Meta Behavior Tree – behavior_tree.hpp
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/***************************************** The Meta Behavior Tree Library Copyright (c) 2017 David Feng Distributed under the MIT License. *****************************************/ #ifndef BEHAVIOR_TREE_HPP #define BEHAVIOR_TREE_HPP #include "nodes.hpp" #include "tree_builder.hpp" namespace mbt { class behavior_tree_def { protected: void execute() { } void report(status s) { } void notify(base_node * n) { } void reset() { } }; template<class Derived> class behavior_tree : public Derived { typedef typename Derived::root_node root_node; typedef typename Derived::config_table user_table; typedef tree_builder<root_node, user_table> builder; btree * _btree; public: behavior_tree<Derived>() : Derived(), _btree(new btree(new root_node())) { _btree->_get_root_node()->_set_btree(_btree); stack_type stk; builder::GO(_btree->_get_root_node(), &stk, _btree); } ~behavior_tree<Derived>() { if (_btree) { delete _btree; _btree = nullptr; } } void play() { Derived::execute(); _btree->_execute(); if (_btree->_get_status() == EXECUTING) Derived::notify(_btree->_get_executing_node()); else Derived::report(_btree->_get_status()); } void reset() { _btree->_reset(); Derived::reset(); } }; } #endif |