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https://github.com/ninokz/behaviortree
Behavior tree implemented based on C++
https://github.com/ninokz/behaviortree
Last synced: 14 days ago
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Behavior tree implemented based on C++
- Host: GitHub
- URL: https://github.com/ninokz/behaviortree
- Owner: Ninokz
- Created: 2024-09-15T02:40:36.000Z (4 months ago)
- Default Branch: master
- Last Pushed: 2024-09-16T17:42:07.000Z (4 months ago)
- Last Synced: 2024-11-05T21:16:03.963Z (2 months ago)
- Language: C++
- Homepage:
- Size: 21.5 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# BehaviorTree
## Intro.
BehaviorTree 是一个用C++实现的轻量级行为树基础的库(就写了基本节点，看后续再更吧)
## Main Features.
- 支持基本的行为树节点类型：序列（Sequence）、选择器（Selector）、并行（Parallel）等
- 提供装饰器节点：反转器（Inverter）、重复器（Repeat）等
- 包含复合节点：过滤器（Filter）、活动选择器（ActiveSelector）、监视器（Monitor）等
- 使用智能指针进行内存管理
- 支持行为树构建器模式，方便快速构建复杂的行为树
## Core Class.
- `Behavior`: 所有行为节点的基类
- `Composite`: 复合节点的基类，可以包含多个子节点
- `Decorator`: 装饰器节点的基类，只包含一个子节点
- `Action`: 叶节点，执行具体的行为
- `BehaviorTree`: 整个行为树的容器和执行器
- `BehaviorTreeBuilder`: 用于方便地构建行为树的工具类
## Use Example.
```cpp
#include "BehaviorTree.h"
class MyDebugAction : public Nano::BehaviorTree::Action {
public:
MyDebugAction(std::string uid) : Action(uid) {}
protected:
Nano::BehaviorTree::Behavior::EStatus onUpdate() override {
std::cout << "Action:" << m_uid << std::endl;
return EStatus::Success;
}
};
int main()
{
Nano::BehaviorTree::BehaviorTreeBuilder::Ptr builder1 = std::make_shared();
builder1->Repeat("1", 3)
->Sequence("2")
->Action(std::make_shared("hello"))
->Action(std::make_shared("world"))
->Back()
->End();
builder1->treeTick(); // / hello world hello world hello world
Nano::BehaviorTree::BehaviorTreeBuilder::Ptr builder2 = std::make_shared();
builder2->Sequence("RootSeq")
->Selector("MainSelc")
->Action(std::make_shared("1"))
->Action(std::make_shared("2")) // 选择器下不执行
->Back()
->Parallel("ParallelTasks", Nano::BehaviorTree::Parallel::Policy::RequireAll, Nano::BehaviorTree::Parallel::Policy::RequireOne)
->Action(std::make_shared("3"))
->Action(std::make_shared("4"))
->Action(std::make_shared("5"))
->Action(std::make_shared("6")) // 全执行并行器
->End();
builder2->treeTick(); /// 1 3 4 5 6
return 0;
}
```
## Advanced Use.
- 使用 `Filter` 节点组合条件和动作
- 利用 `ActiveSelector` 实现动态切换的行为
- 通过 `Monitor` 节点同时执行条件检查和动作
## Attention.
- 确保正确管理内存，推荐使用智能指针
- 复杂的行为树可能影响性能，请适当优化结构
- 自定义节点时，确保正确实现 `onUpdate()` 方法
## Ref.
- [OwlCat](https://www.cnblogs.com/OwlCat/p/17871494.html)