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main.cpp
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114 lines (93 loc) · 2.26 KB
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#include "behaviortree_cpp/bt_factory.h"
using namespace BT;
// clang-format off
static const char* xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<Sequence name="root">
<GameStart>
<AddBullet>
<Patrol>
<Attack>
<Retreat>
</Sequence>
</BehaviorTree>
</root>
)";
// clang-format on
class GameStart : public BT::SyncActionNode
{
public:
GameStart(const std::string& name, const BT::NodeConfig& config) :
BT::SyncActionNode(name, config)
{}
BT::NodeStatus tick() override
{
std::cout << "Game Start!" << std::endl;
return BT::NodeStatus::SUCCESS;
}
};
class AddBullet : public BT::SyncActionNode
{
public:
AddBullet(const std::string& name, const BT::NodeConfig& config) :
BT::SyncActionNode(name, config)
{}
BT::NodeStatus tick() override
{
// Add bullets
std::cout << "Add Bullet" << std::endl;
return BT::NodeStatus::SUCCESS;
}
};
class Patrol : public BT::SyncActionNode
{
public:
Patrol(const std::string& name, const BT::NodeConfig& config) :
BT::SyncActionNode(name, config)
{}
BT::NodeStatus tick() override
{
// Patrol
std::cout << "Patroling!" << std::endl;
return BT::NodeStatus::SUCCESS;
}
};
class Retreat : public BT::SyncActionNode
{
public:
Retreat(const std::string& name, const BT::NodeConfig& config) :
BT::SyncActionNode(name, config)
{}
BT::NodeStatus tick() override
{
// Retreat
std::cout << "Retreating!" << std::endl;
return BT::NodeStatus::SUCCESS;
}
};
class Attack : public BT::SyncActionNode
{
public:
Attack(const std::string& name, const BT::NodeConfig& config) :
BT::SyncActionNode(name, config)
{}
BT::NodeStatus tick() override
{
// Attack
std::cout << "Attacking!" << std::endl;
return BT::NodeStatus::SUCCESS;
}
};
int main()
{
BehaviorTreeFactory factory;
factory.registerNodeType<GameStart>("GameStart");
factory.registerNodeType<AddBullet>("AddBullet");
factory.registerNodeType<Patrol>("Patrol");
factory.registerNodeType<Retreat>("Retreat");
factory.registerNodeType<Attack>("Attack");
auto tree = factory.createTreeFromText(xml_text);
tree.tickWhileRunning();
return 0;
}