parequena/BehaviourTree

Behaivour Tree

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Features

• C++20's concepts.
• CMake basic structure.
• constexpr all things.
• Templatized structures/functions.
• Memory pool / memory arena.
• Tiny Behaivour tree example:

    Steps:
    1 . BTBoolean = false, so return FAIL.
    2 . Sequence fails, so return FAIL.
    3 . Selector its gonna look next branch.
    4 . Sequence returns SUCCESS.
    5 . BTBoolean = true, return SUCCESS.
    6 . Return SUCCESS.

                    SELECTOR
                /           \
            SEQUENCE         SEQUENCE
        /        \         /      \
    BOOLEAN   SAY_NAME   MOVE      MOVE

File / Class Structure

• include

  • BehaivourTree.hpp : Behaivour tree class.
  • BTNode.hpp : BTNode created (Selector and Sequence templatized)
  • BTNodeSelector.hpp : Specialization selector.
  • BTNodeSequence.hpp : Specialization sequence.
  • Node.hpp : Node class to derive and use on our Behaivour tree.

• src: Main and helper functions.

• CMakeLists: Generation / Compilation file.

Installation and compilation

1. Clone this repositoy git clone https://github.com/parequena/BehaviourTree
2. Get into our folder cd BehaviourTree
3. Create build folder mkdir build && cd build
4. Generate the project cmake .. # Add as much variables as you want
5. Compile and execute make && ./BehaviourTree