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);
}
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 void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
if (status == BehaviourTreeStatus.Success)
{
++execution.Variables[_succeededCountId];
if (SucceedPolicy == ParallelPolicy.RequireOne)
{
Stop(executor, execution, BehaviourTreeStatus.Success);
return;
}
}
else if (status == BehaviourTreeStatus.Failure)
{
++execution.Variables[_failedCountId];
if (FailurePolicy == ParallelPolicy.RequireOne)
{
Stop(executor, execution, BehaviourTreeStatus.Failure);
return;
}
}
if (FailurePolicy == ParallelPolicy.RequireAll && execution.Variables[_failedCountId] == ChildrenCount)
{
Stop(executor, execution, BehaviourTreeStatus.Failure);
}
else if (SucceedPolicy == ParallelPolicy.RequireAll && execution.Variables[_succeededCountId] == ChildrenCount)
{
Stop(executor, execution, BehaviourTreeStatus.Success);
}
}
private void Stop(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
BehaviourTreeStatus status)
{
AbortRunningChildren(executor, data);
executor.Stop(data, this, status);
}
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 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 override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_failedCountId] = 0;
data.Variables[_succeededCountId] = 0;
foreach (var node in Children)
{
executor.Start(data, node, this);
}
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
if (status != _status)
{
executor.Stop(execution, this, BehaviourTreeStatus.Success);
}
else
{
executor.Schedule(execution, Node, this);
}
}
public void AbortRunningChildren(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data)
{
foreach (var node in Children)
{
if (node.IsRunning(data))
{
executor.Abort(data, node);
}
}
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
const int undefined = int.MinValue;
var tick = _tickSupplier.Supply();
if (data.Variables[_startTickId] == undefined)
{
data.Variables[_startTickId] = tick;
}
if (tick - data.Variables[_startTickId] < _ticksToWaitSupplier.Supply(blackboard))
{
return(BehaviourTreeStatus.Running);
}
data.Variables[_startTickId] = undefined;
return(BehaviourTreeStatus.Success);
}
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 void IfNodeFalseTest()
{
var root = new SimpleBehaviourTreeBuilder <TestBlackboard>()
.If("If false", TestActions.False)
.Do("Increment counter 1", TestActions.IncrementCounter1)
.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(0, blackboard.Counter1);
Assert.AreEqual(0, data.Stack.Count);
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
var node = GetCurrentChild(execution);
if (execution.Statuses[node.Id] == BehaviourTreeStatus.Success)
{
executor.Stop(execution, this, BehaviourTreeStatus.Success);
return;
}
var currentChild = ++execution.Variables[_currentChildId];
if (currentChild == ChildrenCount)
{
executor.Stop(execution, this, BehaviourTreeStatus.Failure);
}
else
{
executor.Start(execution, GetCurrentChild(execution), this);
}
}
public void SelectorSuccessTest()
{
var root = new SimpleBehaviourTreeBuilder <TestBlackboard>()
.Selector("Sequence")
.Do("Increment counter 1", TestActions.IncrementCounter1)
.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.Success, data.Statuses[root.Id]);
Assert.AreEqual(1, blackboard.Counter1);
Assert.AreEqual(0, blackboard.Counter2);
Assert.AreEqual(0, data.Stack.Count);
}
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);
}
protected override BehaviourTreeStatus Update(BehaviourTreeExecutor <TBlackboard> executor,
BehaviourTreeExecutionData <TBlackboard> data,
TBlackboard blackboard)
{
return(BehaviourTreeStatus.Running);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_currentChildId] = 0;
executor.Start(data, GetCurrentChild(data), this);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
executor.Start(data, Node, this);
}
public override void Initialize(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> data, TBlackboard blackboard)
{
data.Variables[_startTickId] = int.MinValue;
}
public BehaviourTree(BehaviourTreeNode <Entity <TScope> > root)
{
_root = root;
_metadata = new BehaviourTreeMetadata <Entity <TScope> >(root);
_executor = new BehaviourTreeExecutor <Entity <TScope> >(root);
}
public void OnComplete(BehaviourTreeExecutor <TBlackboard> executor, BehaviourTreeExecutionData <TBlackboard> execution, BehaviourTreeStatus status)
{
executor.Stop(execution, this, BehaviourTreeStatus.Failure);
}
