public BTGuard(Guard ownerBrain) : base(ownerBrain)
{
// Actions
chaseAction = new Chase(NodeOwner);
investigateAction = new Investigate(NodeOwner);
lookAroundAction = new LookAround(NodeOwner);
moveToNextPatrolPointAction = new MoveToPatrolPoint(NodeOwner);
chooseNextPatrolPointAction = new ChooseNextPatrolPoint(NodeOwner);
catchSpyAction = new CatchSpy(NodeOwner);
// Conditions
canIHearSpyCondition = new CanIHearSpy(NodeOwner);
canISeeSpyCondition = new CanISeeSpy(NodeOwner);
haveIArrivedToThePatrolPointCondition = new HaveIArrivedToThePatrolPoint(NodeOwner);
haveIFinishedLookingAroundCondition = new HaveIFinishedLookingAround(NodeOwner);
amIChasingCondition = new AmIChasing(NodeOwner);
haveIFinishedInvestigatingCondition = new HaveIFinishedInvestigating(NodeOwner);
canICatchSpyCondition = new CanICatchSpy(NodeOwner);
// Composites
rootSequence = new Sequence();
patrolSequence = new Sequence();
patrolParallel = new Parallel(3, 1);
chaseParallel = new Parallel(3, 1);
chaseSequence = new PrioritisedSequence();
engageSelector = new Selector();
patrolSelector = new Selector();
investigationParallel = new Parallel(3, 1);
investigationSequence = new Sequence();
hearChaseSequence = new Sequence();
seeChaseSequence = new Sequence();
// Decorators
repeatUntilFailDecoratorForPatrolSequence = new RepeatUntilFail(patrolSequence);
// Tree Structure
// Tree level 0
rootSequence.AddChildNode(patrolSelector);
rootSequence.AddChildNode(engageSelector);
// Tree level 1
patrolSelector.AddChildNode(amIChasingCondition);
patrolSelector.AddChildNode(patrolParallel);
engageSelector.AddChildNode(chaseParallel);
engageSelector.AddChildNode(investigationParallel);
// Tree level 2
patrolParallel.AddChildNode(repeatUntilFailDecoratorForPatrolSequence);
patrolParallel.AddChildNode(canIHearSpyCondition);
patrolParallel.AddChildNode(canISeeSpyCondition);
chaseParallel.AddChildNode(chaseSequence);
chaseParallel.AddChildNode(hearChaseSequence);
chaseParallel.AddChildNode(seeChaseSequence);
investigationParallel.AddChildNode(investigationSequence);
investigationParallel.AddChildNode(canIHearSpyCondition);
investigationParallel.AddChildNode(canISeeSpyCondition);
// Tree level 3
patrolSequence.AddChildNode(moveToNextPatrolPointAction);
patrolSequence.AddChildNode(haveIArrivedToThePatrolPointCondition);
patrolSequence.AddChildNode(lookAroundAction);
patrolSequence.AddChildNode(haveIFinishedLookingAroundCondition);
patrolSequence.AddChildNode(chooseNextPatrolPointAction);
chaseSequence.AddChildNode(chaseAction);
chaseSequence.AddChildNode(canICatchSpyCondition);
chaseSequence.AddChildNode(catchSpyAction);
hearChaseSequence.AddChildNode(canIHearSpyCondition);
hearChaseSequence.AddChildNode(chaseAction);
seeChaseSequence.AddChildNode(canISeeSpyCondition);
seeChaseSequence.AddChildNode(chaseAction);
investigationSequence.AddChildNode(investigateAction);
investigationSequence.AddChildNode(haveIFinishedInvestigatingCondition);
}