From 60e1feb841d5f54ac3b8bacd032fdd6beadf01b2 Mon Sep 17 00:00:00 2001
From: perturbed <dog964@xemaps.com>
Date: Fri, 10 Feb 2017 22:29:48 -0600
Subject: [PATCH] Add routine to prevent bots from getting stuck to bot
 behavior trees

---
 bots/camper.bt   |  4 +++-
 bots/default.bt  |  2 ++
 bots/reckless.bt |  2 ++
 bots/unstick.bt  | 37 +++++++++++++++++++++++++++++++++++++
 4 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100644 bots/unstick.bt

diff --git a/bots/camper.bt b/bots/camper.bt
index d93c32a2..63020e1a 100644
--- 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
index 07348078..1e182d67 100644
--- 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
index 3d144181..e8341272 100644
--- 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
new file mode 100644
index 00000000..d9142801
--- /dev/null
+++ 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.
+		}
+	}
+}