movementAvailable0001 = new IsMovementAvailableForUnitNode("movementAvailable0001", behaviorTree, unit);
FindPreviouslySeenEnemiesNode findPreviouslySeenEnemies0000 = new FindPreviouslySeenEnemiesNode("findPreviouslySeenEnemies0000", behaviorTree, unit);
SortEnemiesByProximityNode sortEnemiesByProximity0000 = new SortEnemiesByProximityNode("sortEnemiesByProximity0000", behaviorTree, unit);
MoveTowardsHighestPriorityEnemyNode moveTowardsHighestPriorityEnemy0001 = new MoveTowardsHighestPriorityEnemyNode("moveTowardsHighestPriorityEnemy0001", behaviorTree, unit);
SequenceNode hunt_previously_seen = new SequenceNode("hunt_previously_seen", behaviorTree, unit);
hunt_previously_seen.AddChild(movementAvailable0001);
hunt_previously_seen.AddChild(findPreviouslySeenEnemies0000);
hunt_previously_seen.AddChild(sortEnemiesByProximity0000);
hunt_previously_seen.AddChild(moveTowardsHighestPriorityEnemy0001);
SelectorNode selector0001 = new SelectorNode("selector0001", behaviorTree, unit);
selector0001.AddChild(hunt_previously_seen);
FailNode fail0000 = new FailNode("fail0000", behaviorTree, unit);
SelectorNode patrol = new SelectorNode("patrol", behaviorTree, unit);
patrol.AddChild(fail0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode dumb_AI_root = new SelectorNode("dumb_AI_root", behaviorTree, unit);
dumb_AI_root.AddChild(free_engage);
dumb_AI_root.AddChild(selector0001);
dumb_AI_root.AddChild(patrol);
dumb_AI_root.AddChild(brace0000);
return(dumb_AI_root);
}
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 static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
IsShutDownNode isShutdown0000 = new IsShutDownNode("isShutdown0000", behaviorTree, unit);
MechStartUpNode mechStartUp0000 = new MechStartUpNode("mechStartUp0000", behaviorTree, unit);
SequenceNode if_shutdown__restart = new SequenceNode("if_shutdown__restart", behaviorTree, unit);
if_shutdown__restart.AddChild(isShutdown0000);
if_shutdown__restart.AddChild(mechStartUp0000);
IsMovementAvailableForUnitNode movementAvailable0000 = new IsMovementAvailableForUnitNode("movementAvailable0000", behaviorTree, unit);
IsProneNode isProne0000 = new IsProneNode("isProne0000", behaviorTree, unit);
StandNode stand0000 = new StandNode("stand0000", behaviorTree, unit);
SequenceNode if_prone__stand_up = new SequenceNode("if_prone__stand_up", behaviorTree, unit);
if_prone__stand_up.AddChild(movementAvailable0000);
if_prone__stand_up.AddChild(isProne0000);
if_prone__stand_up.AddChild(stand0000);
IsMovementAvailableForUnitNode movementAvailable0001 = new IsMovementAvailableForUnitNode("movementAvailable0001", behaviorTree, unit);
HasSensorLockAbilityNode hasSensorLockAbility0000 = new HasSensorLockAbilityNode("hasSensorLockAbility0000", behaviorTree, unit);
HasSensorLockTargetNode hasSensorLockTarget0000 = new HasSensorLockTargetNode("hasSensorLockTarget0000", behaviorTree, unit);
SortEnemiesBySensorLockQualityNode sortEnemiesBySensorLockQuality0000 = new SortEnemiesBySensorLockQualityNode("sortEnemiesBySensorLockQuality0000", behaviorTree, unit);
RecordHighestPriorityEnemyAsSensorLockTargetNode recordHighestPriorityEnemyAsSensorLockTarget0000 = new RecordHighestPriorityEnemyAsSensorLockTargetNode("recordHighestPriorityEnemyAsSensorLockTarget0000", behaviorTree, unit);
SequenceNode sensor_lock_success = new SequenceNode("sensor_lock_success", behaviorTree, unit);
sensor_lock_success.AddChild(hasSensorLockAbility0000);
sensor_lock_success.AddChild(hasSensorLockTarget0000);
sensor_lock_success.AddChild(sortEnemiesBySensorLockQuality0000);
sensor_lock_success.AddChild(recordHighestPriorityEnemyAsSensorLockTarget0000);
ClearSensorLockNode clearSensorLock0000 = new ClearSensorLockNode("clearSensorLock0000", behaviorTree, unit);
SelectorNode selector0000 = new SelectorNode("selector0000", behaviorTree, unit);
selector0000.AddChild(sensor_lock_success);
selector0000.AddChild(clearSensorLock0000);
SequenceNode evalSensorLock = new SequenceNode("evalSensorLock", behaviorTree, unit);
evalSensorLock.AddChild(selector0000);
SuccessDecoratorNode maybe_sensor_lock = new SuccessDecoratorNode("maybe_sensor_lock", behaviorTree, unit);
maybe_sensor_lock.AddChild(evalSensorLock);
UnitHasRouteNode unitHasRoute0000 = new UnitHasRouteNode("unitHasRoute0000", behaviorTree, unit);
LanceHasCompletedRouteNode lanceHasCompletedRoute0000 = new LanceHasCompletedRouteNode("lanceHasCompletedRoute0000", behaviorTree, unit);
InverterNode inverter0000 = new InverterNode("inverter0000", behaviorTree, unit);
inverter0000.AddChild(lanceHasCompletedRoute0000);
LanceHasStartedRouteNode lanceHasStartedRoute0000 = new LanceHasStartedRouteNode("lanceHasStartedRoute0000", behaviorTree, unit);
LanceStartRouteNode lanceStartRoute0000 = new LanceStartRouteNode("lanceStartRoute0000", behaviorTree, unit);
SelectorNode selector0001 = new SelectorNode("selector0001", behaviorTree, unit);
selector0001.AddChild(lanceHasStartedRoute0000);
selector0001.AddChild(lanceStartRoute0000);
BlockUntilPathfindingReadyNode blockUntilPathfindingReady0000 = new BlockUntilPathfindingReadyNode("blockUntilPathfindingReady0000", behaviorTree, unit);
MoveAlongRouteNode moveAlongRoute0000 = new MoveAlongRouteNode("moveAlongRoute0000", behaviorTree, unit);
SequenceNode move_along_route = new SequenceNode("move_along_route", behaviorTree, unit);
move_along_route.AddChild(movementAvailable0001);
move_along_route.AddChild(maybe_sensor_lock);
move_along_route.AddChild(unitHasRoute0000);
move_along_route.AddChild(inverter0000);
move_along_route.AddChild(selector0001);
move_along_route.AddChild(blockUntilPathfindingReady0000);
move_along_route.AddChild(moveAlongRoute0000);
HasSensorLockAbilityNode hasSensorLockAbility0001 = new HasSensorLockAbilityNode("hasSensorLockAbility0001", behaviorTree, unit);
HasRecordedSensorLockTargetNode hasRecordedSensorLockTarget0000 = new HasRecordedSensorLockTargetNode("hasRecordedSensorLockTarget0000", behaviorTree, unit);
SetMoodNode setMood0000 = new SetMoodNode("setMood0000", behaviorTree, unit, AIMood.Aggressive);
SensorLockRecordedSensorLockTargetNode sensorLockRecordedSensorLockTarget0000 = new SensorLockRecordedSensorLockTargetNode("sensorLockRecordedSensorLockTarget0000", behaviorTree, unit);
SequenceNode choseToSensorLock = new SequenceNode("choseToSensorLock", behaviorTree, unit);
choseToSensorLock.AddChild(hasSensorLockAbility0001);
choseToSensorLock.AddChild(hasRecordedSensorLockTarget0000);
choseToSensorLock.AddChild(setMood0000);
choseToSensorLock.AddChild(sensorLockRecordedSensorLockTarget0000);
LanceDetectsEnemiesNode lanceDetectsEnemies0000 = new LanceDetectsEnemiesNode("lanceDetectsEnemies0000", behaviorTree, unit);
FindDetectedEnemiesNode findDetectedEnemies0000 = new FindDetectedEnemiesNode("findDetectedEnemies0000", behaviorTree, unit);
IsAttackAvailableForUnitNode attackAvailable0000 = new IsAttackAvailableForUnitNode("attackAvailable0000", behaviorTree, unit);
SortEnemiesByThreatNode sortEnemiesByThreat0000 = new SortEnemiesByThreatNode("sortEnemiesByThreat0000", behaviorTree, unit);
UseNormalToHitThreshold useNormalToHitThreshold0000 = new UseNormalToHitThreshold("useNormalToHitThreshold0000", behaviorTree, unit);
WasTargetedRecentlyNode wasTargetedRecently0000 = new WasTargetedRecentlyNode("wasTargetedRecently0000", behaviorTree, unit);
InverterNode inverter0001 = new InverterNode("inverter0001", behaviorTree, unit);
inverter0001.AddChild(wasTargetedRecently0000);
RandomPercentageLessThanBVNode randomPercentageLessThanBV0000 = new RandomPercentageLessThanBVNode("randomPercentageLessThanBV0000", behaviorTree, unit, BehaviorVariableName.Float_PriorityAttackPercentage);
SortEnemiesByPriorityListNode sortEnemiesByPriorityList0000 = new SortEnemiesByPriorityListNode("sortEnemiesByPriorityList0000", behaviorTree, unit);
SequenceNode sequence0000 = new SequenceNode("sequence0000", behaviorTree, unit);
sequence0000.AddChild(inverter0001);
sequence0000.AddChild(randomPercentageLessThanBV0000);
sequence0000.AddChild(sortEnemiesByPriorityList0000);
MaybeFilterOutPriorityTargetsNode maybeFilterOutPriorityTargets0000 = new MaybeFilterOutPriorityTargetsNode("maybeFilterOutPriorityTargets0000", behaviorTree, unit);
FilterKeepingRecentAttackersNode filterKeepingRecentAttackers0000 = new FilterKeepingRecentAttackersNode("filterKeepingRecentAttackers0000", behaviorTree, unit);
SucceedNode succeed0000 = new SucceedNode("succeed0000", behaviorTree, unit);
SelectorNode priorityAttack = new SelectorNode("priorityAttack", behaviorTree, unit);
priorityAttack.AddChild(sequence0000);
priorityAttack.AddChild(maybeFilterOutPriorityTargets0000);
priorityAttack.AddChild(filterKeepingRecentAttackers0000);
priorityAttack.AddChild(succeed0000);
ShootAtHighestPriorityEnemyNode shootAtHighestPriorityEnemy0000 = new ShootAtHighestPriorityEnemyNode("shootAtHighestPriorityEnemy0000", behaviorTree, unit);
SequenceNode opportunity_fire = new SequenceNode("opportunity_fire", behaviorTree, unit);
opportunity_fire.AddChild(lanceDetectsEnemies0000);
opportunity_fire.AddChild(findDetectedEnemies0000);
opportunity_fire.AddChild(attackAvailable0000);
opportunity_fire.AddChild(sortEnemiesByThreat0000);
opportunity_fire.AddChild(useNormalToHitThreshold0000);
opportunity_fire.AddChild(priorityAttack);
opportunity_fire.AddChild(shootAtHighestPriorityEnemy0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode patrol_and_shoot_AI_root = new SelectorNode("patrol_and_shoot_AI_root", behaviorTree, unit);
patrol_and_shoot_AI_root.AddChild(if_shutdown__restart);
patrol_and_shoot_AI_root.AddChild(if_prone__stand_up);
patrol_and_shoot_AI_root.AddChild(move_along_route);
patrol_and_shoot_AI_root.AddChild(choseToSensorLock);
patrol_and_shoot_AI_root.AddChild(opportunity_fire);
patrol_and_shoot_AI_root.AddChild(brace0000);
return(patrol_and_shoot_AI_root);
}
public static BehaviorNode InitRootNode(BehaviorTree behaviorTree, AbstractActor unit, GameInstance game)
{
IsShutDownNode isShutdown0000 = new IsShutDownNode("isShutdown0000", behaviorTree, unit);
MechStartUpNode mechStartUp0000 = new MechStartUpNode("mechStartUp0000", behaviorTree, unit);
SequenceNode if_shutdown__restart = new SequenceNode("if_shutdown__restart", behaviorTree, unit);
if_shutdown__restart.AddChild(isShutdown0000);
if_shutdown__restart.AddChild(mechStartUp0000);
IsMovementAvailableForUnitNode movementAvailable0000 = new IsMovementAvailableForUnitNode("movementAvailable0000", behaviorTree, unit);
IsProneNode isProne0000 = new IsProneNode("isProne0000", behaviorTree, unit);
StandNode stand0000 = new StandNode("stand0000", behaviorTree, unit);
SequenceNode if_prone__stand_up = new SequenceNode("if_prone__stand_up", behaviorTree, unit);
if_prone__stand_up.AddChild(movementAvailable0000);
if_prone__stand_up.AddChild(isProne0000);
if_prone__stand_up.AddChild(stand0000);
IsMovementAvailableForUnitNode movementAvailable0001 = new IsMovementAvailableForUnitNode("movementAvailable0001", behaviorTree, unit);
UnitHasRouteNode unitHasRoute0000 = new UnitHasRouteNode("unitHasRoute0000", behaviorTree, unit);
LanceHasStartedRouteNode lanceHasStartedRoute0000 = new LanceHasStartedRouteNode("lanceHasStartedRoute0000", behaviorTree, unit);
LanceStartRouteNode lanceStartRoute0000 = new LanceStartRouteNode("lanceStartRoute0000", behaviorTree, unit);
SelectorNode selector0000 = new SelectorNode("selector0000", behaviorTree, unit);
selector0000.AddChild(lanceHasStartedRoute0000);
selector0000.AddChild(lanceStartRoute0000);
LanceHasCompletedRouteNode lanceHasCompletedRoute0000 = new LanceHasCompletedRouteNode("lanceHasCompletedRoute0000", behaviorTree, unit);
InverterNode inverter0000 = new InverterNode("inverter0000", behaviorTree, unit);
inverter0000.AddChild(lanceHasCompletedRoute0000);
MoveAlongRouteNode moveAlongRoute0000 = new MoveAlongRouteNode("moveAlongRoute0000", behaviorTree, unit);
SequenceNode patrol_opportunistic_shoot = new SequenceNode("patrol_opportunistic_shoot", behaviorTree, unit);
patrol_opportunistic_shoot.AddChild(movementAvailable0001);
patrol_opportunistic_shoot.AddChild(unitHasRoute0000);
patrol_opportunistic_shoot.AddChild(selector0000);
patrol_opportunistic_shoot.AddChild(inverter0000);
patrol_opportunistic_shoot.AddChild(moveAlongRoute0000);
LanceDetectsEnemiesNode lanceDetectsEnemies0000 = new LanceDetectsEnemiesNode("lanceDetectsEnemies0000", behaviorTree, unit);
FindDetectedEnemiesNode findDetectedEnemies0000 = new FindDetectedEnemiesNode("findDetectedEnemies0000", behaviorTree, unit);
IsAttackAvailableForUnitNode attackAvailable0000 = new IsAttackAvailableForUnitNode("attackAvailable0000", behaviorTree, unit);
SortEnemiesByThreatNode sortEnemiesByThreat0000 = new SortEnemiesByThreatNode("sortEnemiesByThreat0000", behaviorTree, unit);
UseNormalToHitThreshold useNormalToHitThreshold0000 = new UseNormalToHitThreshold("useNormalToHitThreshold0000", behaviorTree, unit);
WasTargetedRecentlyNode wasTargetedRecently0000 = new WasTargetedRecentlyNode("wasTargetedRecently0000", behaviorTree, unit);
InverterNode inverter0001 = new InverterNode("inverter0001", behaviorTree, unit);
inverter0001.AddChild(wasTargetedRecently0000);
RandomPercentageLessThanBVNode randomPercentageLessThanBV0000 = new RandomPercentageLessThanBVNode("randomPercentageLessThanBV0000", behaviorTree, unit, BehaviorVariableName.Float_PriorityAttackPercentage);
SortEnemiesByPriorityListNode sortEnemiesByPriorityList0000 = new SortEnemiesByPriorityListNode("sortEnemiesByPriorityList0000", behaviorTree, unit);
SequenceNode sequence0000 = new SequenceNode("sequence0000", behaviorTree, unit);
sequence0000.AddChild(inverter0001);
sequence0000.AddChild(randomPercentageLessThanBV0000);
sequence0000.AddChild(sortEnemiesByPriorityList0000);
MaybeFilterOutPriorityTargetsNode maybeFilterOutPriorityTargets0000 = new MaybeFilterOutPriorityTargetsNode("maybeFilterOutPriorityTargets0000", behaviorTree, unit);
FilterKeepingRecentAttackersNode filterKeepingRecentAttackers0000 = new FilterKeepingRecentAttackersNode("filterKeepingRecentAttackers0000", behaviorTree, unit);
SequenceNode sequence0001 = new SequenceNode("sequence0001", behaviorTree, unit);
sequence0001.AddChild(maybeFilterOutPriorityTargets0000);
sequence0001.AddChild(filterKeepingRecentAttackers0000);
SucceedNode succeed0000 = new SucceedNode("succeed0000", behaviorTree, unit);
SelectorNode priorityAttack = new SelectorNode("priorityAttack", behaviorTree, unit);
priorityAttack.AddChild(sequence0000);
priorityAttack.AddChild(sequence0001);
priorityAttack.AddChild(succeed0000);
ShootAtHighestPriorityEnemyNode shootAtHighestPriorityEnemy0000 = new ShootAtHighestPriorityEnemyNode("shootAtHighestPriorityEnemy0000", behaviorTree, unit);
SequenceNode opportunity_fire = new SequenceNode("opportunity_fire", behaviorTree, unit);
opportunity_fire.AddChild(lanceDetectsEnemies0000);
opportunity_fire.AddChild(findDetectedEnemies0000);
opportunity_fire.AddChild(attackAvailable0000);
opportunity_fire.AddChild(sortEnemiesByThreat0000);
opportunity_fire.AddChild(useNormalToHitThreshold0000);
opportunity_fire.AddChild(priorityAttack);
opportunity_fire.AddChild(shootAtHighestPriorityEnemy0000);
BraceNode brace0000 = new BraceNode("brace0000", behaviorTree, unit);
SelectorNode patrol_With_Opportunistic_Shooting_AI_root = new SelectorNode("patrol_With_Opportunistic_Shooting_AI_root", behaviorTree, unit);
patrol_With_Opportunistic_Shooting_AI_root.AddChild(if_shutdown__restart);
patrol_With_Opportunistic_Shooting_AI_root.AddChild(if_prone__stand_up);
patrol_With_Opportunistic_Shooting_AI_root.AddChild(patrol_opportunistic_shoot);
patrol_With_Opportunistic_Shooting_AI_root.AddChild(opportunity_fire);
patrol_With_Opportunistic_Shooting_AI_root.AddChild(brace0000);
return(patrol_With_Opportunistic_Shooting_AI_root);
}
