jsBehaviorTree

simple js Behaviour tree implementation takes dictonary as input where

Example tree

  let simpleTree = {
    $des:"a simple tree", // descryption of this level
    $seq:[ // a seqence
      "action1", // names action in $act section
      "test.action1", // can be nested
      $SUCCESS, // can be a state
      (action,mem) => $SUCCESS, // can be a function
    ],
    $act:{ // place to define action for tree
      action1:function(actor, memory) {
        return $SUCCESS;
      },
      test: {
        action1:(actor,mem) => $FAILURE,
      }
    }
  };
  let act = {};
  let mem = {};
  // evaulate tree until finish or $RUNNING State is returnd
  BT.runBt(act,mem,simpleTree);

states:

1. $SUCCESS = success node
2. $FAILURE = failure node
3. $RUNNING = running node

nodes:

• $seq: sequence takes array of childs as input

   var tree = {
     $seq:[$SUCCESS,$SUCCESS,$RUNNING]
   } // will eval to $RUNNING (sequnce is running until faiure or running

• $sel: selector takss array as input

 var tree = {
   $sel:[$FAILURE, $SUCCESS, $RUNNING]
 } // will eval to $SUCCESS as selector chose first not failing path

• $node : a row node

var tree = {
   $des:"a succesful node",
   $node:$SUCCESS,
 } // will eval to $SUCCESS

• $if:$then:$else:: when if node eval to $SUCCESS the $then node is evaulate otherwise if $else node is pressent eval it

var tree = {
 $des = "a if - then - else ",
 $if:$SUCCESS,
 $then:$RUNNING,
 $else:$FAILURE,
} // will eval to $RUNNING

• $inv invert $SUCCESS => $FAILURE, $FAILURE => $SUCCESS

var tree = { 
  $inv:$SUCCESS
} // will evel to $FAILURE

• Actions takes actor and memort as input and return state:
• Named: actions can be named by palcing them in a $act section of tree:

let tree = {
 $sel:["action"],
 $act:{
   action:function(actor, memory) {return $SUCCESS},
 }
} // will eval to SUCCESS.

• nested

 let tree = {
   $sel:["a.nested.action"],
   $act: {
     a: {
      nested:{
       action: () => $SUCCESS;
      }
     }
   }
 } // eval to $SUCCESS

• anoumynous/inline

let tree = {
 $sel:[()=>$SUCCESS]
} // eval to $SUCCESS