Heres a completely random example, presuming you have your Behavior Tree in your AIController class as we do (it can be in any class of course). They allow you to check whether the property in question is set or not (for the boolean Needs Ammo, set == true; for the Actor Enemy, Is Set means its not None (NULL). By the way, you can create behavior trees directly in the editor; all of our experimental code support can be toggled on (as its off by default) through Edit->Editor Preferences->General - Experimental tab. A while ago I started working on a new game project. Ive broken it up into a few separate posts for clarity. Unreal also provides a WheeledVehicle base class that is inherited by the WheeledVehicleObject class in this project. Ill update the initial tutorial thread to reflect that use. It is still important to emphasize that at the end of the day, behavior trees are just tools to help you define behavior, and they are not magic beans. The Success flag on FinishExecute lets you return success or failure to the composite that executed the task. Creating a Behavior Tree task. I choose to use the C++ because its what Im most comfortable with. When you press ', the information displayed is for whatever character is at the center of the screen. If one fails, then it does not make sense to execute others: If a bot cannot find a new target point, how would he go to it? Im currently working on B.R.A.I.N.S: Behavior Tree AI Plugin powered by Kismet. There are a few ways to solve this problem. In this regard they are similar to a finite state machine (FSM). You can add these decorators by right clicking on a composite node (Sequence/Selector/Simple Parallel) or a Task node and choosing Blackboard under the Decorators section. At the time of the last build you could not create a new Behavior Tree or Blackboard component in the Editor. GetVisiblePlayer, by the way, is implemented with use of AI Perception component. Note that you can set the Node Name for every node in the graph; I recommend naming your decorators in a simple way as to what conditional they require, like Needs Ammo and Has Enemy. And to run an AIController run specified BT you just call RunBehaviorTree on it. After manually fixing the Debian security repo and a successful upgrade, these are my current APT sources:A tag already exists with the provided branch name. As you can see, rapid development is still ongoing, especially since behavior trees are still experimental! In general you can divide tasks into two groups: instant and latent. The key task(pun intended) and hard part as a game developer is still just figuring out what you want your zombie to do - and you can always implement that with a Behavior tree, or a state machine, or a bunch of conditional if statements. Services best sit on the selector or sequence nodes. This will stop the task from ticking, and return the result to the parent composite. For example, if the Enemy becomes Is Not Set (NULL)), it will abort (basically failing up the tree). Since the Blackboard is our evented glue, lets add some variables to it: Make sure to fully wire in CurrentWalker State, you need to specify the type of enum. First of all, in the Root node of that behavior tree, youll notice that a Blackboard Asset is specified (BotBlackboard). What could go wrong, right? Project Setup To run behavior tree in UE4 the actor needs a controller class inherited from the AIController. The AI has four inputs to base its decisions on. I plan to move it to the wiki, but thats going to be a week or two. I am still trying to find the best way to present my findings. This is more what a behavior tree looks like. Were currently working on BT documentation which will describe this in detail. Thus, the AISense_Sight component really maintains a list of potential targets which updates every tick. Sequence Nodes execute their children from left to right, and will stop executing its children when one of their children fails. Blackboards are used to store data for the Behavior Tree and the Behavior Tree acts like a brain of the AI. 1.1 1.2 and 2.1 2.3 are sequences. There are some concepts that are pretty much considered common terminology in Behavior Trees in game programming, but each implementation will vary slightly. But as an agent develops more complex behaviors, defining the sequence in which to execute these behaviors can become more and more cumbersome. Hit ' while playing in PIE to bring up the debugger, then hit 2 on the keyboard to display BT info. Wow It asks a bot character if he sees anything: Service runs every 0.4 to 0.6 seconds. Powered by Discourse, best viewed with JavaScript enabled, https://forums.unrealengine.com/showthread.php?1270-UE4-Pathfinding-basic-AI&highlight=pathing, http://aigamedev.com/insider/tutorial/second-generation-bt/, http://aigamedev.com/insider/presentation/behavior-trees/, B.R.A.I.N.S: Behavior Tree AI Plugin powered by Kismet. The AIPerception Component enables your pawn to receive events when registered stimuli occurs - e.g. I highly recommend it as an intro to AI. Then, why would you want to use it? This is not fully true in UE4. But it does not matter as long as they work. Open the Content Drawer, then right-click on the ThirdPerson folder and create a New Folder called AI. If that function returns something, its result is stored in a blackboard. But while a state machine focuses on defining transitions from one state to the next, the behavior tree focuses more on defining a hierarchical tree of tasks which can be evaluated to determine what to do next sequentially. You can use Run Behavior Tree Dynamic if you need a subtree that can be changed at runtime. Behavior Tree Tasks 1 - Required Project Setup In this first step, we set up our project with the assets we'll need for our AI character to get around the environment. For example, consider a behavior tree for a human. One more note on the ShooterGame Behavior Tree. The steps (or tasks if we are speaking in terms of Unreal Engine) in them need to be executed sequentially. Ill update my intial thread to use the practices that have been provided to follow, but probably cant until this weekend. For that purpose we define a service: Find Player. Plus, you can retrieve values yourself for checking in blueprint conditionals, and you can set them in blueprint tasks. If it is false, it could execute a different branch where the roach maybe moves randomly around the environment. There are more functions at work in the video, there are 2 conditions and 4 actions that I did not show in this tutorial, as well as the code that deals with the laser pointer. Behavior trees are another tool you can add to your AI arsenal. Of course you can implement tasks returning value based on some condition, but thats not a pattern we encourage. If Observer aborts is None, then only during traditional BT execution will the conditional check of a decorator matter. For this guide we are using a new Blueprint Third Person Template project. We decided Optional was rather odd and unintuitive, which is why we deprecated it in favor of using Force Success.). Heres an example: For our simple wander example we are going to drag out from the bottom of the Root node and create a . The best way to implement conditions is to use Decorators, which have a lot of additional functionality in regards to condition checking. The leaf nodes do not have children. To understand the difference between Behavior Trees and Utility AI we can look at a concrete example of a simple AI often used in certain game genres, e.g. Were working on behavior tree documentation right now; as soon as its ready I expect well make it available and probably move Behavior Trees out of the Experimental section of the Editor UI at the same time. These are the building blocks of all your decision making logic. For example, the editor can prevent incompatible nodes from being run simultaneously, detecting cycles via subtrees, or any other pathological cases. If the result of the decorator changes in this time, it aborts what is currently happening in the tree, and pulls the flow back to that point. The Lone Pine was a solitary tree on the Gallipoli Peninsula in Turkey, which marked the site of the Battle of Lone Pine in August 1915. This branch can have a decorator on it configured to abort when a blackboard key "enemy in range count" is greater than 0. Tasks do exactly that. To help visualize the Self and Lower Priority trees in the editor, if you select a specific decorator, it will highlight Self and/or Lower Priority nodes in the tree (depending on the Observer Aborts property). Ill point out again (as Mieszko did) that we have some differences in our implementation in terms of how conditionals work (and other items), but it still gives a good general idea of why you may want to use a behavior tree and how they work. and and Action, you guessed it, performs an action. No License, Build not available. You can make your own blackboard(s) and add as many different named entries as you need. Implement CarBehaviorTree with how-to, Q&A, fixes, code snippets. So at the high level, our tree consists of branches of behavior for each possible state the zombie can be in. If shooting at the player was successful (i.e. This isnt complete, Ill edit it to fill it out. For simple conditional decorators, your blueprint just needs the Event Receive Condition Check, and then it can call Finish Condition Check to determine true/false for the conditional. Thanks a lot for taking your time and creating this basic BT tutorial, Mike. The high level idea is that BTs goal is to pick an action to be performed by AI, but the action implementation details are of no interest to BT. There are two main types of leaf nodes. They go over behavior trees, blackboard, and most importantly, debugging. Either way, once the blackboard is updated, the decorator aborts the currently executing task and branch, and the next node in the the tree is evaluated. Project Files : https://www.patreon.com/CodeLikeMe/posts?tag=source%20codeToday, I am going to re create my enemy AI behaviors with unreal behavior tree system. For this guide, we are using a new Blueprint Third Person Template project. Basically, each time the behavior tree is evaluated it is executed top down and left to right. Our conditional decorators support event-driven changes to make the behavior tree more efficient. The tree activates the task, and the task ticks until it is aborted by the tree, or until it completes itself by returning. Composites have children, leafs do not. Especially when you are first learning them. The AI has four actions: Move to Enemy, Fire at Enemy, Move to Cover, and Load Weapon. If the value is true, it could execute a branch that causes a roach to flee. Task - This is what you want the agent to do. Elsewhere, a service might update this observed blackboard entry every .4 ms. (Or perhaps a collision sphere on the human might update the blackboard whenever a new enemy enters it). TObjectPtr < cla. For those that can't be caught before. If it is false, if could execute a different branch where the roach maybe moves randomly around the environment. No problem! Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior.This video covers OMV 6, and getting a VM setup on VirtualBox running on Windows 11. Kinos141 December 10, 2019, 3:27pm #5. How do I finish executing a Blueprint Task? That being said, Behavior Trees in UE have a bunch of great built-in capabilities so lets dig in and check them out. What is the Behavior Tree in Unreal Engine 4Source Files: https://github.com/MWadstein/wtf-hdi-files When the Behavior Tree is run it begins at the root and proceeds down the hierarchy executing tasks and returning successes or failures. the player was found, AI bot was able to turn to them and finally shoot), then there is no need to start patrolling. For example, you could have a Boolean Key called Is Light On which the Behavior Tree can reference to see if the value has changed. Some steps for refactoring an existing single BP based AI, Move Custom Events/Macros That Do Specific Things -> Tasks, Events that respond to change -> BB and Decorators, Two more things UE also gives you the EQS Environment Query System, and the AIPerception Component. Thats why you can see constant behavior switching in your BT in the video, meaning constantly traversing the tree. I have only one selector here at the top level. So, I chose the game and switched to UE4 behavior trees. Rather than having to iterate over the entire tree constantly as in the most basic behavior trees, we can register for an event if a conditional changes that should cause the trees execution flow to change. This is a unique node within the tree, and it has a few special rules. Anyway, this gives a lot more to understanding on how to create you own tree. One of my coworkers pointed out that it still has a Return true hack node in it. And the zombie would also receive an event when that target was no longer visible, and would remember how long it has been since he last saw the player. sight and sound. http://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php, https://docs.unrealengine.com/en-us/Engine/AI/BehaviorTrees/HowUE4BehaviorTreesDiffer. That's the main reason why they're different and why behavior trees exist, and have the characteristics they do. For any animation that has non-constant locomotion, such as our zombie lurch, root motion can really enhance his movement. Then you need to make some Conditions and Actions. If a child fails, then the Sequence fails. Anyway, at first, the idea was to employ machine learning for bots AI. There are two main types of leaf nodes. It is evaluated on demand. Oh but you can do all that in BP! For example, the Animbp instance should not reference blackboard state but should instead rely on replicated characterBP state. Without root motion, a constant, or at best linearly changing movement must be used. Theyre used in the ShooterGame example in its conditional nodes, which are just Blackboard conditional checks. Behavior Tree Nodes (base class UBTNode) perform the main work of Behavior Trees, including tasks, logic flow control, and data updates. Every time it calls GetVisiblePlayer from an owner. Deriving from UBTTaskNode would be enough here since you dont use blackboard in your code. Decorator (or perhaps better known as Conditionals) These are "conditional gates" that allow or abort nodes from executing. If both out of range, Wander Around From Random Location To Random Location, If Only Hero in Range, Choose Hero As Target, If Only Human in Range, Choose Human As Target, If Both in Range, If Aggro Choose Hero, else choose Human. Designing and troubleshooting Behavior Trees can be difficult and confusing. However, the Force Success decorator is quite new; in fact, its so new that I believe youll only have it if you compile the editor yourself from our latest code. The offical Epic documentation says that behavior trees dont run every frame but rather just listen to events and respond to them if needed. http://imageshack.com/a/img401/9513/r766.jpg. https://docs.unrealengine.com/latest/INT/Gameplay/Tools/GameplayDebugger/. If you leave off the Finish Execute, the task will execute indefinitely until aborted by the tree. Once I update it to take into consideration MieszKoZs points such as doing conditions as decorators Ill update the tutorial here. It's not wrong. For a really great introduction to Behavior Trees in general refer to AiGameDevs website: http://aigamedev.com/insider/tutorial/second-generation-bt/. As far as I last knew its experimental so using it comes with the understanding it might be completely changed and your work will have to be at least partially redone that involved it. First, a player how do we find a player? It is pretty easy to make Tasks that do one small thing, such as retrieve a variable, or move to a location. (This is because a conditional in the behavior tree is registered as an observer of the changes in the blackboard). In this game, we have two kinds of potential targets - the hero or the humans. The released build still has a (now deprecated) node called Optional which serves roughly the same purpose. That being said, Behavior Trees in UE have a bunch of great built-in capabilities so lets dig in and check them out. InstanceMemorySize. Behavior trees are instrumented to support the built-in GameplayDebugger. Graph for Behavior Tree. Your email address will not be published. There are two main types of composite nodes, Sequences and Selectors. Behavior Tree Components Behavior Tree (BT) - This is the main directed graph where you define a tree of nodes. Unlock full access Continue reading with a subscription @Bobbyremone Also, Im on a slightly older build of UE4 and Im not sure whats changed with todays version. The EQS comes with pre-defined tasks for querying the environment around the actor. You need to add some things to your Bots Character and Controller Classes in C++, and then hook them up in the Blueprint Editor to the uassets. Remember, the tree does not "tick" every frame. You can add the keys you need to the blackboard section of its details view. Here is a video showing what what a cat can do with a Behavior Tree for a brain. With mixed results in our projects using Behavior Trees we decided to look at alternatives. P.S. Then you can choose BTDecorator_BlueprintBase (for decorator nodes), BTService_BlueprintBase (for Services), or BTTask_BlueprintBase (for tasks)! If you set Observer Aborts to Lower Priority, then while the execution is in a lower priority subtree, if the condition is satisfied such that execution can move into the higher priority subtree, then the lower subtree will abort immediately. BT tasks, conditions and services (a special kind of node that tick as long as relevant subtree is active) can all be implemented in BP. To make him move faster, we can blend to a faster run animation, and/or increase the playback speed. Each task can return either true or false upon completion to the composite that created it. Simple example. When a BT triggers a latent task, the task makes AI do something that takes a certain amount of time (like moving somewhere) and returns EBTNodeResult::InProgress result to let BT know it can go to sleep and will be notified when task finishes. However, the Parent is basically just an optional blackboard you can inherit data from. Luckily there is a bunch of stuff built-in to UE that can help.Behavior Trees! 1 and 2 are conditions here. Nice to know Im in sync with EPICs Vision for UE4. He does not shot until the player dies, but rather until the player is out of AIs sight. Blueprints and C++ are meant to be used freely, the synergy is there. For example, you could have a Boolean Key called Is Light On which the Behavior Tree can reference to see if the value has changed. To create a blackboard asset, in ContentBrowser, right-click, choose Miscellaneous->Data Asset, and then select BlackboardData. First i'll show you how to setup a blackboard and a behavior tree with an AI controller class for the NPC. Mike put up an excellent video about Behavior Tree coding, but for anyone who doesnt care about coding or doesnt even know anything about behavior trees, you may want to watch this other one in the meantime: http://aigamedev.com/insider/presentation/behavior-trees/. I didnt show the example of the Blackboard use, but the laser dot is actually a Blackboard item that is being used. Lets start from the very beginning and break down the algorithm of an AI bot: This is the idea from a high level perspective. My project will be heavily dependent on AI, the way i see it i want my AIController have few sub-BT that gather information depending on their role and then send their requests to the Main-BT that analyze and prioritize all that and then send orders to every pawn. Composite Nodes and Leaf Nodes. Let's walkthrough setting up some behavior for our Zombie. NOTE: If there are multiple nodes that are all set to abort Lower Priority (or Both), they will all have to be satisfied before the lower priority tree will be aborted. tagus 7 yr. ago I got stuck on the first part after following the instructions and pausing the video at every step to make sure I was following along properly. While reading behavior trees is like reading a flow chart. In the details view you can see the key which shows which color is Lower Priority (a light blue at the moment) and which is Self (currently a teal-green). I know the tutorial I put up here isnt perfect, but it can get you started, especially with incorporating the comments of the Epic Dev that posted. Ill leave it in here for now. It can sense a player with both vision (using line of sight checks) and by sensing noise made through footsteps and gun shots. They should also be able to define ship behaviours, like "fly to this point" or "shoot this ship". I eagerly started to build layers for my neural network. After doing the above step, select the mesh from your Blueprint and adjust the following options as well*: Another thing to consider is that our zombie is driven using Root Motion. /api/redirects?to=/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php Behavior Tree (BT) - This is the main directed graph where you define a tree of nodes. They are ordered in sequences in my case, but dont have to there might be situations where they could be selected by a selector. The behavior tree, blackboard, and associated components only run on the server. The main advantage of Behavior Trees over Decision Trees is that BT can execute sequences of actions with little effort, simply by waiting for current action to finish and carry on from there, where decision trees tick on a regular interval to pick the best action for current world context. Expand the Sources panel, then right-click on the ThirdPersonBP folder and create a New Folder called AI. class UBehaviorTree* BehaviorTree; Compile and save your code. Another important point aborting tasks. Let's create a new WalkerAIController and wire it in to the character blueprint. Only after that the sequence would be successfully over and the behavior tree will have a chance to check one more time if a player is on the scene, so the bot would try to shoot the player. As briefly mentioned earlier, since the blackboard only exists on the server and is not replicated, any state that needs to be replicated should be put on the CharacterBP. As Mieszko noted, you can do everything in our behavior trees using blueprints if youre hesitant to write code yourself. Reddit and its partners use cookies and similar technologies to provide you with a better experience. Selector means select the first successful child and then finish. Because we are using Root Motion, we can no longer utilize the simpler AI Move To nodes. Given this, our service needs to update the following BB entries: The initial state of our Walker is "Looking For New Target". Hit ' while playing in PIE to bring up the debugger, then hit 2 on the keyboard to display BT info. Ill just cover the basics before I show which classes you need at a minimum to support using UE4s built in Behavior Tree system. Some sort of an arena shooter with bots that is the idea at the current moment. document.getElementById( "ak_js_1" ).setAttribute( "value", ( new Date() ).getTime() ); Your email address will not be published. At that point, the player may be already gone. These are treated differently, because we want the zombie to prefer humans over heros, unless they are angry at the hero (have been hit). Every tick our zombie rotates toward his current target (unless he is idle). I did see the progress status and just wasnt using it yet. Strategically placing this on the tree during execution can help you understand what is going on. If all the Selector's children fail, the Selector fails. Privacy Policy. By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. This means that periodically, this decorator is re evaluated. Purple blocks (leafs) at the bottom are tasks these are actual actions which a bot needs to make. Composite Nodes- These are the core task choosers. kandi ratings - Low support, No Bugs, No Vulnerabilities. Now we have more informations While that does work, the current best practice implementation is to use a decorator called Force Success on the Pick up ammo node without an extra selector. The 2 tasks that are continually executed sequentially are: Also notice the Cooldown decorator on WalkerDoAttack. Ill change my conditions to be decorators and start returning the in progress response in my project. # Creating the Behavior Tree. I was overenthusiastic at that moment. But all we really need to do is face the zombie toward a target and let the animation get him there. Well, because its awesome thats why. A big job for someone who isnt an AI Dev but at least BT would make the job easier. In addition, there is a Blackboard Based Conditional Decorator that will only allow this composite to run if the state in the blackboard is "Hunting Hero Target". not NULL), it will only check as the execution moves through the node into the subtree. By default, the sight component registers all existing pawns as targets. Second, the behaviour tree. The BT Nodes can be implemented in BluePrints as well. Blackboard (BB) - The Blackboard is a "data dictionary" that you can use to share information between the different components of an entity. We call leaf nodes Tasks and as such by definition are expected to actually do something. There is a 3rd type which is a decorator, you can see on in the screenshot labled CoolDown, but Ill just focus on the two main types. Thanks MieszkoZ. Blackboards and Behavior Trees are two main AI frameworks structures in Unreal Engine. Subtree Asset can be assigned at runtime with the SetDynamicSubtree function on a Behavior Tree Component . Service - This is a self ticking evaluator that is often used to update blackboard state during some periodic interval. Typically, the behavior tree is evaluated after events trigger changes in the blackboard - it is not automatically ticked every frame. There are three main advantages to the way UE4 handles concurrent behaviors: Clarity - Using Services and Simple Parallel nodes creates simple trees that are easier to read and understand. But, that stuff is unique to a cat chasing a laser. Creating Blueprint Nodes for Behavior Trees. This can be particularly useful for evented decorators. Some sort of an arena shooter with bots - that is the idea at the current moment. Blackboard asset for this tree. Often, you may already have an existing BP based AI. BTGraph. In the behavior tree, I will use sequence node, moveto task and a custom service to initialize the value of target location. The final piece of AI glue is the AIController itself. I dont want to go into details here but it is pretty straightforward. Also, debugging in it works. If later it becomes NULL in that subtree, execution wont instantly leave the subtree (though it might exit due to failure of some task that requires that value). Im excited to see everyone trying out our behavior trees and look forward to feedback. But behavior tree implementation will not let him do that. The Selector node is similiar in that it evaluates its chlidren from left to right, but it will only try the next one if the previous failed. (To create a new asset, right-click in the Content Browser, choose Miscellaneous at the bottom, and youll see a Behavior Tree option.) (Saving you the annoying boilerplate to get them yourself.). Second there is a FinishExecute node. Now for this particular game, our zombie has a few main states he can be in: So let's create a new Blueprint Enum CurrentWalkerState to hold this: An important consideration is that the BB is not replicated and only exists on the server. I was intending to update my post, but I switched to using Blueprints only for my Behavior Trees. Mike, Im glad that helped. Imaging, the bot is running to a next target point and suddenly stumbles into a player. You then can rename them and clear everything out from their editor. The biggest issue with this implementation is that, even though it makes AI to perform a time consuming action, it finishes instantly. Then, execution through the higher priority branch may discover that that task can be executed. If all the Sequence's children succeed, then the Sequence succeeds. You can see the execution paths through the Tree. NOTE: This isnt a real example; it would be rather odd to decide whether to do something based on whether your own pawn is moving downward at all. Similarly, if execution is in a lower priority subtree, it wont instantly know that the condition for a higher priority task has been satisfied, so the lower priority task will continue until it succeeds or fails normally. It really boils down to point him in the right direction and select the right animation. One very important consideration is that by default this tree is not evaluated every tick - rather it is event-driven. One critical thing youll notice if you select either the Needs Ammo or Has Enemy nodes in the BotBehavior tree is that they are both set to Observer Aborts Lower Priority. Edit: In the tread that follows, Epic devs share many things about the UE4 Behavior Tree that point out problems with how I show to do them here. Please read, otherwise you are going to stuck in similar problems a lot: BT service does not get executed and How do I finish executing a Blueprint Task? I found it useful to create a Print Task node that simply outputs to the screen. Wow. You can set that in Behavior Tree configuration. Its also un-documented and incomplete. Implementing a simple behavior tree in Unreal Engine 4 Gamedev 31/03/2019 4 Minutes A while ago I started working on a new game project. So for example, if you have a simple check such as is Blackboard entry Enemy set? (i.e. Example uses are to add some random variation to AI behaviors, or to select a behavior by weighting various criteria to determine what is most important to the AI at the time. Notice two things about this simplest of tasks - first there are optional AI versions of Execute and Tick - these serve the same functions as the non-AI versions except they include pins for the Owner Controller and the Controlled Pawn. Support my work : https://www.patreon.com/CodeLikeMe It's free to sign up and bid on jobs. So should we follow that tutorial or wait for something more official? Unreal Engine comes with several AI features built-in ( Behavior Trees, Blackboards, Navigation Mesh and Environment Query System) but hasn't seen many improvements in this area since the launch of 4.0 several years ago. Actually, a lot of things could go wrong if you dont know the exact difference between Selectors and Sequences. I chose the example partly to make it clear that its ridiculous; use your own class if you need it and your own conditions! Its bodys responsibility to know (yeah, ok, in reality its primitive brains part, but you get the picture). These become available in the Behavior Tree Editor after you compile them. Why patrolling if there is a player which needs to be shoot at? Behavior trees are specialized in one thing: nesting a lot of ifs and elses and are easier to follow when that's what you need. 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