Behaviour tree decorator implementation

engine/breeze/ai/behaviour_tree.h

@@ -0,0 +1,82 @@
+#ifndef BREEZE_BEHAVIOUR_TREE_H
+#define BREEZE_BEHAVIOUR_TREE_H
+
+#include "../defines.h"
+
+typedef struct BzAIBTNode BzAIBTNode;
+
+typedef enum BzAIBTStatus {
+    BZ_AIBT_RUNNING,
+    BZ_AIBT_SUCCESS,
+    BZ_AIBT_FAIL,
+    BZ_AIBT_ERROR,
+} BzAIBTStatus;
+
+typedef BzAIBTStatus(*BzAIBTActionFn)(void *data);
+
+typedef enum BzAIBTNodeType {
+    // Composite
+    BZ_AIBT_COMP_SELECTOR,
+    BZ_AIBT_COMP_SEQUENCE,
+    BZ_AIBT_COMP_PARALLEL_SELECTOR,
+    BZ_AIBT_COMP_PARALLEL_SEQUENCE,
+    // Decorator
+    BZ_AIBT_DECOR_DUMMY,
+    BZ_AIBT_DECOR_SUCCESS,
+    BZ_AIBT_DECOR_FAIL,
+    BZ_AIBT_DECOR_INVERT,
+    BZ_AIBT_DECOR_UNTIL_SUCCESS,
+    BZ_AIBT_DECOR_UNTIL_FAIL,
+    BZ_AIBT_DECOR_REPEAT,
+    BZ_AIBT_DECOR_DELAY,
+    // Action/Task
+    BZ_AIBT_ACTION,
+} BzAIBTNodeType;
+
+typedef struct BzObjectPool BzObjectPool;
+typedef struct BzAIBTNodeState BzAIBTNodeState;
+
+typedef struct BzAIBTState {
+    const BzAIBTNode *root;
+    BzAIBTNodeState  *first;
+    BzAIBTNodeState  *last;
+
+    BzObjectPool *nodeStatePool;
+    void *userData;
+} BzAIBTState;
+
+typedef struct BzAIBTStateDesc {
+    const BzAIBTNode *root;
+
+    BzObjectPool *pool;
+    void *userData;
+} BzAIBTStateDesc;
+
+size_t  bzAIBTGetNodeSize();
+size_t  bzAIBTGetNodeStateSize();
+
+BzAIBTNode *bzAIBTMakeRoot(BzObjectPool *nodePool);
+void        bzAIBTDestroyRoot(BzObjectPool *nodePool, BzAIBTNode *node);
+
+BzAIBTNode *bzAIBTCompSelector(BzObjectPool *nodePool, BzAIBTNode *parent, bool parallel);
+BzAIBTNode *bzAIBTCompSequence(BzObjectPool *nodePool, BzAIBTNode *parent, bool parallel);
+
+BzAIBTNode *bzAIBTDecorDummy(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorSuccess(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorFail(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorInvert(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorUntilSuccess(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorUntilFail(BzObjectPool *nodePool, BzAIBTNode *parent);
+BzAIBTNode *bzAIBTDecorRepeat(BzObjectPool *nodePool, BzAIBTNode *parent, i32 n);
+BzAIBTNode *bzAIBTDecorDelay(BzObjectPool *nodePool, BzAIBTNode *parent, f32 ms);
+
+BzAIBTNode *bzAIBTAction(BzObjectPool *nodePool, BzAIBTNode *parent, BzAIBTActionFn fn);
+
+BzAIBTNodeType bzAIBTGetNodeType(BzAIBTNode *node);
+
+BzAIBTState bzAIBTCreateState(const BzAIBTStateDesc *desc);
+void        bzAIBTDestroyState(BzAIBTState *state);
+
+BzAIBTStatus bzAIBTExecute(BzAIBTState *state, f32 dt);
+
+#endif //BREEZE_BEHAVIOUR_TREE_H