private void Start()
{
p = player.GetComponent <player_controller>();
m = monster.GetComponent <monster_controller>();
ws = new world_state();
StartCoroutine(UpdateSensors());
}
//default constructor builds the htn tree model in the implementation doc
public monster_htn()
{
monster = GameObject.Find("Monster");
m = monster.GetComponent <monster_controller>();
//define rootNode node
rootNode = new compound_task(node.type.Root, "beAMonster");
rootNode.children = new List <node>();
rootNode.children.Add(new compound_task(rootNode, node.type.Compound, compound_task.subType.Sequence, "wander"));
rootNode.children.Add(new compound_task(rootNode, node.type.Compound, compound_task.subType.Sequence, "attack"));
//build left handside of the htn: wandering behavior
compound_task wanderNode = (compound_task)rootNode.children[0];
wanderNode.children = new List <node>
{
new compound_task(wanderNode, node.type.Compound, compound_task.subType.Selector, "navSpeed"), //movement type
new primitive_task(wanderNode, node.type.Primitive, "setNavDest"), //choose dest
new primitive_task(wanderNode, node.type.Primitive, "idle") //rest
};
compound_task navSpeedNode = (compound_task)wanderNode.children[0];
navSpeedNode.children = new List <node>
{
new primitive_task(navSpeedNode, node.type.Primitive, "walk"),
new primitive_task(navSpeedNode, node.type.Primitive, "run")
};
//build the right handside of the tree: attack behavior
compound_task attackNode = (compound_task)rootNode.children[1];
attackNode.children = new List <node>
{
new primitive_task(attackNode, node.type.Primitive, "getAngry"), //change skin color
new compound_task(attackNode, node.type.Compound, compound_task.subType.Sequence, "findObjectToThrow"), //pick up object
new compound_task(attackNode, node.type.Compound, compound_task.subType.Selector, "throw"), //throw
new primitive_task(wanderNode, node.type.Primitive, "recover") //rest
};
compound_task findObjNode = (compound_task)attackNode.children[1];
findObjNode.children = new List <node>
{
new primitive_task(findObjNode, node.type.Primitive, "findObj"), //find closest obj
new primitive_task(findObjNode, node.type.Primitive, "navToObj"), //navigate to it
new primitive_task(findObjNode, node.type.Primitive, "pickUp") //pick it up
};
compound_task throwNode = (compound_task)attackNode.children[2];
throwNode.children = new List <node>
{
new compound_task(throwNode, node.type.Compound, compound_task.subType.Sequence, "superThrow"), //throw rock
new primitive_task(throwNode, node.type.Primitive, "objectThrow") //throw object
};
compound_task superThrowNode = (compound_task)throwNode.children[0];
superThrowNode.children = new List <node>
{
new primitive_task(superThrowNode, node.type.Primitive, "growl"), //growl
new primitive_task(superThrowNode, node.type.Primitive, "objectThrow") //throw object
};
}
