UP-Viagg-io/Viagg-io/Assets/Packages/MyBT/BT-Examples/_ManualTick/BTs/ManualTick.bt.txt

Tree("Root") {
    Decorator (LoopInFrame) {
        Composite (Sequence) {
            ManualTick.AlignDirection()
            RunTree("FollowLeftWall")
        }
    }
}

Tree("FollowLeftWall") {
    Composite (Selector) {
        Composite (Sequence) {
            ManualTick.FpsCounter()
            ManualTick.Fail()
        }

        Composite (Sequence) {
            ManualTick.CheckDirectionFree(0,-1) // left
            ManualTick.CheckDirectionFree(1,0) // front
            ManualTick.CheckDirectionOccupied(1,-1) // front/left
            ManualTick.MoveDirection()
            ManualTick.DebugLog("1")
        }
        Composite (Sequence) {
            ManualTick.CheckDirectionFree(0,-1) // left
            ManualTick.CheckDirectionOccupied(-1,-1) // back/left
            ManualTick.TurnLeft()
            ManualTick.DebugLog("2")
        }
        Composite (Sequence) {
            ManualTick.CheckDirectionOccupied(0,-1) // left
            ManualTick.CheckDirectionFree(1,0) // front
            ManualTick.MoveDirection()
            ManualTick.DebugLog("3")
        }
        Composite (Sequence) {
            ManualTick.CheckDirectionOccupied(0,-1) // left
            ManualTick.CheckDirectionOccupied(1,0) // front
            ManualTick.TurnRight()
            ManualTick.DebugLog("4")
        }
        Composite (Sequence) {
            ManualTick.CheckDirectionOccupied(1,0) // front
            ManualTick.CheckDirectionFree(0,-1) // left
            ManualTick.TurnRight()
            ManualTick.DebugLog("5")
        }
    }
}