Behaviour Trees

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Behavior Trees


Became popular with the use in Halo

Root Node
End Nodes

3 Types of Nodes
Composite Node - has 1 or more children
Decorator Node - Has only 1 child
Leaf Node - Performs an actual action or check a condition

A group of leaf nodes at the end of a branch, represents a sequence of actions or a set of actions to select from. The composite node, will determine if its sequence or random set of actions

Composite Nodes can be a sequence or selector node

Leaf nodes can also be conditions

Making a BT in Unity:


Resources and References,_robotics_and_control)

Unity Assets: