BehaviorTreeBase.h

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#include <qualia/core/common.h>
#include <stdarg.h>

#ifndef BEHAVIOR_TREE_BASE_H_
#define BEHAVIOR_TREE_BASE_H_

namespace BehaviorTree
{

    enum BEHAVIOR_STATUS {BT_SUCCESS,BT_FAILURE,BT_RUNNING};


    typedef uint8_t FAILURE_POLICY;
    static const FAILURE_POLICY FAIL_ON_ONE = 1;
    static const FAILURE_POLICY FAIL_ON_ALL = 255;


  typedef uint8_t SUCCESS_POLICY;
  static const SUCCESS_POLICY SUCCEED_ON_ONE = 1;
  static const SUCCESS_POLICY SUCCEED_ON_ALL = 255;


    enum TRAVERSAL_POLICY {RESTART,CONTINUE};

    class BehaviorTreeNode
    {
    public:
        virtual BEHAVIOR_STATUS execute(void* agent) = 0;

        virtual void init(void* agent) = 0;

        virtual ~BehaviorTreeNode(){}
    };

    class BehaviorTreeInternalNode:public BehaviorTreeNode
    {
    public:
      BehaviorTreeInternalNode();
    virtual ~BehaviorTreeInternalNode();

      virtual BEHAVIOR_STATUS execute(void* agent) = 0;
        virtual void init(void* object) = 0;

        virtual BehaviorTreeNode* setChildren(BehaviorTreeNode* node, ...);

#if is_computer()
        virtual BehaviorTreeInternalNode* addChild(BehaviorTreeNode* node);
#endif

    virtual BehaviorTreeNode* _setChildren(BehaviorTreeNode* node, va_list nodeList);

    BehaviorTreeNode** children;

    uint8_t nChildren;
    };

  class BehaviorTreeDecoratorNode:public BehaviorTreeNode
  {
  public:
    BehaviorTreeDecoratorNode();
    virtual ~BehaviorTreeDecoratorNode();

    virtual BEHAVIOR_STATUS execute(void* agent) = 0;
    virtual void init(void* object) = 0;

    virtual BehaviorTreeNode* setChild(BehaviorTreeNode* node);

    BehaviorTreeNode* child;
  };

    class AlwaysRunning: public BehaviorTreeNode
    {
        BEHAVIOR_STATUS execute(void* agent)
        {
            return BT_RUNNING;
        }
        void init(void* agent){};
    };

    class AlwaysSuccess: public BehaviorTreeNode
    {
        BEHAVIOR_STATUS execute(void* agent)
        {
            return BT_SUCCESS;
        }
        void init(void* agent){};
    };

    class AlwaysFailure: public BehaviorTreeNode
    {
        BEHAVIOR_STATUS execute(void* agent)
        {
            return BT_FAILURE;
        }
        void init(void* agent){};
    };

    class SuccessAfter: public BehaviorTreeNode
    {
    public:
        int n;
        int total;
        BEHAVIOR_STATUS execute(void* agent)
        {
            if (n == 0)
            {
                return BT_SUCCESS;
            }
            else
            {
                n--;
                return BT_RUNNING;
            }
        }
        void init(void* agent)
        {
            n = total;
        };
        SuccessAfter(int t)
        {
            total = t;
            n = total;
        }
    };

    class FailureAfter: public BehaviorTreeNode
    {
    public:
        int n;
        int total;
        BEHAVIOR_STATUS execute(void* agent)
        {
            if (n == 0)
            {
                return BT_FAILURE;
            }
            else
            {
                n--;
                return BT_RUNNING;
            }
        }
        void init(void* agent)
        {
            n = total;
        };
        FailureAfter(int t)
        {
            total = t;
            n = total;
        }
    };
}

#endif