Classes | Typedefs | Enumerations
Behavior Tree
Classes
class aitoolkit::bt::node< T >
Base abstract class for all nodes. More...
class aitoolkit::bt::seq< T >
Sequence node, will execute all children in order until one fails. More...
class aitoolkit::bt::sel< T >
Selector node, will execute all children in order until one succeeds. More...
class aitoolkit::bt::neg< T >
Negate node, will return the opposite of the child node. More...
class aitoolkit::bt::check< T >
Check node, will return success if the callback returns true. More...
class aitoolkit::bt::task< T >
Task node, will execute the callback and return the result. More...
Typedefs
template<class T >
using aitoolkit::bt::node_ptr = std::shared_ptr<node<T>>
Heap-allocated pointer to node.
Enumerations
enum class aitoolkit::bt::execution_state { execution_state::success , execution_state::failure , execution_state::running }
Represent the state of a node. More...
Detailed Description
Introduction
A behavior tree is a tree structure where each node represents a behavior. The tree is evaluated from the root node to the leaf nodes. The leaf nodes are
either tasks or checks. A task is a node that performs an action and returns either success or failure. A check is a node that returns either success or
failure based on some condition.
Selector
Sequence Sequence Sequence
Check enemy in attack range Destroy enemy Check enemy in sight Move towards enemy Move towards waypoint Select next waypoint
Usage
First, include the header file:
#include <aitoolkit/behtree.hpp>
Then, create a blackboard class that will hold the state of the tree:
struct blackboard_type {
glm::vec2 agent_position;
glm::vec2 enemy_position;
float attack_range;
float sight_range;
size_t current_waypoint;
std::vector<glm::vec2> waypoints;
};
Next, create the tree:
using namespace aitoolkit::bt;
auto tree = sel<blackboard_type>::make({
seq<blackboard_type>::make({
check<blackboard_type>::make([](const blackboard_type& bb) {
auto distance = glm::distance(bb.agent_position, bb.enemy_position);
return distance <= bb.attack_range;
}),
task<blackboard_type>::make([](blackboard_type& bb) {
// Destroy enemy
return execution_state::success;
})
}),
seq<blackboard_type>::make({
check<blackboard_type>::make([](const blackboard_type& bb) {
auto distance = glm::distance(bb.agent_position, bb.enemy_position);
return distance <= bb.sight_range;
}),
task<blackboard_type>::make([](blackboard_type& bb) {
// Move towards enemy
return execution_state::success;
})
}),
seq<blackboard_type>::make({
task<blackboard_type>::make([](blackboard_type& bb) {
// Move towards waypoint
return execution_state::success;
}),
task<blackboard_type>::make([](blackboard_type& bb) {
// Select next waypoint
return execution_state::success;
})
})
});
Finally, evaluate the tree:
auto bb = blackboard_type{
.agent_position = { 0.0f, 0.0f },
.enemy_position = { 1.0f, 1.0f },
.attack_range = 0.5f,
.sight_range = 1.0f
};
while (true) {
auto state = tree->evaluate(bb);
if (state == execution_state::success) {
break;
}
}
Enumeration Type Documentation
◆ execution_state
enum class aitoolkit::bt::execution_state strong
Represent the state of a node.
Enumerator
success The node was successful
failure The node failed
running The node is still running
