I've implemented a behavior tree template to make it easier to understand the underlying principles of behavior trees, and I've also designed a scripting language tt_bt to make it easier to use and more elegant.
git clone https://github.com/peitianyu/bt_tree.git
cd bt_tree
./rebuid.sh#include "core/tt_test.h"
#include "core/tt_log.h"
#include "common/behavior_tree.h"
class PrintValue : public BehaviorTree {
public:
PrintValue(const std::string &name, const std::string &key)
: BehaviorTree(name, NODE_ACTION), m_key(key) {}
virtual void run() override {
LOG("PrintValue: ", m_key);
set_status(BT_SUCCESS);
}
private:
std::string m_key;
};
class SwitchIndex : public BehaviorTree {
public:
SwitchIndex(const std::string &name)
: BehaviorTree(name, NODE_ACTION) {}
virtual void run() override {
m_data[m_name] = std::make_pair<std::string, std::string>("switch_index", "1");
set_status(BT_SUCCESS);
}
};
class RepeatNode : public BehaviorTree
{
public:
RepeatNode(const std::string &name, int cnt)
: BehaviorTree(name, NODE_ACTION), m_cnt(cnt) {}
virtual void run() override {
m_data[m_name] = std::make_pair<std::string, std::string>("need_repeat", "1");
if(m_cnt--) m_data[m_name].second = "1";
else m_data[m_name].second = "0";
set_status(BT_SUCCESS);
}
protected:
int m_cnt;
};
JUST_RUN_TEST(behavior_tree, test)
TEST(behavior_tree, test)
{
LOG_TEST("----------------------------behavior_tree--------------------------");
LOG_TEST("-------------------------sequence test--------------------------");
BehaviorTree* bt_sequence = new BehaviorTree("", NODE_SEQUENCE);
bt_sequence->add_child(new PrintValue("print_value_1", "key1"));
bt_sequence->add_child(new PrintValue("print_value_2", "key2"));
bt_sequence->update();
LOG_TEST("----------------------------fallback test----------------------------");
BehaviorTree* bt_fallback = new BehaviorTree("", NODE_FALLBACK);
bt_fallback->add_child(new PrintValue("print_value_3", "key3"));
bt_fallback->add_child(new PrintValue("print_value_4", "key4"));
bt_fallback->update();
LOG_TEST("----------------------------switch test----------------------------");
BehaviorTree* bt_switch = new BehaviorTree("", NODE_SWITCH);
bt_switch->add_child(new SwitchIndex("switch_choice"));
bt_switch->add_child(new PrintValue("print_value_5", "key5"));
bt_switch->add_child(new PrintValue("print_value_6", "key6"));
bt_switch->update();
LOG_TEST("----------------------------repeat test----------------------------");
BehaviorTree* bt_repeat = new BehaviorTree("", NODE_REPEAT);
bt_repeat->add_child(new RepeatNode("print_choice", 3));
bt_repeat->add_child(new PrintValue("print_value_7", "key7"));
bt_repeat->update();
LOG_TEST("----------------------------sub tree test----------------------------");
BehaviorTree* root = new BehaviorTree("root", NODE_SEQUENCE);
root->add_child(bt_sequence);
root->add_child(bt_fallback);
root->add_child(bt_switch);
BehaviorTree* bt_repeat1 = new BehaviorTree("", NODE_REPEAT);
bt_repeat1->add_child(new RepeatNode("print_choice", 3));
bt_repeat1->add_child(new PrintValue("print_value_7", "key7"));
root->add_child(bt_repeat1);
root->update();
}Have no development setup, just !!!rebuild.sh!!!
Pei tianyu – wechat – 1216582161@qq.com
Distributed under the MIT license. See LICENSE for more information.
https://github.com/peitianyu/bt_tree
- Fork it (https://github.com/peitianyu/bt_tree/fork)
- Create your feature branch (
git checkout -b feature/fooBar) - Commit your changes (
git commit -am 'Add some fooBar') - Push to the branch (
git push origin feature/fooBar) - Create a new Pull Request