Module tree 

Behavior Tree core — nodes, blackboard, tick engine, and tree builder.

Design

Every node returns NodeStatus on each tick() call. The tree walks from the root, short-circuiting Sequences on Failure and Selectors on Success. Parallel nodes run all children each tick and aggregate results according to their policy. Decorators wrap a single child and modify its return value or control how often it runs.

The Blackboard is a typed key-value store shared by all nodes in a tree. It is passed by mutable reference into every tick call so nodes can read sensor data, write intermediate results, and communicate.

The TreeBuilder provides a fluent API for assembling trees without manually constructing the BehaviorNode enum. Subtrees can be stored and reused by name via SubtreeRegistry.

Structs

BehaviorTree

The top-level behavior tree that owns a root node, a blackboard, and an optional subtree registry.

Blackboard

A typed key-value store shared by all nodes in a behavior tree.

DecoratorState

Mutable state owned by a Decorator node.

SubtreeRegistry

A named registry that maps string keys to reusable subtree factories.

TreeBuilder

Fluent builder for assembling BehaviorNode trees.

Enums

BehaviorNode

The complete behavior tree node type.

BlackboardValue

All value types storable on a Blackboard.

DecoratorKind

The flavour of behavior a decorator applies to its single child.

NodeStatus

The three-valued result every behavior-tree node returns each tick.

ParallelPolicy

Controls how a BehaviorNode::Parallel node determines its own status.

Functions

cooldown

Wrap a node in a Cooldown decorator.

invert

Wrap a node in an Invert decorator.

leaf

Create a simple leaf node from a closure.

parallel

Create a Parallel node from a list of children.

repeat

Wrap a node in a Repeat(n) decorator.

selector

Create a Selector node from a list of children.

sequence

Create a Sequence node from a list of children.

timeout

Wrap a node in a Timeout decorator.