├── .gitignore ├── Assets ├── BehaviourTree.meta ├── BehaviourTree │ ├── BehaviourNode.cs │ ├── BehaviourNode.cs.meta │ ├── BehaviourTree.cs │ ├── BehaviourTree.cs.meta │ ├── BehaviourTreeBoard.cs │ ├── BehaviourTreeBoard.cs.meta │ ├── BehaviourTreeContext.cs │ ├── BehaviourTreeContext.cs.meta │ ├── BehaviourTreeTests.cs │ ├── BehaviourTreeTests.cs.meta │ ├── DecoratorNode.cs │ ├── DecoratorNode.cs.meta │ ├── Nodes.meta │ ├── Nodes │ │ ├── ComplexSequenceNode.cs │ │ ├── ComplexSequenceNode.cs.meta │ │ ├── FailureNode.cs │ │ ├── FailureNode.cs.meta │ │ ├── InvertorNode.cs │ │ ├── InvertorNode.cs.meta │ │ ├── SelectorNode.cs │ │ ├── SelectorNode.cs.meta │ │ ├── SequenceNode.cs │ │ ├── SequenceNode.cs.meta │ │ ├── SuccessNode.cs │ │ ├── SuccessNode.cs.meta │ │ ├── WaitForever.cs │ │ ├── WaitForever.cs.meta │ │ ├── WaitNode.cs │ │ ├── WaitNode.cs.meta │ │ ├── WaitUntil.cs │ │ ├── WaitUntil.cs.meta │ │ ├── WaitWhile.cs │ │ └── WaitWhile.cs.meta │ ├── ParentBehaviourNode.cs │ └── ParentBehaviourNode.cs.meta ├── Scenes.meta └── Scenes │ ├── TestScene.unity │ └── TestScene.unity.meta ├── LICENSE.md ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset └── UnityConnectSettings.asset └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | /[Ll]ibrary/ 2 | /[Tt]emp/ 3 | /[Oo]bj/ 4 | /[Bb]uild/ 5 | /[Bb]uilds/ 6 | /Assets/AssetStoreTools* 7 | /Assets/Trash/ 8 | /Assets/Trash.meta 9 | 10 | # Visual Studio 2015 cache directory 11 | /.vs/ 12 | 13 | # Autogenerated VS/MD/Consulo solution and project files 14 | ExportedObj/ 15 | .consulo/ 16 | *.csproj 17 | *.unityproj 18 | *.sln 19 | *.suo 20 | *.tmp 21 | *.user 22 | *.userprefs 23 | *.pidb 24 | *.booproj 25 | *.svd 26 | *.pdb 27 | 28 | # Unity3D generated meta files 29 | *.pidb.meta 30 | 31 | # Unity3D Generated File On Crash Reports 32 | sysinfo.txt 33 | 34 | # Builds 35 | *.apk 36 | *.unitypackage 37 | -------------------------------------------------------------------------------- /Assets/BehaviourTree.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 43b9fd9463a999347bbd1ae961f0d517 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourNode.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// The base class for any behaviour tree node 3 | /// 4 | /// The agent type 5 | public abstract class BehaviourNode { 6 | 7 | protected BehaviourTreeContext ctx; 8 | 9 | /// Called to inject the node with the agent information 10 | public void _Inject(BehaviourTreeContext ctx) { 11 | this.ctx = ctx; 12 | } 13 | 14 | /// Called when the node is entered 15 | public abstract State Start(); 16 | 17 | /// Called every frame if the node part of the behaviour trees active "stack" of nodes 18 | public abstract State Update(); 19 | 20 | /// Return true if the node should be restarted. !! Needs to be called on every frame by its parent and restart if necessary !! 21 | public virtual bool Recalculate() { 22 | return false; 23 | } 24 | 25 | public enum State { 26 | IN_PROGRESS, 27 | SUCCESS, 28 | FAILURE 29 | } 30 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6aef01a4814d8844e95d412574f2c6e1 3 | timeCreated: 1560376477 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTree.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using System.Collections; 3 | 4 | using UnityEngine; 5 | 6 | /// 7 | /// The behaviour tree. Any AI class using the library needs to inherit this class 8 | /// 9 | /// The agent type 10 | public abstract class BehaviourTree { 11 | 12 | BehaviourNode currentNode; 13 | 14 | BehaviourTreeContext _ctx; 15 | 16 | MonoBehaviour _dependent; 17 | IEnumerator _routine; 18 | 19 | bool _started; 20 | 21 | /// 22 | /// Start the execution of the AI 23 | /// 24 | /// The behaviour the AI is attached to. The AI is disposed if the behaviour is destroyed 25 | /// The agent the AI is meant to control 26 | public void Start(MonoBehaviour dependent, X agent) { 27 | if (_started) return; 28 | 29 | _started = true; 30 | 31 | _dependent = dependent; 32 | _ctx = new BehaviourTreeContext(agent); 33 | 34 | Resume(); 35 | } 36 | 37 | /// 38 | /// Pause the execution of the AI 39 | /// 40 | public void Pause() { 41 | if (_routine == null) return; 42 | 43 | _dependent.StopCoroutine(_routine); 44 | _routine = null; 45 | } 46 | /// 47 | /// Resume the execution of the AI if it was paused 48 | /// 49 | public void Resume() { 50 | if (_routine != null) return; 51 | 52 | _routine = Routine(); 53 | _dependent.StartCoroutine(_routine); 54 | } 55 | /// 56 | /// Stop the execution of the AI and wipes every nodes currently being updated 57 | /// 58 | public void Stop() { 59 | Pause(); 60 | 61 | currentNode = null; 62 | } 63 | /// 64 | /// Restarts the AI 65 | /// 66 | public void Restart() { 67 | Pause(); 68 | 69 | currentNode = null; 70 | 71 | Resume(); 72 | } 73 | 74 | /// 75 | /// Specify the root node of the tree 76 | /// 77 | protected abstract BehaviourNode GetRootNode(); 78 | 79 | IEnumerator Routine() { 80 | while(true) { 81 | if (currentNode == null) { 82 | DefineNode(); 83 | } 84 | 85 | if (currentNode != null) { 86 | var state = currentNode.Recalculate() ? currentNode.Start() : currentNode.Update(); 87 | 88 | if (state != BehaviourNode.State.IN_PROGRESS) { 89 | currentNode = null; 90 | } 91 | } 92 | 93 | yield return null; 94 | } 95 | } 96 | 97 | void DefineNode() { 98 | currentNode = GetRootNode(); 99 | 100 | currentNode._Inject(_ctx); 101 | var state = currentNode.Start(); 102 | 103 | if (state != BehaviourNode.State.IN_PROGRESS) { 104 | currentNode = null; 105 | Debug.LogWarning("[BehaviourTree] Execution of the tree was instantaneous"); 106 | } 107 | } 108 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTree.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6964d810cebdc4d4a910c9e916466282 3 | timeCreated: 1560376402 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeBoard.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Aka blackboard. It allows the storage and processing of information outside of nodes 3 | /// so they can remain stateless and share information easily (for example enemy positions, danger level, ...) 4 | /// 5 | /// The agent type 6 | public class BehaviourTreeBoard { 7 | 8 | protected BehaviourTreeContext ctx; 9 | 10 | /// Called to inject the board with the agent information 11 | public void _Inject(BehaviourTreeContext ctx) { 12 | this.ctx = ctx; 13 | } 14 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeBoard.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 15c4823a25bc29541a6923ef7156c9d1 3 | timeCreated: 1560376350 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeContext.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using System; 3 | 4 | /// 5 | /// Shared to all nodes and boards, BehaviourTreeContext contains a reference to the agent and to all boards. 6 | /// 7 | /// The agent type 8 | public class BehaviourTreeContext { 9 | 10 | public X agent { get; private set; } 11 | 12 | Dictionary> _blackboard; 13 | 14 | public BehaviourTreeContext(X agent) { 15 | this.agent = agent; 16 | 17 | _blackboard = new Dictionary>(); 18 | } 19 | 20 | /// 21 | /// Get a board for the AI, created if it is missing 22 | /// 23 | public Y GetBoard() where Y : BehaviourTreeBoard, new() { 24 | var type = typeof(Y); 25 | 26 | BehaviourTreeBoard board; 27 | 28 | if(!_blackboard.TryGetValue(type, out board)) { 29 | board = new Y(); 30 | board._Inject(this); 31 | 32 | _blackboard[type] = board; 33 | } 34 | 35 | return board as Y; 36 | } 37 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeContext.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 91230cdc295440d4885fda7102ea2948 3 | timeCreated: 1560376290 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeTests.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using UnityEngine; 3 | 4 | public class BehaviourTreeTests : MonoBehaviour { 5 | 6 | List> _nodesToTest; 7 | int _idx = -1; 8 | 9 | BehaviourTree _currentTree; 10 | 11 | void Start() { 12 | _nodesToTest = new List> { 13 | new TestWaitNode(), 14 | new TestInvertorNode(), 15 | new TestSuccessNode(), 16 | new TestFailureNode(), 17 | new TestBoardNode(), 18 | new TestSequenceNode1(), 19 | new TestSequenceNode2(), 20 | //new TestFail() 21 | }; 22 | 23 | RunNext(); 24 | } 25 | 26 | public void Success() { 27 | Debug.Log("Test " + _nodesToTest[_idx].GetType().Name + " succeeded"); 28 | 29 | RunNext(); 30 | } 31 | public void Failure() { 32 | Debug.Log("Test " + _nodesToTest[_idx].GetType().Name + " failed"); 33 | 34 | RunNext(); 35 | } 36 | 37 | void RunNext() { 38 | _idx++; 39 | if(_idx >= _nodesToTest.Count) { 40 | Debug.Log("All " + _nodesToTest.Count + " tests are done"); 41 | 42 | _currentTree.Stop(); 43 | return; 44 | } 45 | 46 | var node = _nodesToTest[_idx]; 47 | 48 | if (_currentTree != null) _currentTree.Stop(); 49 | 50 | _currentTree = new TestTree(node); 51 | _currentTree.Start(this, this); 52 | } 53 | 54 | class TestTree : BehaviourTree { 55 | 56 | BehaviourNode _node; 57 | 58 | public TestTree(BehaviourNode node) { 59 | _node = node; 60 | } 61 | 62 | protected override BehaviourNode GetRootNode() { 63 | return _node; 64 | } 65 | } 66 | 67 | class TestWaitNode : ComplexSequenceNode { 68 | 69 | public override bool Recalculate() { 70 | return false; 71 | } 72 | 73 | public override IEnumerable> GetChilds() { 74 | var time = Time.time; 75 | yield return new WaitNode(1); 76 | 77 | if (Time.time - time > 0.99f) { 78 | ctx.agent.Success(); 79 | } else { 80 | ctx.agent.Failure(); 81 | } 82 | } 83 | } 84 | class TestInvertorNode : ComplexSequenceNode { 85 | 86 | public static int count; 87 | 88 | public override bool Recalculate() { 89 | return false; 90 | } 91 | 92 | public override IEnumerable> GetChilds() { 93 | count++; 94 | 95 | if (count > 1) ctx.agent.Failure(); 96 | 97 | yield return new InvertorNode(new HelperConstantNode(State.FAILURE)); 98 | 99 | ctx.agent.Success(); 100 | } 101 | } 102 | class TestFailureNode : ComplexSequenceNode { 103 | 104 | public static int count; 105 | 106 | public override bool Recalculate() { 107 | return false; 108 | } 109 | 110 | public override IEnumerable> GetChilds() { 111 | count++; 112 | 113 | if(count > 1) ctx.agent.Failure(); 114 | 115 | yield return new InvertorNode(new FailureNode(new HelperConstantNode(State.SUCCESS))); 116 | 117 | ctx.agent.Success(); 118 | } 119 | } 120 | class TestSuccessNode : ComplexSequenceNode { 121 | 122 | public static int count; 123 | 124 | public override bool Recalculate() { 125 | return false; 126 | } 127 | 128 | public override IEnumerable> GetChilds() { 129 | count++; 130 | 131 | if (count > 1) ctx.agent.Failure(); 132 | 133 | yield return new SuccessNode(new HelperConstantNode(State.FAILURE)); 134 | 135 | ctx.agent.Success(); 136 | } 137 | } 138 | class TestBoardNode : ComplexSequenceNode { 139 | 140 | public override bool Recalculate() { 141 | return false; 142 | } 143 | 144 | public override IEnumerable> GetChilds() { 145 | const int COUNT = 3; 146 | 147 | for (int i = 0; i < COUNT; i++) { 148 | yield return new IncrementNode(); 149 | } 150 | 151 | if(COUNT == ctx.GetBoard().count) { 152 | ctx.agent.Success(); 153 | } else { 154 | ctx.agent.Failure(); 155 | } 156 | } 157 | } 158 | class TestSequenceNode1 : ComplexSequenceNode { 159 | 160 | public override bool Recalculate() { 161 | return false; 162 | } 163 | 164 | public override IEnumerable> GetChilds() { 165 | yield return new SequenceNode( 166 | new IncrementNode(), 167 | new IncrementNode(), 168 | new IncrementNode(), 169 | new IncrementNode() 170 | ); 171 | 172 | if(ctx.GetBoard().count == 4) { 173 | ctx.agent.Success(); 174 | } else { 175 | ctx.agent.Failure(); 176 | } 177 | } 178 | } 179 | class TestSequenceNode2 : ComplexSequenceNode { 180 | 181 | static int count; 182 | 183 | public override IEnumerable> GetChilds() { 184 | count++; 185 | 186 | if(count > 1) ctx.agent.Success(); 187 | 188 | yield return new SequenceNode( 189 | new IncrementNode(), 190 | new IncrementNode(), 191 | new HelperConstantNode(State.FAILURE), 192 | new IncrementNode() 193 | ); 194 | 195 | ctx.agent.Failure(); 196 | } 197 | } 198 | class TestFail : ComplexSequenceNode { 199 | 200 | public override IEnumerable> GetChilds() { 201 | ctx.agent.Failure(); 202 | 203 | yield break; 204 | } 205 | } 206 | 207 | class IncrementNode : BehaviourNode { 208 | 209 | public override bool Recalculate() { 210 | return false; 211 | } 212 | 213 | public override State Start() { 214 | return State.IN_PROGRESS; 215 | } 216 | 217 | public override State Update() { 218 | var board = ctx.GetBoard(); 219 | 220 | board.count++; 221 | 222 | return State.SUCCESS; 223 | } 224 | } 225 | 226 | class Board : BehaviourTreeBoard { 227 | 228 | public int count; 229 | } 230 | 231 | class HelperConstantNode : BehaviourNode { 232 | 233 | State _state; 234 | 235 | public HelperConstantNode(State state) { 236 | _state = state; 237 | } 238 | 239 | public override bool Recalculate() { 240 | return false; 241 | } 242 | 243 | public override State Start() { 244 | return State.IN_PROGRESS; 245 | } 246 | 247 | public override State Update() { 248 | return _state; 249 | } 250 | } 251 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/BehaviourTreeTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a186d042f1ecd094d92aba648c538a65 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/DecoratorNode.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | 3 | /// 4 | /// Parent to a single node, a DecoratorNode processes the result from its child and chooses what it decides to send up 5 | /// 6 | /// The agent type 7 | public abstract class DecoratorNode : ParentBehaviourNode { 8 | 9 | BehaviourNode _child; 10 | 11 | public DecoratorNode(BehaviourNode child) { 12 | _child = child; 13 | } 14 | 15 | public override bool Recalculate() { 16 | return false; 17 | } 18 | 19 | public override IEnumerable> GetChilds() { 20 | yield return _child; 21 | } 22 | } 23 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/DecoratorNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: feb77d2d744122e4b831e915e5cf3869 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 73c2ed2f2e563864fa9dc2c32accb949 3 | folderAsset: yes 4 | timeCreated: 1560376500 5 | licenseType: Free 6 | DefaultImporter: 7 | externalObjects: {} 8 | userData: 9 | assetBundleName: 10 | assetBundleVariant: 11 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/ComplexSequenceNode.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Inherit to implement a dynamically defined sequence using the C# IEnumerable function syntax. 3 | /// 4 | /// The agent type 5 | public abstract class ComplexSequenceNode : ParentBehaviourNode { 6 | 7 | public override State CalculateState(State childState) { 8 | return childState; 9 | } 10 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/ComplexSequenceNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 74bd87b56ad7c4441b9a8010d2771fd6 3 | timeCreated: 1560376518 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/FailureNode.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Decorator that always returns FAILURE, regardless of the children result 3 | /// 4 | /// The agent type 5 | public class FailureNode : DecoratorNode { 6 | 7 | public FailureNode(BehaviourNode child) : base(child) { } 8 | 9 | public override State CalculateState(State childState) { 10 | return State.FAILURE; 11 | } 12 | } 13 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/FailureNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 53846b9b4ad11cc4188dbce8f1794e83 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/InvertorNode.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Decorator that inverts the childs result (SUCCESS if the child returns a FAILURE, FAILURE if the child returns a SUCCESS) 3 | /// 4 | /// The agent type 5 | public class InvertorNode : DecoratorNode { 6 | 7 | public InvertorNode(BehaviourNode child) : base(child) { } 8 | 9 | public override State CalculateState(State childState) { 10 | return childState == State.SUCCESS ? State.FAILURE : State.SUCCESS; 11 | } 12 | } 13 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/InvertorNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9707944e3e1f8844faf566417edc6cc0 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SelectorNode.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | 3 | /// 4 | /// Contains a node and a predicate that determines whether the node should be excuted or not 5 | /// 6 | /// the agent type 7 | public class Selection { 8 | 9 | public Func, bool> shouldPick; 10 | public BehaviourNode node; 11 | 12 | public Selection(Func, bool> shouldPick, BehaviourNode node) { 13 | this.shouldPick = shouldPick; 14 | this.node = node; 15 | } 16 | } 17 | 18 | /// 19 | /// Node that selects between several possible nodes based on predicates provided for each of them. 20 | /// The selector checks every node until one of them should be picked, if none can be picked, returns SUCCESS 21 | /// 22 | /// The agent type 23 | public class SelectorNode : BehaviourNode { 24 | 25 | Selection[] _childs; 26 | 27 | BehaviourNode _currentNode; 28 | 29 | public SelectorNode(params Selection[] childs) { 30 | _childs = childs; 31 | } 32 | 33 | public override State Start() { 34 | return DefineNode(); 35 | } 36 | 37 | public override State Update() { 38 | return _currentNode.Recalculate() ? _currentNode.Start() : _currentNode.Update(); 39 | } 40 | 41 | public override bool Recalculate() { 42 | foreach(var s in _childs) { 43 | var pick = s.shouldPick(ctx); 44 | var current = s.node == _currentNode; 45 | 46 | if(pick) { 47 | if(current) { 48 | return false; 49 | } else { 50 | return true; 51 | } 52 | } 53 | } 54 | 55 | return false; 56 | } 57 | 58 | State DefineNode() { 59 | foreach (var s in _childs) { 60 | var pick = s.shouldPick(ctx); 61 | 62 | if (pick) { 63 | _currentNode = s.node; 64 | _currentNode._Inject(ctx); 65 | 66 | var state = _currentNode.Start(); 67 | 68 | return state; 69 | } 70 | } 71 | 72 | return State.SUCCESS; 73 | } 74 | } 75 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SelectorNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5d0be3f411260c24ea1fc55b8f4f0352 3 | timeCreated: 1560602658 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SequenceNode.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | 3 | /// 4 | /// A simple sequence of nodes: provide a list of nodes and they will be executed in a sequence. If on of them returns a FAILURE, the node will return a FAILURE. 5 | /// Otherwise, at the end of the sequence, returns a SUCCESS 6 | /// 7 | /// The agent type 8 | public class SequenceNode : ParentBehaviourNode { 9 | 10 | BehaviourNode[] _childs; 11 | 12 | public SequenceNode(params BehaviourNode[] childs) { 13 | _childs = childs; 14 | } 15 | 16 | public override bool Recalculate() { 17 | return false; 18 | } 19 | 20 | public override IEnumerable> GetChilds() { 21 | return _childs; 22 | } 23 | 24 | public override State CalculateState(State childState) { 25 | return childState; 26 | } 27 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SequenceNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9bd579629a6127b4cbb25417a9548a6e 3 | timeCreated: 1560376509 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SuccessNode.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Decorator that always returns SUCCESS, regardless of the children result 3 | /// 4 | /// The agent type 5 | public class SuccessNode : DecoratorNode { 6 | 7 | public SuccessNode(BehaviourNode child) : base(child) { } 8 | 9 | public override State CalculateState(State childState) { 10 | return State.SUCCESS; 11 | } 12 | } 13 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/SuccessNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5014cc13e1f614642afa9ae5e963ecaa 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitForever.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Pause forever 3 | /// 4 | /// The agent type 5 | public class WaitForever : WaitNode { 6 | 7 | public WaitForever() : base(100000000000) { } 8 | } 9 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitForever.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0119d2f7ae178d747834fb1ba41630e4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitNode.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | /// 4 | /// Pause for a certain duration (time based on UnityEngine.Time.time) 5 | /// 6 | /// The agent type 7 | public class WaitNode : BehaviourNode { 8 | 9 | float _duration; 10 | 11 | float _endAtTime; 12 | 13 | public WaitNode(float duration) { 14 | _duration = duration; 15 | } 16 | 17 | public override State Start() { 18 | _endAtTime = Time.time + _duration; 19 | 20 | return State.IN_PROGRESS; 21 | } 22 | 23 | public override State Update() { 24 | return Time.time > _endAtTime ? State.SUCCESS : State.IN_PROGRESS; 25 | } 26 | 27 | public override bool Recalculate() { 28 | return false; 29 | } 30 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 97c6087ec9cf4684581647f2646647e3 3 | timeCreated: 1560555702 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitUntil.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | 3 | /// 4 | /// Wait until a certain condition is met 5 | /// 6 | /// The agent type 7 | public class WaitUntil : BehaviourNode { 8 | 9 | Func, bool> _endCondition; 10 | 11 | public WaitUntil(Func, bool> endCondition) { 12 | _endCondition = endCondition; 13 | } 14 | 15 | public override State Start() { 16 | return _endCondition(ctx) ? State.SUCCESS : State.IN_PROGRESS; 17 | } 18 | 19 | public override State Update() { 20 | return _endCondition(ctx) ? State.SUCCESS : State.IN_PROGRESS; 21 | } 22 | 23 | public override bool Recalculate() { 24 | return false; 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitUntil.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 401d14d5fde61f547b54abddbdcfa766 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitWhile.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | 3 | /// 4 | /// Wait until a certain condition is met 5 | /// 6 | /// The agent type 7 | public class WaitWhile : BehaviourNode { 8 | 9 | Func, bool> _condition; 10 | 11 | public WaitWhile(Func, bool> condition) { 12 | _condition = condition; 13 | } 14 | 15 | public override State Start() { 16 | return _condition(ctx) ? State.IN_PROGRESS : State.SUCCESS; 17 | } 18 | 19 | public override State Update() { 20 | return _condition(ctx) ? State.IN_PROGRESS : State.SUCCESS; 21 | } 22 | 23 | public override bool Recalculate() { 24 | return false; 25 | } 26 | } -------------------------------------------------------------------------------- /Assets/BehaviourTree/Nodes/WaitWhile.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe0dbc788e13ec04399b3552e3b3dd86 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/ParentBehaviourNode.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | 3 | /// 4 | /// Offer a simple implementation for multi-child composite nodes. When you inherit it, you just need to implement the 5 | /// function that defines the composite childs. The nodes get executed until one of them fails. If they all execute, 6 | /// the node sends a SUCCESS, otherwise it sends a FAIURE 7 | /// 8 | /// The agent type 9 | public abstract class ParentBehaviourNode : BehaviourNode { 10 | 11 | IEnumerator> _childs; 12 | BehaviourNode _current; 13 | 14 | public override State Start() { 15 | _childs = GetChilds().GetEnumerator(); 16 | 17 | return ToNextNode(); 18 | } 19 | 20 | public override State Update() { 21 | var state = _current.Recalculate() ? _current.Start() : _current.Update(); 22 | 23 | if (state == State.FAILURE) { 24 | return CalculateState(State.FAILURE); 25 | } else if (state == State.SUCCESS) { 26 | return ToNextNode(); 27 | } else { 28 | return State.IN_PROGRESS; 29 | } 30 | } 31 | 32 | State ToNextNode() { 33 | while (_childs.MoveNext()) { 34 | _current = _childs.Current; 35 | 36 | _current._Inject(ctx); 37 | var state = _current.Start(); 38 | 39 | if (state == State.FAILURE) { 40 | return CalculateState(State.FAILURE); 41 | } else if (state == State.IN_PROGRESS) { 42 | return State.IN_PROGRESS; 43 | } 44 | } 45 | 46 | return CalculateState(State.SUCCESS); 47 | } 48 | 49 | /// 50 | /// Get the children for this node 51 | /// 52 | public abstract IEnumerable> GetChilds(); 53 | 54 | /// 55 | /// Defines what state to send up based on the result provided by the children (SUCCESS if all the children succeeded, FAILURE otherwise) 56 | /// 57 | public abstract State CalculateState(State childState); 58 | } 59 | -------------------------------------------------------------------------------- /Assets/BehaviourTree/ParentBehaviourNode.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4867f2185e616834a96730fb393a01dc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | 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-------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Emerick Gibson 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /Packages/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "dependencies": { 3 | "com.unity.ads": "2.0.8", 4 | "com.unity.analytics": "2.0.16", 5 | "com.unity.package-manager-ui": "1.9.11", 6 | "com.unity.purchasing": "2.0.3", 7 | "com.unity.textmeshpro": "1.2.4", 8 | "com.unity.modules.ai": "1.0.0", 9 | "com.unity.modules.animation": "1.0.0", 10 | "com.unity.modules.assetbundle": "1.0.0", 11 | "com.unity.modules.audio": "1.0.0", 12 | "com.unity.modules.cloth": "1.0.0", 13 | "com.unity.modules.director": "1.0.0", 14 | "com.unity.modules.imageconversion": "1.0.0", 15 | 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m_GameIds: {} 32 | m_GameId: 33 | PerformanceReportingSettings: 34 | m_Enabled: 0 35 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Unity Behaviour Tree 2 | 3 | A convenient library to make behaviour trees in Unity3D 4 | 5 | ```C# 6 | public class SomeNode : ComplexSequenceNode { 7 | 8 | public override IEnumerable> GetChilds() { 9 | 10 | yield return new WaitNode(1); 11 | 12 | // A second has passed 13 | 14 | // We can call a function on the agent 15 | ctx.agent.FireWeapon(); 16 | 17 | // The weapon was fired 18 | // We can write some decision code here 19 | if (ctx.agent.IsInDanger) { 20 | // It's dangerous here, let's flee! 21 | yield return new FleeNode(); 22 | } else { 23 | // Coast is clear, keep moving 24 | yield return new AdvanceNode(); 25 | } 26 | } 27 | } 28 | ``` 29 | 30 | ## How to install 31 | 32 | - Download this [unity package](https://github.com/GibsS/unity-behaviour-tree/releases/download/v1.0/behaviour-tree.unitypackage), it contains the source code for the package 33 | - Import it in your project. 34 | - Rename and move the base folder at your convenience. 35 | 36 | ## Features 37 | 38 | This is a library that allows you to create complex behaviour trees with ease. Nothing particularly fancy, it just gets the job done. 39 | 40 | If you want a lesson on how behaviour trees work, check [this article out](https://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php). We don't use the exact same language but the principles are the same and they explain behaviour trees very well. 41 | 42 | To create an AI, make a class that inherit ```BehaviourTree``` and specify the RootNode. From there you just have to make a tree out of 43 | the existing nodes or your custom nodes. See below for a list of the base nodes. The behaviour tree will execute the root node in a loop until you stop it. 44 | 45 | One of the 'innovation' of this library is the use of C# IEnumerable function syntax to write complex sequences (I haven't seen this anywhere else at least..). Traditional behaviour tree just let you write static sequences of nodes and you have to mess around with selectors to make anything more complicated. You can do stuff like the example above. 46 | 47 | Neat right? It allows you to keep your behaviour trees a bit lighter and more readable than traditional behaviour trees. 48 | 49 | ## Create a behaviour tree 50 | 51 | In this library, an "Agent" represents an entity the AI is meant to control. To create an AI that controls said Agent, write something like this: 52 | 53 | ```C# 54 | public class YourAgent : MonoBehaviour { 55 | 56 | void Start() { 57 | // Create an AI 58 | var tree = new YourTree(); 59 | 60 | // Call start to actually run the AI. 61 | // The first argument is the MonoBehaviour the tree attaches to and depends on (like a coroutine), 62 | // the second is the agent to control 63 | tree.Start(this, this); 64 | } 65 | } 66 | 67 | class YourTree : BehaviourTree { 68 | 69 | protected override BehaviourNode GetRootNode() { 70 | return new YourRootNode(); 71 | } 72 | } 73 | ``` 74 | 75 | ## Create your own node 76 | 77 | Most 'structural nodes' (sequences, selectors, decorators..) are provided with the library so you'll only have to implement leaf nodes: the nodes that make your agent perfom actions. 78 | 79 | To create your own node, you just need to create a class that implements ```BehaviourNode```: 80 | 81 | ```C# 82 | public class YourNode : BehaviourNode { 83 | 84 | // Called when the node is entered 85 | public State Start() { 86 | return State.IN_PROGRESS; 87 | } 88 | 89 | // Called every frame while the node is active 90 | public State Update() { 91 | // DO STUFF HERE 92 | if(Done()) { 93 | return State.SUCCESS; 94 | } else { 95 | return State.IN_PROGRESS; 96 | } 97 | } 98 | 99 | ... 100 | } 101 | 102 | ``` 103 | 104 | You can access your agent through ```ctx.agent``` inside your inherited class. 105 | 106 | If you wish to create your own decorator or composite nodes, we recommend you look at the ```DecoratorNode``` and ```ParentBehaviourNode``` classes and inherit them. 107 | 108 | ## Boards (aka Blackboards) 109 | 110 | These objects are shared between every node of your tree. They allow you to share information and calculation between the different nodes and they help keep the nodes stateless. 111 | 112 | To define a board, write a class like this: 113 | 114 | ```C# 115 | public class YourBoard : BehaviourTreeBoard { 116 | 117 | public int someDataToShare; 118 | } 119 | ``` 120 | 121 | To create and use it, write: 122 | 123 | ```C# 124 | // Inside your node 125 | var board = ctx.GetBoard(); 126 | 127 | board.someDataToShare++; 128 | ``` 129 | 130 | The 'GetBoard' function will create the board if it doesn't exist yet. 131 | 132 | ## Nodes 133 | 134 | The main nodes provided with this library: 135 | 136 | *ComplexSequenceNode* 137 | 138 | This is the type of node you'll use the most, it allows you to specify a 'dynamic' list of child nodes. If one of the child returns a FAILURE, the node returns a FAILURE. Otherwise it returns a SUCCESS. 139 | 140 | ```C# 141 | public class SomeNode : ComplexSequenceNode { 142 | 143 | public override IEnumerable> GetChilds() { 144 | 145 | yield return new WaitNode(1); 146 | 147 | // A second has passed 148 | 149 | // We can call a function on the agent 150 | ctx.agent.FireWeapon(); 151 | 152 | // The weapon was fired 153 | // We can write some decision code here 154 | if (ctx.agent.IsInDanger) { 155 | // It's dangerous here, let's flee! 156 | yield return new FleeNode(); 157 | } else { 158 | // Coast is clear, keep moving 159 | yield return new AdvanceNode(); 160 | } 161 | } 162 | } 163 | ``` 164 | 165 | *SequenceNode* 166 | 167 | A classic sequence. Simply executes all of it's children (specified in the constructor). If one of them returns a FAILURE, it returns a FAILURE, otherwise it returns a SUCCESS once all children have returned. 168 | 169 | 170 | ```C# 171 | var sequence = new SequenceNode( 172 | new SomeNode(), 173 | new SomeOtherNode(), 174 | new SomeNode() 175 | ); 176 | 177 | ``` 178 | 179 | *SelectorNode* 180 | 181 | The ```SelectorNode``` is provided a list of nodes and a predicate for each node. On every frame, the selector will loop through all the nodes and pick the first one which has a predicate that returns true. It returns the same state as its selected child. 182 | 183 | ```C# 184 | var selector = new SelectorNode( 185 | new Selection(ctx => PickIfInDanger(), new WhenInDangerNode()), 186 | new Selection(ctx => PickIfSafe(), new WhenSafeNode()) 187 | ) 188 | ``` 189 | 190 | *InvertorNode* 191 | 192 | The ```InverterNode``` is given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and the opposite otherwise: if the child returns SUCCESS, it will return FAILURE and vice versa. 193 | 194 | *FailureNode* 195 | 196 | The ```FailureNode```is given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and FAILURE otherwise, regardless of if the child returns FAILURE or SUCCESS. 197 | 198 | *SuccessNode* 199 | 200 | The ```SuccessNode```is given a child node and returns the IN_PROGRESS if the child returns IN_PROGRESS and SUCCESS otherwise, regardless of if the child returns FAILURE or SUCCESS. 201 | 202 | *WaitNode* 203 | 204 | Pauses the AI for a certain duration. 205 | 206 | *WaitForever* 207 | 208 | Pauses the AI until this node is no longer activated (can be deactivated due to a selector change for example). 209 | 210 | *WaitUntil* 211 | 212 | Pauses until a provided condition is met. 213 | 214 | *WaitWhile* 215 | 216 | Pauses while a provided condition is met. 217 | --------------------------------------------------------------------------------