public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
NWCreature self = (NWCreature)args[0];
return(builder.Do("RandomWalk", t =>
{
if (self.IsInCombat || !_enmity.IsEnmityTableEmpty(self))
{
if (_.GetCurrentAction(self.Object) == NWScript.ACTION_RANDOMWALK)
{
self.ClearAllActions();
}
return BehaviourTreeStatus.Failure;
}
if (_.GetCurrentAction(self.Object) == NWScript.ACTION_INVALID &&
_.IsInConversation(self.Object) == NWScript.FALSE &&
_.GetCurrentAction(self.Object) != NWScript.ACTION_RANDOMWALK &&
_random.Random(100) <= 25)
{
self.AssignCommand(() => _.ActionRandomWalk());
}
return BehaviourTreeStatus.Running;
}));
}
public void RepeatUntilStatusReachedNodeTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.UntilSucceess("Repeat until success")
.Do("Reach limit", TestActions.ReachLimitAction)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(2, blackboard.Counter1);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(3, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
NWCreature self = (NWCreature)args[0];
return(builder.Do("AttackHighestEnmity", t =>
{
var enmityTable = _enmity.GetEnmityTable(self);
var target = enmityTable.Values
.OrderByDescending(o => o.TotalAmount)
.FirstOrDefault(x => x.TargetObject.IsValid &&
x.TargetObject.Area.Equals(self.Area));
self.AssignCommand(() =>
{
if (target == null)
{
_.ClearAllActions();
}
else
{
if (_.GetAttackTarget(self.Object) != target.TargetObject.Object)
{
_.ClearAllActions();
_.ActionAttack(target.TargetObject.Object);
}
}
});
return BehaviourTreeStatus.Running;
}));
}
public void SelectorRunningTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Selector("Sequence")
.AlwaysFail("Fail increment")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.End()
.Wait("Wait 1 tick", 1, tickProvider)
.Do("Increment counter 2", TestActions.IncrementCounter2)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
Assert.AreEqual(0, data.Stack.Count);
}
public static BehaviourTreeBuilder Do <T>(this BehaviourTreeBuilder builder, params object[] args)
where T : IAIComponent
{
var component = App.ResolveByInterface <IAIComponent>(typeof(T).ToString());
return(component.Build(builder, args));
}
public void InterruptionTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Sequence("Sequence")
.Inverter("Inverter")
.Do("Reach limit", TestActions.ReachLimitAction)
.End()
.Wait("Wait 5 ticks", 5, tickProvider)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
for (var i = 0; i < 5; i++)
{
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
tickProvider.Tick();
}
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
private static void BuildRecursive(BehaviourTreeBuilder builder, BehaviourTreeData data)
{
if (!Mapping.ContainsKey(data.Type))
{
throw new Exception($"Unknown node type {data.Type}");
}
var node = CreateNodeByType(Mapping[data.Type], data.Properties);
var parent = node as IBehaviourTreeNodeParent;
if (parent != null)
{
builder.AddParent(parent);
}
else
{
builder.AddChild(node);
}
foreach (var childData in data.Children)
{
BuildRecursive(builder, childData);
}
if (parent != null)
{
builder.End();
}
}
public void InvertRunningTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Inverter("Invert status")
.Wait("Increment counter 1", 3, tickProvider)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Failure, data.Statuses[root.Id]);
Assert.AreEqual(0, data.Stack.Count);
}
public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
NWCreature self = (NWCreature)args[0];
return(builder.Do("CleanUpEnmity", t =>
{
foreach (var enmity in _enmity.GetEnmityTable(self).ToArray())
{
var val = enmity.Value;
var target = val.TargetObject;
// Remove invalid objects from the enmity table
if (target == null ||
!target.IsValid ||
!target.Area.Equals(self.Area) ||
target.CurrentHP <= -11)
{
_enmity.GetEnmityTable(self).Remove(enmity.Key);
continue;
}
_.AdjustReputation(target.Object, self.Object, -100);
// Reduce volatile enmity every tick
_enmity.GetEnmityTable(self)[target.GlobalID].VolatileAmount--;
}
return BehaviourTreeStatus.Running;
}));
}
void Start()
{
behaviorController = GetComponent <BehaviorController>();
var builder = new BehaviourTreeBuilder();
tree = builder.Sequence("gatherResources").Splice(CreateGatherTreeSequence())
.End()
.Build();
}
public PackAggroBehaviour(
BehaviourTreeBuilder builder,
INWScript script,
IEnmityService enmity,
IDialogService dialog,
INWNXObject nwnxObject)
: base(builder, script, enmity, dialog, nwnxObject)
{
}
public override BehaviourTree ToEntity(BehaviourTreeData data)
{
var builder = new BehaviourTreeBuilder();
BuildRecursive(builder, data);
var tree = builder.Build();
tree.Id = data.Id;
return(tree);
}
public static BehaviourTreeBuilder Do <T>(this BehaviourTreeBuilder builder, params object[] args)
where T : IRegisteredEvent
{
return(builder.Do(typeof(T).ToString(), t =>
{
bool success = App.RunEvent <T>(args);
return success ?
BehaviourTreeStatus.Running :
BehaviourTreeStatus.Failure;
}));
}
public StandardBehaviour(BehaviourTreeBuilder builder,
INWScript script,
IEnmityService enmity,
IDialogService dialog,
INWNXObject nwnxObject)
{
_ = script;
_builder = builder;
_enmity = enmity;
_dialog = dialog;
_nwnxObject = nwnxObject;
}
private IBehaviourTreeNode CreateGatherTreeSequence()
{
var builder = new BehaviourTreeBuilder();
return(builder.Sequence("gatherResources")
.Do("changeColor", t => {
behaviorController.ChangeColor(Color.magenta);
return BehaviourTreeStatus.Success;
})
.Do("findNearestResource", t =>
{
if (behaviorController.needsResource)
{
target = behaviorController.GetNextResource();
behaviorController.ai.target = target;
behaviorController.hasTarget = true;
behaviorController.needsResource = false;
return BehaviourTreeStatus.Success;
}
else
{
return BehaviourTreeStatus.Success;
}
})
.Do("goToResource", t =>
{
while (behaviorController.hasTarget && !behaviorController.ai.DestinationReached() && behaviorController.ai.target.tag == "resource")
{
return BehaviourTreeStatus.Failure; //presumably we pause here
}
behaviorController.hasTarget = false;
behaviorController.needsResource = true;
return BehaviourTreeStatus.Success;
})
.Do("checkIfAllResourcesAreGathered", t => {
if (behaviorController.allResourcesGathered && behaviorController.ai.DestinationReached())
{
return BehaviourTreeStatus.Success;
}
else
{
Debug.Log("All resouces found");
return BehaviourTreeStatus.Failure;
}
})
.End()
.Build());
}
void Start()
{
Debug.Log("ZombieBT start");
var builder = new BehaviourTreeBuilder();
// var targetPosition = GameObject.Find("Player").transform.position;
targetPosition = GameObject.Find("Player").transform.position;
this.tree = builder
.Selector("ChooseAction")
.Sequence("tryToGoToPlayer")
// If player is alive and close then go to it
.Condition("isPlayerClose", t => (BlackboardZombie.Instance.getIsPlayerAlive() == true && Vector3.Distance(transform.position, targetPosition) < 8 &&
Vector3.Distance(transform.position, targetPosition) > 2))
.Do("GoToPlayer", t =>
{
GetComponent <Animator>().SetBool("bool_walk", true);
GetComponent <Animator>().SetBool("bool_attack", false);
Debug.Log("~~~ GoToPlayer");
BehaviourTreeStatus bts;
bts = GoToTarget("target1", targetPosition);
BlackboardZombie.Instance.setTarget1(bts == BehaviourTreeStatus.Success);
return(bts);
})
.End()
.Sequence("tryToAttackPlayer")
// If player is alive and in range then attack him
.Condition("isPlayerInRange", t => (BlackboardZombie.Instance.getIsPlayerAlive() == true && Vector3.Distance(transform.position, targetPosition) <= 2))
.Do("AttackPlayer", t =>
{
GetComponent <Animator>().SetBool("bool_walk", false);
GetComponent <Animator>().SetBool("bool_attack", true);
Debug.Log("~~~ AttackPlayer");
return(AttackPlayer());
})
.End()
.Do("Wander", t =>
{
GetComponent <Animator>().SetBool("bool_walk", true);
GetComponent <Animator>().SetBool("bool_attack", false);
GetComponent <SteerForWander>().enabled = true;
Debug.Log("~~~ Wander");
return(Wander());
})
.End()
.Build();
}
public CrocoBehaviour(CrocoLoco _crocoLoco)
{
crocoLoco = _crocoLoco;
var builder = new BehaviourTreeBuilder();
tree = builder
.Selector("Watch players")
.Condition("Is any player visible", IsAnyPlayerVisible)
.End()
.Build();
timeData = new TimeData();
properties = new CrocoProperties();
properties.watchLength = 300;
}
protected override void Start()
{
BehaviourTreeBuilder treeBuilder = new BehaviourTreeBuilder();
this.rootNode = treeBuilder.Selector("SomeSelector", true)
.Do("some-action-1", t => {
return(BehaviourTreeStatus.Success);
})
.Do("some-action-2", t => {
return(BehaviourTreeStatus.Success);
})
.End()
.Build();
this.rootNode = this.BuildSimpleAI();
base.Start();
}
public void disabled_parent_nodes_is_ignored()
{
TimeData data = new TimeData(0);
var invokeCount = 0;
var builder = new BehaviourTreeBuilder <TimeData>(new List <int>
{
0,
2,
4
});
builder
.Sequence("seq1")
.Do("do1", t =>
{
++invokeCount;
throw new Exception("do1 invoked.");
})
.End()
.Build()
.Tick(data);
builder
.Selector("sel1")
.Do("do2", t =>
{
++invokeCount;
throw new Exception("do2 invoked.");
})
.End()
.Build()
.Tick(data);
builder
.Parallel("para1", 0, 0)
.Do("do3", t =>
{
++invokeCount;
throw new Exception("do3 invoked.");
})
.End()
.Build()
.Tick(data);
}
public void ActionTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Do("Increment counter 1", TestActions.IncrementCounter1)
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
var status = data.Statuses[root.Id];
Assert.AreEqual(BehaviourTreeStatus.Success, status);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
return(builder.Do("EquipBestMelee", t =>
{
NWCreature self = (NWCreature)args[0];
if (!self.IsInCombat ||
self.RightHand.IsRanged)
{
return BehaviourTreeStatus.Failure;
}
self.AssignCommand(() =>
{
_.ActionEquipMostDamagingMelee(new Object());
});
return BehaviourTreeStatus.Running;
}));
}
void Awake()
{
BehaviourTreeBuilder treeBuilder = new BehaviourTreeBuilder();
this.rootNode = treeBuilder.Selector("SomeSelector", true)
.Do("some-action-1", t => {
if (this.IsTrue)
{
++invokeCount;
}
return(this.IsTrue ? BehaviourTreeStatus.Success : BehaviourTreeStatus.Failure);
})
.Do("some-action-2", t => {
if (!this.IsTrue)
{
--invokeCount;
}
return(this.IsTrue ? BehaviourTreeStatus.Failure : BehaviourTreeStatus.Success);
})
.End()
.Build();
}
public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
return(builder.Do("AggroTargetBySound", t =>
{
NWCreature self = (NWCreature)args[0];
if (self.IsInCombat)
{
return BehaviourTreeStatus.Failure;
}
float aggroRange = self.GetLocalFloat("AGGRO_RANGE");
if (aggroRange <= 0.0f)
{
aggroRange = 5.0f;
}
int nth = 1;
NWCreature creature = NWCreature.Wrap(_.GetNearestObject(NWScript.OBJECT_TYPE_CREATURE, self.Object, nth));
while (creature.IsValid)
{
if (_.GetIsEnemy(creature.Object, self.Object) == NWScript.TRUE &&
!_enmity.IsOnEnmityTable(self, creature) &&
!creature.HasAnyEffect(NWScript.EFFECT_TYPE_SANCTUARY) &&
_.GetDistanceBetween(self.Object, creature.Object) <= aggroRange &&
_.LineOfSightObject(self.Object, creature.Object) == NWScript.TRUE)
{
_enmity.AdjustEnmity(self, creature, 0, 1);
}
nth++;
creature = NWCreature.Wrap(_.GetNearestObject(NWScript.OBJECT_TYPE_CREATURE, self.Object, nth));
}
return BehaviourTreeStatus.Running;
}));
}
private void Start()
{
var builder = new BehaviourTreeBuilder();
//if Dist < 0.5 doA else doB
tree = builder.
Parallel("All", 20, 20).
Do("RoateX", t => {
transform.GetChild(0).Rotate(new Vector3(60, 0) * Time.deltaTime);
return(BehaviourTreeStatus.Success);
}).
Do("RoateZ", t => {
transform.GetChild(0).Rotate(new Vector3(0, 0, 60) * Time.deltaTime);
return(BehaviourTreeStatus.Success);
}).
Selector("Find Target").
Sequence("At Target").
Condition("At Target", t => {
Debug.Log("Is At Target");
var dist = Vector3.Distance(transform.position, target.position);
return(dist < 0.5f);
}).
Do("Idle", t => {
Debug.Log("Idle");
return(BehaviourTreeStatus.Success);
}).
End().
Do("Go to Target", t =>
{
Debug.Log("Go to target");
var dist = Vector3.Distance(transform.position, target.position);
transform.position += (target.position - transform.position).normalized * speed * Time.deltaTime;
return(BehaviourTreeStatus.Success);
}).
End().
End().
Build();
}
public BehaviourTreeBuilder Build(BehaviourTreeBuilder builder, params object[] args)
{
return(builder.Do("AggroTargetBySight", t =>
{
NWCreature self = (NWCreature)args[0];
if (self.IsInCombat)
{
return BehaviourTreeStatus.Failure;
}
float aggroRange = self.GetLocalFloat("AGGRO_RANGE");
if (aggroRange <= 0.0f)
{
aggroRange = 10.0f;
}
Location targetLocation = _.Location(
self.Area.Object,
_biowarePos.GetChangedPosition(self.Position, aggroRange, self.Facing),
self.Facing + 180.0f);
NWCreature creature = NWCreature.Wrap(_.GetFirstObjectInShape(NWScript.SHAPE_SPELLCYLINDER, aggroRange, targetLocation, NWScript.TRUE, NWScript.OBJECT_TYPE_CREATURE, self.Position));
while (creature.IsValid)
{
if (_.GetIsEnemy(creature.Object, self.Object) == NWScript.TRUE &&
!_enmity.IsOnEnmityTable(self, creature) &&
_.GetDistanceBetween(self.Object, creature.Object) <= aggroRange &&
!creature.HasAnyEffect(NWScript.EFFECT_TYPE_INVISIBILITY, NWScript.EFFECT_TYPE_SANCTUARY))
{
_enmity.AdjustEnmity(self, creature, 0, 1);
}
creature = NWCreature.Wrap(_.GetNextObjectInShape(NWScript.SHAPE_SPELLCYLINDER, aggroRange, targetLocation, NWScript.TRUE, NWScript.OBJECT_TYPE_CREATURE, self.Position));
}
return BehaviourTreeStatus.Running;
}));
}
public void SequenceFailureTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Sequence("Sequence")
.AlwaysFail("Fail")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.End()
.Do("Increment counter 2", TestActions.IncrementCounter2)
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Failure, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
Assert.AreEqual(0, data.Stack.Count);
}
public BehaviourTree Create(
IActorStateModel actor,
AiMovementController aiMovementController)
{
_actorStateModel = actor;
_aiMovementController = aiMovementController;
_generatedNodes = new List <IBehaviourTreeNode>();
// @formatter:off
var startNode = new BehaviourTreeBuilder()
.Selector()
.Splice(SpawningTree(actor))
.Splice(UnacquaintedTree(actor))
.Splice(NeutralTree(actor))
.Splice(FriendTree(actor))
.Splice(EnemyTree(actor))
.End()
.Build();
// @formatter:on
return(new BehaviourTree(startNode, _generatedNodes.ToArray()));
}
public void IfNodeFailTest()
{
var root = new BehaviourTreeBuilder <TestBlackboard>()
.If("If false", TestActions.True)
.AlwaysFail("Fail")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.End()
.End()
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
executor.Tick(data, blackboard);
var status = data.Statuses[root.Id];
Assert.AreEqual(BehaviourTreeStatus.Failure, status);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
private void Awake()
{
base.Awake();
PathWalker = gameObject.GetComponent <PathWalker>();
var _builder = new BehaviourTreeBuilder();
_builder = _builder.Selector(); // MainNode
_builder = _builder.StateFulSequence("Patrol")
.Inverter("!").Condition("HayEnemigo", () => enemyTransform != null).End()
.Condition("EndPath", () => PathWalker.Ended)
.Do("FindPath", () => { _ = PathWalker.WalkTo(PathFinderManager.Instance.RandomWalkablePosition); PathWalker.WALK_SPEED = 5; return(BehaviorReturnCode.Success); })
.End();
_builder = _builder.StateFulSequence("FindEnemy")
.Inverter("!").Condition("HayEnemigo", () => enemyTransform != null).End()
.Inverter("!").Do("BuscarEnemigo", FindEnemy).End()
.End();
_builder = _builder.StateFulSequence("Follow")
.Condition("HayEnemigo", () => enemyTransform != null)
.Inverter("!").Condition("EstaCerca", () => (enemyTransform.position - transform.position).magnitude < attack_range).End()
.Condition("EndPath", () => PathWalker.Ended)
.Do("FindPath", () => { _ = PathWalker.WalkTo(enemyTransform.position + ((transform.position - enemyTransform.position).normalized * 1.5f)); return(BehaviorReturnCode.Success); })
.End();
_builder = _builder.StateFulSequence("Attack")
.Condition("HayEnemigo", () => enemyTransform != null)
.Condition("EstaCerca", () => (enemyTransform.position - transform.position).magnitude < attack_range)
.Do("AttackEnemy", AttackEnemy)
.End();
_builder = _builder.End(); // End MainNode
_root = _builder.Build();
}
public void WaitNodeTest()
{
var tickProvider = new TestTickSupplier();
var root = new BehaviourTreeBuilder <TestBlackboard>()
.Wait("Increment counter 1", 3, tickProvider)
.Build();
var metadata = new BehaviourTreeMetadata <TestBlackboard>(root);
var data = metadata.CreateExecutionData();
var executor = new BehaviourTreeExecutor <TestBlackboard>(root);
var blackboard = new TestBlackboard();
executor.Start(data);
for (var i = 0; i < 3; i++)
{
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Running, data.Statuses[root.Id]);
tickProvider.Tick();
}
executor.Tick(data, blackboard);
Assert.AreEqual(BehaviourTreeStatus.Success, data.Statuses[root.Id]);
Assert.AreEqual(0, data.Stack.Count);
}
