override public void MakeTree()
{
base.MakeTree();
BT_Root root = new BT_Root(); behaviourTree = new BehaviourTree(root); BT_Selector selector1 = new BT_Selector();
BT_Execute attack = new BT_Execute();
BT_Execute chase = new BT_Execute();
BT_Execute patrol = new BT_Execute();
BT_Selector selector2 = new BT_Selector();
BT_If if_found = new BT_If();
BT_If If_attack = new BT_If();
BT_Execute attackable_check = new BT_Execute();
BT_Execute moveableCheck = new BT_Execute();
BT_If if_patrol = new BT_If();
BT_If If_chase = new BT_If();
if_found.SetCondition(() => {
return(IsFound);
});
if_found.AddChild(selector2);
If_attack.SetCondition(() => {
return(IsAttackable);
});
If_attack.AddChild(attack);
attackable_check.AddEvent(() => {
attackablecheck_event.Invoke();
});
attackable_check.AddChild(If_attack);
selector2.AddChild(attackable_check);
selector2.AddChild(If_chase);
attack.AddEvent(() => {
attack_event.Invoke();
});
root.AddChild(moveableCheck);
selector1.AddChild(if_found);
selector1.AddChild(if_patrol);
moveableCheck.AddEvent(() => {
moveablecheck_event.Invoke();
});
moveableCheck.AddChild(selector1);
if_patrol.SetCondition(() => {
return(IsMoveable);
});
if_patrol.AddChild(patrol);
patrol.AddEvent(() => {
patrol_event.Invoke();
});
If_chase.SetCondition(() => {
return(IsMoveable);
});
If_chase.AddChild(chase);
chase.AddEvent(() => {
chase_event.Invoke();
});
}
public void SelectorTest2()
{
// selector algorithm test
//
// 1 __ failure __ ex1
//root - selector -|
// 2 | -- ex2 -- succcess
// 3 ----ex3
//
// ex1 : should be activated
// ex2 : should be activated
// ex3 : should not be activated
BT_Root root = new BT_Root();
BT_Selector selector = new BT_Selector();
BT_Failure failure = new BT_Failure();
BT_Execute ex1 = new BT_Execute();
BT_Execute ex2 = new BT_Execute();
BT_Execute ex3 = new BT_Execute();
BT_Success success = new BT_Success();
root.AddChild(selector);
selector.AddChild(failure);
selector.AddChild(ex2);
selector.AddChild(ex3);
failure.AddChild(ex1);
ex2.AddChild(success);
bool isOK1 = false, isOK2 = false, isOK3 = true;
ex1.AddEvent(() => {
isOK1 = true;
});
ex2.AddEvent(() => {
isOK2 = true;
});
ex3.AddEvent(() => {
isOK3 = false;
});
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK2);
Assert.AreEqual(true, isOK3);
}
public void SelectorTest1()
{
// selector stopable test
//
// 1 _ failure1 _ ex1
//root - selector-|
// 2 - failure2 - ex2
//
// ex1: should be activated
// ex2: should be activated
bool isOK1 = false;
bool isOK2 = false;
BT_Root root = new BT_Root();
BT_Selector s = new BT_Selector();
BT_Failure failure1 = new BT_Failure();
s.AddChild(failure1);
BT_Failure failure2 = new BT_Failure();
s.AddChild(failure2);
BT_Execute ex1 = new BT_Execute();
ex1.AddEvent(() => {
isOK1 = true;
});
failure1.AddChild(ex1);
BT_Execute ex2 = new BT_Execute();
ex2.AddEvent(() => {
isOK2 = true;
});
failure2.AddChild(ex2);
root.AddChild(s);
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK2);
}
// Start is called before the first frame update
void Start()
{
m_anim = GetComponentInParent <Script_AnimationMgr>();
instance = this;
invertDetection = new BT_Inverter(new BT_Detect(this, m_fov.m_visibleTargets, m_soundCheck));
invertCatch = new BT_Inverter(new BT_Catch(this, ARRIVAL_RANGE));
m_targetPos = transform.position;
m_target = transform;
m_idleSequence = new BT_Sequence(new List <Script_BTNode>
{
new BT_Idle(this, transform),
new BT_Wander(this, SEARCH_RANGE),
});
m_catchSequence = new BT_Sequence(new List <Script_BTNode>
{
new BT_Catch(this, CATCH_RANGE),
});
m_detectionSequence = new BT_Sequence(new List <Script_BTNode>
{
invertDetection,
new BT_CheckArrival(this, ARRIVAL_RANGE),
m_idleSequence
});
m_moveSequence = new BT_Sequence(new List <Script_BTNode>
{
new BT_Approach(this),
});
m_rootAI = new BT_Selector(new List <Script_BTNode>
{
m_detectionSequence,
m_catchSequence,
m_moveSequence,
});
new BT_Wander(this, SEARCH_RANGE);
}
override public void MakeTree()
{
base.MakeTree();
BT_Root root = new BT_Root(); behaviourTree = new BehaviourTree(root); BT_Selector selector1 = new BT_Selector();
BT_Execute attack = new BT_Execute();
BT_Execute chase = new BT_Execute();
BT_Execute patrol = new BT_Execute();
BT_Selector selector2 = new BT_Selector();
BT_If if_found = new BT_If();
BT_If If_attack = new BT_If();
BT_Execute attackable_check = new BT_Execute();
BT_Execute moveableCheck = new BT_Execute();
BT_If if_patrol = new BT_If();
BT_If If_chase = new BT_If();
BT_If If_escape = new BT_If();
BT_Execute escape = new BT_Execute();
BT_Interrupt DamageInterrupt = new BT_Interrupt();
BT_Execute ResetDamageFlag = new BT_Execute();
BT_Execute ActivateEscape = new BT_Execute();
BT_Execute SetFound = new BT_Execute();
If_escape.SetCondition(() => {
return(IsEscape && IsMoveable);
});
If_escape.AddChild(escape);
escape.AddEvent(() => {
escape_event.Invoke();
});
if_found.SetCondition(() => {
return(IsFound);
});
if_found.AddChild(selector2);
If_attack.SetCondition(() => {
return(IsAttackable);
});
If_attack.AddChild(attack);
attackable_check.AddEvent(() => {
attackablecheck_event.Invoke();
});
attackable_check.AddChild(If_attack);
selector2.AddChild(If_escape);
selector2.AddChild(attackable_check);
selector2.AddChild(If_chase);
attack.AddEvent(() => {
attack_event.Invoke();
});
root.AddChild(moveableCheck);
selector1.AddChild(if_found);
selector1.AddChild(if_patrol);
moveableCheck.AddEvent(() => {
moveablecheck_event.Invoke();
});
moveableCheck.AddChild(selector1);
if_patrol.SetCondition(() => {
return(IsMoveable);
});
if_patrol.AddChild(patrol);
patrol.AddEvent(() => {
patrol_event.Invoke();
});
If_chase.SetCondition(() => {
return(IsMoveable);
});
If_chase.AddChild(chase);
ResetDamageFlag.AddEvent(() => {
IsGotDamage = false;
});
ResetDamageFlag.AddChild(ActivateEscape);
ActivateEscape.AddEvent(() => {
IsEscape = true;
});
ActivateEscape.AddChild(moveableCheck);
SetFound.AddEvent(() => {
IsFound = true;
});
SetFound.AddChild(ResetDamageFlag);
chase.AddEvent(() => {
chase_event.Invoke();
});
DamageInterrupt.SetCondition(() => {
return(IsGotDamage);
});
behaviourTree.AddInterrupt(DamageInterrupt);
DamageInterrupt.AddChild(SetFound);
}
public void WhileTest()
{
// while test
//
// 1 __ while1 __ ex2
// root - ex1 - selector -|
// 2 --- ex3
//
// ex1 : should be activated twice, at first tick and at fourth tick
// ex2 : should be activated three times
// ex3 : should be activated only once at fourth tick
// while1 : should loop three times
BT_Root root = new BT_Root();
BT_Execute ex1 = new BT_Execute();
BT_Selector selector = new BT_Selector();
BT_While while1 = new BT_While();
BT_Execute ex2 = new BT_Execute();
BT_Execute ex3 = new BT_Execute();
BehaviourTree tree = new BehaviourTree(root);
root.AddChild(ex1);
ex1.AddChild(selector);
selector.AddChild(while1);
selector.AddChild(ex3);
while1.AddChild(ex2);
bool isOK1 = false, isOK3 = false;
int loopCount = 3;
ex1.AddEvent(() => {
isOK1 = !isOK1;
});
ex2.AddEvent(() => {
loopCount--;
});
ex3.AddEvent(() => {
isOK3 = true;
});
while1.SetCondition(() => {
return(loopCount > 0);
});
tree.Tick();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(false, isOK3);
isOK1 = false;
tree.Tick();
Assert.AreEqual(false, isOK1);
Assert.AreEqual(false, isOK3);
tree.Tick();
Assert.AreEqual(false, isOK1);
Assert.AreEqual(false, isOK3);
tree.Tick();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK3);
Assert.AreEqual(0, loopCount);
isOK1 = false;
isOK3 = false;
tree.Tick();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK3);
Assert.AreEqual(0, loopCount);
}
public void Init()
{
BT_Root root = new BT_Root(); behaviourTree = new BehaviourTree(root); BT_Execute firstEx = new BT_Execute();
BT_Interrupt InterruptTest = new BT_Interrupt();
BT_Execute itrEx = new BT_Execute();
BT_Interrupt IfTest = new BT_Interrupt();
BT_If if1 = new BT_If();
BT_Execute ifEx1 = new BT_Execute();
BT_If if2 = new BT_If();
BT_Execute ifEx2 = new BT_Execute();
BT_If if3 = new BT_If();
BT_Execute ifEx3 = new BT_Execute();
BT_Interrupt WhileTest = new BT_Interrupt();
BT_While while1 = new BT_While();
BT_Execute whileEx1 = new BT_Execute();
BT_Execute whileEx2 = new BT_Execute();
BT_Interrupt SelectorTest = new BT_Interrupt();
BT_Selector selector1 = new BT_Selector();
BT_Execute selectorEx2 = new BT_Execute();
BT_If selectorIf1 = new BT_If();
BT_Execute selectorEx1 = new BT_Execute();
BT_Execute selectorEx3 = new BT_Execute();
BT_Interrupt SequenceTest = new BT_Interrupt();
BT_Sequence sequence1 = new BT_Sequence();
BT_Execute sequenceEx1 = new BT_Execute();
BT_If sequenceIf1 = new BT_If();
BT_Execute sequenceEx2 = new BT_Execute();
BT_Execute sequenceEx3 = new BT_Execute();
BT_Interrupt frameCounterTest = new BT_Interrupt();
BT_Execute frameCounterEx1 = new BT_Execute();
BT_Timing frameCounter1 = new BT_Timing(behaviourTree, false, false, "frameCounter1");
BT_Interrupt frameCounterTest2 = new BT_Interrupt();
BT_Execute frameCounterEx2 = new BT_Execute();
BT_Interrupt frameCounterTest3 = new BT_Interrupt();
BT_Execute frameCounterEx3 = new BT_Execute();
BT_Timing frameCounter2 = new BT_Timing(behaviourTree, false, true, "frameCounter2");
BT_Interrupt frameCounterTest4 = new BT_Interrupt();
BT_Execute frameCounterEx4 = new BT_Execute();
BT_Timing frameCounter3 = new BT_Timing(behaviourTree, true, false, "frameCounter3");
BT_Interrupt frameCounterTest5 = new BT_Interrupt();
BT_Execute frameCounterEx5 = new BT_Execute();
BT_Interrupt timerTest = new BT_Interrupt();
BT_Execute timerTestEx1 = new BT_Execute();
BT_Timing timer1 = new BT_Timing(behaviourTree, false, false, "timer1");
BT_Interrupt timerTest2 = new BT_Interrupt();
BT_Execute timerTestEx2 = new BT_Execute();
BT_Interrupt timerTest3 = new BT_Interrupt();
BT_Execute timerTestEx3 = new BT_Execute();
BT_Timing timer2 = new BT_Timing(behaviourTree, false, true, "timer2");
BT_Interrupt timerTest4 = new BT_Interrupt();
BT_Execute timerTestEx4 = new BT_Execute();
BT_Timing timer3 = new BT_Timing(behaviourTree, true, false, "timer3");
BT_Interrupt timerTest5 = new BT_Interrupt();
BT_Execute timerTestEx5 = new BT_Execute();
BT_Success NextSequence = new BT_Success();
BT_Interrupt setParameterTest = new BT_Interrupt();
BT_Execute SetBool1 = new BT_Execute();
BT_Execute SetBool2 = new BT_Execute();
BT_Sequence sequence = new BT_Sequence();
BT_If setParameterIf1 = new BT_If();
BT_Execute setParameterEx1 = new BT_Execute();
BT_If setParameterIf2 = new BT_If();
BT_Execute setParameterEx2 = new BT_Execute();
BT_Execute SetBool3 = new BT_Execute();
BT_If setParameterIf3 = new BT_If();
BT_Execute setParameterEx3 = new BT_Execute();
BT_Execute SetInt1 = new BT_Execute();
BT_If setParameterIf4 = new BT_If();
BT_Execute setParameterEx4 = new BT_Execute();
BT_Execute SetInt2 = new BT_Execute();
BT_If setParameterIf5 = new BT_If();
BT_Execute setParameterEx5 = new BT_Execute();
BT_Execute SetFloat1 = new BT_Execute();
BT_If setParameterIf6 = new BT_If();
BT_Execute setParameterEx6 = new BT_Execute();
BT_Execute SetFloat2 = new BT_Execute();
BT_If setParameterIf7 = new BT_If();
BT_Execute setParameterEx7 = new BT_Execute();
BT_While while2 = new BT_While();
BT_Execute whileEx3 = new BT_Execute();
BT_Interrupt CancelTest1Itr = new BT_Interrupt();
BT_Timing CancelTest1FC = new BT_Timing(behaviourTree, false, false, "CancelTest1FC");
BT_Execute CancelTest1Cancel = new BT_Execute();
BT_If CancelTest1If = new BT_If();
BT_Execute CencelTest1Ex2 = new BT_Execute();
BT_Execute CencelTest1Ex1 = new BT_Execute();
BT_Interrupt CancelTest2Itr = new BT_Interrupt();
BT_Execute CencelTest2Ex1 = new BT_Execute();
BT_Timing CancelTest2FC = new BT_Timing(behaviourTree, false, false, "CancelTest2FC");
BT_Execute CancelTest2Cancel = new BT_Execute();
BT_If CancelTest2If = new BT_If();
BT_Execute CencelTest2Ex2 = new BT_Execute();
BT_Timing CancelTest2Timer = new BT_Timing(behaviourTree, false, false, "CancelTest2Timer");
firstEx.AddEvent(() => {
first_ev.Invoke();
});
root.AddChild(firstEx);
InterruptTest.SetCondition(() => {
return(case2);
});
behaviourTree.AddInterrupt(InterruptTest);
InterruptTest.AddChild(itrEx);
itrEx.AddEvent(() => {
itr_ev.Invoke();
});
IfTest.SetCondition(() => {
return(case3);
});
behaviourTree.AddInterrupt(IfTest);
IfTest.AddChild(if1);
if1.SetCondition(() => {
return(if_bool1);
});
if1.AddChild(ifEx1);
ifEx1.AddEvent(() => {
if_ev1.Invoke();
});
ifEx1.AddChild(if2);
if2.SetCondition(() => {
return(if_int1 > 10);
});
if2.AddChild(ifEx2);
ifEx2.AddEvent(() => {
if_ev2.Invoke();
});
ifEx2.AddChild(if3);
if3.SetCondition(() => {
return(if_float1 < 10.0f);
});
if3.AddChild(ifEx3);
ifEx3.AddEvent(() => {
if_ev3.Invoke();
});
while2.SetCondition(() => {
return(while_bool2);
});
while2.AddChild(whileEx3);
whileEx3.AddEvent(() => {
while_ev3.Invoke();
});
while1.SetCondition(() => {
return(while_bool1);
});
while1.AddChild(whileEx2);
WhileTest.SetCondition(() => {
return(case4);
});
behaviourTree.AddInterrupt(WhileTest);
WhileTest.AddChild(whileEx1);
whileEx1.AddEvent(() => {
while_ev1.Invoke();
});
whileEx1.AddChild(while1);
whileEx2.AddEvent(() => {
while_ev2.Invoke();
});
whileEx2.AddChild(while2);
selectorIf1.SetCondition(() => {
return(selector_bool1);
});
selectorIf1.AddChild(selectorEx1);
selectorEx1.AddEvent(() => {
selector_ev1.Invoke();
});
SelectorTest.SetCondition(() => {
return(case5);
});
behaviourTree.AddInterrupt(SelectorTest);
SelectorTest.AddChild(selector1);
selectorEx2.AddEvent(() => {
selector_ev2.Invoke();
});
selector1.AddChild(selectorIf1);
selector1.AddChild(selectorEx2);
selector1.AddChild(selectorEx3);
selectorEx3.AddEvent(() => {
selector_ev3.Invoke();
});
sequenceEx1.AddEvent(() => {
sequence_ev1.Invoke();
});
sequenceEx1.AddChild(NextSequence);
SequenceTest.SetCondition(() => {
return(case6);
});
behaviourTree.AddInterrupt(SequenceTest);
SequenceTest.AddChild(sequence1);
sequence1.AddChild(sequenceEx1);
sequence1.AddChild(sequenceIf1);
sequence1.AddChild(sequenceEx3);
sequenceIf1.SetCondition(() => {
return(sequence_bool1
);
});
sequenceIf1.AddChild(sequenceEx2);
sequenceEx2.AddEvent(() => {
sequence_ev2.Invoke();
});
sequenceEx3.AddEvent(() => {
sequence_ev3.Invoke();
});
frameCounterEx2.AddEvent(() => {
frameCounter_ev2.Invoke();
});
frameCounterTest.SetCondition(() => {
return(case7);
});
behaviourTree.AddInterrupt(frameCounterTest);
frameCounterTest.AddChild(frameCounterEx1);
frameCounter1.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest2, 1));
});
frameCounterTest2.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest2);
frameCounterTest2.AddChild(frameCounterEx2);
frameCounterEx1.AddEvent(() => {
frameCounter_ev1.Invoke();
});
frameCounterEx1.AddChild(frameCounter1);
frameCounterTest3.SetCondition(() => {
return(case8);
});
behaviourTree.AddInterrupt(frameCounterTest3);
frameCounterTest3.AddChild(frameCounterEx3);
frameCounterEx3.AddEvent(() => {
frameCounter_ev3.Invoke();
});
frameCounterEx3.AddChild(frameCounter2);
frameCounter2.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest4, 1));
});
frameCounterTest4.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest4);
frameCounterTest4.AddChild(frameCounterEx4);
frameCounterEx4.AddEvent(() => {
frameCounter_ev4.Invoke();
});
frameCounterEx4.AddChild(frameCounter3);
frameCounter3.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest5, 1));
});
frameCounterTest5.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest5);
frameCounterTest5.AddChild(frameCounterEx5);
frameCounterEx5.AddEvent(() => {
frameCounter_ev5.Invoke();
});
timerTest.SetCondition(() => {
return(case9);
});
behaviourTree.AddInterrupt(timerTest);
timerTest.AddChild(timerTestEx1);
timerTestEx1.AddEvent(() => {
timerTest_ev1.Invoke();
});
timerTestEx1.AddChild(timer1);
timer1.SetTimingCreator(() => {
return(new Timer(timerTest2, 3));
});
timerTest2.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest2);
timerTest2.AddChild(timerTestEx2);
timerTestEx2.AddEvent(() => {
timerTest_ev2.Invoke();
});
timerTest3.SetCondition(() => {
return(case10);
});
behaviourTree.AddInterrupt(timerTest3);
timerTest3.AddChild(timerTestEx3);
timerTestEx3.AddEvent(() => {
timerTest_ev3.Invoke();
});
timerTestEx3.AddChild(timer2);
timer2.SetTimingCreator(() => {
return(new Timer(timerTest4, 1.5));
});
timerTest4.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest4);
timerTest4.AddChild(timerTestEx4);
timerTestEx4.AddEvent(() => {
timerTest_ev4.Invoke();
});
timerTestEx4.AddChild(timer3);
timer3.SetTimingCreator(() => {
return(new Timer(timerTest5, 3));
});
timerTest5.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest5);
timerTest5.AddChild(timerTestEx5);
timerTestEx5.AddEvent(() => {
timerTest_ev5.Invoke();
});
SetBool1.AddEvent(() => {
setParameterBool1 = true;
});
SetBool1.AddChild(setParameterIf1);
SetBool2.AddEvent(() => {
setParameterBool2 = false;
});
SetBool2.AddChild(setParameterIf2);
setParameterIf1.SetCondition(() => {
return(setParameterBool1);
});
setParameterIf1.AddChild(setParameterEx1);
setParameterIf2.SetCondition(() => {
return(!setParameterBool2);
});
setParameterIf2.AddChild(setParameterEx2);
SetBool3.AddEvent(() => {
setParameterBool2 = setParameterBool1;
});
SetBool3.AddChild(setParameterIf3);
setParameterIf3.SetCondition(() => {
return(setParameterBool2);
});
setParameterIf3.AddChild(setParameterEx3);
setParameterEx3.AddEvent(() => {
setParameterEv3.Invoke();
});
setParameterEx1.AddEvent(() => {
setParameterEv1.Invoke();
});
setParameterEx1.AddChild(SetBool2);
setParameterEx2.AddEvent(() => {
setParameterEv2.Invoke();
});
setParameterEx2.AddChild(SetBool3);
setParameterTest.SetCondition(() => {
return(case11);
});
behaviourTree.AddInterrupt(setParameterTest);
setParameterTest.AddChild(sequence);
setParameterIf4.SetCondition(() => {
return(setParameterInt1 == 1);
});
setParameterIf4.AddChild(setParameterEx4);
setParameterIf5.SetCondition(() => {
return(setParameterInt2 == 1);
});
setParameterIf5.AddChild(setParameterEx5);
sequence.AddChild(SetBool1);
sequence.AddChild(SetInt1);
sequence.AddChild(SetFloat1);
SetInt1.AddEvent(() => {
setParameterInt1 = 1;
});
SetInt1.AddChild(setParameterIf4);
setParameterEx4.AddEvent(() => {
setParameterEv4.Invoke();
});
setParameterEx4.AddChild(SetInt2);
SetInt2.AddEvent(() => {
setParameterInt2 = setParameterInt1;
});
SetInt2.AddChild(setParameterIf5);
setParameterEx5.AddEvent(() => {
setParameterEv5.Invoke();
});
setParameterIf6.SetCondition(() => {
return(setParameterFloat1 > 1.0f);
});
setParameterIf6.AddChild(setParameterEx6);
setParameterEx6.AddEvent(() => {
setParameterEv6.Invoke();
});
setParameterEx6.AddChild(SetFloat2);
setParameterIf7.SetCondition(() => {
return(setParameterFloat1 < 1.0f);
});
setParameterIf7.AddChild(setParameterEx7);
SetFloat1.AddEvent(() => {
setParameterFloat1 = 1.5f;
});
SetFloat1.AddChild(setParameterIf6);
SetFloat2.AddEvent(() => {
setParameterFloat1 = setParameterFloat2;
});
SetFloat2.AddChild(setParameterIf7);
setParameterEx7.AddEvent(() => {
setParameterEv7.Invoke();
});
CancelTest1Itr.SetCondition(() => {
return(case12);
});
behaviourTree.AddInterrupt(CancelTest1Itr);
CancelTest1Itr.AddChild(CencelTest1Ex1);
CancelTest1FC.SetTimingCreator(() => {
return(new FrameCounter(CencelTest1Ex2, 0));
});
CancelTest1FC.AddChild(CancelTest1Cancel);
CancelTest1Cancel.AddEvent(() => {
behaviourTree.CancelTiming(false, "", "CancelTest1FC");
});
CancelTest1Cancel.AddChild(CancelTest1If);
CencelTest1Ex1.AddEvent(() => {
cancelTest1ev1.Invoke();
});
CencelTest1Ex1.AddChild(CancelTest1FC);
CancelTest1If.SetCondition(() => {
return(false);
});
CancelTest1If.AddChild(CencelTest1Ex2);
CencelTest1Ex2.AddEvent(() => {
cancelTest1ev2.Invoke();
});
CancelTest2Itr.SetCondition(() => {
return(case13);
});
behaviourTree.AddInterrupt(CancelTest2Itr);
CancelTest2Itr.AddChild(CencelTest2Ex1);
CencelTest2Ex1.AddEvent(() => {
cancelTest2ev1.Invoke();
});
CencelTest2Ex1.AddChild(CancelTest2FC);
CancelTest2FC.SetTimingCreator(() => {
return(new FrameCounter(CencelTest2Ex2, 0));
});
CancelTest2FC.AddChild(CancelTest2Timer);
CancelTest2Cancel.AddEvent(() => {
behaviourTree.CancelTiming(true, "");
});
CancelTest2Cancel.AddChild(CancelTest2If);
CancelTest2Timer.SetTimingCreator(() => {
return(new Timer(CencelTest2Ex2, 0.5));
});
CancelTest2Timer.AddChild(CancelTest2Cancel);
CancelTest2If.SetCondition(() => {
return(false);
});
CancelTest2If.AddChild(CencelTest2Ex2);
CencelTest2Ex2.AddEvent(() => {
cancelTest2ev2.Invoke();
});
calledFlag = new Dictionary <string, bool>();
calledFlag.Add("firstEx", false);
first_ev.AddListener(() => {
calledFlag["firstEx"] = true;
}); calledFlag.Add("itrEx", false);
itr_ev.AddListener(() => {
calledFlag["itrEx"] = true;
}); calledFlag.Add("ifEx1", false);
if_ev1.AddListener(() => {
calledFlag["ifEx1"] = true;
}); calledFlag.Add("ifEx2", false);
if_ev2.AddListener(() => {
calledFlag["ifEx2"] = true;
}); calledFlag.Add("ifEx3", false);
if_ev3.AddListener(() => {
calledFlag["ifEx3"] = true;
}); calledFlag.Add("whileEx1", false);
while_ev1.AddListener(() => {
calledFlag["whileEx1"] = true;
}); calledFlag.Add("whileEx2", false);
while_ev2.AddListener(() => {
calledFlag["whileEx2"] = true;
}); calledFlag.Add("selectorEx2", false);
selector_ev2.AddListener(() => {
calledFlag["selectorEx2"] = true;
}); calledFlag.Add("selectorEx1", false);
selector_ev1.AddListener(() => {
calledFlag["selectorEx1"] = true;
}); calledFlag.Add("selectorEx3", false);
selector_ev3.AddListener(() => {
calledFlag["selectorEx3"] = true;
}); calledFlag.Add("sequenceEx1", false);
sequence_ev1.AddListener(() => {
calledFlag["sequenceEx1"] = true;
}); calledFlag.Add("sequenceEx2", false);
sequence_ev2.AddListener(() => {
calledFlag["sequenceEx2"] = true;
}); calledFlag.Add("sequenceEx3", false);
sequence_ev3.AddListener(() => {
calledFlag["sequenceEx3"] = true;
}); calledFlag.Add("frameCounterEx1", false);
frameCounter_ev1.AddListener(() => {
calledFlag["frameCounterEx1"] = true;
}); calledFlag.Add("frameCounterEx2", false);
frameCounter_ev2.AddListener(() => {
calledFlag["frameCounterEx2"] = true;
}); calledFlag.Add("frameCounterEx3", false);
frameCounter_ev3.AddListener(() => {
calledFlag["frameCounterEx3"] = true;
}); calledFlag.Add("frameCounterEx4", false);
frameCounter_ev4.AddListener(() => {
calledFlag["frameCounterEx4"] = true;
}); calledFlag.Add("frameCounterEx5", false);
frameCounter_ev5.AddListener(() => {
calledFlag["frameCounterEx5"] = true;
}); calledFlag.Add("timerTestEx1", false);
timerTest_ev1.AddListener(() => {
calledFlag["timerTestEx1"] = true;
}); calledFlag.Add("timerTestEx2", false);
timerTest_ev2.AddListener(() => {
calledFlag["timerTestEx2"] = true;
}); calledFlag.Add("timerTestEx3", false);
timerTest_ev3.AddListener(() => {
calledFlag["timerTestEx3"] = true;
}); calledFlag.Add("timerTestEx4", false);
timerTest_ev4.AddListener(() => {
calledFlag["timerTestEx4"] = true;
}); calledFlag.Add("timerTestEx5", false);
timerTest_ev5.AddListener(() => {
calledFlag["timerTestEx5"] = true;
}); calledFlag.Add("setParameterEx1", false);
setParameterEv1.AddListener(() => {
calledFlag["setParameterEx1"] = true;
}); calledFlag.Add("setParameterEx2", false);
setParameterEv2.AddListener(() => {
calledFlag["setParameterEx2"] = true;
}); calledFlag.Add("setParameterEx3", false);
setParameterEv3.AddListener(() => {
calledFlag["setParameterEx3"] = true;
}); calledFlag.Add("setParameterEx4", false);
setParameterEv4.AddListener(() => {
calledFlag["setParameterEx4"] = true;
}); calledFlag.Add("setParameterEx5", false);
setParameterEv5.AddListener(() => {
calledFlag["setParameterEx5"] = true;
}); calledFlag.Add("setParameterEx6", false);
setParameterEv6.AddListener(() => {
calledFlag["setParameterEx6"] = true;
}); calledFlag.Add("setParameterEx7", false);
setParameterEv7.AddListener(() => {
calledFlag["setParameterEx7"] = true;
}); calledFlag.Add("whileEx3", false);
while_ev3.AddListener(() => {
calledFlag["whileEx3"] = true;
}); calledFlag.Add("CencelTest1Ex2", false);
cancelTest1ev2.AddListener(() => {
calledFlag["CencelTest1Ex2"] = true;
}); calledFlag.Add("CencelTest1Ex1", false);
cancelTest1ev1.AddListener(() => {
calledFlag["CencelTest1Ex1"] = true;
}); calledFlag.Add("CencelTest2Ex1", false);
cancelTest2ev1.AddListener(() => {
calledFlag["CencelTest2Ex1"] = true;
}); calledFlag.Add("CencelTest2Ex2", false);
cancelTest2ev2.AddListener(() => {
calledFlag["CencelTest2Ex2"] = true;
});
}
public void Init()
{
BT_Root root = new BT_Root(); behaviourTree = new BehaviourTree(root); BT_Selector selector1 = new BT_Selector();
BT_Execute attack = new BT_Execute();
BT_Execute chase = new BT_Execute();
BT_Execute patrol = new BT_Execute();
BT_Selector selector2 = new BT_Selector();
BT_If if_found = new BT_If();
BT_If If_attack = new BT_If();
BT_Execute attackable_check = new BT_Execute();
BT_Execute moveableCheck = new BT_Execute();
BT_If if_patrol = new BT_If();
BT_If If_chase = new BT_If();
BT_If If_escape = new BT_If();
BT_Execute escape = new BT_Execute();
BT_Interrupt DamageInterrupt = new BT_Interrupt();
BT_Execute ResetDamageFlag = new BT_Execute();
BT_Execute ActivateEscape = new BT_Execute();
BT_Timing EscapeTimer = new BT_Timing(behaviourTree, true, false);
BT_Interrupt EscapeResetInterrupt = new BT_Interrupt();
BT_Execute EscapeResetter = new BT_Execute();
BT_Execute SetFound = new BT_Execute();
root.AddChild(moveableCheck);
selector1.AddChild(if_found);
selector1.AddChild(if_patrol);
attack.AddEvent(() => {
attack_event.Invoke();
});
chase.AddEvent(() => {
chase_event.Invoke();
});
patrol.AddEvent(() => {
patrol_event.Invoke();
});
selector2.AddChild(If_escape);
selector2.AddChild(attackable_check);
selector2.AddChild(If_chase);
if_found.SetCondition(() => {
return(IsFound);
});
if_found.AddChild(selector2);
If_attack.SetCondition(() => {
return(IsAttackable);
});
If_attack.AddChild(attack);
attackable_check.AddEvent(() => {
attackablecheck_event.Invoke();
});
attackable_check.AddChild(If_attack);
moveableCheck.AddEvent(() => {
moveablecheck_event.Invoke();
});
moveableCheck.AddChild(selector1);
if_patrol.SetCondition(() => {
return(IsMoveable);
});
if_patrol.AddChild(patrol);
If_chase.SetCondition(() => {
return(IsMoveable);
});
If_chase.AddChild(chase);
If_escape.SetCondition(() => {
return(IsEscape && IsMoveable);
});
If_escape.AddChild(escape);
escape.AddEvent(() => {
escape_event.Invoke();
});
DamageInterrupt.SetCondition(() => {
return(IsGotDamage);
});
behaviourTree.AddInterrupt(DamageInterrupt);
DamageInterrupt.AddChild(SetFound);
ResetDamageFlag.AddEvent(() => {
IsGotDamage = false;
});
ResetDamageFlag.AddChild(ActivateEscape);
ActivateEscape.AddEvent(() => {
IsEscape = true;
});
ActivateEscape.AddChild(EscapeTimer);
EscapeTimer.SetTimingCreator(() => {
return(new Timer(EscapeResetInterrupt, 3.0));
});
EscapeTimer.AddChild(moveableCheck);
EscapeResetInterrupt.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(EscapeResetInterrupt);
EscapeResetInterrupt.AddChild(EscapeResetter);
EscapeResetter.AddEvent(() => {
IsEscape = false;
});
EscapeResetter.AddChild(moveableCheck);
SetFound.AddEvent(() => {
IsFound = true;
});
SetFound.AddChild(ResetDamageFlag);
calledFlag = new Dictionary <string, bool>();
calledFlag.Add("attack", false);
attack_event.AddListener(() => {
calledFlag["attack"] = true;
}); calledFlag.Add("chase", false);
chase_event.AddListener(() => {
calledFlag["chase"] = true;
}); calledFlag.Add("patrol", false);
patrol_event.AddListener(() => {
calledFlag["patrol"] = true;
}); calledFlag.Add("attackable_check", false);
attackablecheck_event.AddListener(() => {
calledFlag["attackable_check"] = true;
}); calledFlag.Add("moveableCheck", false);
moveablecheck_event.AddListener(() => {
calledFlag["moveableCheck"] = true;
}); calledFlag.Add("escape", false);
escape_event.AddListener(() => {
calledFlag["escape"] = true;
});
}
override public void MakeTree()
{
base.MakeTree();
BT_Root root = new BT_Root(); behaviourTree = new BehaviourTree(root); BT_Execute firstEx = new BT_Execute();
BT_Interrupt InterruptTest = new BT_Interrupt();
BT_Execute itrEx = new BT_Execute();
BT_Interrupt IfTest = new BT_Interrupt();
BT_If if1 = new BT_If();
BT_Execute ifEx1 = new BT_Execute();
BT_If if2 = new BT_If();
BT_Execute ifEx2 = new BT_Execute();
BT_If if3 = new BT_If();
BT_Execute ifEx3 = new BT_Execute();
BT_Interrupt WhileTest = new BT_Interrupt();
BT_While while1 = new BT_While();
BT_Execute whileEx1 = new BT_Execute();
BT_Execute whileEx2 = new BT_Execute();
BT_Interrupt SelectorTest = new BT_Interrupt();
BT_Selector selector1 = new BT_Selector();
BT_Execute selectorEx2 = new BT_Execute();
BT_If selectorIf1 = new BT_If();
BT_Execute selectorEx1 = new BT_Execute();
BT_Execute selectorEx3 = new BT_Execute();
BT_Interrupt SequenceTest = new BT_Interrupt();
BT_Sequence sequence1 = new BT_Sequence();
BT_Execute sequenceEx1 = new BT_Execute();
BT_If sequenceIf1 = new BT_If();
BT_Execute sequenceEx2 = new BT_Execute();
BT_Execute sequenceEx3 = new BT_Execute();
BT_Interrupt frameCounterTest = new BT_Interrupt();
BT_Execute frameCounterEx1 = new BT_Execute();
BT_Timing frameCounter1 = new BT_Timing(behaviourTree, false, false);
BT_Interrupt frameCounterTest2 = new BT_Interrupt();
BT_Execute frameCounterEx2 = new BT_Execute();
BT_Interrupt frameCounterTest3 = new BT_Interrupt();
BT_Execute frameCounterEx3 = new BT_Execute();
BT_Timing frameCounter2 = new BT_Timing(behaviourTree, false, true);
BT_Interrupt frameCounterTest4 = new BT_Interrupt();
BT_Execute frameCounterEx4 = new BT_Execute();
BT_Timing frameCounter3 = new BT_Timing(behaviourTree, true, false);
BT_Interrupt frameCounterTest5 = new BT_Interrupt();
BT_Execute frameCounterEx5 = new BT_Execute();
BT_Interrupt timerTest = new BT_Interrupt();
BT_Execute timerTestEx1 = new BT_Execute();
BT_Timing timer1 = new BT_Timing(behaviourTree, false, false);
BT_Interrupt timerTest2 = new BT_Interrupt();
BT_Execute timerTestEx2 = new BT_Execute();
BT_Interrupt timerTest3 = new BT_Interrupt();
BT_Execute timerTestEx3 = new BT_Execute();
BT_Timing timer2 = new BT_Timing(behaviourTree, false, true);
BT_Interrupt timerTest4 = new BT_Interrupt();
BT_Execute timerTestEx4 = new BT_Execute();
BT_Timing timer3 = new BT_Timing(behaviourTree, true, false);
BT_Interrupt timerTest5 = new BT_Interrupt();
BT_Execute timerTestEx5 = new BT_Execute();
BT_Success NextSequence = new BT_Success();
BT_Interrupt setParameterTest = new BT_Interrupt();
BT_Execute SetBool1 = new BT_Execute();
BT_Execute SetBool2 = new BT_Execute();
BT_Sequence sequence = new BT_Sequence();
BT_If setParameterIf1 = new BT_If();
BT_Execute setParameterEx1 = new BT_Execute();
BT_If setParameterIf2 = new BT_If();
BT_Execute setParameterEx2 = new BT_Execute();
BT_Execute SetBool3 = new BT_Execute();
BT_If setParameterIf3 = new BT_If();
BT_Execute setParameterEx3 = new BT_Execute();
BT_Execute SetInt1 = new BT_Execute();
BT_If setParameterIf4 = new BT_If();
BT_Execute setParameterEx4 = new BT_Execute();
BT_Execute SetInt2 = new BT_Execute();
BT_If setParameterIf5 = new BT_If();
BT_Execute setParameterEx5 = new BT_Execute();
BT_Execute SetFloat1 = new BT_Execute();
BT_If setParameterIf6 = new BT_If();
BT_Execute setParameterEx6 = new BT_Execute();
BT_Execute SetFloat2 = new BT_Execute();
BT_If setParameterIf7 = new BT_If();
BT_Execute setParameterEx7 = new BT_Execute();
firstEx.AddEvent(() => {
first_ev.Invoke();
});
root.AddChild(firstEx);
InterruptTest.SetCondition(() => {
return(case2);
});
behaviourTree.AddInterrupt(InterruptTest);
InterruptTest.AddChild(itrEx);
itrEx.AddEvent(() => {
itr_ev.Invoke();
});
IfTest.SetCondition(() => {
return(case3);
});
behaviourTree.AddInterrupt(IfTest);
IfTest.AddChild(if1);
if1.SetCondition(() => {
return(if_bool1);
});
if1.AddChild(ifEx1);
ifEx1.AddEvent(() => {
if_ev1.Invoke();
});
ifEx1.AddChild(if2);
if2.SetCondition(() => {
return(if_int1 > 10);
});
if2.AddChild(ifEx2);
ifEx2.AddEvent(() => {
if_ev2.Invoke();
});
ifEx2.AddChild(if3);
if3.SetCondition(() => {
return(if_float1 < 10.0f);
});
if3.AddChild(ifEx3);
ifEx3.AddEvent(() => {
if_ev3.Invoke();
});
while1.SetCondition(() => {
return(while_bool1);
});
while1.AddChild(whileEx2);
WhileTest.SetCondition(() => {
return(case4);
});
behaviourTree.AddInterrupt(WhileTest);
WhileTest.AddChild(whileEx1);
whileEx1.AddEvent(() => {
while_ev1.Invoke();
});
whileEx1.AddChild(while1);
whileEx2.AddEvent(() => {
while_ev2.Invoke();
});
selectorIf1.SetCondition(() => {
return(selector_bool1);
});
selectorIf1.AddChild(selectorEx1);
selectorEx1.AddEvent(() => {
selector_ev1.Invoke();
});
SelectorTest.SetCondition(() => {
return(case5);
});
behaviourTree.AddInterrupt(SelectorTest);
SelectorTest.AddChild(selector1);
selector1.AddChild(selectorIf1);
selector1.AddChild(selectorEx2);
selector1.AddChild(selectorEx3);
selectorEx2.AddEvent(() => {
selector_ev2.Invoke();
});
selectorEx3.AddEvent(() => {
selector_ev3.Invoke();
});
sequenceEx1.AddEvent(() => {
sequence_ev1.Invoke();
});
sequenceEx1.AddChild(NextSequence);
SequenceTest.SetCondition(() => {
return(case6);
});
behaviourTree.AddInterrupt(SequenceTest);
SequenceTest.AddChild(sequence1);
sequence1.AddChild(sequenceEx1);
sequence1.AddChild(sequenceIf1);
sequence1.AddChild(sequenceEx3);
sequenceIf1.SetCondition(() => {
return(sequence_bool1
);
});
sequenceIf1.AddChild(sequenceEx2);
sequenceEx2.AddEvent(() => {
sequence_ev2.Invoke();
});
sequenceEx3.AddEvent(() => {
sequence_ev3.Invoke();
});
frameCounterEx2.AddEvent(() => {
frameCounter_ev2.Invoke();
});
frameCounterTest.SetCondition(() => {
return(case7);
});
behaviourTree.AddInterrupt(frameCounterTest);
frameCounterTest.AddChild(frameCounterEx1);
frameCounter1.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest2, 1));
});
frameCounterTest2.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest2);
frameCounterTest2.AddChild(frameCounterEx2);
frameCounterEx1.AddEvent(() => {
frameCounter_ev1.Invoke();
});
frameCounterEx1.AddChild(frameCounter1);
frameCounterTest3.SetCondition(() => {
return(case8);
});
behaviourTree.AddInterrupt(frameCounterTest3);
frameCounterTest3.AddChild(frameCounterEx3);
frameCounterEx3.AddEvent(() => {
frameCounter_ev3.Invoke();
});
frameCounterEx3.AddChild(frameCounter2);
frameCounter2.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest4, 1));
});
frameCounterTest4.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest4);
frameCounterTest4.AddChild(frameCounterEx4);
frameCounterEx4.AddEvent(() => {
frameCounter_ev4.Invoke();
});
frameCounterEx4.AddChild(frameCounter3);
frameCounter3.SetTimingCreator(() => {
return(new FrameCounter(frameCounterTest5, 1));
});
frameCounterTest5.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(frameCounterTest5);
frameCounterTest5.AddChild(frameCounterEx5);
frameCounterEx5.AddEvent(() => {
frameCounter_ev5.Invoke();
});
timerTest.SetCondition(() => {
return(case9);
});
behaviourTree.AddInterrupt(timerTest);
timerTest.AddChild(timerTestEx1);
timerTestEx1.AddEvent(() => {
timerTest_ev1.Invoke();
});
timerTestEx1.AddChild(timer1);
timer1.SetTimingCreator(() => {
return(new Timer(timerTest2, 3));
});
timerTest2.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest2);
timerTest2.AddChild(timerTestEx2);
timerTestEx2.AddEvent(() => {
timerTest_ev2.Invoke();
});
timerTest3.SetCondition(() => {
return(case10);
});
behaviourTree.AddInterrupt(timerTest3);
timerTest3.AddChild(timerTestEx3);
timerTestEx3.AddEvent(() => {
timerTest_ev3.Invoke();
});
timerTestEx3.AddChild(timer2);
timer2.SetTimingCreator(() => {
return(new Timer(timerTest4, 1.5));
});
timerTest4.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest4);
timerTest4.AddChild(timerTestEx4);
timerTestEx4.AddEvent(() => {
timerTest_ev4.Invoke();
});
timerTestEx4.AddChild(timer3);
timer3.SetTimingCreator(() => {
return(new Timer(timerTest5, 3));
});
timerTest5.SetCondition(() => {
return(false);
});
behaviourTree.AddInterrupt(timerTest5);
timerTest5.AddChild(timerTestEx5);
timerTestEx5.AddEvent(() => {
timerTest_ev5.Invoke();
});
SetBool1.AddEvent(() => {
setParameterBool1 = true;
});
SetBool1.AddChild(setParameterIf1);
SetBool2.AddEvent(() => {
setParameterBool2 = false;
});
SetBool2.AddChild(setParameterIf2);
setParameterIf1.SetCondition(() => {
return(setParameterBool1);
});
setParameterIf1.AddChild(setParameterEx1);
setParameterIf2.SetCondition(() => {
return(!setParameterBool2);
});
setParameterIf2.AddChild(setParameterEx2);
SetBool3.AddEvent(() => {
setParameterBool2 = setParameterBool1;
});
SetBool3.AddChild(setParameterIf3);
setParameterIf3.SetCondition(() => {
return(setParameterBool2);
});
setParameterIf3.AddChild(setParameterEx3);
setParameterEx3.AddEvent(() => {
setParameterEv3.Invoke();
});
setParameterEx1.AddEvent(() => {
setParameterEv1.Invoke();
});
setParameterEx1.AddChild(SetBool2);
setParameterEx2.AddEvent(() => {
setParameterEv2.Invoke();
});
setParameterEx2.AddChild(SetBool3);
setParameterTest.SetCondition(() => {
return(case11);
});
behaviourTree.AddInterrupt(setParameterTest);
setParameterTest.AddChild(sequence);
setParameterIf4.SetCondition(() => {
return(setParameterInt1 == 1);
});
setParameterIf4.AddChild(setParameterEx4);
setParameterIf5.SetCondition(() => {
return(setParameterInt2 == 1);
});
setParameterIf5.AddChild(setParameterEx5);
sequence.AddChild(SetBool1);
sequence.AddChild(SetInt1);
sequence.AddChild(SetFloat1);
SetInt1.AddEvent(() => {
setParameterInt1 = 1;
});
SetInt1.AddChild(setParameterIf4);
setParameterEx4.AddEvent(() => {
setParameterEv4.Invoke();
});
setParameterEx4.AddChild(SetInt2);
SetInt2.AddEvent(() => {
setParameterInt2 = setParameterInt1;
});
SetInt2.AddChild(setParameterIf5);
setParameterEx5.AddEvent(() => {
setParameterEv5.Invoke();
});
setParameterIf6.SetCondition(() => {
return(setParameterFloat1 > 1.0f);
});
setParameterIf6.AddChild(setParameterEx6);
setParameterEx6.AddEvent(() => {
setParameterEv6.Invoke();
});
setParameterEx6.AddChild(SetFloat2);
setParameterIf7.SetCondition(() => {
return(setParameterFloat1 < 1.0f);
});
setParameterIf7.AddChild(setParameterEx7);
SetFloat1.AddEvent(() => {
setParameterFloat1 = 1.5f;
});
SetFloat1.AddChild(setParameterIf6);
SetFloat2.AddEvent(() => {
setParameterFloat1 = setParameterFloat2;
});
SetFloat2.AddChild(setParameterIf7);
setParameterEx7.AddEvent(() => {
setParameterEv7.Invoke();
});
}