Struct BehaviorTree 

pub struct BehaviorTree {
    pub name: String,
    pub bb: Blackboard,
    pub registry: SubtreeRegistry,
    pub last_status: NodeStatus,
    pub sim_time: f64,
    pub active: bool,
    /* private fields */
}

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

Fields

name: String

Human-readable label for debugging.

bb: Blackboard

registry: SubtreeRegistry

last_status: NodeStatus

Status returned by the last tick() call.

sim_time: f64

Total accumulated simulation time in seconds.

active: bool

Whether the tree is currently active.

Implementations

impl BehaviorTree

pub fn new(name: &str, root: BehaviorNode) -> Self

pub fn tick(&mut self, dt: f32) -> NodeStatus

Tick the entire tree by dt seconds. Advances the blackboard clock and resolves any SubtreeRef nodes via the registry.

pub fn reset(&mut self)

Reset the whole tree so it starts fresh next tick.

pub fn set_active(&mut self, active: bool)

Pause / resume ticking.

pub fn blackboard(&self) -> &Blackboard

Access the blackboard immutably.

pub fn blackboard_mut(&mut self) -> &mut Blackboard

Access the blackboard mutably (useful for injecting sensor data).

pub fn registry_mut(&mut self) -> &mut SubtreeRegistry

Access the subtree registry mutably (register subtrees after build).

pub fn node_names(&self) -> Vec<String>

Collect all node names in the tree (depth-first).

Trait Implementations

impl Debug for BehaviorTree

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.