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. <https://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received.  You must make sure that they, too, receive
-or can get the source code.  And you must show them these terms so they
-know their rights.
-
-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
-
-  For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software.  For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
-  Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so.  This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software.  The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable.  Therefore, we
-have designed this version of the GPL to prohibit the practice for those
-products.  If such problems arise substantially in other domains, we
-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
-  Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
-make it effectively proprietary.  To prevent this, the GPL assures that
-patents cannot be used to render the program non-free.
-
-  The precise terms and conditions for copying, distribution and
-modification follow.
-
-                       TERMS AND CONDITIONS
-
-  0. Definitions.
-
-  "This License" refers to version 3 of the GNU General Public License.
-
-  "Copyright" also means copyright-like laws that apply to other kinds of
-works, such as semiconductor masks.
-
-  "The Program" refers to any copyrightable work licensed under this
-License.  Each licensee is addressed as "you".  "Licensees" and
-"recipients" may be individuals or organizations.
-
-  To "modify" a work means to copy from or adapt all or part of the work
-in a fashion requiring copyright permission, other than the making of an
-exact copy.  The resulting work is called a "modified version" of the
-earlier work or a work "based on" the earlier work.
-
-  A "covered work" means either the unmodified Program or a work based
-on the Program.
-
-  To "propagate" a work means to do anything with it that, without
-permission, would make you directly or secondarily liable for
-infringement under applicable copyright law, except executing it on a
-computer or modifying a private copy.  Propagation includes copying,
-distribution (with or without modification), making available to the
-public, and in some countries other activities as well.
-
-  To "convey" a work means any kind of propagation that enables other
-parties to make or receive copies.  Mere interaction with a user through
-a computer network, with no transfer of a copy, is not conveying.
-
-  An interactive user interface displays "Appropriate Legal Notices"
-to the extent that it includes a convenient and prominently visible
-feature that (1) displays an appropriate copyright notice, and (2)
-tells the user that there is no warranty for the work (except to the
-extent that warranties are provided), that licensees may convey the
-work under this License, and how to view a copy of this License.  If
-the interface presents a list of user commands or options, such as a
-menu, a prominent item in the list meets this criterion.
-
-  1. Source Code.
-
-  The "source code" for a work means the preferred form of the work
-for making modifications to it.  "Object code" means any non-source
-form of a work.
-
-  A "Standard Interface" means an interface that either is an official
-standard defined by a recognized standards body, or, in the case of
-interfaces specified for a particular programming language, one that
-is widely used among developers working in that language.
-
-  The "System Libraries" of an executable work include anything, other
-than the work as a whole, that (a) is included in the normal form of
-packaging a Major Component, but which is not part of that Major
-Component, and (b) serves only to enable use of the work with that
-Major Component, or to implement a Standard Interface for which an
-implementation is available to the public in source code form.  A
-"Major Component", in this context, means a major essential component
-(kernel, window system, and so on) of the specific operating system
-(if any) on which the executable work runs, or a compiler used to
-produce the work, or an object code interpreter used to run it.
-
-  The "Corresponding Source" for a work in object code form means all
-the source code needed to generate, install, and (for an executable
-work) run the object code and to modify the work, including scripts to
-control those activities.  However, it does not include the work's
-System Libraries, or general-purpose tools or generally available free
-programs which are used unmodified in performing those activities but
-which are not part of the work.  For example, Corresponding Source
-includes interface definition files associated with source files for
-the work, and the source code for shared libraries and dynamically
-linked subprograms that the work is specifically designed to require,
-such as by intimate data communication or control flow between those
-subprograms and other parts of the work.
-
-  The Corresponding Source need not include anything that users
-can regenerate automatically from other parts of the Corresponding
-Source.
-
-  The Corresponding Source for a work in source code form is that
-same work.
-
-  2. Basic Permissions.
-
-  All rights granted under this License are granted for the term of
-copyright on the Program, and are irrevocable provided the stated
-conditions are met.  This License explicitly affirms your unlimited
-permission to run the unmodified Program.  The output from running a
-covered work is covered by this License only if the output, given its
-content, constitutes a covered work.  This License acknowledges your
-rights of fair use or other equivalent, as provided by copyright law.
-
-  You may make, run and propagate covered works that you do not
-convey, without conditions so long as your license otherwise remains
-in force.  You may convey covered works to others for the sole purpose
-of having them make modifications exclusively for you, or provide you
-with facilities for running those works, provided that you comply with
-the terms of this License in conveying all material for which you do
-not control copyright.  Those thus making or running the covered works
-for you must do so exclusively on your behalf, under your direction
-and control, on terms that prohibit them from making any copies of
-your copyrighted material outside their relationship with you.
-
-  Conveying under any other circumstances is permitted solely under
-the conditions stated below.  Sublicensing is not allowed; section 10
-makes it unnecessary.
-
-  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
-
-  No covered work shall be deemed part of an effective technological
-measure under any applicable law fulfilling obligations under article
-11 of the WIPO copyright treaty adopted on 20 December 1996, or
-similar laws prohibiting or restricting circumvention of such
-measures.
-
-  When you convey a covered work, you waive any legal power to forbid
-circumvention of technological measures to the extent such circumvention
-is effected by exercising rights under this License with respect to
-the covered work, and you disclaim any intention to limit operation or
-modification of the work as a means of enforcing, against the work's
-users, your or third parties' legal rights to forbid circumvention of
-technological measures.
-
-  4. Conveying Verbatim Copies.
-
-  You may convey verbatim copies of the Program's source code as you
-receive it, in any medium, provided that you conspicuously and
-appropriately publish on each copy an appropriate copyright notice;
-keep intact all notices stating that this License and any
-non-permissive terms added in accord with section 7 apply to the code;
-keep intact all notices of the absence of any warranty; and give all
-recipients a copy of this License along with the Program.
-
-  You may charge any price or no price for each copy that you convey,
-and you may offer support or warranty protection for a fee.
-
-  5. Conveying Modified Source Versions.
-
-  You may convey a work based on the Program, or the modifications to
-produce it from the Program, in the form of source code under the
-terms of section 4, provided that you also meet all of these conditions:
-
-    a) The work must carry prominent notices stating that you modified
-    it, and giving a relevant date.
-
-    b) The work must carry prominent notices stating that it is
-    released under this License and any conditions added under section
-    7.  This requirement modifies the requirement in section 4 to
-    "keep intact all notices".
-
-    c) You must license the entire work, as a whole, under this
-    License to anyone who comes into possession of a copy.  This
-    License will therefore apply, along with any applicable section 7
-    additional terms, to the whole of the work, and all its parts,
-    regardless of how they are packaged.  This License gives no
-    permission to license the work in any other way, but it does not
-    invalidate such permission if you have separately received it.
-
-    d) If the work has interactive user interfaces, each must display
-    Appropriate Legal Notices; however, if the Program has interactive
-    interfaces that do not display Appropriate Legal Notices, your
-    work need not make them do so.
-
-  A compilation of a covered work with other separate and independent
-works, which are not by their nature extensions of the covered work,
-and which are not combined with it such as to form a larger program,
-in or on a volume of a storage or distribution medium, is called an
-"aggregate" if the compilation and its resulting copyright are not
-used to limit the access or legal rights of the compilation's users
-beyond what the individual works permit.  Inclusion of a covered work
-in an aggregate does not cause this License to apply to the other
-parts of the aggregate.
-
-  6. Conveying Non-Source Forms.
-
-  You may convey a covered work in object code form under the terms
-of sections 4 and 5, provided that you also convey the
-machine-readable Corresponding Source under the terms of this License,
-in one of these ways:
-
-    a) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by the
-    Corresponding Source fixed on a durable physical medium
-    customarily used for software interchange.
-
-    b) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by a
-    written offer, valid for at least three years and valid for as
-    long as you offer spare parts or customer support for that product
-    model, to give anyone who possesses the object code either (1) a
-    copy of the Corresponding Source for all the software in the
-    product that is covered by this License, on a durable physical
-    medium customarily used for software interchange, for a price no
-    more than your reasonable cost of physically performing this
-    conveying of source, or (2) access to copy the
-    Corresponding Source from a network server at no charge.
-
-    c) Convey individual copies of the object code with a copy of the
-    written offer to provide the Corresponding Source.  This
-    alternative is allowed only occasionally and noncommercially, and
-    only if you received the object code with such an offer, in accord
-    with subsection 6b.
-
-    d) Convey the object code by offering access from a designated
-    place (gratis or for a charge), and offer equivalent access to the
-    Corresponding Source in the same way through the same place at no
-    further charge.  You need not require recipients to copy the
-    Corresponding Source along with the object code.  If the place to
-    copy the object code is a network server, the Corresponding Source
-    may be on a different server (operated by you or a third party)
-    that supports equivalent copying facilities, provided you maintain
-    clear directions next to the object code saying where to find the
-    Corresponding Source.  Regardless of what server hosts the
-    Corresponding Source, you remain obligated to ensure that it is
-    available for as long as needed to satisfy these requirements.
-
-    e) Convey the object code using peer-to-peer transmission, provided
-    you inform other peers where the object code and Corresponding
-    Source of the work are being offered to the general public at no
-    charge under subsection 6d.
-
-  A separable portion of the object code, whose source code is excluded
-from the Corresponding Source as a System Library, need not be
-included in conveying the object code work.
-
-  A "User Product" is either (1) a "consumer product", which means any
-tangible personal property which is normally used for personal, family,
-or household purposes, or (2) anything designed or sold for incorporation
-into a dwelling.  In determining whether a product is a consumer product,
-doubtful cases shall be resolved in favor of coverage.  For a particular
-product received by a particular user, "normally used" refers to a
-typical or common use of that class of product, regardless of the status
-of the particular user or of the way in which the particular user
-actually uses, or expects or is expected to use, the product.  A product
-is a consumer product regardless of whether the product has substantial
-commercial, industrial or non-consumer uses, unless such uses represent
-the only significant mode of use of the product.
-
-  "Installation Information" for a User Product means any methods,
-procedures, authorization keys, or other information required to install
-and execute modified versions of a covered work in that User Product from
-a modified version of its Corresponding Source.  The information must
-suffice to ensure that the continued functioning of the modified object
-code is in no case prevented or interfered with solely because
-modification has been made.
-
-  If you convey an object code work under this section in, or with, or
-specifically for use in, a User Product, and the conveying occurs as
-part of a transaction in which the right of possession and use of the
-User Product is transferred to the recipient in perpetuity or for a
-fixed term (regardless of how the transaction is characterized), the
-Corresponding Source conveyed under this section must be accompanied
-by the Installation Information.  But this requirement does not apply
-if neither you nor any third party retains the ability to install
-modified object code on the User Product (for example, the work has
-been installed in ROM).
-
-  The requirement to provide Installation Information does not include a
-requirement to continue to provide support service, warranty, or updates
-for a work that has been modified or installed by the recipient, or for
-the User Product in which it has been modified or installed.  Access to a
-network may be denied when the modification itself materially and
-adversely affects the operation of the network or violates the rules and
-protocols for communication across the network.
-
-  Corresponding Source conveyed, and Installation Information provided,
-in accord with this section must be in a format that is publicly
-documented (and with an implementation available to the public in
-source code form), and must require no special password or key for
-unpacking, reading or copying.
-
-  7. Additional Terms.
-
-  "Additional permissions" are terms that supplement the terms of this
-License by making exceptions from one or more of its conditions.
-Additional permissions that are applicable to the entire Program shall
-be treated as though they were included in this License, to the extent
-that they are valid under applicable law.  If additional permissions
-apply only to part of the Program, that part may be used separately
-under those permissions, but the entire Program remains governed by
-this License without regard to the additional permissions.
-
-  When you convey a copy of a covered work, you may at your option
-remove any additional permissions from that copy, or from any part of
-it.  (Additional permissions may be written to require their own
-removal in certain cases when you modify the work.)  You may place
-additional permissions on material, added by you to a covered work,
-for which you have or can give appropriate copyright permission.
-
-  Notwithstanding any other provision of this License, for material you
-add to a covered work, you may (if authorized by the copyright holders of
-that material) supplement the terms of this License with terms:
-
-    a) Disclaiming warranty or limiting liability differently from the
-    terms of sections 15 and 16 of this License; or
-
-    b) Requiring preservation of specified reasonable legal notices or
-    author attributions in that material or in the Appropriate Legal
-    Notices displayed by works containing it; or
-
-    c) Prohibiting misrepresentation of the origin of that material, or
-    requiring that modified versions of such material be marked in
-    reasonable ways as different from the original version; or
-
-    d) Limiting the use for publicity purposes of names of licensors or
-    authors of the material; or
-
-    e) Declining to grant rights under trademark law for use of some
-    trade names, trademarks, or service marks; or
-
-    f) Requiring indemnification of licensors and authors of that
-    material by anyone who conveys the material (or modified versions of
-    it) with contractual assumptions of liability to the recipient, for
-    any liability that these contractual assumptions directly impose on
-    those licensors and authors.
-
-  All other non-permissive additional terms are considered "further
-restrictions" within the meaning of section 10.  If the Program as you
-received it, or any part of it, contains a notice stating that it is
-governed by this License along with a term that is a further
-restriction, you may remove that term.  If a license document contains
-a further restriction but permits relicensing or conveying under this
-License, you may add to a covered work material governed by the terms
-of that license document, provided that the further restriction does
-not survive such relicensing or conveying.
-
-  If you add terms to a covered work in accord with this section, you
-must place, in the relevant source files, a statement of the
-additional terms that apply to those files, or a notice indicating
-where to find the applicable terms.
-
-  Additional terms, permissive or non-permissive, may be stated in the
-form of a separately written license, or stated as exceptions;
-the above requirements apply either way.
-
-  8. Termination.
-
-  You may not propagate or modify a covered work except as expressly
-provided under this License.  Any attempt otherwise to propagate or
-modify it is void, and will automatically terminate your rights under
-this License (including any patent licenses granted under the third
-paragraph of section 11).
-
-  However, if you cease all violation of this License, then your
-license from a particular copyright holder is reinstated (a)
-provisionally, unless and until the copyright holder explicitly and
-finally terminates your license, and (b) permanently, if the copyright
-holder fails to notify you of the violation by some reasonable means
-prior to 60 days after the cessation.
-
-  Moreover, your license from a particular copyright holder is
-reinstated permanently if the copyright holder notifies you of the
-violation by some reasonable means, this is the first time you have
-received notice of violation of this License (for any work) from that
-copyright holder, and you cure the violation prior to 30 days after
-your receipt of the notice.
-
-  Termination of your rights under this section does not terminate the
-licenses of parties who have received copies or rights from you under
-this License.  If your rights have been terminated and not permanently
-reinstated, you do not qualify to receive new licenses for the same
-material under section 10.
-
-  9. Acceptance Not Required for Having Copies.
-
-  You are not required to accept this License in order to receive or
-run a copy of the Program.  Ancillary propagation of a covered work
-occurring solely as a consequence of using peer-to-peer transmission
-to receive a copy likewise does not require acceptance.  However,
-nothing other than this License grants you permission to propagate or
-modify any covered work.  These actions infringe copyright if you do
-not accept this License.  Therefore, by modifying or propagating a
-covered work, you indicate your acceptance of this License to do so.
-
-  10. Automatic Licensing of Downstream Recipients.
-
-  Each time you convey a covered work, the recipient automatically
-receives a license from the original licensors, to run, modify and
-propagate that work, subject to this License.  You are not responsible
-for enforcing compliance by third parties with this License.
-
-  An "entity transaction" is a transaction transferring control of an
-organization, or substantially all assets of one, or subdividing an
-organization, or merging organizations.  If propagation of a covered
-work results from an entity transaction, each party to that
-transaction who receives a copy of the work also receives whatever
-licenses to the work the party's predecessor in interest had or could
-give under the previous paragraph, plus a right to possession of the
-Corresponding Source of the work from the predecessor in interest, if
-the predecessor has it or can get it with reasonable efforts.
-
-  You may not impose any further restrictions on the exercise of the
-rights granted or affirmed under this License.  For example, you may
-not impose a license fee, royalty, or other charge for exercise of
-rights granted under this License, and you may not initiate litigation
-(including a cross-claim or counterclaim in a lawsuit) alleging that
-any patent claim is infringed by making, using, selling, offering for
-sale, or importing the Program or any portion of it.
-
-  11. Patents.
-
-  A "contributor" is a copyright holder who authorizes use under this
-License of the Program or a work on which the Program is based.  The
-work thus licensed is called the contributor's "contributor version".
-
-  A contributor's "essential patent claims" are all patent claims
-owned or controlled by the contributor, whether already acquired or
-hereafter acquired, that would be infringed by some manner, permitted
-by this License, of making, using, or selling its contributor version,
-but do not include claims that would be infringed only as a
-consequence of further modification of the contributor version.  For
-purposes of this definition, "control" includes the right to grant
-patent sublicenses in a manner consistent with the requirements of
-this License.
-
-  Each contributor grants you a non-exclusive, worldwide, royalty-free
-patent license under the contributor's essential patent claims, to
-make, use, sell, offer for sale, import and otherwise run, modify and
-propagate the contents of its contributor version.
-
-  In the following three paragraphs, a "patent license" is any express
-agreement or commitment, however denominated, not to enforce a patent
-(such as an express permission to practice a patent or covenant not to
-sue for patent infringement).  To "grant" such a patent license to a
-party means to make such an agreement or commitment not to enforce a
-patent against the party.
-
-  If you convey a covered work, knowingly relying on a patent license,
-and the Corresponding Source of the work is not available for anyone
-to copy, free of charge and under the terms of this License, through a
-publicly available network server or other readily accessible means,
-then you must either (1) cause the Corresponding Source to be so
-available, or (2) arrange to deprive yourself of the benefit of the
-patent license for this particular work, or (3) arrange, in a manner
-consistent with the requirements of this License, to extend the patent
-license to downstream recipients.  "Knowingly relying" means you have
-actual knowledge that, but for the patent license, your conveying the
-covered work in a country, or your recipient's use of the covered work
-in a country, would infringe one or more identifiable patents in that
-country that you have reason to believe are valid.
-
-  If, pursuant to or in connection with a single transaction or
-arrangement, you convey, or propagate by procuring conveyance of, a
-covered work, and grant a patent license to some of the parties
-receiving the covered work authorizing them to use, propagate, modify
-or convey a specific copy of the covered work, then the patent license
-you grant is automatically extended to all recipients of the covered
-work and works based on it.
-
-  A patent license is "discriminatory" if it does not include within
-the scope of its coverage, prohibits the exercise of, or is
-conditioned on the non-exercise of one or more of the rights that are
-specifically granted under this License.  You may not convey a covered
-work if you are a party to an arrangement with a third party that is
-in the business of distributing software, under which you make payment
-to the third party based on the extent of your activity of conveying
-the work, and under which the third party grants, to any of the
-parties who would receive the covered work from you, a discriminatory
-patent license (a) in connection with copies of the covered work
-conveyed by you (or copies made from those copies), or (b) primarily
-for and in connection with specific products or compilations that
-contain the covered work, unless you entered into that arrangement,
-or that patent license was granted, prior to 28 March 2007.
-
-  Nothing in this License shall be construed as excluding or limiting
-any implied license or other defenses to infringement that may
-otherwise be available to you under applicable patent law.
-
-  12. No Surrender of Others' Freedom.
-
-  If conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License.  If you cannot convey a
-covered work so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you may
-not convey it at all.  For example, if you agree to terms that obligate you
-to collect a royalty for further conveying from those to whom you convey
-the Program, the only way you could satisfy both those terms and this
-License would be to refrain entirely from conveying the Program.
-
-  13. Use with the GNU Affero General Public License.
-
-  Notwithstanding any other provision of this License, you have
-permission to link or combine any covered work with a work licensed
-under version 3 of the GNU Affero General Public License into a single
-combined work, and to convey the resulting work.  The terms of this
-License will continue to apply to the part which is the covered work,
-but the special requirements of the GNU Affero General Public License,
-section 13, concerning interaction through a network will apply to the
-combination as such.
-
-  14. Revised Versions of this License.
-
-  The Free Software Foundation may publish revised and/or new versions of
-the GNU General Public License from time to time.  Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-  Each version is given a distinguishing version number.  If the
-Program specifies that a certain numbered version of the GNU General
-Public License "or any later version" applies to it, you have the
-option of following the terms and conditions either of that numbered
-version or of any later version published by the Free Software
-Foundation.  If the Program does not specify a version number of the
-GNU General Public License, you may choose any version ever published
-by the Free Software Foundation.
-
-  If the Program specifies that a proxy can decide which future
-versions of the GNU General Public License can be used, that proxy's
-public statement of acceptance of a version permanently authorizes you
-to choose that version for the Program.
-
-  Later license versions may give you additional or different
-permissions.  However, no additional obligations are imposed on any
-author or copyright holder as a result of your choosing to follow a
-later version.
-
-  15. Disclaimer of Warranty.
-
-  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
-APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
-HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
-OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
-IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
-ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
-
-  16. Limitation of Liability.
-
-  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
-THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
-GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
-USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
-DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
-PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
-EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGES.
-
-  17. Interpretation of Sections 15 and 16.
-
-  If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
-                     END OF TERMS AND CONDITIONS
-
-            How to Apply These Terms to Your New Programs
-
-  If you develop a new program, and you want it to be of the greatest
-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.
-
-  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.
-
-    <one line to give the program's name and a brief idea of what it does.>
-    Copyright (C) <year>  <name of author>
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-Also add information on how to contact you by electronic and paper mail.
-
-  If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
-    <program>  Copyright (C) <year>  <name of author>
-    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
-    This is free software, and you are welcome to redistribute it
-    under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
-  You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-<https://www.gnu.org/licenses/>.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-<https://www.gnu.org/licenses/why-not-lgpl.html>.
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 <tool>` 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]
