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https://github.com/andrew-gresyk/HFSM2

High-Performance Hierarchical Finite State Machine Framework
https://github.com/andrew-gresyk/HFSM2

cpp cpp11 embedded embedded-systems fsm fsm-library game-dev game-development header-only hfsm hierarchical-state-machine mit-license modern-cpp state-machine template-metaprogramming

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High-Performance Hierarchical Finite State Machine Framework

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[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](LICENSE)

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![HFSM2](assets/logos/hfsm2-logo-large.png)



# High-Performance Hierarchical Finite State Machine



Header-only heriarchical FSM framework in C++11, with fully statically-defined structure (no dynamic allocations), built with variadic templates.



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## Compiler Support



- Visual Studio: **2015, 2017, 2019, 2022**

- GCC: **8, 9, 10, 11, 12, 13**

- GCC (ARM): **9**

- Clang: **6, 7, 8, 9, 10, 11, 12, 13, 14, 15**

- AppleClang: **14**



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## Quick Start



- **[Minimal Example](https://github.com/andrew-gresyk/HFSM2/wiki/Overview-Minimal-Example)**

- **[Extended Tutorial](https://github.com/andrew-gresyk/HFSM2/wiki/Overview-Extended-Tutorial)**



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## See Also



- **[HFSM2 UPlugin](https://github.com/andrew-gresyk/HFSM2-uplugin)**: Unreal Engine plugin for [HFSM2](https://hfsm.dev) library

- **[FFSM2](https://flat.hfsm.dev)**: High-Performance **Flat** Finite State Machine

- **[FFSM2 UPlugin](https://github.com/andrew-gresyk/FFSM2-uplugin)**: Unreal Engine plugin for [FFSM2](https://flat.hfsm.dev) library

- **[HFSM Mono](https://font.hfsm.dev/)**: Monospaced bitmap Unicode fonts for HFSM2 and FFSM2 libraries



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## Documentation



- **[Wiki](https://github.com/andrew-gresyk/HFSM2/wiki)**



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## Feature Highlights



- Permissive **[MIT License](LICENSE)**

- Written in widely-supported modern(ish) C++11

- Header-only

- Convenient, minimal boilerplate

- Fully static, no dynamic allocations

- Uses inline-friendly compile-time polymorphism, no virtual methods are used

- Type-safe transitions: `FSM.changeTo()` with optional payloads

- Flexible configuration using `HFSM2_ENABLE_*` macros

- Scalable, supports robust state re-use via state injections

- **[Hierarchical](https://github.com/andrew-gresyk/HFSM2/wiki/Transitions-within-Hierarchy)**, with a selection of composite (sub-machine) and orthogonal regions

- Gamedev-friendly, supports explicit `State::update()`

- Also supports traditional event-based workflow with `State::react()`

- Inspect anything: previous and current transitions, state activation status, and more!

- Game AI-friendly with **[dynamic planning](https://github.com/andrew-gresyk/HFSM2/wiki/Plans)** support

- **[Utility theory](https://github.com/andrew-gresyk/HFSM2/wiki/Utility-Theory)** support (max score and ranked weighted random)

- **[Serializable](https://doc.hfsm.dev/user-guide/debugging-and-tools/serialization)**, with activity and transition history support

- **[Debug-assisted](https://gresyk.dev/features/2018/01/15/hfsm-magic.html)**, includes automatic structure and activity visualization API with `#define HFSM_ENABLE_STRUCTURE_REPORT`

- Built-in logging support



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## 3rd Party Libraries



- **[doctest](https://github.com/onqtam/doctest)** unit testing framework

- **[XoShiRo](http://xoshiro.di.unimi.it/)** pseuto-random number generators



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## Get In Touch



- Twitter: **[@andrew_gresyk](https://www.twitter.com/andrew_gresyk)**

- Discord: **[HFSM.dev](https://discord.gg/v4t3tzh)**

- Gitter: **[andrew-gresyk/HFSM2](https://gitter.im/andrew-gresyk/HFSM2)**



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## Special Thanks



- [alexandrosk0](https://github.com/alexandrosk0)

- [Casey Sanchez](https://github.com/Tannz0rz)

- [DJuego](https://github.com/DJuego)

- [Kevin Greene](https://github.com/kgreenek)

- [Kjeld Mathias Petersen](https://github.com/DonMathi)

- [Lau Bakman](https://github.com/lbakman)

- Mehdi Houshmand

- [mrcmry](https://github.com/mrcmry)

- [Phil Nash](https://github.com/philsquared)

- [Romain Cheminade](https://github.com/romaincheminade)

- [Schoppenglas](https://github.com/Schoppenglas)

- [Tristan Brindle](https://github.com/tcbrindle)

- [C++::London](https://www.meetup.com/CppLondon/) meetup

- programming community at [Splash Damage](http://www.splashdamage.com/)