diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1d74e21
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.vscode/
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..bb0f543
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,15 @@
+// .vscode/settings.json
+{
+ "luau-lsp.platform.type": "roblox",
+
+ "luau-lsp.sourcemap.enabled": false,
+ "luau-lsp.sourcemap.autogenerate": false,
+
+ "luau-lsp.hover.strictDatamodelTypes": true,
+ "luau-lsp.diagnostics.strictDatamodelTypes": false,
+
+ // If your code lives under _Index (Wally), don’t ignore it:
+ "luau-lsp.ignoreGlobs": [],
+ "luau-lsp.plugin.enabled": true
+
+}
diff --git a/BehaviorTree3.lua b/BehaviorTree3.lua
deleted file mode 100644
index 43d1926..0000000
--- a/BehaviorTree3.lua
+++ /dev/null
@@ -1,747 +0,0 @@
---[[
- BEHAVIOR TREES V5
-
- Originally by iniich_n and tyridge77: https://devforum.roblox.com/t/behaviortree2-create-complex-behaviors-with-ease/451047
- Forked and improved by defaultio
-
- Improvements/changes:
- - Decorators will work as expected when parents of arbitrary nodes, instead of only Task nodes
- - Calling tree:run() will return the outcome of the tree (success [1], fail [2], running [3])
- - Added repeater node
- - can repeat infinitely with a "count" parameter of nil or <= 0
- - returns success when done repeating
- - returns fail if a "breakonfail" parameter is true and it receives a failed result from its child
- - Added tree node which will call another tree and return the result of the other tree
- - If a success/fail node is left hanging without a child, it will directly return success/fail
- - Improved ProcessNode organization and readability by adding the interateNodes() iterator and the addNode() function
- - Changed node runner from using string node states to using number enums, to avoid string comparisons. Should be slightly faster.
- - Changed tasks to report their status by returning a status number enum, instead of calling a success/fail/running function on self
- - Added some more assertions in ProcessNode
- - Added comments and documentation so it's a little easier to add new nodes
-
-
- Changes by tyridge77(November 23rd, 2020)
- - Added support for live debugging(only in studio)
- - Added support for blackboards
- - Added Tree:Abort(), used for switching between trees but still calling finish on the previously running task
-
-
- - Added new Leaf node, Blackboard Query
- - These are used to perform fast and simple comparisons on a specific key in a blackboard
- - For instance, if you wanted a sequence to execute only if the entity's "LowHealth" state was set to true, or if a world's "NightTime" state was set to true(Shared Blackboard)
- - You can do this with tasks , but it's a bit faster if you only need to perform a simple boolean or nil check
-
- - You can only read from a blackboard using this node. Behavior Trees aren't meant to be visual scripting - just a way to carry out plans
-
- - Parameters:
-
- - Board: string that defaults to Entity if no value is specified.
- - Entity will reference the object's blackboard passed into the tree via tree:Run(object)
- - If a value is given, say "WorldStates", it will attempt to grab the Shared Blackboard to use with the same name. You can register these via BehaviorTreeCreator:RegisterSharedBlackboard(name,table)
-
- - Key: the string index of the key you're trying to query(for instance, "LowHealth")
- - Type: string which specifies what kind of query you're trying to perform.
- - You can choose true,false,set,or unset to perform boolean/nil checks. Alternatively you can specify a string of your choice to perform a string comparison
-
- - Added new composite node, While
- - Only accepts two children, a condition(1st child), and an action(2nd child)
- - Repeats until either
- - condition returns fail, wherein the node itself returns fail
- - action returns success, wherein the node itself returns success
-
- - Used for processing stacks of items
- - Say you want an NPC to create a stack of nearby doors, then try to enter each door until there are no doors left to try, or the NPC got through a door.
- - If the NPC got through a door successfully, the node would return success. Otherwise, if there were no doors that were able to be entered, the node will return fail
- - Example pic: https://cdn.discordapp.com/attachments/711758878995513364/783523673704628294/unknown.png
-
-
- Changes by tyridge77(May 5th, 2022)
-
- -- Fixed critical issue where actors using the same tree borrowed the same running/paused state, effectively breaking all trees used by multiple actors(woops!)
- -- Added Metaprox's "External Task" fork, which allows you to use Rojo with BTrees
-
---]]
-
-
-local RunService = game:GetService("RunService")
-local CollectionService = game:GetService("CollectionService")
-local IsStudio = RunService:IsRunning() and RunService:IsStudio()
-
-local BehaviorTree = {}
-
-local SUCCESS,FAIL,RUNNING = 1,2,3
-
-
--- Used by the BehaviorTree Editor plugin
-local RunningTreesFolder
-if IsStudio then
- local cam = Instance.new("Camera",script)
- cam.Name = "NonReplicated"
- RunningTreesFolder = Instance.new("Folder",cam)
- RunningTreesFolder.Name = "RunningTrees(debug)"
- CollectionService:AddTag(RunningTreesFolder,"_btRunningTrees")
-end
---
-
--------- Blackboards --------
-
--- Blackboards are just tables for behavior trees that can be read from and written to
--- They can exist on a per-entity or a global/shared level.
--- Trees can read and write entity blackboards but only read from shared blackboards
--- Trees do this using the new Blackboard node
-
-BehaviorTree.SharedBlackboards = {} -- Dictionary for shared blackboards using the blackboard's string index as key
-
-local BLACKBOARD_QUERY_TYPE_TRUE, BLACKBOARD_QUERY_TYPE_FALSE, BLACKBOARD_QUERY_TYPE_NIL, BLACKBOARD_QUERY_TYPE_NOTNIL = 1,2,3,4
-
-
--------- TREE NODE PROCESSOR --------
-
--- Iterates through raw node tree and constructs an optimzied data structure that will be used for quick tree traversal at runtime
--- For each node, onsuccess and onfail values are set, which indicate the index of the next node that the runner hit after a success or failure
-
--- During processing algorithm, onsuccess and onfail will be each set to true or false, until it is set to an actual int index.
--- true indicates that a onsuccess or onfail should return success. false indicates that a onsuccess or onfail should return fail.
-
-
-local function ProcessNode(node, nodes)
-
- -- Iterate and process all children and descendant nodes, returning an iterator for each descendant node
- local function iterateNodes()
- local c, i = 0, 0
- local childNode
- local isFinalChildNode
- return function()
- i = i + 1
- if i == #nodes + 1 then
- childNode = nil
- end
- if not childNode then
- if isFinalChildNode then
- return nil
- end
- c = c + 1
- childNode = node.params.nodes[c]
- isFinalChildNode = c == #node.params.nodes
- i = #nodes + 1
- ProcessNode(childNode, nodes)
- end
- local node = nodes[i]
- return node, #nodes + 1, isFinalChildNode
- end
- end
-
- -- Add a new node to the final node table, returning the node and its index
- local function addNode(nodeType)
- local node = {type = nodeType}
- nodes[#nodes + 1] = node
- return node, #nodes
- end
-
-
- ------------------------------
- --------- LEAF NODES ---------
-
- if node.type == "task" then
- assert(node.params.run, "Can't process tree; task leaf node has no run func parameter")
-
- local taskNode = addNode("task")
- taskNode.start = node.params.start
- taskNode.run = node.params.run
- taskNode.finish = node.params.finish
- taskNode.onsuccess = true
- taskNode.onfail = false
- taskNode.nodefolder = node.params.nodefolder
-
- elseif node.type == "blackboard" then
-
- local bbnode = addNode("blackboard")
- bbnode.onsuccess = true
- bbnode.onfail = false
- bbnode.key = node.params.key
- bbnode.board = node.params.board
-
- local returntype = node.params.value:lower()
-
- local comparestring = false
-
- if returntype == "true" then
- bbnode.returntype = BLACKBOARD_QUERY_TYPE_TRUE
- elseif returntype == "false" then
- bbnode.returntype = BLACKBOARD_QUERY_TYPE_FALSE
- elseif returntype == "unset" or returntype == "nil" then
- bbnode.returntype = BLACKBOARD_QUERY_TYPE_NIL
- elseif returntype == "set" then
- bbnode.returntype = BLACKBOARD_QUERY_TYPE_NOTNIL
- else
- comparestring = true
- bbnode.returntype = node.params.value
- end
- bbnode.comparestring = comparestring
-
- elseif node.type == "tree" then
- assert(node.params.tree, "Can't process tree; tree leaf node has no linked tree object")
-
- local treeNode = addNode("tree")
- treeNode.tree = node.params.tree
- treeNode.onsuccess = true
- treeNode.onfail = false
- treeNode.nodefolder = node.params.nodefolder
-
-
- -----------------------------------
- --------- DECORATOR NODES ---------
-
- elseif node.type == "always_succeed" then
- assert(#node.params.nodes <= 1, "Can't process tree; succeed decorator with multiple children")
-
- if node.params.nodes[1] then
- -- All child node outcomes that return failure are switched to return success
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == false then
- node.onsuccess = true
- end
- if node.onfail == false then
- node.onfail = true
- end
- end
- else
- -- Hanging succeed node, always return success
- local succeed = addNode("succeed")
- succeed.onsuccess = true
- end
-
-
-
- elseif node.type == "always_fail" then
- assert(#node.params.nodes <= 1, "Can't process tree; fail decorator with multiple children")
-
- if node.params.nodes[1] then
- -- All child node outcomes that return success are switched to return failure
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == true then
- node.onsuccess = false
- end
- if node.onfail == true then
- node.onfail = false
- end
- end
- else
- -- Hanging fail node, always return fail
- local fail = addNode("fail")
- fail.onfail = false
- end
-
-
- elseif node.type == "invert" then
- assert(#node.params.nodes <= 1, "Can't process tree; invert decorator with multiple children")
- assert(#node.params.nodes == 1, "Can't process tree; hanging invert decorator")
-
- -- All child node outcomes are flipped
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == true then
- node.onsuccess = false
- elseif node.onsuccess == false then
- node.onsuccess = true
- end
- if node.onfail == false then
- node.onfail = true
- elseif node.onfail == true then
- node.onfail = false
- end
- end
-
-
- elseif node.type == "repeat" then
- assert(#node.params.nodes <= 1, "Can't process tree; repeat decorator with multiple children")
- assert(#node.params.nodes == 1, "Can't process tree; hanging repeat decorator")
-
- local repeatStartIndex = #nodes + 1
-
- -- It's not necessary to have a repeat node if it repeats indefinitely
- local repeatCount = node.params.count and node.params.count > 0 and node.params.count or nil
-
- if repeatCount and repeatCount > 0 then
- addNode("repeat-start")
-
- local repeatNode, repeatIndex = addNode("repeat")
- repeatNode.repeatGoal = repeatCount
- repeatNode.repeatCount = 0
- repeatNode.onsuccess = true
- repeatNode.onfail = false
-
- repeatStartIndex = repeatIndex
- end
-
- -- Direct all child node outcomes to this node. If break on fail, then leave fail outcomes as they are (fail outcome for breaking)
- local breakOnFail = node.params.breakonfail
-
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == true then
- node.onsuccess = repeatStartIndex
- elseif node.onsuccess == false and not breakOnFail then
- node.onsuccess = repeatStartIndex
- end
-
- if node.onfail == false and not breakOnFail then
- node.onfail = repeatStartIndex
- elseif node.onfail == true then
- node.onfail = repeatStartIndex
- end
- end
-
- elseif node.type == "while" then
- assert(#node.params.nodes == 2, "Can't process tree; while composite without 2 children")
-
- local conditionNode = node.params.nodes[1]
- local actionNode = node.params.nodes[2]
-
- local repeatStartIndex = #nodes + 1
-
- -- It's not necessary to have a repeat node if it repeats indefinitely
- local repeatCount = node.params.count and node.params.count > 0 and node.params.count or nil
-
- if repeatCount and repeatCount > 0 then
- -- repeat-start resets repeatCount of the following repeat
- local startNode, startIndex = addNode("repeat-start")
-
- local repeatNode, repeatIndex = addNode("repeat")
- repeatNode.repeatGoal = repeatCount
- repeatNode.repeatCount = 0
- repeatNode.onsuccess = false
- repeatNode.onfail = false
-
- repeatStartIndex = repeatIndex
- end
-
- --
-
- local conditionStartIndex = #nodes + 1
- ProcessNode(conditionNode, nodes)
-
- local actionStartIndex = #nodes + 1
- ProcessNode(actionNode, nodes)
-
- for index = conditionStartIndex, actionStartIndex - 1 do
- local node = nodes[index]
-
- if node.onsuccess == true then
- node.onsuccess = actionStartIndex
- end
-
- if node.onfail == true then
- node.onfail = actionStartIndex
- end
- end
-
- for index = actionStartIndex, #nodes do
- local node = nodes[index]
-
- if node.onsuccess == false then
- node.onsuccess = repeatStartIndex
- end
-
- if node.onfail == false then
- node.onfail = repeatStartIndex
- end
- end
-
-
- -----------------------------------
- --------- COMPOSITE NODES ---------
-
-
- elseif node.type == "sequence" then
- assert(#node.params.nodes >= 1, "Can't process tree; sequence composite node has no children")
-
- -- All successful child node outcomes will return the next node, or success if it is the last node
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == true then
- node.onsuccess = not isFinal and nextNode or true
- end
- if node.onfail == true then
- node.onfail = not isFinal and nextNode or true
- end
- end
-
-
- elseif node.type == "selector" then
- assert(#node.params.nodes >= 1, "Can't process tree; selector composite node has no children")
-
- -- All fail child node outcome will return the next node, or fail if it is the last node
- for node, nextNode, isFinal in iterateNodes() do
- if node.onsuccess == false then
- node.onsuccess = not isFinal and nextNode or false
- end
- if node.onfail == false then
- node.onfail = not isFinal and nextNode or false
- end
- end
-
-
- elseif node.type == "random" then
- assert(#node.params.nodes >= 1, "Can't process tree; random composite node has no children")
-
- local randomNode = addNode("random")
- randomNode.indices = {}
- for _,childNode in pairs(node.params.nodes) do
- if childNode.weight then
- local base = #randomNode.indices
- local index = #nodes + 1
- for i = 1, childNode.weight do
- randomNode.indices[base + i] = index
- end
- else
- randomNode.indices[#randomNode.indices + 1] = #nodes + 1
- end
- ProcessNode(childNode, nodes)
- end
-
-
- -----------------------------
- --------- ROOT NODE ---------
-
- elseif node.type == "root" then
- assert(#nodes == 0, "Can't process tree; root node found at nonroot location")
-
- ProcessNode(node.tree, nodes)
-
- for i = 1, #nodes do
- local node = nodes[i]
- -- Set success outcomes next index to #nodes + 1 to indicate success
- -- Set fail outcomes next index to #nodes + 2 to indicate failure
- if node.onsuccess == true then
- node.onsuccess = #nodes + 1
- elseif node.onsuccess == false then
- node.onsuccess = #nodes + 2
- end
- if node.onfail == true then
- node.onfail = #nodes + 1
- elseif node.onfail == false then
- node.onfail = #nodes + 2
- end
- end
-
-
- else
- error("ProcessNode: bad node.type " .. tostring(node.type))
- end
-end
-
-
-local TreeProto = {}
-
-
--------- TREE ABORT --------
-
--- Calls finish() on the running task of the tree, and sets the tree index back to 1
--- Should be used if you want to cancel out of a tree to swap to another(for instance in the case of a state change)
-
-function TreeProto:abort(obj,...)
- assert(typeof(obj) == "table","The first argument of a behavior tree's abort method must be a table!")
- local nodes = self.nodes
- local data = self.DataLookup[obj]
-
- if not data then
- return
- end
-
- local index = data.index
-
- local node = nodes[index]
- if node.type == "task" then
- if node.finish then
- node.finish(obj,FAIL,...)
- end
- end
- data.index = 1
-end
-
-
--------- TREE RUNNER --------
-
--- Traverses across the processed node tree produced by ProcessNode
-
--- For each node, calculates success, fail, or running
--- If running, pause the runner and immediately break out of the runner, returning a running state.
--- If success or fail, gets the next node we should move to using node.onsuccess or node.onfail
-
--- When the final node is processed, its onsuccess/onfail index will point outside of the scope of nodes, causing the loop to break
--- onsuccess final nodes will point to #nodes + 1, which indicates a tree outcome of success
--- onfail final nodes will point to #nodes + 2, which indicates a tree outcome of fail
-
-
-function TreeProto:run(obj,...)
- assert(typeof(obj) == "table","The first argument of a behavior tree's run method must be a table!")
-
-
- -- Editor debugging
- local DebugEntityNode
- if IsStudio and self.folder then
- local treeName = self.folder.Name
- local objName = tostring(obj)
- local entities = RunningTreesFolder:FindFirstChild(treeName)
- if not entities then
- entities = Instance.new("Folder")
- entities.Name = treeName
- entities.Parent = RunningTreesFolder
- end
- local entity = entities:FindFirstChild(objName)
- if not entity then
- entity = Instance.new("Folder")
- entity.Name = objName
-
- local nodefolder = Instance.new("ObjectValue",entity)
- nodefolder.Name = "Node"
-
- local treefolder = Instance.new("ObjectValue",entity)
- treefolder.Name = "TreeFolder"
- treefolder.Value = self.folder
-
- local displayName = obj.name or obj.Name
- if displayName and typeof(displayName) ~= "string" then
- displayName = nil
- end
- if not displayName then
- for i,v in pairs(obj) do
- if typeof(v) == "Instance" then
- displayName = v.Name
- end
- end
- end
- if displayName then
- local name = Instance.new("StringValue",entity)
- name.Name = "Name"
- name.Value = displayName
- end
- entity.Parent = entities
- end
- DebugEntityNode = entity.Node
- end
- --
-
-
- local nodes = self.nodes
-
- --[[ Get data for this object or create new ]]
- local data = self.DataLookup[obj]
- if not data then
- data = {index = 1}
- self.DataLookup[obj] = data
- end
- --
-
- if data.running then
- -- warn(debug.traceback("Tried to run BehaviorTree while it was already running"))
- return
- end
-
- -- Get entity blackboard
- local blackboard = obj.Blackboard
- if not blackboard then
- blackboard = {}
- obj.Blackboard = blackboard
- end
-
- if not obj.SharedBlackboards then
- obj.SharedBlackboards = BehaviorTree.SharedBlackboards
- end
- --
-
- local nodeCount = #nodes
-
- local didResume = data.paused
- data.paused = false
- data.running = true
-
- -- Loop over all nodes until complete or a task node returns RUNNING
- while data.index <= nodeCount do
- local node = nodes[data.index]
-
- -- Debug
- if IsStudio then
- DebugEntityNode.Value = node.nodefolder
- end
- --
-
- ------------------------------
- --------- LEAF NODES ---------
-
- if node.type == "task" then
- if didResume then
- didResume = false
- elseif node.start then
- node.start(obj,...)
- end
-
- local status = node.run(obj,...)
- if status == nil then
- warn("node.run did not call success, running or fail, acting as fail")
- status = FAIL
- end
-
- if status == RUNNING then
- data.paused = true
- break
- elseif status == SUCCESS then
- if node.finish then
- node.finish(obj,status, ...)
- end
- data.index = node.onsuccess
- elseif status == FAIL then
- if node.finish then
- node.finish(obj,status, ...)
- end
- data.index = node.onfail
- else
- error("bad node.status")
- end
-
- elseif node.type == "blackboard" then
- local result = false
- local board
-
- if node.board == "Entity" then
- board = blackboard
- else
- local shared_board = BehaviorTree.SharedBlackboards[node.board]
- if not shared_board then
- warn(string.format("Shared Blackboard %s is not registered, acting as fail"), node.board)
- end
- board = shared_board
- end
-
- if board then
- local val = board[node.key]
- local str = tostring(val)
- if node.comparestring then
- result = str and str == node.returntype
- else
- if node.returntype == BLACKBOARD_QUERY_TYPE_TRUE then
- result = val == true
- elseif node.returntype == BLACKBOARD_QUERY_TYPE_FALSE then
- result = val == false
- elseif node.returntype == BLACKBOARD_QUERY_TYPE_NIL then
- result = val == nil
- elseif node.returntype == BLACKBOARD_QUERY_TYPE_NOTNIL then
- result = val ~= nil
- end
- end
- end
-
- data.index = result == true and node.onsuccess or node.onfail
-
- elseif node.type == "tree" then
- local treeResult = node.tree:run(obj,...)
-
- if treeResult == RUNNING then
- data.paused = true
- break
- elseif treeResult == SUCCESS then
- data.index = node.onsuccess
- elseif treeResult == FAIL then
- data.index = node.onfail
- else
- error("bad tree result")
- end
-
-
- -----------------------------------
- --------- COMPOSITE NODES ---------
-
- elseif node.type == "random" then
- data.index = node.indices[math.random(1, #node.indices)]
-
-
- -----------------------------------
- --------- DECORATOR NODES ---------
-
- elseif node.type == "repeat-start" then
- data.index = data.index + 1
-
- local repeatNode = nodes[data.index]
- repeatNode.repeatCount = 0
-
-
- elseif node.type == "repeat" then
- node.repeatCount = node.repeatCount + 1
-
- if node.repeatCount > node.repeatGoal then
- data.index = node.onsuccess
- else
- data.index = data.index + 1
- end
-
-
- elseif node.type == "succeed" then -- Hanging succeed node (technically a leaf)
- data.index = node.onsuccess
- elseif node.type == "fail" then -- Hanging fail node (technically a leaf)
- data.index = node.onfail
- else
- error("bad node.type")
- end
- end
-
-
- -- Get tree outcome from the break index outcome
- -- +1 indicates success; +2 indicates fail
- -- If index is <= node count, then tree must be running
- local treeOutcome
- if data.index == nodeCount + 1 then
- treeOutcome = SUCCESS
- elseif data.index == nodeCount + 2 then
- treeOutcome = FAIL
- else
- treeOutcome = RUNNING
- end
-
- data.index = data.index <= nodeCount and data.index or 1
- data.running = false
-
- return treeOutcome
-end
-
-TreeProto.Run = TreeProto.run
-TreeProto.Abort = TreeProto.abort
-
-------- TREE CONSTRUCTOR -------
-
-function BehaviorTree:new(params)
- local tree = params.tree
- local nodes = {}
- local DataLookup = {}
-
- ProcessNode({type = "root", tree = tree, params = {}}, nodes)
-
- return setmetatable({
- nodes = nodes,
- DataLookup = DataLookup,
- folder = params.treeFolder,
- }, { __index = TreeProto })
-end
-
-
-
-------- NODE CONSTRUCTORS -------
-
--- Composites
-BehaviorTree.Sequence = function(params) return {type = "sequence", params = params} end
-BehaviorTree.Selector = function(params) return {type = "selector", params = params} end
-BehaviorTree.Random = function(params) return {type = "random", params = params} end
-BehaviorTree.While = function(params) return {type = "while", params = params} end
-
--- Decorators
-BehaviorTree.Succeed = function(params) return {type = "always_succeed", params = params} end
-BehaviorTree.Fail = function(params) return {type = "always_fail", params = params} end
-BehaviorTree.Invert = function(params) return {type = "invert", params = params} end
-BehaviorTree.Repeat = function(params) return {type = "repeat", params = params} end
-
-
--- Leafs
-BehaviorTree.Task = function(params) return {type = "task", params = params} end
-BehaviorTree["External Task"] = function(params) return {type = "task", params = params} end
-BehaviorTree.Tree = function(params) return {type = "tree", params = params} end
-BehaviorTree["Blackboard Query"] = function(params) return {type = "blackboard", params = params} end
-
-
-return BehaviorTree
diff --git a/LICENSE b/LICENSE
deleted file mode 100644
index f288702..0000000
--- a/LICENSE
+++ /dev/null
@@ -1,674 +0,0 @@
- GNU GENERAL PUBLIC LICENSE
- Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc.
- Everyone is permitted to copy and distribute verbatim copies
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- How to Apply These Terms to Your New Programs
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-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
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- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
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- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
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- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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- along with this program. If not, see .
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-
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-notice like this when it starts in an interactive mode:
-
- Copyright (C)
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-.
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-may consider it more useful to permit linking proprietary applications with
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-.
diff --git a/behavior-tree/BehaviorTree5.luau b/behavior-tree/BehaviorTree5.luau
new file mode 100644
index 0000000..6d31936
--- /dev/null
+++ b/behavior-tree/BehaviorTree5.luau
@@ -0,0 +1,727 @@
+--[[
+ Behavior Trees V5 — Reverse-Preorder Abort Lists (Simple & Explicit)
+
+ Originally by iniich_n and tyridge77: https://devforum.roblox.com/t/behaviortree2-create-complex-behaviors-with-ease/451047
+ Working off of Forked and improved version by defaultio
+
+ What my fork adds:
+ * After flattening, we do a tiny pass that builds two sets per node:
+ node.on_success_abort = { [leafIndex]=true, ... } -- all leaves skipped if THIS node succeeds
+ node.on_fail_abort = { [leafIndex]=true, ... } -- all leaves skipped if THIS node fails
+ A "leaf" is a task or a child tree.
+ Skipped = the strict interval (i+1 .. jump-1) in the pre-order array.
+
+ * At runtime, when a node returns SUCCESS/FAIL:
+ if prevRunningLeafIndex is in node.on_success_abort / node.on_fail_abort → finish-only cancel it.
+
+ * IMPORTANT: Execution from the tree starts from the root every time you have a call to :run()
+ This differs from previous implemention
+
+ Notes:
+ * Decorators (Invert/Succeed/Fail) already rewired jumps during build, so this automatically
+ respects their behavior. No special-casing needed.
+ * We never reset indices on abort; we only call finish on the currently running leaf.
+
+ Future:
+ * Going to add more types of nodes:
+ - Parralel composite nodes
+ - Priority composite nodes
+ - Expect composite (like parallel, but waits for all children to succeed before succeeding itself)
+ - Timeout nodes
+ - Revert nodes (revert to previous state)
+ - More decorators for ease of use
+
+ Status enums:
+ SUCCESS = 1, FAIL = 2, RUNNING = 3, ABORT = 4
+]]
+
+local RunService = game:GetService("RunService")
+local CollectionService = game:GetService("CollectionService")
+local IsStudio = RunService:IsRunning() and RunService:IsStudio()
+
+local BehaviorTree = {}
+local SUCCESS, FAIL, RUNNING, ABORT = 1, 2, 3, 4
+
+-- Debug support for studio plugin (optional)
+local RunningTreesFolder
+if IsStudio then
+ local cam = Instance.new("Camera", script)
+ cam.Name = "NonReplicated"
+ RunningTreesFolder = Instance.new("Folder", cam)
+ RunningTreesFolder.Name = "RunningTrees(debug)"
+ CollectionService:AddTag(RunningTreesFolder, "_btRunningTrees")
+end
+
+-------- Blackboards --------
+
+BehaviorTree.SharedBlackboards = {} -- name -> table
+
+local BLACKBOARD_QUERY_TYPE_TRUE, BLACKBOARD_QUERY_TYPE_FALSE, BLACKBOARD_QUERY_TYPE_NIL, BLACKBOARD_QUERY_TYPE_NOTNIL =
+ 1, 2, 3, 4
+
+-------- Build helpers --------
+
+local function addNode(nodes, nodeType)
+ local n = { type = nodeType }
+ -- preemption sets (built later)
+ n.on_success_abort = nil
+ n.on_fail_abort = nil
+ nodes[#nodes + 1] = n
+ return n, #nodes
+end
+
+local function ProcessNode(node, nodes)
+ ------------------------------
+ ----------- LEAVES -----------
+ if node.type == "task" then
+ assert(node.params.run, "Task leaf node has no run func")
+ local t = addNode(nodes, "task")
+ t.start = node.params.start
+ t.run = node.params.run
+ t.finish = node.params.finish
+ t.onsuccess = true
+ t.onfail = false
+ t.nodefolder = node.params.nodefolder
+ return
+ elseif node.type == "blackboard" then
+ local b = addNode(nodes, "blackboard")
+ b.onsuccess = true
+ b.onfail = false
+ b.key = node.params.key
+ b.board = node.params.board
+ local v = node.params.value:lower()
+ local comparestring = false
+ if v == "true" then
+ b.returntype = BLACKBOARD_QUERY_TYPE_TRUE
+ elseif v == "false" then
+ b.returntype = BLACKBOARD_QUERY_TYPE_FALSE
+ elseif v == "unset" or v == "nil" then
+ b.returntype = BLACKBOARD_QUERY_TYPE_NIL
+ elseif v == "set" then
+ b.returntype = BLACKBOARD_QUERY_TYPE_NOTNIL
+ else
+ comparestring = true
+ b.returntype = node.params.value
+ end
+ b.comparestring = comparestring
+ return
+ elseif node.type == "tree" then
+ assert(node.params.tree, "Tree leaf node has no linked tree object")
+ local tr = addNode(nodes, "tree")
+ tr.tree = node.params.tree
+ tr.onsuccess = true
+ tr.onfail = false
+ tr.nodefolder = node.params.nodefolder
+ return
+ end
+
+ -----------------------------------
+ ----------- DECORATORS ------------
+ if node.type == "always_succeed" then
+ assert(#node.params.nodes <= 1, "succeed decorator with multiple children")
+ if node.params.nodes[1] then
+ local before = #nodes + 1
+ ProcessNode(node.params.nodes[1], nodes)
+ for i = before, #nodes do
+ local n = nodes[i]
+ if n.onsuccess == false then
+ n.onsuccess = true
+ end
+ if n.onfail == false then
+ n.onfail = true
+ end
+ end
+ else
+ local s = addNode(nodes, "succeed")
+ s.onsuccess = true
+ end
+ return
+ elseif node.type == "always_fail" then
+ assert(#node.params.nodes <= 1, "fail decorator with multiple children")
+ if node.params.nodes[1] then
+ local before = #nodes + 1
+ ProcessNode(node.params.nodes[1], nodes)
+ for i = before, #nodes do
+ local n = nodes[i]
+ if n.onsuccess == true then
+ n.onsuccess = false
+ end
+ if n.onfail == true then
+ n.onfail = false
+ end
+ end
+ else
+ local f = addNode(nodes, "fail")
+ f.onfail = false
+ end
+ return
+ elseif node.type == "invert" then
+ assert(#node.params.nodes == 1, "invert decorator needs exactly 1 child")
+ local before = #nodes + 1
+ ProcessNode(node.params.nodes[1], nodes)
+ for i = before, #nodes do
+ local n = nodes[i]
+ if n.onsuccess == true then
+ n.onsuccess = false
+ elseif n.onsuccess == false then
+ n.onsuccess = true
+ end
+ if n.onfail == false then
+ n.onfail = true
+ elseif n.onfail == true then
+ n.onfail = false
+ end
+ end
+ return
+ elseif node.type == "repeat" then
+ assert(#node.params.nodes == 1, "repeat decorator needs exactly 1 child")
+ local repeatStartIndex = #nodes + 1
+ local repeatCount = node.params.count and node.params.count > 0 and node.params.count or nil
+
+ local rep = nil
+ if repeatCount and repeatCount > 0 then
+ rep = addNode(nodes, "repeat")
+ rep.repeatGoal = repeatCount
+ rep.repeatCount = 0
+ rep.onsuccess = true
+ rep.onfail = false
+
+ repeatStartIndex = #nodes
+ end
+ local childBefore = #nodes + 1
+ ProcessNode(node.params.nodes[1], nodes)
+
+ local repEnd = addNode(nodes, "repeat-end")
+ repEnd.repIndex = repeatStartIndex
+ repEnd.onsuccess = true
+ repEnd.onfail = false
+
+ if rep then
+ rep.onsuccess = #nodes
+ rep.onfail = #nodes
+ end
+
+ local breakOnFail = node.params.breakonfail
+ for i = childBefore, #nodes - 1 do
+ local n = nodes[i]
+ if (n.onsuccess == true) or (n.onsuccess == false and not breakOnFail) then
+ n.onsuccess = repeatStartIndex
+ else
+ n.onsuccess = #nodes
+ end
+ if (n.onfail == false and not breakOnFail) or (n.onfail == true) then
+ n.onfail = repeatStartIndex
+ else
+ n.onfail = #nodes
+ end
+ end
+ return
+ end
+
+ -----------------------------------
+ ------------ COMPOSITES -----------
+ if node.type == "while" then
+ assert(#node.params.nodes == 2, "while needs 2 children")
+ local cond = node.params.nodes[1]
+ local act = node.params.nodes[2]
+ local repeatStartIndex = #nodes + 1
+ local repeatCount = node.params.count and node.params.count > 0 and node.params.count or nil
+
+ local rep = nil
+ if repeatCount and repeatCount > 0 then
+ local rep = addNode(nodes, "repeat")
+ rep.repeatGoal = repeatCount
+ rep.repeatCount = 0
+ rep.onsuccess = false
+ rep.onfail = false
+ rep.startIndex = #nodes
+
+ repeatStartIndex = #nodes
+ end
+ local condS = #nodes + 1
+ ProcessNode(cond, nodes)
+ local actS = #nodes + 1
+ ProcessNode(act, nodes)
+
+ for i = condS, actS - 1 do
+ local n = nodes[i]
+ if n.onsuccess == true then
+ n.onsuccess = actS
+ end
+ if n.onfail == true then
+ n.onfail = actS
+ end
+ end
+ for i = actS, #nodes do
+ local n = nodes[i]
+ if n.onsuccess == false then
+ n.onsuccess = repeatStartIndex
+ end
+ if n.onfail == false then
+ n.onfail = repeatStartIndex
+ end
+ end
+ return
+ elseif node.type == "sequence" then
+ assert(#node.params.nodes >= 1, "sequence has no children")
+ local ranges = {}
+ for i, child in ipairs(node.params.nodes) do
+ local s = #nodes + 1
+ ProcessNode(child, nodes)
+ local e = #nodes
+ ranges[i] = { s = s, e = e }
+ end
+ for i, r in ipairs(ranges) do
+ local nextStart = (i < #ranges) and ranges[i + 1].s or nil
+ for idx = r.s, r.e do
+ local n = nodes[idx]
+ if n.onsuccess == true then
+ n.onsuccess = nextStart or true
+ end
+ if n.onfail == true then
+ n.onfail = nextStart or true
+ end
+ end
+ end
+ return
+ elseif node.type == "selector" then
+ assert(#node.params.nodes >= 1, "selector has no children")
+ local ranges = {}
+ for i, child in ipairs(node.params.nodes) do
+ local s = #nodes + 1
+ ProcessNode(child, nodes)
+ local e = #nodes
+ ranges[i] = { s = s, e = e }
+ end
+ for i, r in ipairs(ranges) do
+ local nextStart = (i < #ranges) and ranges[i + 1].s or nil
+ for idx = r.s, r.e do
+ local n = nodes[idx]
+ if n.onsuccess == false then
+ n.onsuccess = nextStart or false
+ end
+ if n.onfail == false then
+ n.onfail = nextStart or false
+ end
+ end
+ end
+ return
+ elseif node.type == "random" then
+ assert(#node.params.nodes >= 1, "random has no children")
+ local rnd = addNode(nodes, "random")
+ rnd.indices = {}
+ for _, child in ipairs(node.params.nodes) do
+ local index = #nodes + 1
+ if child.weight then
+ local base = #rnd.indices
+ for i = 1, child.weight do
+ rnd.indices[base + i] = index
+ end
+ else
+ rnd.indices[#rnd.indices + 1] = index
+ end
+ ProcessNode(child, nodes)
+ end
+ return
+ end
+
+ -----------------------------
+ ------------- ROOT ----------
+ if node.type == "root" then
+ assert(#nodes == 0, "root at nonroot location")
+ ProcessNode(node.tree, nodes)
+ -- convert booleans to terminal indices
+ for i = 1, #nodes do
+ local n = nodes[i]
+ if n.onsuccess == true then
+ n.onsuccess = #nodes + 1
+ elseif n.onsuccess == false then
+ n.onsuccess = #nodes + 2
+ end
+ if n.onfail == true then
+ n.onfail = #nodes + 1
+ elseif n.onfail == false then
+ n.onfail = #nodes + 2
+ end
+ end
+ return
+ end
+
+ error("ProcessNode: bad node.type " .. tostring(node.type))
+end
+
+-------- Build abort lists (reverse-preorder intervals) --------
+
+local function isLeaf(n)
+ return n.type == "task" or n.type == "tree"
+end
+
+local function buildAbortLists(nodes)
+ local N = #nodes
+ for i = 1, N do
+ local ni = nodes[i]
+
+ -- SUCCESS: nodes strictly between i and onsuccess are skipped
+ do
+ local jump = ni.onsuccess
+ -- Treat terminals as end of array (no interval beyond)
+ if jump == N + 1 or jump == N + 2 then
+ jump = N + 1
+ end
+ if type(jump) == "number" and jump > i + 1 then
+ local set = nil
+ for j = i + 1, jump - 1 do
+ if isLeaf(nodes[j]) then
+ set = set or {}
+ set[j] = true
+ end
+ end
+ if set then
+ ni.on_success_abort = set
+ end
+ end
+ end
+
+ -- FAIL: nodes strictly between i and onfail are skipped
+ do
+ local jump = ni.onfail
+ if jump == N + 1 or jump == N + 2 then
+ jump = N + 1
+ end
+ if type(jump) == "number" and jump > i + 1 then
+ local set = nil
+ for j = i + 1, jump - 1 do
+ if isLeaf(nodes[j]) then
+ set = set or {}
+ set[j] = true
+ end
+ end
+ if set then
+ ni.on_fail_abort = set
+ end
+ end
+ end
+ end
+end
+
+-------- Runtime proto --------
+
+local TreeProto = {}
+
+-- finish-only cancel; do NOT reset indices/cursors
+function TreeProto:_cancelRunning(obj, status, index, ...)
+ local data = self.DataLookup[obj]
+ if not data then
+ return
+ end
+ local idx = index or data.index
+ if not idx then
+ return
+ end
+ local node = self.nodes[idx]
+ if not node then
+ return
+ end
+ if node.type == "task" then
+ if node.finish then
+ node.finish(obj, status or FAIL, ...)
+ end
+ elseif node.type == "tree" then
+ node.tree:_cancelRunning(obj, status or ABORT, nil, ...)
+ end
+
+ local onsuccess = self.nodes[node.onsuccess]
+ local onfail = self.nodes[node.onfail]
+
+ if onsuccess and onsuccess.type and onsuccess.type == "repeat" then
+ onsuccess.repeatCount = 0
+ end
+
+ if onsuccess.type == "repeat-end" then
+ -- This is the case of node failure during a break on fail in repeat
+ self.nodes[onsuccess.repIndex].repeatCount = 0
+ end
+
+ if onfail and onfail.type and onfail.type == "repeat" then
+ onfail.repeatCount = 0
+ end
+
+ if onfail.type == "repeat-end" then
+ -- This is the case of node failure during a break on fail in repeat
+ self.nodes[onfail.repIndex].repeatCount = 0
+ end
+end
+
+function TreeProto:abort(obj, index, status, ...)
+ self:_cancelRunning(obj, status or ABORT, index, ...)
+end
+
+local function set_contains(set, idx)
+ return set and set[idx] == true
+end
+
+function TreeProto:run(obj, ...)
+ assert(typeof(obj) == "table", "The first argument of a behavior tree's run method must be a table!")
+
+ -- Debug hookup
+ local DebugEntityNode
+ if IsStudio and self.folder then
+ local treeName = self.folder.Name
+ local objName = tostring(obj)
+ local entities = RunningTreesFolder:FindFirstChild(treeName)
+ if not entities then
+ entities = Instance.new("Folder")
+ entities.Name = treeName
+ entities.Parent = RunningTreesFolder
+ end
+ local entity = entities:FindFirstChild(objName)
+ if not entity then
+ entity = Instance.new("Folder")
+ entity.Name = objName
+
+ local nodefolder = Instance.new("ObjectValue", entity)
+ nodefolder.Name = "Node"
+ local treefolder = Instance.new("ObjectValue", entity)
+ treefolder.Name = "TreeFolder"
+ treefolder.Value = self.folder
+
+ local displayName = obj.name or obj.Name
+ if displayName and typeof(displayName) ~= "string" then
+ displayName = nil
+ end
+ if not displayName then
+ for _, v in pairs(obj) do
+ if typeof(v) == "Instance" then
+ displayName = v.Name
+ end
+ end
+ end
+ if displayName then
+ local name = Instance.new("StringValue", entity)
+ name.Name = "Name"
+ name.Value = displayName
+ end
+ entity.Parent = entities
+ end
+ DebugEntityNode = entity.Node
+ end
+
+ local nodes = self.nodes
+
+ -- Per-entity state
+ local data = self.DataLookup[obj]
+ if not data then
+ data = { index = 1, paused = false, running = false }
+ self.DataLookup[obj] = data
+ end
+
+ -- Blackboards
+ local blackboard = obj.Blackboard
+ if not blackboard then
+ blackboard = {}
+ obj.Blackboard = blackboard
+ end
+ if not obj.SharedBlackboards then
+ obj.SharedBlackboards = BehaviorTree.SharedBlackboards
+ end
+
+ local N = #nodes
+ local isResume = data.paused
+ data.paused = false
+ data.running = true
+
+ local prevRunningIndex = isResume and data.index or nil
+ data.index = 1
+
+ local lastNodeIndex = data.index
+ while data.index <= N do
+ local currentNodeIndex = data.index
+
+ local node = nodes[data.index]
+ if IsStudio then
+ DebugEntityNode.Value = node.nodefolder
+ end
+
+ if node.type == "task" then
+ if not isResume and node.start then
+ node.start(obj, ...)
+ end
+
+ local status = node.run(obj, ...)
+ if status == nil then
+ warn("node.run did not return a status; treating as FAIL")
+ status = FAIL
+ end
+
+ if status == RUNNING then
+ data.paused = true
+ break
+ else
+ -- Reverse-preorder abort check using fixed sets
+ if prevRunningIndex then
+ if status == SUCCESS then
+ if set_contains(node.on_success_abort, prevRunningIndex) then
+ self:_cancelRunning(obj, FAIL, prevRunningIndex, "preempt")
+ end
+ else -- FAIL
+ if set_contains(node.on_fail_abort, prevRunningIndex) then
+ self:_cancelRunning(obj, FAIL, prevRunningIndex, "preempt")
+ end
+ end
+
+ if prevRunningIndex == data.index and isResume then
+ isResume = false -- set it to false since we finished resuming now
+ end
+ end
+
+ if node.finish then
+ node.finish(obj, status, ...)
+ end
+ data.index = (status == SUCCESS) and node.onsuccess or node.onfail
+ end
+ elseif node.type == "blackboard" then
+ local result = false
+ local board = (node.board == "Entity") and blackboard or BehaviorTree.SharedBlackboards[node.board]
+ if board then
+ local val = board[node.key]
+ if node.comparestring then
+ result = (tostring(val) ~= nil and tostring(val) == node.returntype)
+ else
+ if node.returntype == BLACKBOARD_QUERY_TYPE_TRUE then
+ result = (val == true)
+ elseif node.returntype == BLACKBOARD_QUERY_TYPE_FALSE then
+ result = (val == false)
+ elseif node.returntype == BLACKBOARD_QUERY_TYPE_NIL then
+ result = (val == nil)
+ elseif node.returntype == BLACKBOARD_QUERY_TYPE_NOTNIL then
+ result = (val ~= nil)
+ end
+ end
+ end
+ data.index = result and node.onsuccess or node.onfail
+ elseif node.type == "tree" then
+ local result = node.tree:run(obj, ...)
+ if result == RUNNING then
+ data.paused = true
+ break
+ else
+ if prevRunningIndex then
+ if result == SUCCESS then
+ if set_contains(node.on_success_abort, prevRunningIndex) then
+ self:_cancelRunning(obj, FAIL, prevRunningIndex, "preempt")
+ end
+ else -- FAIL
+ if set_contains(node.on_fail_abort, prevRunningIndex) then
+ self:_cancelRunning(obj, FAIL, prevRunningIndex, "preempt")
+ end
+ end
+ end
+ data.index = (result == SUCCESS) and node.onsuccess or node.onfail
+ end
+ elseif node.type == "random" then
+ data.index = node.indices[math.random(1, #node.indices)]
+ elseif node.type == "repeat" then
+ if data.index < lastNodeIndex then
+ -- we increment on any back-track.
+ node.repeatCount = node.repeatCount + 1
+ print(node.repeatCount)
+ end
+ if node.repeatCount >= node.repeatGoal then
+ node.repeatCount = 0
+ data.index = node.onsuccess
+ else
+ data.index = data.index + 1
+ end
+ elseif node.type == "repeat-end" then
+ nodes[node.repIndex].repeatCount = 0
+ data.index = data.index + 1
+ elseif node.type == "succeed" then
+ data.index = node.onsuccess
+ elseif node.type == "fail" then
+ data.index = node.onfail
+ else
+ error("bad node.type")
+ end
+
+ lastNodeIndex = currentNodeIndex
+ end
+
+ local outcome
+ if data.index == N + 1 then
+ outcome = SUCCESS
+ elseif data.index == N + 2 then
+ outcome = FAIL
+ else
+ outcome = RUNNING
+ end
+
+ if data.index > N then
+ data.index = 1
+ end
+ data.running = false
+ return outcome
+end
+
+TreeProto.Run = TreeProto.run
+TreeProto.Abort = TreeProto.abort
+
+-------- Constructor --------
+
+function BehaviorTree:new(params)
+ local nodes = {}
+ local DataLookup = {}
+ ProcessNode({ type = "root", tree = params.tree, params = {} }, nodes)
+ -- Build reverse-preorder abort lists (after booleans -> terminals)
+ buildAbortLists(nodes)
+ return setmetatable({
+ nodes = nodes,
+ DataLookup = DataLookup,
+ folder = params.treeFolder,
+ }, { __index = TreeProto })
+end
+
+-------- Node ctors --------
+
+-- Composites
+BehaviorTree.Sequence = function(p)
+ return { type = "sequence", params = p }
+end
+BehaviorTree.Selector = function(p)
+ return { type = "selector", params = p }
+end
+BehaviorTree.Random = function(p)
+ return { type = "random", params = p }
+end
+BehaviorTree.While = function(p)
+ return { type = "while", params = p }
+end
+
+-- Decorators
+BehaviorTree.Succeed = function(p)
+ return { type = "always_succeed", params = p }
+end
+BehaviorTree.Fail = function(p)
+ return { type = "always_fail", params = p }
+end
+BehaviorTree.Invert = function(p)
+ return { type = "invert", params = p }
+end
+BehaviorTree.Repeat = function(p)
+ return { type = "repeat", params = p }
+end
+
+-- Leafs
+BehaviorTree.Task = function(p)
+ return { type = "task", params = p }
+end
+BehaviorTree["External Task"] = function(p)
+ return { type = "task", params = p }
+end
+BehaviorTree.Tree = function(p)
+ return { type = "tree", params = p }
+end
+BehaviorTree["Blackboard Query"] = function(p)
+ return { type = "blackboard", params = p }
+end
+
+return BehaviorTree
diff --git a/BehaviorTreeCreator.lua b/behavior-tree/BehaviorTreeCreator.luau
similarity index 79%
rename from BehaviorTreeCreator.lua
rename to behavior-tree/BehaviorTreeCreator.luau
index c5861fa..fd88ec0 100644
--- a/BehaviorTreeCreator.lua
+++ b/behavior-tree/BehaviorTreeCreator.luau
@@ -20,7 +20,7 @@ local CollectionService = game:GetService("CollectionService")
local TREE_TAG = "_BTree"
local TreeCreator = {}
-local BehaviorTree3 = require(script.BehaviorTree5)
+local BehaviorTree3 = require(script.Parent and script.Parent:WaitForChild("BehaviorTree5"))
local Trees = {}
local SourceTasks = {}
@@ -37,17 +37,18 @@ function TreeCreator:Create(treeFolder)
if Tree then
return Tree
else
- warn("Couldn't get tree for ",treeFolder)
+ warn("Couldn't get tree for ", treeFolder)
end
end
-
-function TreeCreator:RegisterSharedBlackboard(index,tab)
- assert(index and tab and typeof(index) == "string" and typeof(tab) == "table","RegisterSharedBlackboard takes two arguments in the form of [string] index,[table] table")
+function TreeCreator:RegisterSharedBlackboard(index, tab)
+ assert(
+ index and tab and typeof(index) == "string" and typeof(tab) == "table",
+ "RegisterSharedBlackboard takes two arguments in the form of [string] index,[table] table"
+ )
BehaviorTree3.SharedBlackboards[index] = tab
end
-
---------------------------------------------
-------------- PRIVATE METHODS --------------
@@ -57,12 +58,11 @@ local function GetModule(ModuleScript)
return found
else
found = require(ModuleScript)
- SourceTasks[ModuleScript]=found
+ SourceTasks[ModuleScript] = found
return found
end
end
-
local function GetModuleScript(folder)
local found = folder:FindFirstChildWhichIsA("ModuleScript")
if found then
@@ -78,7 +78,6 @@ local function GetModuleScript(folder)
end
end
-
-- For task nodes, get module script from node folder
function TreeCreator:_getSourceTask(folder)
local ModuleScript = GetModuleScript(folder)
@@ -96,22 +95,21 @@ function TreeCreator:_getExternalSourceTask(folder)
end
end
-
function TreeCreator:_buildNode(folder)
local nodeType = folder.Type.Value
local weight = folder:FindFirstChild("Weight") and folder.Weight.Value or 1
- -- Get outputs, sorted in index order
+ -- Get outputs, sorted in index order
local Outputs = folder.Outputs:GetChildren()
local orderedChildren = {}
- for i = 1,#Outputs do
+ for i = 1, #Outputs do
local objvalue = Outputs[i]
- table.insert(orderedChildren,objvalue)
+ table.insert(orderedChildren, objvalue)
end
- table.sort(orderedChildren,function(a,b)
+ table.sort(orderedChildren, function(a, b)
return tonumber(a.Name) < tonumber(b.Name)
end)
- for i = 1,#orderedChildren do
+ for i = 1, #orderedChildren do
orderedChildren[i] = self:_buildNode(orderedChildren[i].Value)
end
@@ -140,34 +138,41 @@ function TreeCreator:_buildNode(folder)
parameters.finish = sourcetask.finish
elseif nodeType == "Tree" then
local tree = self:_getTreeFromId(parameters.treeid)
- assert(tree, string.format("could't build tree; couldn't get tree object for tree node with TreeID: %s!",tostring(parameters.treeid)))
+ assert(
+ tree,
+ string.format(
+ "could't build tree; couldn't get tree object for tree node with TreeID: %s!",
+ tostring(parameters.treeid)
+ )
+ )
parameters.tree = tree
end
-- Initialize node with BehaviorTree3
local node = BehaviorTree3[nodeType](parameters)
- node.weight=weight
+ node.weight = weight
return node
end
-
function TreeCreator:_createTree(treeFolder)
- print("Attempt create tree: ",treeFolder)
+ print("Attempt create tree: ", treeFolder)
local nodes = treeFolder.Nodes
local RootFolder = nodes:FindFirstChild("Root")
- assert(RootFolder, string.format("Could not find Root under BehaviorTrees.Trees.%s.Nodes!",treeFolder.Name))
- assert(#RootFolder.Outputs:GetChildren() == 1, string.format("The root node does not have exactly one connection for %s!",treeFolder.Name))
+ assert(RootFolder, string.format("Could not find Root under BehaviorTrees.Trees.%s.Nodes!", treeFolder.Name))
+ assert(
+ #RootFolder.Outputs:GetChildren() == 1,
+ string.format("The root node does not have exactly one connection for %s!", treeFolder.Name)
+ )
local firstNodeFolder = RootFolder.Outputs:GetChildren()[1].Value
local root = self:_buildNode(firstNodeFolder)
- local Tree = BehaviorTree3:new({tree=root,treeFolder = treeFolder})
+ local Tree = BehaviorTree3:new({ tree = root, treeFolder = treeFolder })
Trees[treeFolder] = Tree
TreeIDs[treeFolder.Name] = Tree
- return Tree
+ return Tree
end
-
function TreeCreator:_getTree(treeFolder)
return Trees[treeFolder] or self:_createTree(treeFolder)
end
@@ -175,7 +180,7 @@ end
function TreeCreator:_getTreeFromId(treeId)
local tree = TreeIDs[treeId]
if not tree then
- for i,folder in pairs(CollectionService:GetTagged(TREE_TAG)) do
+ for i, folder in pairs(CollectionService:GetTagged(TREE_TAG)) do
if folder.Name == treeId then
return self:_getTree(folder)
end
@@ -185,5 +190,4 @@ function TreeCreator:_getTreeFromId(treeId)
end
end
-
return TreeCreator
diff --git a/behavior-tree/init.lua b/behavior-tree/init.lua
new file mode 100644
index 0000000..b24630e
--- /dev/null
+++ b/behavior-tree/init.lua
@@ -0,0 +1,29 @@
+local TreeCreatorModule = require(script:WaitForChild("TreeCreator"))
+local BehaviorTreeModule = require(script:WaitForChild("BehaviorTree5"))
+
+-- ---------- Public types (what consumers can import) ----------
+export type Object = { [any]: any, Blackboard: {} }
+
+export type BehaviorTree = {
+ Run: (self: BehaviorTree, obj: Object, ...any) -> number,
+ Abort: (self: BehaviorTree, obj: Object, index: number?, status: number?, ...any) -> (),
+}
+
+export type TreeCreator = {
+ Create: (self: TreeCreator, treeFolder: Instance) -> BehaviorTree?,
+ RegisterSharedBlackboard: (self: TreeCreator, index: string, tab: { [any]: any }) -> (),
+}
+
+-- If the implementation modules already carry precise types,
+-- you can expose them with typeof instead:
+-- export type BehaviorTree = typeof(BehaviorTreeModule)
+-- export type TreeCreator = typeof(TreeCreatorModule)
+
+-- ---------- Runtime export (values) ----------
+local exports: { TreeCreator: TreeCreator, BehaviorTree: BehaviorTree } = {
+ -- cast to the public interfaces; keeps callers type-safe
+ TreeCreator = TreeCreatorModule :: any,
+ BehaviorTree = BehaviorTreeModule :: any,
+}
+
+return exports
diff --git a/default.project.json b/default.project.json
new file mode 100644
index 0000000..ccf3e05
--- /dev/null
+++ b/default.project.json
@@ -0,0 +1,6 @@
+{
+ "name": "behavior-tree",
+ "tree": {
+ "$path": "behavior-tree"
+ }
+}
\ No newline at end of file
diff --git a/rokit.toml b/rokit.toml
new file mode 100644
index 0000000..cc8a3b9
--- /dev/null
+++ b/rokit.toml
@@ -0,0 +1,9 @@
+# This file lists tools managed by Rokit, a toolchain manager for Roblox projects.
+# For more information, see https://github.com/rojo-rbx/rokit
+
+# New tools can be added by running `rokit add ` in a terminal.
+
+[tools]
+wally = "UpliftGames/wally@0.3.2"
+wally-package-types = "JohnnyMorganz/wally-package-types@1.6.2"
+selene = "Kampfkarren/selene@0.29.0"
diff --git a/selene.toml b/selene.toml
new file mode 100644
index 0000000..530e9a7
--- /dev/null
+++ b/selene.toml
@@ -0,0 +1,4 @@
+[selene]
+std = "roblox" # teach Selene about Roblox globals
+# optional:
+exclude = ["**/_Index/**"]
\ No newline at end of file
diff --git a/wally.toml b/wally.toml
new file mode 100644
index 0000000..df0a475
--- /dev/null
+++ b/wally.toml
@@ -0,0 +1,21 @@
+[package]
+name = "luffylol/behavior-tree"
+version = "0.1.4"
+description = "Fork of Behavior Trees 5 (adds pre-emption) for Roblox (creator/runtime)"
+license = "MIT"
+realm = "shared" # "server" or "client" if you want to restrict
+registry = "https://github.com/UpliftGames/wally-index"
+
+include = [
+ "wally.toml",
+ "behavior-tree/init.lua",
+ "behavior-tree/BehaviorTree5.luau",
+ "behavior-tree/BehaviorTreeCreator.luau",
+ "default.project.json"
+]
+
+exclude = [ "rokit.toml", "selene.toml", "README.md" ]
+
+[dependencies]
+
+[dev-dependencies]