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Youtube video of my AI. Red line is path found by recast. White text is current behaviours running in behaviour tree. Here's what the BT looks like (yes it is C++) alive::Node* moveToEnemy(std::string type = "walk") { return alive::TreeBuilder() .execute<ActionMoveToEnemy>() .type(type) .end(); } alive::Node* resetToStart() { return alive::TreeBuilder() .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("resetToStart") .end() .execute<ActionAnimate>() .Speed(1) .Name("rifle_idle") .AnimType(PLAY_REPEAT) .end() .composite<alive::ParallelNode>() .execute<LookForward>() .Parallel(true) .end() .execute<ActionStopMove>() .end() .end() .end(); } alive::Node* gunAttack() { return alive::TreeBuilder() .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("gunAttack") .end() .execute<hasGun>() .Equals(true) .end() .execute<CanSeeEnemy>() .Equals(true) .Parallel(false) .end() .execute<ActionStopMove>() .end() .execute<ActionAnimate>() .Speed(1) .TranTime(1) .Name("rifle_idle") .AnimType(PLAY_REPEAT) .end() .composite<alive::ParallelNode>() .execute<CanSeeEnemy>() .Equals(true) .end() .execute<WithinFiringRange>() .Equals(true) .end() .execute<AimAtEnemy>() .end() .composite<alive::SequenceNode>() .decorator<alive::RepeatNode>() .composite<alive::SelectorNode>() .execute<NeedToAim>() .Equals(true) .end() .execute<FireAtEnemy>() .end() .execute<ActionTimer>() .time(0.01) .end() .end() .end() .end() .end() .end(); } alive::Node* moveToAttackPosition() { return alive::TreeBuilder() .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("moveToAttackPosition") .end() .execute<hasGun>() .Equals(true) .end() .add(resetToStart()).end() .composite<alive::ParallelNode>() .execute<IsSeenIdle>() .Equals(false) .end() .execute<WithinFiringRange>() .Equals(true) .end() .execute<hasGoodAimAtEnemy>() .Equals(false) .end() .add(moveToEnemy()).end() .end() .end(); } alive::Node* moveToWithinRifleRange() { return alive::TreeBuilder() .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("moveToWithinRifleRange") .end() .execute<hasGun>() .Equals(true) .end() .composite<alive::ParallelNode>() .execute<LookForward>() .Parallel(true) .end() .execute<IsSeenIdle>() .Equals(false) .end() .execute<WithinFiringRange>() .Equals(false) .end() .add(moveToEnemy()).end() .end() .end(); } alive::Node* hunt() { return alive::TreeBuilder() .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("hunt") .end() .composite<alive::ParallelNode>() .execute<LookForward>() .Parallel(true) .end() .execute<IsSeenIdle>() .Equals(false) .end() .execute<CanSeeEnemy>() .Equals(false) .end() .add(moveToEnemy()).end() .end() .end(); } void Crawler::init(Pedestrian* pPedestrian, Vision *pvision, ActorGun *pRifle) { // .decorator<alive::RepeatNode>() // .decorator<alive::ErrorHandlerNode>() alive::Node* behave = alive::TreeBuilder() .decorator<alive::RepeatNode>() .add(resetToStart()).end() .composite<alive::SelectorNode>() // Reset to default // Attack with gun .add(gunAttack()).end() // Move to a aim position .add(moveToAttackPosition()).end() // Move to attack (to melle or to get in firing range) .add(moveToWithinRifleRange()).end() // Hunt .add(hunt()).end() // Move to waypoint .composite<alive::ParallelNode>() .execute<CanSeeEnemy>() .Equals(false) .end() .composite<alive::SequenceNode>() .add(resetToStart()).end() .execute< CrawlerCompare<bool> >() .Variable(&Crawler::hasWaypoint) .Reference(true) .end() .execute<ActionMoveToWaypoint>() .end() .end() .end() // Idle .composite<alive::SequenceNode>() .execute<ActionCurrentMode>() .mode("idle") .end() .composite<alive::ParallelNode>() .execute<CanSeeEnemy>() .Equals(false) .end() .composite<alive::SequenceNode>() .add(resetToStart()).end() .execute<ActionAnimate>() .Speed(1) .Name("rifle_idle") .AnimType(PLAY_ONCE) .end() .end() .end() .end() .end() .end(); rifle = pRifle; pedestrian = pPedestrian; vision = pvision; // alive::InitializeWithBlackboard<Crawler> initialize(*this); alive::InitializeWithBlackboard<Crawler> *initialize = new alive::InitializeWithBlackboard<Crawler>(*this); m_Brain.registry.setAddObserver(*initialize); m_Brain.registry.setAddObserver(*new InitializeAction(*this)); //m_Brain.registry.setAddObserver(*new InitializeAction(*this)); m_Brain.add(*behave); } void Crawler::Update( float gameLoopTime ) { pedestrian->currentAction = pedestrian->currentMode + ","; m_Brain.tick(); pedestrian->Update( gameLoopTime ); } void Crawler::Render( float gameLoopTime) { pedestrian->Render( gameLoopTime ); vision->Render( pedestrian->scene->cam ); }