Add routine to prevent bots from getting stuck to bot behavior trees

UnvanquishedAssets · Feb 11, 2017 · 60e1feb · 60e1feb
1 parent fa49484
commit 60e1feb
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Showing 4 changed files with 44 additions and 1 deletion.
diff --git a/bots/camper.bt b/bots/camper.bt
@@ -1,5 +1,7 @@
 selector
-{	
+{
+	behavior unstick
+
 	condition alertedToEnemy
 	{
 		action fight

diff --git a/bots/default.bt b/bots/default.bt
@@ -1,5 +1,7 @@
 selector
 {
+	behavior unstick
+
 	sequence
 	{
 		condition alertedToEnemy

diff --git a/bots/reckless.bt b/bots/reckless.bt
@@ -1,5 +1,7 @@
 selector
 {
+	behavior unstick
+
 	condition alertedToEnemy
 	{
 		action fight

diff --git a/bots/unstick.bt b/bots/unstick.bt
@@ -0,0 +1,37 @@
+// Subroutine to try to prevent bots from getting stuck
+
+condition(stuckTime > 10000)
+{
+	selector
+	{
+		condition(stuckTime > 20000)
+		{
+			action suicide
+		}
+
+		decorator timer(3000)
+		{
+			decorator return(STATUS_FAILURE)
+			{
+				action jump
+			}
+		}
+		condition(stuckTime > 17500)
+		{
+			action moveInDir(MOVE_FORWARD)
+		}
+		condition(stuckTime > 15000)
+		{
+			action moveInDir(MOVE_RIGHT)
+		}
+		condition(stuckTime > 12500)
+		{
+			action moveInDir(MOVE_BACKWARD)
+		}
+		sequence
+		{
+			action moveInDir(MOVE_LEFT)
+			action moveTo(E_SELF) // cancel old target which may be causing the bot to walk into a wall, etc.
+		}
+	}
+}