421 lines
10 KiB
C#
421 lines
10 KiB
C#
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using System;
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using UnityEngine;
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using System.Linq;
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using Pathfinding.RVO;
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namespace Pathfinding.Examples.RTS {
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public enum Status {
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Invalid,
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Failure,
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Success,
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Running
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};
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public class BTContext {
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public RTSUnit unit;
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public Transform transform;
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public Animator animator;
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}
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/// <summary>Implements a simple behavior tree. This is the base class for all nodes in the tree.</summary>
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public abstract class BTNode {
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protected Status lastStatus;
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public Status Tick (BTContext ctx) {
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if (lastStatus == Status.Invalid) OnInit(ctx);
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lastStatus = DoTick(ctx);
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if (lastStatus == Status.Invalid) throw new System.Exception();
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return lastStatus;
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}
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public void Terminate (BTContext ctx) {
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OnTerminate(ctx);
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lastStatus = Status.Invalid;
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}
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protected virtual void OnInit (BTContext ctx) {
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}
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protected virtual void OnTerminate (BTContext ctx) {
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}
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protected abstract Status DoTick(BTContext ctx);
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}
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public class BTTransparent : BTNode {
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public BTNode child;
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protected override void OnTerminate (BTContext ctx) {
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child.Terminate(ctx);
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}
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protected override Status DoTick (BTContext ctx) {
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return child.Tick(ctx);
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}
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}
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public class Once : BTNode {
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public BTNode child;
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public Once (BTNode child) { this.child = child; }
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protected override void OnTerminate (BTContext ctx) {
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if (lastStatus == Status.Running) child.Terminate(ctx);
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}
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protected override Status DoTick (BTContext ctx) {
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if (lastStatus == Status.Success) return Status.Success;
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var s = child.Tick(ctx);
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if (s == Status.Success) {
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child.Terminate(ctx);
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}
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return s;
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}
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}
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public class SimpleAction : BTNode {
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public System.Action<BTContext> action;
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public SimpleAction (System.Action<BTContext> action) { this.action = action; }
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protected override Status DoTick (BTContext ctx) {
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action(ctx);
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return Status.Success;
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}
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}
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public class Condition : BTNode {
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public System.Func<BTContext, bool> predicate;
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public Condition (System.Func<BTContext, bool> predicate) { this.predicate = predicate; }
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protected override Status DoTick (BTContext ctx) {
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return predicate(ctx) ? Status.Success : Status.Failure;
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}
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}
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public class BTSequence : BTNode {
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public BTNode[] children;
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int childIndex = -1;
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public BTSequence (BTNode[] children) {
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this.children = children;
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}
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protected override void OnInit (BTContext ctx) {
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childIndex = 0;
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}
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protected override void OnTerminate (BTContext ctx) {
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for (int i = 0; i <= childIndex; i++) {
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children[i].Terminate(ctx);
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}
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childIndex = -1;
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}
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protected override Status DoTick (BTContext ctx) {
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int i;
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for (i = 0; i < children.Length; i++) {
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var s = children[i].Tick(ctx);
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if (s != Status.Success) {
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// Terminate all nodes that executed the last frame, but did not execute this frame
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for (int j = i + 1; j <= childIndex; j++) children[j].Terminate(ctx);
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childIndex = i;
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return s;
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}
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}
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childIndex = i - 1;
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return Status.Success;
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}
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}
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public class BTSelector : BTNode {
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public BTNode[] children;
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int childIndex = -1;
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public BTSelector (BTNode[] children) {
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this.children = children;
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}
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protected override void OnInit (BTContext ctx) {
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}
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protected override void OnTerminate (BTContext ctx) {
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for (int i = 0; i <= childIndex; i++) {
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children[i].Terminate(ctx);
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}
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childIndex = -1;
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}
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protected override Status DoTick (BTContext ctx) {
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int i;
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for (i = 0; i < children.Length; i++) {
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var s = children[i].Tick(ctx);
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if (s != Status.Failure) {
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// Terminate all nodes that executed the last frame, but did not execute this frame
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for (int j = i + 1; j <= childIndex; j++) children[j].Terminate(ctx);
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childIndex = i;
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return s;
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}
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}
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childIndex = i - 1;
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return Status.Failure;
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}
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}
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class Binding<T> {
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T val;
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public System.Func<T> getter;
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public System.Action<T> setter;
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public T value {
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get {
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if (getter != null) return getter();
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return val;
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}
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set {
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if (setter != null) setter(value);
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val = value;
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}
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}
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}
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public struct Value<T> {
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T val;
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Binding<T> binding;
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public T value {
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get {
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if (binding != null) return binding.value;
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return val;
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}
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set {
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if (binding != null) binding.value = value;
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val = value;
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}
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}
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public void Bind (ref Value<T> other) {
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if (other.binding != null && binding == null) binding = other.binding;
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else if (binding == null && other.binding != null) other.binding = binding;
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else if (binding == null) binding = other.binding = new Binding<T>();
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else throw new System.Exception("Too complex binding");
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}
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public void Bind (System.Func<T> other) {
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if (binding != null) throw new System.Exception("Already has a binding");
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binding = new Binding<T>();
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binding.getter = other;
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binding.setter = _ => {
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throw new System.InvalidOperationException("Trying to assign a value which has been bound as read-only (using a delegate)");
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};
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}
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public Value<T> Bound {
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get {
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var r = this;
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if (binding == null) Bind(ref r);
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return r;
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}
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}
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public Value (System.Func<T> getter) {
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val = default(T);
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binding = null;
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Bind(getter);
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}
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public static implicit operator Value<T>(System.Func<T> getter) {
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var val = new Value<T>();
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val.Bind(getter);
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return val;
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}
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}
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public class BTMove : BTNode {
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public Value<Vector3> destination;
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public BTMove (Value<Vector3> destination) {
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this.destination = destination;
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}
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protected override void OnInit (BTContext ctx) {
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ctx.unit.SetDestination(destination.value, MovementMode.Move);
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}
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protected override Status DoTick (BTContext ctx) {
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var dest = destination.value;
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if ((Time.frameCount % 100) == 0) ctx.unit.SetDestination(dest, MovementMode.Move);
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if (VectorMath.SqrDistanceXZ(ctx.transform.position, dest) < 0.5f * 0.5f) {
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return Status.Success;
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} else {
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return Status.Running;
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}
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}
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}
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public class FindClosestUnit : BTNode {
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public Value<RTSUnit> target;
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public bool reserve;
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RTSUnit.Type type;
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public FindClosestUnit (RTSUnit.Type type) {
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this.type = type;
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}
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protected override void OnTerminate (BTContext ctx) {
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if (reserve && target.value != null) {
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if (target.value.reservedBy != ctx.unit) throw new System.Exception();
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target.value.reservedBy = null;
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}
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target.value = null;
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}
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RTSUnit FindClosest (Vector3 point) {
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var units = RTSManager.instance.units.units;
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RTSUnit closest = null;
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var dist = float.PositiveInfinity;
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for (int i = 0; i < units.Count; i++) {
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var unit = units[i];
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if (unit.type != type || (reserve && unit.reservedBy != null)) {
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continue;
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}
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if (unit.resource != null && !unit.resource.harvestable) {
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continue;
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}
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var d = (unit.transform.position - point).sqrMagnitude;
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if (d < dist) {
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dist = d;
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closest = unit;
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}
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}
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return closest;
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}
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protected override Status DoTick (BTContext ctx) {
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if (target.value != null) {
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return Status.Success;
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}
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target.value = FindClosest(ctx.transform.position);
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if (target.value != null) {
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if (reserve) target.value.reservedBy = ctx.unit;
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return Status.Success;
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}
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return Status.Failure;
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}
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}
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static class Behaviors {
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public static BTNode HarvestBehavior () {
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var reserve = new FindClosestUnit(RTSUnit.Type.ResourceCrystal) { reserve = true };
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var dropoff = new FindClosestUnit(RTSUnit.Type.HarvesterDropoff) { reserve = true };
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var dropoffQueue = new FindClosestUnit(RTSUnit.Type.HarvesterDropoffQueue);
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return new BTSelector(new BTNode[] {
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new HarvestMode() {
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child = new BTSelector(new BTNode[] {
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new BTSequence(new BTNode[] {
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new Condition(ctx => ctx.unit.storedCrystals > 0),
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new BTSequence(new BTNode[] {
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dropoff,
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new BTMove(new Value<Vector3>(() => dropoff.target.value.transform.position)),
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new SimpleAction(ctx => {
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ctx.unit.owner.resources.AddResource(RTSUnit.Type.ResourceCrystal, ctx.unit.storedCrystals);
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ctx.unit.storedCrystals = 0;
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}),
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})
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//new Deposit(move1),
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}),
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new BTSequence(new BTNode[] {
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new Condition(ctx => ctx.unit.storedCrystals == 0),
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new BTSequence(new BTNode[] {
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reserve,
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new BTMove(new Value<Vector3>(() => reserve.target.value.transform.position)),
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new Harvest { resource = new Value<RTSHarvestableResource>(() => reserve.target.value.resource), duration = 5 },
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}),
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})
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})
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},
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new BTSequence(new BTNode[] {
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dropoffQueue,
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new BTMove(new Value<Vector3>(() => dropoffQueue.target.value.transform.position)),
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})
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});
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}
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}
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public class HarvestMode : BTTransparent {
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protected override void OnTerminate (BTContext ctx) {
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ctx.unit.GetComponent<RVOController>().layer = RVO.RVOLayer.Layer2;
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base.OnTerminate(ctx);
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}
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protected override Status DoTick (BTContext ctx) {
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var s = base.DoTick(ctx);
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ctx.unit.GetComponent<RVOController>().layer = s == Status.Running ? RVO.RVOLayer.Layer3 : RVO.RVOLayer.Layer2;
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return s;
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}
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}
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public class Harvest : BTNode {
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public Value<RTSHarvestableResource> resource;
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public float duration = 5;
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float time;
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protected override void OnInit (BTContext ctx) {
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ctx.animator.SetBool("harvesting", true);
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//ctx.unit.locked = true;
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}
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protected override void OnTerminate (BTContext ctx) {
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Debug.Log("Terminated harvesting");
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ctx.animator.SetBool("harvesting", false);
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}
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protected override Status DoTick (BTContext ctx) {
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time += Time.deltaTime;
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if (time > duration) {
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ctx.animator.SetBool("harvesting", false);
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if (ctx.animator.GetCurrentAnimatorStateInfo(0).IsName("RTSHarvesterHarvesting") || ctx.animator.GetCurrentAnimatorStateInfo(0).IsName("RTSHarvesterHarvestingExit")) {
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return Status.Running;
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} else {
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ctx.unit.storedCrystals += 50;
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resource.value.value -= 50;
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time = 0;
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//ctx.unit.locked = false;
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return Status.Success;
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}
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} else {
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return Status.Running;
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}
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}
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}
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public class BTHarvest {
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/*RTSCommandMove moveToDepositPoint;
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RTSCommandMove moveToHarvestPoint;
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void Deposit () {
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}
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public override void Tick () {
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if (HasResources()) {
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if (moveToDepositPoint.Tick() == Success) {
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Deposit();
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}
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} else {
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var target = ReserveTarget();
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moveToHarvestPoint.target = target;
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if (moveToHarvestPoint.Tick() == Success) {
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||
|
|
Harvest(target);
|
||
|
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}
|
||
|
|
}
|
||
|
|
}*/
|
||
|
|
}
|
||
|
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}
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