arvidsson / braintree Goto Github PK

Thanks for your nice work。I am new to behavior tree and I am learning it, could you please provide a more complete and runnable example? I failed to build the curent one. And I can't get what below codes mean.
auto targetNearestEnemyNode = std::make_shared<TargetNearestEnemyNode>(blackboard);

Does this mean that I should write a class named TargetNearestEnemyNode like the WaitNode in the current example?

Use asserts and improve the code for running the children.

Not an issue, but I wanted to say thanks for this lib and that I am using it to create an addon for Godot : https://github.com/kakoeimon/GodotBrainTree

Make blackboard use a Type class that encapsulates whatever we need and which can also be extended by anyone.

In areas like:

template <class NodeType, typename... Args>
SomeBuilder<Parent> leaf(Args... args)
{
    auto child = std::make_shared<NodeType>((args)...);
    node->setChild(child);
    return *this;
}

there needs to be forwarding to avoid unintended copying:

template <class NodeType, typename... Args>
SomeBuilder<Parent> leaf(Args&&... args)
{
    auto child = std::make_shared<NodeType>(std::forward<Args>(args)...);
    node->setChild(child);
    return *this;
}

Make it a header only library

Hello, is there an c++98 version port of the library ?

The README suggests shared_ptr of Nodes can be added as children to composite; but composite only takes Node*.

Make it a proper single-header, so we only need to include BrainTree.hpp. Alternative is to keep the composites and decorators that exist in their own respective headers, eg Composites.hpp and Decorators.hpp, but as they are pretty essential maybe just keep them in the single headerfile.

Hello !
Concerning the Succeeder and Failer nodes: When reading forcefailure, forcesuccess documentation https://www.behaviortree.dev/docs/nodes-library/DecoratorNode I think you've missed checking and returning the RUNNING state.

create behavior trees from json or xml

But let's keep an alias bt as a shorthand.

Don't use shared_ptr everywhere