The tool will scan for active behavior trees in your scene and group them in a drop down for easy toggle. Behavior trees got their name from their hierarchical, branching system of nodes with a common parent, known as the root. The most challenging part is to turn it into a usable tool and integrate it within Unity. to suit your own needs - but this should be rather trivial. Also, this method provides a graphical interface to create and edit behavior trees. from ashblue/dependabot/npm_and_yarn/semver-re, Submitting your own actions, conditions, ect, Extendable, write your own custom re-usable nodes, Pre-built library of tasks to kickstart your AI, Tree visualizer to debug your trees at runtime, Tracks the last position of your behavior tree and restores it the next frame, Built for Unity (no integration overhead), Failure: Same as success, except informs that the node failed. Case study are set up by raspberry pi 4 with sensors, ROS2 foxy and python code.By following this resource with your Raspberry Pi and Sense HAT you will learn how to . Please You'll be able to print a visualization of your tree while the game is running in the editor. Standard Unity Asset Store EULA License type Extension Asset File size 4.1 MB Latest version 1.7.4 Latest release date Nov 19, 2022 Supported Unity versions 2018.4.0 or higher Support Visit site behaviour tree Mobile NPC AI decision bt agent utility theory utility ai Visual Scripting behavior tree artificial intelligence Node FSM Pathfinding Behavior trees for Unity3D projects. In order to use it you'll need to add the following lines to your Packages/manifest.json file. Runs each child node in order and expects a Success status to tick the next node. Behavior trees for Unity3D projects. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. The general idea of a Behaviour Tree is that the root is evaluated, and a breadth-first . Unity-Behaviour-Tree Simple Behaviour Tree implementation for Unity c# base on article of adnzzzzZ Added basic elements of BTs: Composite nodes (Sequence, Selector), Leaf and some Decorator (Inverter) Feel free to use this for your Unity project. Next we need to extend the BehaviorTreeBuilder script with our new AgentDestination action. NodeCanvas is a Complete Visual Behaviour Authoring Framework for Unity. Usually, it's used for game AI. This decorator (and all descendent You signed in with another tab or window. BEHAVIOR_TREE_LOG, BEHAVIOR_TREE_WARNING and BEHAVIOR_TREE_ERROR. You can create new composite types with a fairly Use Git or checkout with SVN using the web URL. Use Git or checkout with SVN using the web URL. For core character behaviour logic, I usually create a coroutine named AIUpdate or turn Start into a coroutine, containing a loop which ticks the tree and then yields WaitForSeconds one divided by the frequency property of the tree. A tag already exists with the provided branch name. the existing nodes or your custom nodes. When a BT is ticked, usually at some specified rate, its child nodes recursively tick based on how the tree is constructed. Does not change TaskStatus.Continue. To specify a Git URL as a dependency, add the name of the package to add with a Git URL instead of the version number or local file path to the project manifest Each Unity project has a project manifest, which acts as an entry point for the Package Manager. Now I am going to look at building a Behavior Tree using UI Builder, GraphView, and Scriptable Objects in Unity 2021.3.1f1; any version of Unity 2019.1 or newer will work, 2020.1 or newer to use the UI Builder. Contributions of any kind welcome! Return TaskStatus.Continue regardless of what status the child returns. . Randomly selects a child node with a shuffle algorithm. for a working example of how Fluid Behavior Tree can be used in your project. Waits until the passed number of seconds have expired in deltaTime. node behaviourtree; context behaviourstate = new context (); void start () { behaviourtree = createbehaviourtree (); behaviourstate = new context (); // optionally add things you might need access to in your leaf nodes } void fixedupdate () { behaviourtree.behave (mybehaviourcontext); } node createbehaviourtree () { sequence separate = A visual editor to create, edit, view, and debug trees. by a .End() statement. to help speed up your development process. Here's a description of possible statuses: You can see statuses of all runtime behaviors of a behavior tree if it's created in a BehaviorTreeAgent. And you're done! No License, Build not available. You can create a generic condition on the fly. Custom conditions can be added with the following example template. Behavior Tree Slayer. Pauses until a provided condition is met. to use Codespaces. NodeCanvas is the complete node-based Visual Behaviour Authoring framework for Unity, enabling you to create advanced AI behaviours and logic without the fuss in an intuitive visual node editor, including two powerful, separate, but interchangeable and fully featured . Thanks goes to these wonderful people (emoji key): This project follows the all-contributors specification. After all behaviors are added, you need to call Build() to get a new created behavior tree. It demonstrates real time usage Nothing particularly fancy, it just gets the job done. G. GameFrontier. Written with a code driven approach to maximize maintainability on large projects with the builder pattern. All node in the tree will use this as the intermediate to communicate with eachother, Create your own Context and extending it with BehaviourContext class, Root of the tree, these just a place holder and make sense for all you english speaker since tree start will composite node is not understandable, Create Root using a context an a composite node, Create your own Action Node by extending Action class, Node that contains nodes, these node are the "direction" for the tree, Create by list of nodes or using params in c#, Create your own Composite Node by extending Composite class, There are already built-in Sequence and Selector node, Node that change the result of Action Node, Create your own Decorator Node by extending Decorator class, There are already built-in After, DontSucceddInARow, Inverter, RepeateUntilFail node, Calling root.Update(dt, context) in the Update method of MonoBehavior, Example: This will create a selector node and check for the random generator number. NOTE: You must manually call Update() on the child node or it will not fire. Just takes one line of code. You signed in with another tab or window. After that you already can use your behavior in code. You need to call TreeRoot.Tick() to make it do something. Inspired by Fluent Behavior Tree. To create a serialized behavior tree, Add UniBT.BehaviorTree component for any GameObject. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. We don't use the exact same language but the principles are the same and they explain behaviour trees very well. Leaf, Decorator and Composite have different create methods. Exits and stops all running nodes if ANY of them return Failure. To access nightly builds of develop that are package manager friendly you'll need to manually edit your Packages/manifest.json as so. To create an AI, make a class that inherit BehaviourTree and specify the RootNode. A graph will be drawn, and nodes will light up, showing you which part of the tree is currently running. Shuffles every time the tree initially start running it. If you want a lesson on how behaviour trees work, check this article out. To make a commit type the following into a terminal from the root. You signed in with another tab or window. Also every decorator must be followed Namespace Kultie.BehaviourTree Components Context All the data for the tree will contains in here. In this library, an "Agent" represents an entity the AI is meant to control. This makes sure that your nodes v1.0: The core logic + all the basic nodes. Does not change TaskStatus.Continue. Learn more. A convenient library to make behaviour trees in Unity3D. Usually, it's used for game AI. You can control it with defines from BehaviorTreeDebug: if you have several agents on a single game object, you can choose a needed one with a drop-down selector. If we were to visualize a behavior tree, it would look something like the following figure: A basic tree structure Features Extendable, write your own custom re-usable nodes Pre-built library of tasks to kickstart your AI Tree visualizer to debug your trees at runtime If you wish to create a build run npm run build from the root and it will populate the dist folder. For more information on C# class extensions see the official docs. Decorators can also be custom written to cut down on repetitive code. If nothing happens, download Xcode and try again. This is a library that allows you to create complex behaviour trees with ease. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. If you find yourself re-using the same actions you might want to The InverterNode is given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and the opposite otherwise: if the child returns SUCCESS, it will return FAILURE and vice versa. For instance, it is really cumbersome and very verbose to define the tree directly in C#. TheKiwiCoder 11.9K subscribers This video is an hour long epic into how to create behaviour trees using ui builder, graph view, and scriptable objects. Supports running Subtrees. Implementing decorators is similar to composites. You can create a generic action on the fly. You can create your own custom actions with the following template. you need to click Assets/Create/Behavior Tree/Serialized Behavior Tree in the Unity interface. You mustn't add a constructor to your custom behavior. That's why this library has a special tool name TreeBuilder that allows you to create a behavior tree Pauses while a provided condition is met. and you need to call BehaviorTreeAgent.Tick() or use one of BehaviorTreeAgentTickers. Runs each child node until Success is returned. You can install it as your project dependency. Statuses are shown with different colors. You need to inherit one of these classes: Action, Condition, Decorator or Composite. Return TaskStatus.Success if the child returns TaskStatus.Failure. Features. Table of Contents Goals 1: Research, Learning Randomly evaluate a node as true or false based upon the passed chance. (3) $69.99. Usually, it's returned by behaviors that have continuous executes. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. A classic sequence. That's why, in Panda BT, I've decided that the tree is defined into an external script (a TextAsset) using a minimalist scripting language. Reverse the returned status of the child node if it's TaskStatus.Success or TaskStatus.Failure. But to serialize it, you need to inherit one of these classes: Are you sure you want to create this branch? To abort a behavior tree, call. TreeRoot doesn't do anything by itself. On every frame, the selector will loop through all the nodes and pick the first one which has a predicate that returns true. kandi ratings - Low support, No Bugs, No Vulnerabilities. to use Codespaces. You signed in with another tab or window. Utility AI in Unity DOTS Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Allowing you to customize BTs while supporting future version upgrades. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. The library supports a default Unity serialization based on scriptable objects. When creating trees you'll need to store them in a variable to properly cache all the necessary data. nodes for complex functionality such as searching or attacking. C ApplicationInvite: App's invitation info.WebTinyusb looks like it will be updated substantially in the next release of pico-sdk (1.2.0), which - according to the GitHub logs - appears as though it should be available in the next 1-2 weeks. This allows you to customize re-usable functionality. IMGUI_API void SetNextWindowSize (const ImVec2& size, ImGuiCond cond = 0); // set next window size. Now, build out your branches one by one, using debug variable to ensure each branch does its expected actions. You can wrap any node with your own custom decorator code. Behavior Tree for Unity is an implementation of a classical behavior tree for Unity engine. It's possible to abort a behavior (a tree) in Running status only. Run the unity application. Updated price and taxes/VAT calculated at checkout. Error - a tick of a behavior (a tree) had an error that prevented it from a correct execution. Running - a tick of a behavior (a tree) did something but it's not finished and it's needed to tick again. A simple behaviour tree implementation for Unity. Simple implementation of basic behaviour tree. Return TaskStatus.Success if the child returns TaskStatus.Success, otherwise it returns TaskStatus.Continue. NOTE It's important that every composite is followed by a .End() statement. Note that to get a newer nightly build you must delete this line and any related lock data in the manifest, let Unity rebuild, then add it back. The Behavior Tree Visualizer tool was created to solve these problems! A tag already exists with the provided branch name. If you wish to run to run the development environment you'll need to install node.js. Are you sure you want to create this branch? In the opened window, you can set up a behavior tree. All the data for the tree will contains in here. There are QoS communication, life cycle management, behavior tree coding style. You can call this method multiple times and get a new identical behavior tree every time. FREE Behaviour Tree Editor for Unity 18,500 views Jul 16, 2021 785 TheKiwiCoder 12K subscribers Get this free behaviour tree editor asset for Unity by following the link: . This library automatically logs different messages via Unity log. In talking with colleagues from around the industry, I find that these tools are repeatedly built and re-built and hopefully this summary of my process can help you build your own. NOTE: The leaf nodes provided are tied to my specific implementation and you'll need to customize them SerializedAction, SerializedCondition, SerializedDecorator or SerializedComposite. Nothing particularly fancy, it just gets the job done. Depending on what you return for a task status different things will happen. https://docs.unity3d.com/Manual/upm-dependencies.html. One of the 'innovation' of this library is the use of C# IEnumerable function syntax to write complex sequences (I haven't seen this anywhere else at least..). As long as your tree storage variable is set to public or has a SerializeField attribute. simple API. They are It's automatically saved in a Unity serialized asset. you can see node status in the editor window. This is that they can return one of three statuses. Includes: Parallel execution, Interrupts, Guards, Services, Timers. Return TaskStatus.Failure if the child returns TaskStatus.Failure, otherwise it returns TaskStatus.Continue. This file must be available in the <project>/Packages directory. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Adding custom composites to your behavior tree is just as simple as adding actions. Install Behavior Tree Visualizer Unity does not have a way to easily visualize how a tree is being drawn. Behavior Tree for Unity is an implementation of a classical behavior tree for Unity engine. Please It allows you to keep your behaviour trees a bit lighter and more readable than traditional behaviour trees. See below for a list of the base nodes. A tag already exists with the provided branch name. Be warned that spliced trees require a newly built tree for injection, as nodes are only deep copied on .Build(). Are you sure you want to create this branch? Failure - a tick of a behavior (a tree) was finished unsuccessfully. If nothing happens, download GitHub Desktop and try again. More here: https://docs.unity3d.com/Manual/upm-dependencies.html. Written with a code driven approach on the builder pattern. Added basic elements of BTs: Composite nodes (Sequence, Selector), Leaf and some Decorator(Inverter) The demo in this repository shows a custom implementation of a Behaviour Tree and an example of a configured Tree for a patrolling enemy. are properly nested when the tree is built. It returns the same state as its selected child. Pauses the AI until this node is no longer activated (can be deactivated due to a selector change for example). There was a problem preparing your codespace, please try again. that you're using constantly. Implement unity-behaviour-tree with how-to, Q&A, fixes, code snippets. No License, Build not available. You've now created a custom action and extendable behavior tree builder that's future proofed for new versions. the leftmost "UnitIsMine" node is a simple check for whether the entity running this behaviour tree is owned by us or not: if the owner of the unit matches our player index, then the check will. Download this unity package, it contains the source code for the package Import it in your project. Work fast with our official CLI. The FailureNodeis given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and FAILURE otherwise, regardless of if the child returns FAILURE or SUCCESS. If nothing happens, download Xcode and try again. Feel free to use this for your Unity project. Its constructor requires a root behavior and a blackboard. GitHub Gist: star and fork gmarull's gists by creating an account on GitHub. This is useful for bundling up code The following examples will be more of the same. You'll see Materials , Prefabs , Scenes, and Scripts in Assets/WUG. Conditional Aborts (observer aborts) which are event driven. There was a problem preparing your codespace, please try again. Installation This repo is a regular Unity package. Here is a debug procedure that I go through: First craft out the behavior tree without creating any tasks except. Contribute to nrfconnect/sdk-nrf-testing development by creating an account on GitHub. Behavior trees execute in discrete update steps known as ticks. It is a set of open source projects maintained by Nordic Semiconductor, consisting of several Git repositories publicly hosted on GitHub . Idle - a behavior (a tree) was never ticked. Behaviour Trees are a popular way to perform more complicated deicion-making for an AI Agent than a state machine. Are you sure you want to create this branch? If you use a BehaviorTreeAgent, you don't have an access to the private TreeRoot Decorators are parent elements that wrap any node to change the return value (or execute special logic). Simple implementation of basic behaviour tree. Learn more. You need to add it to any game object and set links to a serialized behavior tree and a blackboard component. Behavior trees allow you to easily set up a behavior switcher based on different conditions. The behaviour tree will execute the root node in a loop until you stop it. To create your own node, you just need to create a class that implements BehaviourNode: You can access your agent through ctx.agent inside your inherited class. if the AI can move to a location, and other tasks that require a complex check. Abort - an execution of a behavior (a tree) was aborted and not ticked since then. Join the Discord Community if you have questions or need help. or open a window Window/Behavior Tree/Behavior Tree Window and select the created asset. As the tree has to be built in order to be visualized. If you need to set arguments on the composite you'll want to take a loot at the method BehaviorTreeBuilder.AddNodeWithPointer(). After a node ticks, it returns a status to its parent, which can be Success, Failure, or Running. sign in Trees can be combined with just a few line of code. Runs all child nodes at the same time until they all return Success. You can call a method CreateTree() on a valid asset to get a new created behavior tree. They are Unity components and automatically call BehaviorTreeAgent.Tick() and other methods in different loops. You can safely add new code to your behavior trees with several lines. The SuccessNodeis given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and SUCCESS otherwise, regardless of if the child returns FAILURE or SUCCESS. First create a new action. A behaviour tree is made up of several types of nodes, however some core functionality is common to any type of node in a behaviour tree. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Commits are automatically compiled to version numbers on release so this is very important. If nothing happens, download GitHub Desktop and try again. Behavior trees. Check out the Github repo with all my Unity tutorials! What makes Fluid Behavior Tree so powerful is the ability to write your own nodes and add them to the builder without editing any source. Fluid Behavior Tree comes with a robust library of pre-made actions, conditions, composites, and other nodes PRs that don't have Commitizen based commits will be rejected. This is the solution I would recommend because it is based on DOTS and is a good example of using Behavior Tree in ECS. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Neat right? This has to be done so your Unity editor can connect to NPM's package registry. Backward manner may be complicated for both people and code. Otherwise the tree will not build correctly. sign in Setup methods of Decorator and Composite require created children. To define a board, write a class like this: The 'GetBoard' function will create the board if it doesn't exist yet. Success - a tick of a behavior (a tree) was finished successfully. A simple behaviour tree implementation for Unity. A tag already exists with the provided branch name. As Unity locks the commit hash for Git urls as packages. look into the section on writing your own custom actions. This allows you to create injectable behavior trees that bundles different Behaviors are added into a tree builder with methods AddLeaf(), AddDecorator() and AddComposite(). Every Behavior also returns a new Status in its tick. I'm developing a multiplayer fps and required some smarts for my bots, and after being inspired by Chris Simpson's blogpost on Gamasutra, I decided to implement behaviour trees myself. After that you can already serialize it. Written with a code driven approach to maximize maintainability on large projects with the builder pattern. If one of them returns a FAILURE, it returns a FAILURE, otherwise it returns a SUCCESS once all children have returned. Note that you cannot view trees while the game is not running. You can add your custom behaviors. You'll want to use these for checks such as sight, After the root behavior is created, you need to create a TreeRoot. Open the Demo scene in Assets/WUG/Scenes. You signed in with another tab or window. Simple behaviour tree implementation for Unity Not sure if anyone will find this useful for one of their projects, but perhaps it could be educational. This repo is a regular Unity package. with units who attempt to capture the flag while grabbing power ups to try and gain the upper hand. Behavior trees allow you to easily set up a behavior switcher based on different conditions. TreeRoot.Tick() returns a new Status of a behavior tree. Please see the Contributing Guidelines document for more info. Inspired by Fluent Behavior Tree. The main nodes provided with this library: This is the type of node you'll use the most, it allows you to specify a 'dynamic' list of child nodes. In this post, I am going to outline the process I took to implement a behaviour tree tool in the Unity3D engine. The core behaviour tree engine with a set of standard composite, decorator, and task nodes. set axis to 0.0f to force an auto-fit on this axis. every call of Build() creates a new identical behavior tree. Simple Behaviour Tree implementation for Unity c# base on article of adnzzzzZ. This property serves no other purpose at runtime than to communicate an intend from the designer to the programmer. A tag already exists with the provided branch name. UI Builder accelerates editor tool. Behavior trees for Unity3D projects. Rename and move the base folder at your convenience. It should take about 3 minutes to create your first custom action and implement it. All commits should be made using Commitizen (which is automatically installed when running npm install). Looks until Success is returned or every node fails. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Archives of specific versions and release notes are available on the releases page. But each covers a different node type. The type of the serialized behavior tree asset is SerializedBehaviorTree. Behavior trees are a fantastic way to construct and manage modular and reusable AI and logic. tasks) can be interrupted by calling BehaviorTree.Reset(). From there you just have to make a tree out of You might want to look at the capture the flag example project A TreeBuilder may be set up only once but it may produce multiple behavior trees - Blackboard to share data between tasks. Fluid Behavior Tree is used through Unity's Package Manager. Add behaviors and set parameters. dshadoff Posts: 116 Joined: Wed Apr 28, 2021 3:12 am Re: PICO HID examples C/C++ Fri May 07, 2021 7:50 . BehaviorTreeAgent is a Unity component that wraps all the logic around TreeRoot. Does not change TaskStatus.Continue. in a forward manner and without manual child linking. Simply open a window Window/Behavior Tree/Behavior Tree Window and select a game object with a BehaviorTreeAgent. To get a constructor functionality, implement an ISetupable interface. Seats. Overview of behavior tree nodes. And status of a tree root is a status of its root behavior. For example we can write a new tree builder method like this that sets the target of your AI system with just a few lines of code. Some sub-trees can even be completely self-contained autonomous bits of logic that you can then re-import and re-use in another character's behaviour tree to quickly implement chunks of a system . Behavior Trees in Unity DOTS There is an implementation for Behavior Trees that can be found at https://github.com/quabug/EntitiesBT. Clone and/or download the GitHub repository. If one of the child returns a FAILURE, the node returns a FAILURE. You can even create Unity packages that add new builder functionality. Return TaskStatus.Failure if the child returns TaskStatus.Success. By using these features the platform can be applied effectively, connected seamlessly and cheap. look into the section on writing your own custom conditions. I have already talked about the Strategy, Decorator, and Composite patterns and built a simple Ability System along the way. The SelectorNode is provided a list of nodes and a predicate for each node. You can install it as your project dependency. Work fast with our official CLI. Features This is a library that allows you to create complex behaviour trees with ease. To create an AI that controls said Agent, write something like this: Most 'structural nodes' (sequences, selectors, decorators..) are provided with the library so you'll only have to implement leaf nodes: the nodes that make your agent perfom actions. If you wish to create your own decorator or composite nodes, we recommend you look at the DecoratorNode and ParentBehaviourNode classes and inherit them. Finally press save button on tool bar of the editor window. If Failure is returned, the sequence will stop executing child nodes and return Failure to the parent. Fluid Behavior Tree isn't limited to just custom actions and conditions. In the professional industry designers will use an editor to build, tweak and debug AI. Add the new condition to your behavior tree builder with the following snippet. Navigate to the Get-started-with-behavior-trees\projects\starterProject folder in Unity. Open Graph Editor button opens GraphView for Behavior Tree. Otherwise it returns a SUCCESS. (not enough ratings) 3 users have favourite this asset. (If invalid node found the color of the node become red.) After you added a behavior and all its children, you have to call the method Complete(). Contribute to kultie/Unity-Behaviour-Tree development by creating an account on GitHub. If you find yourself re-using the same actions you might want to They allow you to share information and calculation between the different nodes and they help keep the nodes stateless. Rename and move the base folder at your convenience. Behavior trees mimic the real thing they are named afterin this case, trees, and their branching structure. You can do stuff like the example above. During development they build a library of reusable and plugable behaviors. call before Begin() Just a March 9, 2022 Install this version with Unity Hub Additional downloads Select the runtime platforms of your choice from the list below (the desktop runtime is . Skip a number of ticks on the behavior tree. Are you sure you want to create this branch? Since they all utilize an nRF52 MCU within, . Just use sequences and rename them to flesh out the shape and logic of the behavior tree. So, a while ago, I made this tutorial about the fundamentals of behaviour trees.In this article, I first explained the theory behind . Then run the following from the root once. You should use them accordingly to a behavior type. They must have only a default constructor. After that you need to open the created serialized behavior tree Traditional behaviour tree just let you write static sequences of nodes and you have to mess around with selectors to make anything more complicated. extremely powerful and a great compliment to actions, conditions, and composites. So, you have to create a tree in a backward manner. Simply executes all of it's children (specified in the constructor). But you must call TreeRoot.Initialize() before a first tick and TreeRoot.Dispose() after a last tick. Here is an example of a basic sequence. After that you'll be able to visually control what specific version of Fluid Behavior Tree you're using from the package manager window in Unity. Implement Unity-Behaviour-Tree with how-to, Q&A, fixes, code snippets. See upcoming features and development progress on the Trello Board. These objects are shared between every node of your tree. kandi ratings - Low support, No Bugs, No Vulnerabilities. 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