public void RandomTest()
{
var blackboard = new TestBlackboard();
var node = new Random <TestBlackboard>();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Decorator(node).Leaf(new TrackingLeaf())
.Build(blackboard);
ushort[] result = new ushort[2];
for (var i = 0; i < 100; i++)
{
this.UpdateAndStep(tree, 0.1f);
if (node.Status == BTTaskStatus.Succeeded)
{
result[1]++;
}
else
{
result[0]++;
}
}
// We should get a decently even spread but we can't rely on it, 50% sway should be plenty enough to have a stable result
Assert.Greater(result[0], 25);
Assert.Greater(result[1], 25);
Assert.AreEqual(100, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
public void InvertTest()
{
var blackboard = new TestBlackboard();
var node = new Invert <TestBlackboard>();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Decorator(node).Leaf(new TrackingLeaf())
.Build(blackboard);
this.UpdateAndStep(tree, 0.1f);
Assert.AreEqual(BTTaskStatus.Failed, node.Status);
Assert.AreEqual(1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
// the same tree is here, once with LowerPriority aborts and once with Self aborts and ConditionalDecorators
public void BuildLowerPriorityAbortTree()
{
var builder = BehaviorTreeBuilder <BehaviorTreeMiner> .Begin(this);
builder.Selector();
// sleep is most important
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Fatigue >= MinerState.MaxFatigue)
.LogAction("--- tired! gotta go home")
.Action(m => m.GoToLocation(MinerState.Location.Home))
.LogAction("--- prep me my bed!")
.Action(m => m.Sleep())
.EndComposite();
// thirst is next most important
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Thirst >= MinerState.MaxThirst)
.LogAction("--- thirsty! time for a drink")
.Action(m => m.GoToLocation(MinerState.Location.Saloon))
.LogAction("--- get me a drink!")
.Action(m => m.Drink())
.EndComposite();
// dropping off gold is next
builder.Sequence(AbortTypes.LowerPriority)
.Conditional(m => m.MinerState.Gold >= MinerState.MaxGold)
.LogAction("--- bags are full! gotta drop this off at the bank.")
.Action(m => m.GoToLocation(MinerState.Location.Bank))
.LogAction("--- take me gold!")
.Action(m => m.DepositGold())
.EndComposite();
// fetching gold is last
builder.Sequence()
.Action(m => m.GoToLocation(MinerState.Location.Mine))
.LogAction("--- time to get me some gold!")
.Action(m => m.DigForGold())
.EndComposite();
builder.EndComposite();
_tree = builder.Build();
}
public static BehaviorTree <BehaviorTreeMinerState> BuildSelfAbortTree()
{
var builder = BehaviorTreeBuilder <BehaviorTreeMinerState> .Begin(new BehaviorTreeMinerState());
builder.Selector(AbortTypes.Self);
// sleep is most important
builder.ConditionalDecorator(m => m.MinerState.Fatigue >= MinerState.MAX_FATIGUE, false);
builder.Sequence()
.LogAction("--- Tired! Gotta go home")
.Action(m => m.GoToLocation(MinerState.Location.Home))
.LogAction("--- Prep me my bed!")
.Action(m => m.Sleep())
.EndComposite();
// thirst is next most important
builder.ConditionalDecorator(m => m.MinerState.Thirst >= MinerState.MAX_THIRST, false);
builder.Sequence()
.LogAction("--- Thirsty! Time for a drink")
.Action(m => m.GoToLocation(MinerState.Location.Saloon))
.LogAction("--- Get me a drink!")
.Action(m => m.Drink())
.EndComposite();
// dropping off gold is next
builder.ConditionalDecorator(m => m.MinerState.Gold >= MinerState.MAX_GOLD, false);
builder.Sequence()
.LogAction("--- Bags are full! Gotta drop this off at the bank.")
.Action(m => m.GoToLocation(MinerState.Location.Bank))
.LogAction("--- Take me gold!")
.Action(m => m.DepositGold())
.EndComposite();
// fetching gold is last
builder.Sequence()
.Action(m => m.GoToLocation(MinerState.Location.Mine))
.LogAction("--- Time to get me some gold!")
.Action(m => m.DigForGold())
.EndComposite();
builder.EndComposite();
return(builder.Build());
}
public void IntervalTest()
{
var blackboard = new TestBlackboard();
var tree = BehaviorTreeBuilder <TestBlackboard> .Begin()
.Sequence()
.Interval().Leaf(new TrackingLeaf())
.Build(blackboard);
for (var n = 0; n < 10; n++)
{
for (var i = 0; i < 9; i++)
{
this.UpdateAndStep(tree, 0.1f);
}
Assert.AreEqual(n, blackboard.GetTracking(TestBlackboard.TrackingExecution));
this.UpdateAndStep(tree, 0.1f);
Assert.AreEqual(n + 1, blackboard.GetTracking(TestBlackboard.TrackingExecution));
}
}
