About | BehaviorTree.CPP
What is a Behavior Tree? A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game.
Your first Behavior Tree | BehaviorTree.CPP
Behavior Trees, similar to State Machines, are nothing more than a mechanism to invoke callbacks at the right time under the right conditions. What happens inside these callbacks is up to you.
Main Concepts | BehaviorTree.CPP
Despite the fact that the library is written in C++, trees themselves can be created and composed at run-time, more specifically, at deployment-time, using an XML base scripting language.
Basic Concepts | BehaviorTree.CPP
Version: 4.8 Basic Concepts Learn what Behavior Trees are and how to use them. 📄️ Introduction to BTs Unlike a Finite State Machine, a behavior Tree is a tree of hierarchical nodes 📄️ Main Concepts …
Guides | BehaviorTree.CPP
Become a behavior tree whisperer 📄️ The Scripting Language Behavior Tree 4.X introduces a simple but powerful new concept: 📄️ Pre and Post conditions Leveraging the power of the scripting …
Reactive and Asynchronous behaviors | BehaviorTree.CPP
The method Tree::sleep() should be preferred, because it can be interrupted by a Node in the tree when "something changed". Tree::sleep() will be interrupted when the method …
Blackboard and ports | BehaviorTree.CPP
Main Concepts A "Blackboard" is a simple key/value storage shared by all the nodes of the Tree. An "entry" of the Blackboard is a key/value pair. An Input port can read an entry in the Blackboard, whilst …
Why a "global blackboard" | BehaviorTree.CPP
The instance global_bb lives "outside" the behavior tree and will persist if the object tree is destroyed. Furthermore, it can be easily accessed using set and get methods.
Decorators | BehaviorTree.CPP
Decorators A decorator is a node that must have a single child. It is up to the Decorator to decide if, when and how many times the child should be ticked. Some nodes are not listed yet. See decorators …
tutorial_11_groot2 | BehaviorTree.CPP
Groot2 is the official IDE to Edit, Monitor and interact with a Behavior Tree created with BT.CPP. Integrating the two is very easy, as you will see in this tutorial, but there are some simple concepts …