First release of the BehaviorTreeStarterKit from February 2012, files…

… from AiGD-BehaviorTreeStarterKit-1.0-src.zip.

.gitignore

@@ -10,3 +10,9 @@
 *.lai
 *.la
 *.a
+/Debug
+/Release
+*.opensdf
+*.sdf
+*.suo
+*.user

BTSK.sln

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+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BehaviorTreeStarterKit", "BehaviorTreeStarterKit.vcxproj", "{157B27E5-12E2-43F4-A99C-703B54052DE3}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{157B27E5-12E2-43F4-A99C-703B54052DE3}.Debug|Win32.ActiveCfg = Debug|Win32
+		{157B27E5-12E2-43F4-A99C-703B54052DE3}.Debug|Win32.Build.0 = Debug|Win32
+		{157B27E5-12E2-43F4-A99C-703B54052DE3}.Release|Win32.ActiveCfg = Release|Win32
+		{157B27E5-12E2-43F4-A99C-703B54052DE3}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

BehaviorTree.cpp

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+/******************************************************************************
+ * This file is part of the Behavior Tree Starter Kit.
+ * 
+ * Copyright (c) 2012, AiGameDev.com.
+ * 
+ * Credits:         Alex J. Champandard
+ *****************************************************************************/
+
+#include <vector>
+#include "Shared.h"
+#include "Test.h"
+
+namespace bt1
+{
+
+// ============================================================================
+
+enum Status
+/**
+ * Return values of and valid states for behaviors.
+ */
+{
+	BH_INVALID,
+	BH_SUCCESS,
+	BH_FAILURE,
+	BH_RUNNING,
+};
+
+class Behavior
+/**
+ * Base class for actions, conditions and composites.
+ */
+{
+protected:
+	virtual Status update()				= 0;
+
+	virtual void onInitialize()			{}
+	virtual void onTerminate(Status)	{}
+
+public:
+	Behavior()
+		:	m_eStatus(BH_INVALID)
+	{
+	}
+
+	Status tick()
+	{
+		if (m_eStatus == BH_INVALID)
+		{
+			onInitialize();
+		}
+
+		m_eStatus = update();
+
+		if (m_eStatus != BH_RUNNING)
+		{
+			onTerminate(m_eStatus);
+		}
+		return m_eStatus;
+	}
+
+private:
+	Status m_eStatus;
+};
+
+// ----------------------------------------------------------------------------
+
+struct MockBehavior : public Behavior
+{
+	int m_iInitializeCalled;
+	int m_iTerminateCalled;
+	int m_iUpdateCalled;
+	Status m_eReturnStatus;
+	Status m_eTerminateStatus;
+
+	MockBehavior()
+	:	m_iInitializeCalled(0)
+	,	m_iTerminateCalled(0)
+	,	m_iUpdateCalled(0)
+	,	m_eReturnStatus(BH_RUNNING)
+	,	m_eTerminateStatus(BH_INVALID)
+	{
+	}
+
+	virtual void onInitialize()
+	{
+		++m_iInitializeCalled;
+	}
+
+	virtual void onTerminate(Status s)
+	{
+		++m_iTerminateCalled;
+		m_eTerminateStatus = s;
+	}
+
+	virtual Status update()
+	{
+		++m_iUpdateCalled;
+		return m_eReturnStatus;
+	}
+};
+
+TEST(StarterKit1, TaskInitialize)
+{
+	MockBehavior t;
+	CHECK_EQUAL(0, t.m_iInitializeCalled);
+
+	t.tick();
+	CHECK_EQUAL(1, t.m_iInitializeCalled);
+};
+
+TEST(StarterKit1, TaskUpdate)
+{
+	MockBehavior t;
+	CHECK_EQUAL(0, t.m_iUpdateCalled);
+
+	t.tick();
+	CHECK_EQUAL(1, t.m_iUpdateCalled);
+};
+
+TEST(StarterKit1, TaskTerminate)
+{
+	MockBehavior t;
+	t.tick();
+	CHECK_EQUAL(0, t.m_iTerminateCalled);
+
+	t.m_eReturnStatus = BH_SUCCESS;
+	t.tick();
+	CHECK_EQUAL(1, t.m_iTerminateCalled);
+};
+
+
+// ============================================================================
+
+class Composite : public Behavior
+{
+protected:
+	typedef std::vector<Behavior*> Behaviors;
+	Behaviors m_Children;
+};
+
+class Sequence : public Composite
+{
+protected:
+	virtual void onInitialize()
+	{
+		m_CurrentChild = m_Children.begin();
+	}
+
+	virtual Status update()
+	{
+		// Keep going until a child behavior says its running.
+		for (;;)
+		{
+			Status s = (*m_CurrentChild)->tick();
+
+			// If the child fails, or keeps running, do the same.
+			if (s != BH_SUCCESS)
+			{
+				return s;
+			}
+
+			// Hit the end of the array, job done!
+			if (++m_CurrentChild == m_Children.end())
+			{
+				return BH_SUCCESS;
+			}
+		}
+	}
+
+	Behaviors::iterator m_CurrentChild;
+};
+
+// ----------------------------------------------------------------------------
+
+template <class COMPOSITE>
+class MockComposite : public COMPOSITE
+{
+public:
+	MockComposite(size_t size)
+	{
+		for (size_t i=0; i<size; ++i)
+		{
+			COMPOSITE::m_Children.push_back(new MockBehavior);
+		}
+	}
+
+	~MockComposite()
+	{
+		for (size_t i=0; i<COMPOSITE::m_Children.size(); ++i)
+		{
+			delete COMPOSITE::m_Children[i];
+		}
+	}
+
+	MockBehavior& operator[](size_t index)
+	{
+		ASSERT(index < COMPOSITE::m_Children.size());
+		return *static_cast<MockBehavior*>(COMPOSITE::m_Children[index]);
+	}
+};
+
+typedef MockComposite<Sequence> MockSequence;
+
+TEST(StarterKit1, SequenceTwoChildrenFails)
+{
+	MockSequence seq(2);
+
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+
+	seq[0].m_eReturnStatus = BH_FAILURE;
+	CHECK_EQUAL(seq.tick(), BH_FAILURE);
+	CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+	CHECK_EQUAL(0, seq[1].m_iInitializeCalled);
+}
+
+TEST(StarterKit1, SequenceTwoChildrenContinues)
+{
+	MockSequence seq(2);
+
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+	CHECK_EQUAL(0, seq[1].m_iInitializeCalled);
+
+	seq[0].m_eReturnStatus = BH_SUCCESS;
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+	CHECK_EQUAL(1, seq[1].m_iInitializeCalled);
+}
+
+TEST(StarterKit1, SequenceOneChildPassThrough)
+{
+	Status status[2] = { BH_SUCCESS, BH_FAILURE };
+	for (int i=0; i<2; ++i)
+	{
+		MockSequence seq(1);
+
+		CHECK_EQUAL(seq.tick(), BH_RUNNING);
+		CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+
+		seq[0].m_eReturnStatus = status[i];
+		CHECK_EQUAL(seq.tick(), status[i]);
+		CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+	}
+}
+
+
+// ============================================================================
+
+class Selector : public Composite
+{
+protected:
+	virtual void onInitialize()
+	{
+		m_Current = m_Children.begin();
+	}
+
+	virtual Status update()
+	{		
+		// Keep going until a child behavior says its running.
+		for (;;)
+		{
+			Status s = (*m_Current)->tick();
+
+			// If the child succeeds, or keeps running, do the same.
+			if (s != BH_FAILURE)
+			{
+				return s;
+			}
+
+			// Hit the end of the array, it didn't end well...
+			if (++m_Current == m_Children.end())
+			{
+				return BH_FAILURE;
+			}
+		}
+	}
+
+	Behaviors::iterator m_Current;
+};
+
+// ----------------------------------------------------------------------------
+
+typedef MockComposite<Selector> MockSelector;
+
+TEST(StarterKit1, SelectorTwoChildrenContinues)
+{
+	MockSelector seq(2);
+
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+
+	seq[0].m_eReturnStatus = BH_FAILURE;
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+}
+
+TEST(StarterKit1, SelectorTwoChildrenSucceeds)
+{
+	MockSelector seq(2);
+
+	CHECK_EQUAL(seq.tick(), BH_RUNNING);
+	CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+
+	seq[0].m_eReturnStatus = BH_SUCCESS;
+	CHECK_EQUAL(seq.tick(), BH_SUCCESS);
+	CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+}
+
+TEST(StarterKit1, SelectorOneChildPassThrough)
+{
+	Status status[2] = { BH_SUCCESS, BH_FAILURE };
+	for (int i=0; i<2; ++i)
+	{
+		MockSelector seq(1);
+
+		CHECK_EQUAL(seq.tick(), BH_RUNNING);
+		CHECK_EQUAL(0, seq[0].m_iTerminateCalled);
+
+		seq[0].m_eReturnStatus = status[i];
+		CHECK_EQUAL(seq.tick(), status[i]);
+		CHECK_EQUAL(1, seq[0].m_iTerminateCalled);
+	}
+}
+
+} // namespace bt1