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);
}
public static void LoadChildren(SequenceNode root, YamlSequenceNode sequence)
{
foreach (var child in sequence.Children)
{
if (child is YamlSequenceNode)
{
var node = root.AddChild(new SequenceNode(root.Value, child, ImageLoad.GetImageIndex(child), id, root));
id++;
LoadChildren(node as SequenceNode, child as YamlSequenceNode);
}
else if (child is YamlMappingNode)
{
var teste = child as YamlMappingNode;
var node = root.AddChild(new MappingNode(root.Value, child, ImageLoad.GetImageIndex(child), id, root));
id++;
LoadChildren(node as MappingNode, child as YamlMappingNode);
}
else if (child is YamlScalarNode)
{
var scalar = child as YamlScalarNode;
var node = root.AddChild(new ScalarNode(scalar.Value, child, scalar.Tag, ImageLoad.GetImageIndex(child), id, root));
id++;
}
}
}
public void tableData()
{
MappingNode map = new MappingNode();
SequenceNode sec = new SequenceNode();
ComponentName = textBox1.Text;
//INode nodeFound = editor.mapNode.searchNodeByName(ComponentName);
INode nodeFound = editor.nodeSelected;
if (nodeFound != null)
{
if (nodeFound == editor.mapNode)
{
map = new MappingNode(ComponentName, LoadTree.id++);
getPropertiesFromWizard(map, dataGridView1);
editor.mapNode.AddChild(map);
}
else if (nodeFound.Value != ComponentName)
{
map = new MappingNode(ComponentName, null, 4, LoadTree.id++, editor.nodeSelected);
getPropertiesFromWizard(map, dataGridView1);
editor.nodeSelected.AddChild(map);
}
else if (nodeFound is MappingNode)
{
if (ComponentName == nodeFound.Value && nodeFound.getParent() is SequenceNode)
{
MessageBox.Show("Can not add a new component with this name to this component", "Invalid operation",
MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
map = (MappingNode)nodeFound;
MappingNode tempMap = map.DeepClone();
map.RemoveNode(map);
sec = new SequenceNode(tempMap.Value, tempMap.Tag, 3, LoadTree.id++, tempMap.parent);
MappingNode mapAntigo = tempMap;
mapAntigo.id = LoadTree.id++;
sec.AddChild(mapAntigo);
MappingNode newMap = new MappingNode(ComponentName, null, 4, LoadTree.id++, sec);
sec.AddChild(newMap);
getPropertiesFromWizard(newMap, dataGridView1);
editor.nodeSelected.getParent().AddChild(sec);
}
else if (nodeFound is SequenceNode)
{
map = new MappingNode(ComponentName, null, 4, LoadTree.id++, editor.nodeSelected);
editor.nodeSelected.AddChild(map);
getPropertiesFromWizard(map, dataGridView1);
}
}
//editor.mapNode.SearchNode(mapping);
}
/// <summary>
/// 顺序节点测试
/// </summary>
private void SequenceNodeText()
{
SequenceNode sequenceNode = new SequenceNode();
sequenceNode.AddChild(move);
sequenceNode.AddChild(idel);
Debug.Log("顺序节点执行结果为：" + sequenceNode.DoAction());
}
public void redoes_conditions_when_continuing_to_running_node()
{
testObject = new SequenceNode("some-sequence", 0, false);
var time = new TimeData(0);
//Condition 1
var mockChild1 = new Mock <BehaviourTreeNode>();
mockChild1.Object.IsCondition = true;
mockChild1
.Setup(node => node.Tick(time))
.Returns(Status.Success);
var mockChild5 = new Mock <BehaviourTreeNode>();
mockChild5
.Setup(node => node.Tick(time))
.Returns(Status.Success);
//Condition 2
var mockChild2 = new Mock <BehaviourTreeNode>();
mockChild2.Object.IsCondition = true;
mockChild2
.Setup(m => m.Tick(time))
.Returns(Status.Success);
var mockChild3 = new Mock <BehaviourTreeNode>();
mockChild3
.SetupSequence(node => node.Tick(time))
.Returns(Status.Running)
.Returns(Status.Success);
var mockChild4 = new Mock <BehaviourTreeNode>();
mockChild4
.Setup(m => m.Tick(time))
.Returns(Status.Success);
testObject.AddChild(mockChild1.Object);
testObject.AddChild(mockChild2.Object);
testObject.AddChild(mockChild3.Object);
testObject.AddChild(mockChild4.Object);
testObject.AddChild(mockChild5.Object);
Assert.Equal(Status.Running, testObject.Tick(time));
Assert.Equal(Status.Success, testObject.Tick(time));
mockChild1.Verify(m => m.Tick(time), Times.Exactly(2));
mockChild2.Verify(m => m.Tick(time), Times.Exactly(2));
mockChild3.Verify(m => m.Tick(time), Times.Exactly(2));
mockChild4.Verify(m => m.Tick(time), Times.Once());
mockChild5.Verify(m => m.Tick(time), Times.Once());
}
private void BuildFirstLevel(SequenceNode root)
{
LogMessageNode debugLogToContent1 = new LogMessageNode("logMessageSuccess0000", tree,
tree.unit, "Log Node", BehaviorNodeState.Success);
HasFollowLanceTargetNode hasFollowLanceTarget = new HasFollowLanceTargetNode("hasFollowLanceTarget0000", tree, tree.unit);
MoveToFollowLanceNode moveToFollowLance = new MoveToFollowLanceNode("moveToFollowLance0000", tree, tree.unit, false);
root.AddChild(debugLogToContent1);
root.AddChild(hasFollowLanceTarget);
root.AddChild(moveToFollowLance);
}
private void CreateBehaviourTree()
{
//LeafNode lookRecipe = behaviourTree.CreateLeafNode("Look recipe", CreateRecipe, IsRecipeCreated);
LeafNode bake = behaviourTree.CreateLeafNode("Bake pizza", BakePizza, IsPizzaBaked);
SequenceNode makePizza = behaviourTree.CreateSequenceNode("Make a pizza", false);
makePizza.AddChild(lookRecipe);
makePizza.AddChild(subFSM);
makePizza.AddChild(bake);
LoopDecoratorNode loopNode = behaviourTree.CreateLoopNode("Loop root", makePizza);
behaviourTree.SetRootNode(loopNode);
}
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 MockBehaviourTreeDFS() : base()
{
SequenceNode seq1 = new SequenceNode();
SequenceNode seq2 = new SequenceNode();
for (int i = 0; i < 4; i++)
{
seq1.AddChild(Substitute.For <BTNode>());
}
for (int i = 0; i < 4; i++)
{
seq2.AddChild(Substitute.For <BTNode>());
}
SequenceNode root = new SequenceNode(new List <BTNode> {
seq1, seq2
});
SetRoot(root);
PerformDFS(x => {
if (x == seq1)
{
result = 1;
}
if (x == seq2)
{
result = 2;
}
});
}
public void Sequence_Node_Succeds_When_All_Childs_Succeeds(int childsCount)
{
SequenceNode seq = new SequenceNode();
for (int i = 0; i < childsCount; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(NodeState.Success);
seq.AddChild(mock);
}
if (childsCount == 0)
{
Assert.IsTrue(seq.Update() == NodeState.Success);
}
else
{
for (int i = 0; i < childsCount; i++)
{
if (i == childsCount - 1)
{
Assert.IsTrue(seq.Update() == NodeState.Success);
}
else
{
Assert.IsTrue(seq.Update() == NodeState.Running);
}
}
}
}
private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(true);
LeafNode toKey = behaviourTree.CreateLeafNode("To key", GoToKey, ArriveToKey);
LeafNode getKey = behaviourTree.CreateLeafNode("Get key", GetKey, KeyTaken);
LeafNode backToDoor = behaviourTree.CreateLeafNode("Back to door", ToDoor, ArriveToDoor);
LeafNode openDoor = behaviourTree.CreateLeafNode("Open door", OpenDoor, DoorOpened);
SequenceNode sequenceRoot = behaviourTree.CreateSequenceNode("Sequence root", false);
sequenceRoot.AddChild(toKey);
sequenceRoot.AddChild(getKey);
sequenceRoot.AddChild(backToDoor);
sequenceRoot.AddChild(openDoor);
behaviourTree.SetRootNode(sequenceRoot);
}
public void Sequence_Node_Stays_Running_When_A_Child_Is_Running()
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(NodeState.Running);
SequenceNode seq = new SequenceNode();
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 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 Behaviour_Tree_Properly_Sets_All_Children_Blackboard_On_Start()
{
List <BTNode> allNodes = new List <BTNode>();
SequenceNode seq1 = new SequenceNode();
SequenceNode seq2 = new SequenceNode();
for (int i = 0; i < 4; i++)
{
BTNode mock = Substitute.For <BTNode>();
seq1.AddChild(mock);
allNodes.Add(mock);
}
for (int i = 0; i < 4; i++)
{
BTNode mock = Substitute.For <BTNode>();
seq2.AddChild(mock);
allNodes.Add(mock);
}
SequenceNode root = new SequenceNode(new List <BTNode> {
seq1, seq2
});
allNodes.Add(seq1);
allNodes.Add(seq2);
allNodes.Add(root);
BehaviourTree tree = new BehaviourTree(root);
tree.Start();
bool allShareSameBB = true;
foreach (var node in allNodes)
{
if (node.Blackboard != tree.Blackboard)
{
allShareSameBB = false;
break;
}
}
Assert.IsTrue(allShareSameBB);
}
public void can_run_all_children_in_order()
{
Init();
var time = new TimeData();
var callOrder = 0;
var mockChild1 = new Mock <IBehaviourTreeNode <TimeData> >();
mockChild1
.Setup(m => m.Tick(time))
.Returns(BehaviourTreeStatus.Success)
.Callback(() =>
{
Assert.Equal(1, ++callOrder);
});
var mockChild2 = new Mock <IBehaviourTreeNode <TimeData> >();
mockChild2
.Setup(m => m.Tick(time))
.Returns(BehaviourTreeStatus.Success)
.Callback(() =>
{
Assert.Equal(2, ++callOrder);
});
testObject.AddChild(mockChild1.Object);
testObject.AddChild(mockChild2.Object);
Assert.Equal(BehaviourTreeStatus.Success, testObject.Tick(time));
Assert.Equal(2, callOrder);
mockChild1.Verify(m => m.Tick(time), Times.Once());
mockChild2.Verify(m => m.Tick(time), Times.Once());
}
public void Sequence_Node_Fails_If_One_Child_Fails(int childsCount, int failsAtIdx)
{
SequenceNode seq = new SequenceNode();
for (int i = 0; i < childsCount; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(i == failsAtIdx ? NodeState.Failure : NodeState.Success);
seq.AddChild(mock);
}
for (int i = 0; i <= failsAtIdx; i++)
{
if (i == failsAtIdx)
{
Assert.IsTrue(seq.Update() == NodeState.Failure);
}
else
{
Assert.IsTrue(seq.Update() == NodeState.Running);
}
}
}
public void Sequence_Properly_Resets_After_Finishing(NodeState finishState)
{
SequenceNode seq = new SequenceNode();
int finishIdx = finishState == NodeState.Success ? 2 : 1;
for (int i = 0; i < 3; i++)
{
var mock = Substitute.For <BTNode>();
mock.Update().Returns(i == finishIdx ? finishState : NodeState.Success);
seq.AddChild(mock);
}
for (int j = 0; j < 2; j++)
{
for (int i = 0; i <= finishIdx; i++)
{
var expected = i == finishIdx ? finishState : NodeState.Running;
var update = seq.Update();
Assert.IsTrue(update == expected);
}
}
}
private void CreateBehaviourTree()
{
behaviourTree = new BehaviourTreeEngine(false);
LeafNode toPoint1 = behaviourTree.CreateLeafNode("To point 1", () => ToPoint(routePoints[0]), () => ArrivedToPoint(routePoints[0]));
LeafNode toPoint2 = behaviourTree.CreateLeafNode("To point 2", () => ToPoint(routePoints[1]), () => ArrivedToPoint(routePoints[1]));
LeafNode toPoint3 = behaviourTree.CreateLeafNode("To point 3", () => ToPoint(routePoints[2]), () => ArrivedToPoint(routePoints[2]));
LeafNode toPoint4 = behaviourTree.CreateLeafNode("To point 4", () => ToPoint(routePoints[3]), () => ArrivedToPoint(routePoints[3]));
LeafNode toPoint5 = behaviourTree.CreateLeafNode("To point 5", () => ToPoint(routePoints[4]), () => ArrivedToPoint(routePoints[4]));
LeafNode toPoint6 = behaviourTree.CreateLeafNode("To point 6", () => ToPoint(routePoints[5]), () => ArrivedToPoint(routePoints[5]));
SequenceNode sequenceRoute = behaviourTree.CreateSequenceNode("Route", false);
sequenceRoute.AddChild(toPoint1);
sequenceRoute.AddChild(toPoint2);
sequenceRoute.AddChild(toPoint3);
sequenceRoute.AddChild(toPoint4);
sequenceRoute.AddChild(toPoint5);
sequenceRoute.AddChild(toPoint6);
LoopDecoratorNode loopNode = behaviourTree.CreateLoopNode("Loop root", sequenceRoute);
behaviourTree.SetRootNode(loopNode);
}
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);
}
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);
}
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);
}