public override BehaviourTreeStatus Tick()
{
if (childNode == null)
{
throw new ApplicationException("InverterNode must have a child node!");
}
var result = childNode.Tick();
switch (result)
{
case BehaviourTreeStatus.Failure:
return(BehaviourTreeStatus.Success);
case BehaviourTreeStatus.Success:
return(BehaviourTreeStatus.Failure);
default:
return(result);
}
/*
* if (result == BehaviourTreeStatus.Failure)
* {
* return BehaviourTreeStatus.Success;
* }
* else if (result == BehaviourTreeStatus.Success)
* {
* return BehaviourTreeStatus.Failure;
* }
* else
* {
* return result;
* }*/
}
public override void Run()
{
base.Run();
blackBoard.Robot = this;
TurnRadarRight(360);
dodgeBehaviour = new SequenceNode(blackBoard,
new ScanNode(blackBoard, 360),
new TrackNode(blackBoard, 360, 40),
new AimNode(blackBoard),
new CircleAroundNode(blackBoard));
pushBehaviour = new SequenceNode(blackBoard,
new ScanNode(blackBoard, 360),
new TrackNode(blackBoard, 360, 30),
new TurnNode(blackBoard),
new AnitGravMoveNode(blackBoard, 200),
new AimNode(blackBoard),
new ConditionNode(blackBoard, new Func <bool>(() => AttackCheck()), new QSNode(blackBoard)));
paternBehaviour = new SequenceNode(blackBoard,
new ScanNode(blackBoard, 360),
new FindPattern(blackBoard),
new FireNode(blackBoard, 2),
new ConditionNode(blackBoard, new Func <bool>(() => blackBoard.DirectHit), new FireNode(blackBoard, 3)),
new MoveNode(blackBoard, 200));
moveBehaviour = new SequenceNode(blackBoard,
new ScanNode(blackBoard, 360),
new TrackNode(blackBoard, 360, 40),
new SetPowerNode(blackBoard),
new AimNode(blackBoard),
new ConditionNode(blackBoard, new Func <bool>(() => AttackCheck()), new QSNode(blackBoard)),
new AnitGravMoveNode(blackBoard, 100));
antiGravBehaviour = new SequenceNode(blackBoard,
new ScanNode(blackBoard, 360),
new AnitGravMoveNode(blackBoard, 200),
new TurnNode(blackBoard),
new SetPowerNode(blackBoard),
new TrackNode(blackBoard, 360, 40),
new AimNode(blackBoard),
new ConditionNode(blackBoard, new Func <bool>(() => AttackCheck()), new QSNode(blackBoard)));
currentBehaviour = antiGravBehaviour;
// divorce radar movement from gun movement
IsAdjustRadarForGunTurn = true;
// divorce gun movement from tank movement
IsAdjustGunForRobotTurn = true;
while (true)
{
currentBehaviour.Tick();
Execute();
}
}