参考网址:

基础定义

Tree nodes description

BehaviorTreeBuilder class methods:

Compositor nodes:

`sequence()` - updates all nodes until faces `Status::Failure` or `Status::Running`
`selector()` - updates all nodes until faces `Status::Success` or `Status::Running`
`parallel(minSuccess, minFail)` - updates all nodes, return `Status::Success` if `totalSuccess` >= `minSuccess` or `Status::Failure` if `totalFails` >= `minFail` else `Status::Running`
`memSelector()` - updates all nodes until faces `Status::Success` or `Status::Running`, next updation will start from that node
`memSequence()` - updates all nodes until faces `Status::Failure` or `Status::Running`, next updation will start from that node
`random(seed)` - updates random (depends on seed) node
`whiledo(predicate)` - updates all nodes while `condition == true`, returns `Status::Running` in this case, if `condition == false` does nothing and returns `Status::Failure

Binary nodes:

(Status::Success is true, Status::Failure is false)
conjunction() - Status first && Status second
disjunction() - Status first || Status second
equality() - Status first == Status second
implication() - Status first -> Status second (!(Status first) || Status second) (Status::Running = Status::Failure)
ifelse(predicate) - if contidion == true updates first, else second

Decorator nodes:

inverter()` - inverts `Status::Success` and `Status::Failure`, `Status::Running` ignored
`repeater(limit)` - returns `Status::Running` `limit` times, then return node status and resets
`limiter(limit)` - returns decorator's child status `limit` times, then return `Status::Failure`
`untilFail()` - returns only `Status::Running` or `Status::Failure`
`untilSuccess()` - returns only `Status::Running` or `Status::Success`
`failer()` - returns only `Status::Failure`
`succeeder()` - returns only `Status::Success`
`condition(predicate)` - updates child if `predicate == true` else returns `Status::Failure

Special nodes:

action(action) - userdefined action function, must return statuses

Other methods:

end() - use it after every Compositor or Binary nodes
add(node) - adds nodes to the current tree, NOTE: adding trees is under construction
leaf(arguments) - create userdefined action node build() - does some postworks and returns BehaviorTree pointer
debug(string) - just prints the string
setDebugCallback(callback) - set callback function for the error strings

子树命名规则

	name	default
input	tree_[tree_name]in[action_name]_[value_name]	{tree_[tree_name]in[action_name]_[value_name]}
output	tree_[tree_name]out[action_name]_[value_name]	tree_[tree_name]out[action_name]_[value_name]

节点变量

	name	default
input	action_[action_name]in[action_name]_[value_name]	{action_[up_tree_name]in[action_name]_[value_name]}
output	action_[action_name]out[action_name]_[value_name]	{action_[up_tree_name]out[action_name]_[value_name]}

条件变量

	name	default
input	condition_[action_name]in[condition_name]_[value_name]	{action_[up_tree_name]in[condition_name]_[value_name]}
output	condition_[action_name]out[condition_name]_[value_name]	{action_[up_tree_name]out[condition_name]_[value_name]}

子树/节点/条件的命名规则

	name	name optional	name optional
子树	Subtree_[tree name]
节点	Action_[action name]_Output	Action_[action name]_Input	ActionBase_[action name]
条件	Condition_[condition name]

行为树