BehaviorTree.CPP

C++ library for behavior tree execution.

Quick Start

• BT::BehaviorTreeFactory - Create and register nodes
• BT::Blackboard - Shared data storage
• BT::TreeNode - Base class for all nodes

Core Concepts

• BT::PortInfo - Type-safe port system
• BT::Expected - Result type for error handling
• BT::NodeStatus - Node execution states

Built-in Control Nodes

Category	Nodes
Sequences	BT::SequenceNode BT::ReactiveSequence BT::SequenceWithMemory
Fallbacks	BT::FallbackNode BT::ReactiveFallback
Parallels	BT::ParallelNode BT::ParallelAllNode
Conditional	BT::IfThenElseNode BT::WhileDoElseNode BT::SwitchNode BT::ManualSelectorNode

Built-in Decorators

Category	Nodes
Repetition	BT::RetryNode BT::RepeatNode BT::LoopNode
Timing	BT::TimeoutNode BT::DelayNode
Result Modification	BT::InverterNode BT::ForceSuccessNode BT::ForceFailureNode
Execution Control	BT::RunOnceNode BT::KeepRunningUntilFailureNode
Subtrees	BT::SubTreeNode
Preconditions	BT::PreconditionNode BT::EntryUpdatedDecorator

Built-in Actions

Category	Nodes
Status	BT::AlwaysSuccessNode BT::AlwaysFailureNode
Blackboard	BT::SetBlackboardNode BT::UnsetBlackboardNode
Utility	BT::SleepNode BT::TestNode
Scripting	BT::ScriptNode BT::ScriptCondition
Entry Updated	BT::EntryUpdatedAction
Queue	BT::PopFromQueue BT::QueueSize

Logging & Tools

• BT::FileLogger2 - File logging
• BT::StdCoutLogger - Console output
• BT::Groot2Publisher - Groot2 editor integration

Resources

• GitHub Repository
• Groot2 Editor