amaranthyan / behaviortree

C++ Behavior Tree

BehaviorTree

BehaviorTree project in C++ that I wrote for fun xD

Nodes

Tree node types

Tree

• BehaviorTree

Composite

• Selector
• Sequence
• Parallel
  tick all subtrees each time
  StopOnFail : stop and return when one subtree fails

Decorator

• Loop
  loop X times or infinite loop
• UntilSuccess
• UntilFailure
• BlackboardComparator
  compare two blackboard entries or compare one entry to value
  AbortMode : suspend or abort subtree when comparison fails
• BlackboardCondition
  detect if blackboard key is set
  AbortMode : suspend or abort subtree when condition fails

Action

• Action
  base class of all actions

Blackboard

Storage of key-value pairs with observers

Operations

• Set
• Get
• Has
• Remove
• RegisterObserver
• UnregisterObserver

Data Types

• int
• float
• bool

can support other built-in/custom data types

Example

An agent is roaming around in 1D space and can be interrupted by pressing the SPACE key

Nodes Used

Basic Nodes

• BehaviorTree
• Selector
• BlackboardCondition
• Sequence

Custom Actions

• FindRandomDestination
• MoveTo
• StayIdle

Tree Graph