Add a behavior tree to the enemy

Add the Beehave addon.
Make the enemy do the same thing as before but with a behavior tree.

addons/beehave/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 bitbrain
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

addons/beehave/blackboard.gd

@@ -0,0 +1,33 @@
+## The blackboard is an object that can be used to store and access data between
+## multiple nodes of the behavior tree.
+@icon("icons/blackboard.svg")
+class_name Blackboard extends Node
+
+var blackboard: Dictionary = {}
+
+func keys() -> Array[String]:
+	var keys: Array[String]
+	keys.assign(blackboard.keys().duplicate())
+	return keys
+
+
+func set_value(key: Variant, value: Variant, blackboard_name: String = 'default') -> void:
+	if not blackboard.has(blackboard_name):
+		blackboard[blackboard_name] = {}
+
+	blackboard[blackboard_name][key] = value
+
+
+func get_value(key: Variant, default_value: Variant = null, blackboard_name: String = 'default') -> Variant:
+	if has_value(key, blackboard_name):
+		return blackboard[blackboard_name].get(key, default_value)
+	return default_value
+
+
+func has_value(key: Variant, blackboard_name: String = 'default') -> bool:
+	return blackboard.has(blackboard_name) and blackboard[blackboard_name].has(key) and blackboard[blackboard_name][key] != null
+
+
+func erase_value(key: Variant, blackboard_name: String = 'default') -> void:
+	if blackboard.has(blackboard_name):
+		blackboard[blackboard_name][key] = null

addons/beehave/debug/debugger.gd

@@ -0,0 +1,91 @@
+@tool
+extends EditorDebuggerPlugin
+
+const DebuggerTab := preload("debugger_tab.gd")
+var debugger_tab := DebuggerTab.new()
+var floating_window: Window
+var session: EditorDebuggerSession
+
+
+func _has_capture(prefix: String) -> bool:
+	return prefix == "beehave"
+
+
+func _capture(message: String, data: Array, session_id: int) -> bool:
+	# in case the behavior tree has invalid setup this might be null
+	if debugger_tab == null:
+		return false
+	
+	if message == "beehave:register_tree":
+		debugger_tab.register_tree(data[0])
+		return true
+	if message == "beehave:unregister_tree":
+		debugger_tab.unregister_tree(data[0])
+		return true
+	if message == "beehave:process_tick":
+		debugger_tab.graph.process_tick(data[0], data[1])
+		return true
+	if message == "beehave:process_begin":
+		debugger_tab.graph.process_begin(data[0])
+		return true
+	if message == "beehave:process_end":
+		debugger_tab.graph.process_end(data[0])
+		return true
+	return false
+
+
+func _setup_session(session_id: int) -> void:
+	session = get_session(session_id)
+	session.started.connect(debugger_tab.start)
+	session.stopped.connect(debugger_tab.stop)
+
+	debugger_tab.name = "🐝 Beehave"
+	debugger_tab.make_floating.connect(_on_make_floating)
+	debugger_tab.session = session
+	session.add_session_tab(debugger_tab)
+
+
+func _on_make_floating() -> void:
+	var plugin := BeehaveUtils.get_plugin()
+	if not plugin:
+		return
+	if floating_window:
+		_on_window_close_requested()
+		return
+
+	var border_size := Vector2(4, 4) * BeehaveUtils.get_editor_scale()
+	var editor_interface: EditorInterface = plugin.get_editor_interface()
+	var editor_main_screen = editor_interface.get_editor_main_screen()
+	debugger_tab.get_parent().remove_child(debugger_tab)
+
+	floating_window = Window.new()
+
+	var panel := Panel.new()
+	panel.add_theme_stylebox_override("panel", editor_interface.get_base_control().get_theme_stylebox("PanelForeground", "EditorStyles"))
+	panel.set_anchors_and_offsets_preset(Control.PRESET_FULL_RECT)
+	floating_window.add_child(panel)
+
+	var margin := MarginContainer.new()
+	margin.add_child(debugger_tab)
+	margin.set_anchors_and_offsets_preset(Control.PRESET_FULL_RECT)
+	margin.add_theme_constant_override("margin_right", border_size.x)
+	margin.add_theme_constant_override("margin_left", border_size.x)
+	margin.add_theme_constant_override("margin_top", border_size.y)
+	margin.add_theme_constant_override("margin_bottom", border_size.y)
+	panel.add_child(margin)
+
+	floating_window.title = "🐝 Beehave"
+	floating_window.wrap_controls = true
+	floating_window.min_size = Vector2i(600, 350)
+	floating_window.size = debugger_tab.size
+	floating_window.position = editor_main_screen.global_position
+	floating_window.transient = true
+	floating_window.close_requested.connect(_on_window_close_requested)
+	editor_interface.get_base_control().add_child(floating_window)
+
+
+func _on_window_close_requested() -> void:
+	debugger_tab.get_parent().remove_child(debugger_tab)
+	session.add_session_tab(debugger_tab)
+	floating_window.queue_free()
+	floating_window = null

addons/beehave/debug/debugger_messages.gd

@@ -0,0 +1,31 @@
+class_name BeehaveDebuggerMessages
+
+
+static func can_send_message() -> bool:
+	return not Engine.is_editor_hint() and OS.has_feature("editor")
+
+
+static func register_tree(beehave_tree: Dictionary) -> void:
+	if can_send_message():
+		EngineDebugger.send_message("beehave:register_tree", [beehave_tree])
+
+
+static func unregister_tree(instance_id: int) -> void:
+	if can_send_message():
+		EngineDebugger.send_message("beehave:unregister_tree", [instance_id])
+
+
+static func process_tick(instance_id: int, status: int) -> void:
+	if can_send_message():
+		EngineDebugger.send_message("beehave:process_tick", [instance_id, status])
+
+
+static func process_begin(instance_id: int) -> void:
+	if can_send_message():
+		EngineDebugger.send_message("beehave:process_begin", [instance_id])
+
+
+static func process_end(instance_id: int) -> void:
+	if can_send_message():
+		EngineDebugger.send_message("beehave:process_end", [instance_id])
+

addons/beehave/debug/debugger_tab.gd

@@ -0,0 +1,107 @@
+@tool
+extends PanelContainer
+
+signal make_floating()
+
+const BeehaveGraphEdit := preload("graph_edit.gd")
+const TREE_ICON := preload("../icons/tree.svg")
+
+var container: HSplitContainer
+var item_list: ItemList
+var graph: BeehaveGraphEdit
+var message: Label
+
+var active_trees: Dictionary
+var active_tree_id: int = -1
+var session: EditorDebuggerSession
+
+
+func _ready() -> void:
+	container = HSplitContainer.new()
+	add_child(container)
+
+	item_list = ItemList.new()
+	item_list.custom_minimum_size = Vector2(200, 0)
+	item_list.item_selected.connect(_on_item_selected)
+	container.add_child(item_list)
+
+	graph = BeehaveGraphEdit.new()
+	container.add_child(graph)
+
+	message = Label.new()
+	message.text = "Run Project for debugging"
+	message.horizontal_alignment = HORIZONTAL_ALIGNMENT_CENTER
+	message.vertical_alignment = VERTICAL_ALIGNMENT_CENTER
+	message.set_anchors_preset(Control.PRESET_CENTER)
+	add_child(message)
+
+	var button := Button.new()
+	button.flat = true
+	button.icon = get_theme_icon(&"ExternalLink", &"EditorIcons")
+	button.pressed.connect(func(): make_floating.emit())
+	button.tooltip_text = "Make floating"
+	button.focus_mode = Control.FOCUS_NONE
+	graph.get_zoom_hbox().add_child(button)
+
+	var toggle_button := Button.new()
+	toggle_button.flat = true
+	toggle_button.icon = get_theme_icon(&"Back", &"EditorIcons")
+	toggle_button.pressed.connect(_on_toggle_button_pressed.bind(toggle_button))
+	toggle_button.tooltip_text = "Toggle Panel"
+	toggle_button.focus_mode = Control.FOCUS_NONE
+	graph.get_zoom_hbox().add_child(toggle_button)
+	graph.get_zoom_hbox().move_child(toggle_button, 0)
+
+	stop()
+	visibility_changed.connect(_on_visibility_changed)
+
+
+func start() -> void:
+	container.visible = true
+	message.visible = false
+
+
+func stop() -> void:
+	container.visible = false
+	message.visible = true
+
+	active_trees.clear()
+	item_list.clear()
+	graph.beehave_tree = {}
+
+
+func register_tree(data: Dictionary) -> void:
+	var idx := item_list.add_item(data.name, TREE_ICON)
+	item_list.set_item_tooltip(idx, data.path)
+	item_list.set_item_metadata(idx, data.id)
+	active_trees[data.id] = data
+
+
+func unregister_tree(instance_id: int) -> void:
+	var id := str(instance_id)
+	for i in item_list.item_count:
+		if item_list.get_item_metadata(i) == id:
+			item_list.remove_item(i)
+			break
+
+	active_trees.erase(id)
+
+	if graph.beehave_tree.get("id", "") == id:
+		graph.beehave_tree = {}
+
+
+func _on_toggle_button_pressed(toggle_button: Button) -> void:
+	item_list.visible = !item_list.visible
+	toggle_button.icon = get_theme_icon(&"Back" if item_list.visible else &"Forward", &"EditorIcons")
+
+
+func _on_item_selected(idx: int) -> void:
+	var id: StringName = item_list.get_item_metadata(idx)
+	graph.beehave_tree = active_trees.get(id, {})
+
+	active_tree_id = id.to_int()
+	session.send_message("beehave:activate_tree", [active_tree_id])
+
+
+func _on_visibility_changed() -> void:
+	session.send_message("beehave:visibility_changed", [visible and is_visible_in_tree()])

addons/beehave/debug/frames.gd

@@ -0,0 +1,33 @@
+@tool
+extends RefCounted
+
+const SUCCESS_COLOR := Color("#009944c8")
+const NORMAL_COLOR := Color("#15181e")
+const FAILURE_COLOR := Color("#cf000f80")
+const RUNNING_COLOR := Color("#ffcc00c8")
+
+var empty: StyleBoxEmpty
+var normal: StyleBoxFlat
+var success: StyleBoxFlat
+var failure: StyleBoxFlat
+var running: StyleBoxFlat
+
+
+func _init() -> void:
+	var plugin := BeehaveUtils.get_plugin()
+	if not plugin:
+		return
+
+	var editor_scale := BeehaveUtils.get_editor_scale()
+
+	empty = StyleBoxEmpty.new()
+
+	normal = plugin.get_editor_interface().get_base_control().get_theme_stylebox(&"frame", &"GraphNode").duplicate()
+
+	success = plugin.get_editor_interface().get_base_control().get_theme_stylebox(&"selected_frame", &"GraphNode").duplicate()
+	failure = success.duplicate()
+	running = success.duplicate()
+
+	success.border_color = SUCCESS_COLOR
+	failure.border_color = FAILURE_COLOR
+	running.border_color = RUNNING_COLOR

addons/beehave/debug/global_debugger.gd

@@ -0,0 +1,38 @@
+extends Node
+
+var _registered_trees: Dictionary
+var _active_tree: BeehaveTree
+
+
+func _enter_tree() -> void:
+	EngineDebugger.register_message_capture("beehave", _on_debug_message)
+
+
+func _on_debug_message(message: String, data: Array) -> bool:
+	if message == "activate_tree":
+		_set_active_tree(data[0])
+		return true
+	if message == "visibility_changed":
+		if _active_tree:
+			_active_tree._can_send_message = data[0]
+		return true
+	return false
+
+
+func _set_active_tree(tree_id: int) -> void:
+	var tree: BeehaveTree = _registered_trees.get(tree_id, null)
+	if not tree:
+		return
+
+	if _active_tree:
+		_active_tree._can_send_message = false
+	_active_tree = tree
+	_active_tree._can_send_message = true
+
+
+func register_tree(tree: BeehaveTree) -> void:
+	_registered_trees[tree.get_instance_id()] = tree
+
+
+func unregister_tree(tree: BeehaveTree) -> void:
+	_registered_trees.erase(tree.get_instance_id())

addons/beehave/debug/graph_edit.gd

@@ -0,0 +1,259 @@
+@tool
+extends GraphEdit
+
+const BeehaveGraphNode := preload("graph_node.gd")
+
+const HORIZONTAL_LAYOUT_ICON := preload("icons/horizontal_layout.svg")
+const VERTICAL_LAYOUT_ICON := preload("icons/vertical_layout.svg")
+
+const PROGRESS_SHIFT: int = 50
+const INACTIVE_COLOR: Color = Color("#898989aa")
+const ACTIVE_COLOR: Color = Color("#ffcc00c8")
+const SUCCESS_COLOR: Color = Color("#009944c8")
+
+
+var updating_graph: bool = false
+var arraging_nodes: bool = false
+var beehave_tree: Dictionary:
+	set(value):
+		if beehave_tree == value:
+			return
+		beehave_tree = value
+		active_nodes.clear()
+		_update_graph()
+
+var horizontal_layout: bool = false:
+	set(value):
+		if updating_graph or arraging_nodes:
+			return
+		if horizontal_layout == value:
+			return
+		horizontal_layout = value
+		_update_layout_button()
+		_update_graph()
+
+
+var active_nodes: Array[String]
+var progress: int = 0
+var layout_button: Button
+
+
+func _ready() -> void:
+	custom_minimum_size = Vector2(100, 300)
+	arrange_nodes_button_hidden = true
+	minimap_enabled = false
+
+	layout_button = Button.new()
+	layout_button.flat = true
+	layout_button.focus_mode = Control.FOCUS_NONE
+	layout_button.pressed.connect(func(): horizontal_layout = not horizontal_layout)
+	get_zoom_hbox().add_child(layout_button)
+	_update_layout_button()
+
+
+func _update_graph() -> void:
+	if updating_graph:
+		return
+
+	updating_graph = true
+
+	clear_connections()
+
+	for child in get_children():
+		remove_child(child)
+		child.queue_free()
+
+	if not beehave_tree.is_empty():
+		_add_nodes(beehave_tree)
+		_connect_nodes(beehave_tree)
+		_arrange_nodes.call_deferred(beehave_tree)
+
+	updating_graph = false
+
+
+func _add_nodes(node: Dictionary) -> void:
+	if node.is_empty():
+		return
+	var gnode := BeehaveGraphNode.new(horizontal_layout)
+	add_child(gnode)
+	gnode.title_text = node.name
+	gnode.name = node.id
+	gnode.icon = _get_icon(node.type.back())
+
+	if node.type.has(&"BeehaveTree"):
+		gnode.set_slots(false, true)
+	elif node.type.has(&"Leaf"):
+		gnode.set_slots(true, false)
+	elif node.type.has(&"Composite") or node.type.has(&"Decorator"):
+		gnode.set_slots(true, true)
+
+	for child in node.get("children", []):
+		_add_nodes(child)
+
+
+func _connect_nodes(node: Dictionary) -> void:
+	for child in node.get("children", []):
+		connect_node(node.id, 0, child.id, 0)
+		_connect_nodes(child)
+
+
+func _arrange_nodes(node: Dictionary) -> void:
+	if arraging_nodes:
+		return
+
+	arraging_nodes = true
+
+	var tree_node := _create_tree_nodes(node)
+	tree_node.update_positions(horizontal_layout)
+	_place_nodes(tree_node)
+
+	arraging_nodes = false
+
+
+func _create_tree_nodes(node: Dictionary, root: TreeNode = null) -> TreeNode:
+	var tree_node := TreeNode.new(get_node(node.id), root)
+	for child in node.get("children", []):
+		var child_node := _create_tree_nodes(child, tree_node)
+		tree_node.children.push_back(child_node)
+	return tree_node
+
+
+func _place_nodes(node: TreeNode) -> void:
+	node.item.position_offset = Vector2(node.x, node.y)
+	for child in node.children:
+		_place_nodes(child)
+
+
+func _get_icon(type: StringName) -> Texture2D:
+	var classes := ProjectSettings.get_global_class_list()
+	for c in classes:
+		if c["class"] == type:
+			var icon_path := c.get("icon", String())
+			if not icon_path.is_empty():
+				return load(icon_path)
+	return null
+
+
+func get_status(status: int) -> String:
+	if status == 0:
+		return "SUCCESS"
+	elif status == 1:
+		return "FAILURE"
+	return "RUNNING"
+
+
+func process_begin(instance_id: int) -> void:
+	if not _is_same_tree(instance_id):
+		return
+
+	for child in get_children():
+		child.set_meta("status", -1)
+
+
+func process_tick(instance_id: int, status: int) -> void:
+	var node := get_node_or_null(str(instance_id))
+	if node:
+		node.text = "Status: %s" % get_status(status)
+		node.set_status(status)
+		node.set_meta("status", status)
+		if status == 0 or status == 2:
+			if not active_nodes.has(node.name):
+				active_nodes.push_back(node.name)
+
+
+func process_end(instance_id: int) -> void:
+	if not _is_same_tree(instance_id):
+		return
+
+	for child in get_children():
+		var status := child.get_meta("status", -1)
+		match status:
+			0:
+				active_nodes.erase(child.name)
+				child.set_color(SUCCESS_COLOR)
+			1:
+				active_nodes.erase(child.name)
+				child.set_color(INACTIVE_COLOR)
+			2:
+				child.set_color(ACTIVE_COLOR)
+			_:
+				child.text = " "
+				child.set_status(status)
+				child.set_color(INACTIVE_COLOR)
+
+
+func _is_same_tree(instance_id: int) -> bool:
+	return str(instance_id) == beehave_tree.get("id", "")
+
+
+func _get_connection_line(from_position: Vector2, to_position: Vector2) -> PackedVector2Array:
+	var points: PackedVector2Array
+
+	from_position = from_position.round()
+	to_position = to_position.round()
+
+	points.push_back(from_position)
+
+	var mid_position := ((to_position + from_position) / 2).round()
+	if horizontal_layout:
+		points.push_back(Vector2(mid_position.x, from_position.y))
+		points.push_back(Vector2(mid_position.x, to_position.y))
+	else:
+		points.push_back(Vector2(from_position.x, mid_position.y))
+		points.push_back(Vector2(to_position.x, mid_position.y))
+
+	points.push_back(to_position)
+
+	return points
+
+
+func _process(delta: float) -> void:
+	if not active_nodes.is_empty():
+		progress += 10 if delta >= 0.05 else 1
+		if progress >= 1000:
+			progress = 0
+		queue_redraw()
+
+
+func _draw() -> void:
+	if active_nodes.is_empty():
+		return
+
+	var circle_size: float = max(3, 6 * zoom)
+	var progress_shift: float = PROGRESS_SHIFT * zoom
+
+	var connections := get_connection_list()
+	for c in connections:
+		if not c.from in active_nodes or not c.to in active_nodes:
+			continue
+		var from := get_node(String(c.from))
+		var to := get_node(String(c.to))
+
+		if from.get_meta("status", -1) < 0 or to.get_meta("status", -1) < 0:
+			return
+
+		var line := _get_connection_line(from.position + from.get_connection_output_position(c.from_port), to.position + to.get_connection_input_position(c.to_port))
+
+		var curve = Curve2D.new()
+		for l in line:
+			curve.add_point(l)
+
+		var max_steps := int(curve.get_baked_length())
+		var current_shift := progress % max_steps
+		var p := curve.sample_baked(current_shift)
+		draw_circle(p, circle_size, ACTIVE_COLOR)
+
+		var shift := current_shift - progress_shift
+		while shift >= 0:
+			draw_circle(curve.sample_baked(shift), circle_size, ACTIVE_COLOR)
+			shift -= progress_shift
+
+		shift = current_shift + progress_shift
+		while shift <= curve.get_baked_length():
+			draw_circle(curve.sample_baked(shift), circle_size, ACTIVE_COLOR)
+			shift += progress_shift
+
+
+func _update_layout_button() -> void:
+	layout_button.icon = VERTICAL_LAYOUT_ICON if horizontal_layout else HORIZONTAL_LAYOUT_ICON
+	layout_button.tooltip_text = "Switch to Vertical layout" if horizontal_layout else "Switch to Horizontal layout"

addons/beehave/debug/graph_node.gd

@@ -0,0 +1,145 @@
+@tool
+extends GraphNode
+
+const DEFAULT_COLOR := Color("#dad4cb")
+
+const PORT_TOP_ICON := preload("icons/port_top.svg")
+const PORT_BOTTOM_ICON := preload("icons/port_bottom.svg")
+const PORT_LEFT_ICON := preload("icons/port_left.svg")
+const PORT_RIGHT_ICON := preload("icons/port_right.svg")
+
+
+@export var title_text: String:
+	set(value):
+		title_text = value
+		if title_label:
+			title_label.text = value
+
+@export var text: String:
+	set(value):
+		text = value
+		if label:
+			label.text = " " if text.is_empty() else text
+
+@export var icon: Texture2D:
+	set(value):
+		icon = value
+		if icon_rect:
+			icon_rect.texture = value
+
+var layout_size: float:
+	get:
+		return size.y if horizontal else size.x
+
+
+var panel: PanelContainer
+var icon_rect: TextureRect
+var title_label: Label
+var container: VBoxContainer
+var label: Label
+
+var frames: RefCounted = BeehaveUtils.get_frames()
+var horizontal: bool = false
+
+
+func _init(horizontal: bool = false) -> void:
+	self.horizontal = horizontal
+
+
+func _ready() -> void:
+	custom_minimum_size = Vector2(50, 50) * BeehaveUtils.get_editor_scale()
+	draggable = false
+
+	add_theme_stylebox_override("frame", frames.empty)
+	add_theme_stylebox_override("selected_frame", frames.empty)
+	add_theme_color_override("close_color", Color.TRANSPARENT)
+	add_theme_icon_override("close", ImageTexture.new())
+
+	# For top port
+	add_child(Control.new())
+
+	panel = PanelContainer.new()
+	panel.mouse_filter = Control.MOUSE_FILTER_PASS
+	panel.add_theme_stylebox_override("panel", frames.normal)
+	add_child(panel)
+
+	var vbox_container := VBoxContainer.new()
+	panel.add_child(vbox_container)
+
+	var title_size := 24 * BeehaveUtils.get_editor_scale()
+	var margin_container := MarginContainer.new()
+	margin_container.add_theme_constant_override("margin_top", -title_size - 2 * BeehaveUtils.get_editor_scale())
+	margin_container.mouse_filter = Control.MOUSE_FILTER_PASS
+	vbox_container.add_child(margin_container)
+
+	var title_container := HBoxContainer.new()
+	title_container.add_child(Control.new())
+	title_container.mouse_filter = Control.MOUSE_FILTER_PASS
+	title_container.size_flags_horizontal = Control.SIZE_EXPAND_FILL
+	margin_container.add_child(title_container)
+
+	icon_rect = TextureRect.new()
+	icon_rect.stretch_mode = TextureRect.STRETCH_KEEP_ASPECT_CENTERED
+	title_container.add_child(icon_rect)
+
+	title_label = Label.new()
+	title_label.add_theme_color_override("font_color", DEFAULT_COLOR)
+	title_label.add_theme_font_override("font", get_theme_font("title_font"))
+	title_label.vertical_alignment = VERTICAL_ALIGNMENT_CENTER
+	title_label.size_flags_horizontal = Control.SIZE_EXPAND_FILL
+	title_label.text = title_text
+	title_container.add_child(title_label)
+
+	title_container.add_child(Control.new())
+
+	container = VBoxContainer.new()
+	container.size_flags_vertical = Control.SIZE_EXPAND_FILL
+	container.size_flags_horizontal = Control.SIZE_EXPAND_FILL
+	panel.add_child(container)
+
+	label = Label.new()
+	label.text = " " if text.is_empty() else text
+	container.add_child(label)
+
+	# For bottom port
+	add_child(Control.new())
+
+	minimum_size_changed.connect(_on_size_changed)
+	_on_size_changed.call_deferred()
+
+
+func set_status(status: int) -> void:
+	panel.add_theme_stylebox_override("panel", _get_stylebox(status))
+
+
+func _get_stylebox(status: int) -> StyleBox:
+	match status:
+		0: return frames.success
+		1: return frames.failure
+		2: return frames.running
+		_: return frames.normal
+
+
+func set_slots(left_enabled: bool, right_enabled: bool) -> void:
+	if horizontal:
+		set_slot(1, left_enabled, 0, Color.WHITE, right_enabled, 0, Color.WHITE, PORT_LEFT_ICON, PORT_RIGHT_ICON)
+	else:
+		set_slot(0, left_enabled, 0, Color.WHITE, false, -2, Color.TRANSPARENT, PORT_TOP_ICON, null)
+		set_slot(2, false, -1, Color.TRANSPARENT, right_enabled, 0, Color.WHITE, null, PORT_BOTTOM_ICON)
+
+
+func set_color(color: Color) -> void:
+	set_input_color(color)
+	set_output_color(color)
+
+
+func set_input_color(color: Color) -> void:
+	set_slot_color_left(1 if horizontal else 0, color)
+
+
+func set_output_color(color: Color) -> void:
+	set_slot_color_right(1 if horizontal else 2, color)
+
+
+func _on_size_changed():
+	add_theme_constant_override("port_offset", 12 * BeehaveUtils.get_editor_scale() if horizontal else round(size.x / 2.0))

addons/beehave/debug/icons/horizontal_layout.svg

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addons/beehave/debug/icons/port_bottom.svg

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addons/beehave/debug/icons/port_left.svg

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+
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+dest_files=["res://.godot/imported/port_left.svg-69cd927c4db555f1edbb8d1f553ea2fd.ctex"]
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+editor/scale_with_editor_scale=false
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addons/beehave/debug/icons/port_right.svg

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+
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+dest_files=["res://.godot/imported/port_right.svg-f760bd8be2dd613d0d3848c998c92a2a.ctex"]
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addons/beehave/debug/icons/port_top.svg

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addons/beehave/debug/icons/vertical_layout.svg

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addons/beehave/debug/tree_node.gd

@@ -0,0 +1,255 @@
+class_name TreeNode
+extends RefCounted
+
+# Based on https://rachel53461.wordpress.com/2014/04/20/algorithm-for-drawing-trees/
+
+const SIBLING_DISTANCE: float = 20.0
+const LEVEL_DISTANCE: float = 40.0
+
+var x: float
+var y: float
+var mod: float
+var parent: TreeNode
+var children: Array[TreeNode]
+
+var item: GraphNode
+
+
+func _init(p_item: GraphNode = null, p_parent: TreeNode = null) -> void:
+	parent = p_parent
+	item = p_item
+
+
+func is_leaf() -> bool:
+	return children.is_empty()
+
+
+func is_most_left() -> bool:
+	if not parent:
+		return true
+	return parent.children.front() == self
+
+
+func is_most_right() -> bool:
+	if not parent:
+		return true
+	return parent.children.back() == self
+
+
+func get_previous_sibling() -> TreeNode:
+	if not parent or is_most_left():
+		return null
+	return parent.children[parent.children.find(self) - 1]
+
+
+func get_next_sibling() -> TreeNode:
+	if not parent or is_most_right():
+		return null
+	return parent.children[parent.children.find(self) + 1]
+
+
+func get_most_left_sibling() -> TreeNode:
+	if not parent:
+		return null
+
+	if is_most_left():
+		return self
+
+	return parent.children.front()
+
+
+func get_most_left_child() -> TreeNode:
+	if children.is_empty():
+		return null
+	return children.front()
+
+
+func get_most_right_child() -> TreeNode:
+	if children.is_empty():
+		return null
+	return children.back()
+
+
+func update_positions(horizontally: bool = false) -> void:
+	_initialize_nodes(self, 0)
+	_calculate_initial_x(self)
+
+	_check_all_children_on_screen(self)
+	_calculate_final_positions(self, 0)
+
+	if horizontally:
+		_swap_x_y(self)
+		_calculate_x(self, 0)
+	else:
+		_calculate_y(self, 0)
+
+
+func _initialize_nodes(node: TreeNode, depth: int) -> void:
+	node.x = -1
+	node.y = depth
+	node.mod = 0
+
+	for child in node.children:
+		_initialize_nodes(child, depth + 1)
+
+
+func _calculate_initial_x(node: TreeNode) -> void:
+	for child in node.children:
+		_calculate_initial_x(child)
+	if node.is_leaf():
+		if not node.is_most_left():
+			node.x = node.get_previous_sibling().x + node.get_previous_sibling().item.layout_size + SIBLING_DISTANCE
+		else:
+			node.x = 0
+	else:
+		var mid: float
+		if node.children.size() == 1:
+			var offset: float = (node.children.front().item.layout_size - node.item.layout_size) / 2
+			mid = node.children.front().x + offset
+		else:
+			var left_child := node.get_most_left_child()
+			var right_child := node.get_most_right_child()
+			mid = (left_child.x + right_child.x + right_child.item.layout_size - node.item.layout_size) / 2
+
+		if node.is_most_left():
+			node.x = mid
+		else:
+			node.x = node.get_previous_sibling().x + node.get_previous_sibling().item.layout_size + SIBLING_DISTANCE
+			node.mod = node.x - mid
+
+	if not node.is_leaf() and not node.is_most_left():
+		_check_for_conflicts(node)
+
+
+func _calculate_final_positions(node: TreeNode, mod_sum: float) -> void:
+	node.x += mod_sum
+	mod_sum += node.mod
+
+	for child in node.children:
+		_calculate_final_positions(child, mod_sum)
+
+
+func _check_all_children_on_screen(node: TreeNode) -> void:
+	var node_contour: Dictionary = {}
+	_get_left_contour(node, 0, node_contour)
+
+	var shift_amount: float = 0
+	for y in node_contour.keys():
+		if node_contour[y] + shift_amount < 0:
+			shift_amount = (node_contour[y] * -1)
+
+	if shift_amount > 0:
+		node.x += shift_amount
+		node.mod += shift_amount
+
+
+func _check_for_conflicts(node: TreeNode) -> void:
+	var min_distance := SIBLING_DISTANCE
+	var shift_value: float = 0
+	var shift_sibling: TreeNode = null
+
+	var node_contour: Dictionary = {}# { int, float }
+	_get_left_contour(node, 0, node_contour)
+
+	var sibling := node.get_most_left_sibling()
+	while sibling != null and sibling != node:
+		var sibling_contour: Dictionary = {}
+		_get_right_contour(sibling, 0, sibling_contour)
+
+		for level in range(node.y + 1, min(sibling_contour.keys().max(), node_contour.keys().max()) + 1):
+			var distance: float = node_contour[level] - sibling_contour[level]
+			if distance + shift_value < min_distance:
+				shift_value = min_distance - distance
+				shift_sibling = sibling
+
+		sibling = sibling.get_next_sibling()
+
+	if shift_value > 0:
+		node.x += shift_value
+		node.mod += shift_value
+		_center_nodes_between(shift_sibling, node)
+
+
+func _center_nodes_between(left_node: TreeNode, right_node: TreeNode) -> void:
+	var left_index := left_node.parent.children.find(left_node)
+	var right_index := left_node.parent.children.find(right_node)
+
+	var num_nodes_between: int = (right_index - left_index) - 1
+	if num_nodes_between > 0:
+		# The extra distance that needs to be split into num_nodes_between + 1
+		# in order to find the new node spacing so that nodes are equally spaced
+		var distance_to_allocate: float = right_node.x - left_node.x - left_node.item.layout_size
+		# Subtract sizes on nodes in between
+		for i in range(left_index + 1, right_index):
+			distance_to_allocate -= left_node.parent.children[i].item.layout_size
+		# Divide space equally
+		var distance_between_nodes: float = distance_to_allocate / (num_nodes_between + 1)
+
+		var prev_node := left_node
+		var middle_node := left_node.get_next_sibling()
+		while middle_node != right_node:
+			var desire_x: float = prev_node.x + prev_node.item.layout_size + distance_between_nodes
+			var offset := desire_x - middle_node.x
+			middle_node.x += offset
+			middle_node.mod += offset
+			prev_node = middle_node
+			middle_node = middle_node.get_next_sibling()
+
+
+func _get_left_contour(node: TreeNode, mod_sum: float, values: Dictionary) -> void:
+	var node_left: float = node.x + mod_sum
+	var depth := int(node.y)
+	if not values.has(depth):
+		values[depth] = node_left
+	else:
+		values[depth] = min(values[depth], node_left)
+
+	mod_sum += node.mod
+	for child in node.children:
+		_get_left_contour(child, mod_sum, values)
+
+
+func _get_right_contour(node: TreeNode, mod_sum: float, values: Dictionary) -> void:
+	var node_right: float = node.x + mod_sum + node.item.layout_size
+	var depth := int(node.y)
+	if not values.has(depth):
+		values[depth] = node_right
+	else:
+		values[depth] = max(values[depth], node_right)
+
+	mod_sum += node.mod
+	for child in node.children:
+		_get_right_contour(child, mod_sum, values)
+
+
+func _swap_x_y(node: TreeNode) -> void:
+	for child in node.children:
+		_swap_x_y(child)
+
+	var temp := node.x
+	node.x = node.y
+	node.y = temp
+
+
+func _calculate_x(node: TreeNode, offset: int) -> void:
+	node.x = offset
+	var sibling := node.get_most_left_sibling()
+	var max_size: int = node.item.size.x
+	while sibling != null:
+		max_size = max(sibling.item.size.x, max_size)
+		sibling = sibling.get_next_sibling()
+
+	for child in node.children:
+		_calculate_x(child, max_size + offset + LEVEL_DISTANCE * BeehaveUtils.get_editor_scale())
+
+
+func _calculate_y(node: TreeNode, offset: int) -> void:
+	node.y = offset
+	var sibling := node.get_most_left_sibling()
+	var max_size: int = node.item.size.y
+	while sibling != null:
+		max_size = max(sibling.item.size.y, max_size)
+		sibling = sibling.get_next_sibling()
+
+	for child in node.children:
+		_calculate_y(child, max_size + offset + LEVEL_DISTANCE * BeehaveUtils.get_editor_scale())

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addons/beehave/icons/succeeder.svg

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+<svg
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addons/beehave/icons/tree.svg

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   height="15.063"
+   width="16.875999"
+   version="1.1"
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addons/beehave/metrics/beehave_global_metrics.gd

@@ -0,0 +1,54 @@
+extends Node
+
+var _tree_count: int = 0
+var _active_tree_count: int = 0
+var _registered_trees: Array[BeehaveTree] = []
+
+
+func _enter_tree() -> void:
+	Performance.add_custom_monitor("beehave/total_trees", _get_total_trees)
+	Performance.add_custom_monitor("beehave/total_enabled_trees", _get_total_enabled_trees)
+
+
+func register_tree(tree: BeehaveTree) -> void:
+	if _registered_trees.has(tree):
+		return
+	
+	_registered_trees.append(tree)
+	_tree_count += 1
+	
+	if tree.enabled:
+		_active_tree_count += 1
+	
+	tree.tree_enabled.connect(_on_tree_enabled)
+	tree.tree_disabled.connect(_on_tree_disabled)
+
+
+func unregister_tree(tree: BeehaveTree) -> void:
+	if not _registered_trees.has(tree):
+		return
+	
+	_registered_trees.erase(tree)
+	_tree_count -= 1
+	
+	if tree.enabled:
+		_active_tree_count -= 1
+	
+	tree.tree_enabled.disconnect(_on_tree_enabled)
+	tree.tree_disabled.disconnect(_on_tree_disabled)
+
+
+func _get_total_trees() -> int:
+	return _tree_count
+
+	
+func _get_total_enabled_trees() -> int:
+	return _active_tree_count
+
+
+func _on_tree_enabled() -> void:
+	_active_tree_count += 1
+
+
+func _on_tree_disabled() -> void:
+	_active_tree_count -= 1

addons/beehave/nodes/beehave_node.gd

@@ -0,0 +1,49 @@
+## A node in the behavior tree. Every node must return `SUCCESS`, `FAILURE` or
+## `RUNNING` when ticked.
+@tool
+class_name BeehaveNode extends Node
+
+enum {
+	SUCCESS,
+	FAILURE,
+	RUNNING
+}
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings: PackedStringArray = []
+
+	if get_children().any(func(x): return not (x is BeehaveNode)):
+		warnings.append("All children of this node should inherit from BeehaveNode class.")
+
+	return warnings
+
+
+## Executes this node and returns a status code.
+## This method must be overwritten.
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	return SUCCESS
+
+
+## Called when this node needs to be interrupted before it can return FAILURE or SUCCESS.
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	pass
+
+
+## Called before the first time it ticks by the parent.
+func before_run(actor: Node, blackboard: Blackboard) -> void:
+	pass
+
+
+## Called after the last time it ticks and returns
+## [code]SUCCESS[/code] or [code]FAILURE[/code].
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	pass
+
+
+func get_class_name() -> Array[StringName]:
+	return [&"BeehaveNode"]
+
+
+func can_send_message(blackboard: Blackboard) -> bool:
+	return blackboard.get_value("can_send_message", false)

addons/beehave/nodes/beehave_tree.gd

@@ -0,0 +1,224 @@
+## Controls the flow of execution of the entire behavior tree.
+@tool
+@icon("../icons/tree.svg")
+class_name BeehaveTree extends Node
+
+enum {
+	SUCCESS,
+	FAILURE,
+	RUNNING
+}
+
+signal tree_enabled
+signal tree_disabled
+
+## Wether this behavior tree should be enabled or not.
+@export var enabled: bool = true:
+	set(value):
+		enabled = value
+		set_physics_process(enabled)
+
+		if value:
+			tree_enabled.emit()
+		else:
+			interrupt()
+			tree_disabled.emit()
+
+	get:
+		return enabled
+
+## An optional node path this behavior tree should apply to.
+@export_node_path var actor_node_path : NodePath
+
+## Custom blackboard node. An internal blackboard will be used
+## if no blackboard is provided explicitly.
+@export var blackboard:Blackboard:
+	set(b):
+		blackboard = b
+		if blackboard and _internal_blackboard:
+			remove_child(_internal_blackboard)
+			_internal_blackboard.free()
+			_internal_blackboard = null
+		elif not blackboard and not _internal_blackboard:
+			_internal_blackboard = Blackboard.new()
+			add_child(_internal_blackboard, false, Node.INTERNAL_MODE_BACK)
+	get:
+		return blackboard if blackboard else _internal_blackboard
+
+## When enabled, this tree is tracked individually
+## as a custom monitor.
+@export var custom_monitor = false:
+	set(b):
+		custom_monitor = b
+		if custom_monitor and _process_time_metric_name != '':
+			Performance.add_custom_monitor(_process_time_metric_name, _get_process_time_metric_value)
+			BeehaveGlobalMetrics.register_tree(self)
+		else:
+			if _process_time_metric_name != '':
+				# Remove tree metric from the engine
+				Performance.remove_custom_monitor(_process_time_metric_name)
+				BeehaveGlobalMetrics.unregister_tree(self)
+
+			BeehaveDebuggerMessages.unregister_tree(get_instance_id())
+
+var actor : Node
+var status : int = -1
+
+var _internal_blackboard: Blackboard
+var _process_time_metric_name : String
+var _process_time_metric_value : float = 0.0
+var _can_send_message: bool = false
+
+func _ready() -> void:
+	if Engine.is_editor_hint():
+		return
+
+	if self.get_child_count() > 0 and not self.get_child(0) is BeehaveNode:
+		push_warning("Beehave error: Root %s should have only one child of type BeehaveNode (NodePath: %s)" % [self.name, self.get_path()])
+		disable()
+		return
+
+	if not blackboard:
+		_internal_blackboard = Blackboard.new()
+		add_child(_internal_blackboard, false, Node.INTERNAL_MODE_BACK)
+
+	actor = get_parent()
+	if actor_node_path:
+		actor = get_node(actor_node_path)
+
+	# Get the name of the parent node name for metric
+	var parent_name = actor.name
+	_process_time_metric_name = "beehave [microseconds]/process_time_%s-%s" % [parent_name, get_instance_id()]
+
+	# Register custom metric to the engine
+	if custom_monitor:
+		Performance.add_custom_monitor(_process_time_metric_name, _get_process_time_metric_value)
+		BeehaveGlobalMetrics.register_tree(self)
+
+	set_physics_process(enabled)
+	BeehaveGlobalDebugger.register_tree(self)
+	BeehaveDebuggerMessages.register_tree(_get_debugger_data(self))
+
+
+func _physics_process(delta: float) -> void:
+	if Engine.is_editor_hint():
+		return
+
+	# Start timing for metric
+	var start_time = Time.get_ticks_usec()
+
+	blackboard.set_value("can_send_message", _can_send_message)
+
+	if _can_send_message:
+		BeehaveDebuggerMessages.process_begin(get_instance_id())
+
+	if self.get_child_count() == 1:
+		tick()
+
+	if _can_send_message:
+		BeehaveDebuggerMessages.process_end(get_instance_id())
+
+	# Check the cost for this frame and save it for metric report
+	_process_time_metric_value = Time.get_ticks_usec() - start_time
+
+
+func tick() -> int:
+	var child := self.get_child(0)
+	if status != RUNNING:
+		child.before_run(actor, blackboard)
+
+	status = child.tick(actor, blackboard)
+	if _can_send_message:
+		BeehaveDebuggerMessages.process_tick(child.get_instance_id(), status)
+		BeehaveDebuggerMessages.process_tick(get_instance_id(), status)
+
+	# Clear running action if nothing is running
+	if status != RUNNING:
+		blackboard.set_value("running_action", null, str(actor.get_instance_id()))
+		child.after_run(actor, blackboard)
+
+	return status
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings:PackedStringArray = []
+
+	if get_children().any(func(x): return not (x is BeehaveNode)):
+		warnings.append("All children of this node should inherit from BeehaveNode class.")
+
+	if get_child_count() != 1:
+		warnings.append("BeehaveTree should have exactly one child node.")
+
+	return warnings
+
+
+## Returns the currently running action
+func get_running_action() -> ActionLeaf:
+	return blackboard.get_value("running_action", null, str(actor.get_instance_id()))
+
+
+## Returns the last condition that was executed
+func get_last_condition() -> ConditionLeaf:
+	return blackboard.get_value("last_condition", null, str(actor.get_instance_id()))
+
+
+## Returns the status of the last executed condition
+func get_last_condition_status() -> String:
+	if blackboard.has_value("last_condition_status", str(actor.get_instance_id())):
+		var status = blackboard.get_value("last_condition_status", null, str(actor.get_instance_id()))
+		if status == SUCCESS:
+			return "SUCCESS"
+		elif status == FAILURE:
+			return "FAILURE"
+		else:
+			return "RUNNING"
+	return ""
+
+## interrupts this tree if anything was running
+func interrupt() -> void:
+	if self.get_child_count() != 0:
+		var first_child = self.get_child(0)
+		if "interrupt" in first_child:
+			first_child.interrupt(actor, blackboard)
+
+
+## Enables this tree.
+func enable() -> void:
+	self.enabled = true
+
+
+## Disables this tree.
+func disable() -> void:
+	self.enabled = false
+
+
+func _exit_tree() -> void:
+	if custom_monitor:
+		if _process_time_metric_name != '':
+			# Remove tree metric from the engine
+			Performance.remove_custom_monitor(_process_time_metric_name)
+			BeehaveGlobalMetrics.unregister_tree(self)
+
+		BeehaveDebuggerMessages.unregister_tree(get_instance_id())
+
+
+# Called by the engine to profile this tree
+func _get_process_time_metric_value() -> int:
+	return _process_time_metric_value
+
+
+func _get_debugger_data(node: Node) -> Dictionary:
+	if not node is BeehaveTree and not node is BeehaveNode:
+		return {}
+	var data := { path = node.get_path(), name = node.name, type = node.get_class_name(), id = str(node.get_instance_id()) }
+	if node.get_child_count() > 0:
+		data.children = []
+	for child in node.get_children():
+		var child_data := _get_debugger_data(child)
+		if not child_data.is_empty():
+			data.children.push_back(child_data)
+	return data
+
+
+func get_class_name() -> Array[StringName]:
+	return [&"BeehaveTree"]

addons/beehave/nodes/composites/composite.gd

@@ -0,0 +1,40 @@
+## A Composite node controls the flow of execution of its children in a specific manner.
+@tool
+@icon("../../icons/category_composite.svg")
+class_name Composite extends BeehaveNode
+
+
+var running_child: BeehaveNode = null
+
+
+func _ready():
+	if Engine.is_editor_hint():
+		return
+
+	if self.get_child_count() < 1:
+		push_warning("BehaviorTree Error: Composite %s should have at least one child (NodePath: %s)" % [self.name, self.get_path()])
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings: PackedStringArray = super._get_configuration_warnings()
+
+	if get_children().filter(func(x): return x is BeehaveNode).size() < 2:
+		warnings.append("Any composite node should have at least two children. Otherwise it is not useful.")
+
+	return warnings
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	if running_child != null:
+		running_child.interrupt(actor, blackboard)
+		running_child = null
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	running_child = null
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"Composite")
+	return classes

addons/beehave/nodes/composites/selector.gd

@@ -0,0 +1,57 @@
+## Selector nodes will attempt to execute each of its children until one of
+## them return `SUCCESS`. If all children return `FAILURE`, this node will also
+## return `FAILURE`.
+## If a child returns `RUNNING` it will tick again.
+@tool
+@icon("../../icons/selector.svg")
+class_name SelectorComposite extends Composite
+
+var last_execution_index: int = 0
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	for c in get_children():
+		if c.get_index() < last_execution_index:
+			continue
+
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				c.after_run(actor, blackboard)
+				return SUCCESS
+			FAILURE:
+				last_execution_index += 1
+				c.after_run(actor, blackboard)
+			RUNNING:
+				running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+
+	return FAILURE
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	last_execution_index = 0
+	super(actor, blackboard)
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	after_run(actor, blackboard)
+	super(actor, blackboard)
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SelectorComposite")
+	return classes

addons/beehave/nodes/composites/selector_random.gd

@@ -0,0 +1,88 @@
+## This node will attempt to execute all of its children just like a
+## [code]SelectorStar[/code] would, with the exception that the children
+## will be executed in a random order.
+@tool
+@icon("../../icons/selector_random.svg")
+class_name SelectorRandomComposite extends Composite
+
+## Sets a predicable seed
+@export var random_seed:int = 0:
+	set(rs):
+		random_seed = rs
+		if random_seed != 0:
+			seed(random_seed)
+		else:
+			randomize()
+
+
+## A shuffled list of the children that will be executed in reverse order.
+var _children_bag: Array[Node] = []
+var c: Node
+
+func _ready() -> void:
+	if random_seed == 0:
+		randomize()
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	if _children_bag.is_empty():
+		_reset()
+
+	# We need to traverse the array in reverse since we will be manipulating it.
+	for i in _get_reversed_indexes():
+		c = _children_bag[i]
+
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				_children_bag.erase(c)
+				c.after_run(actor, blackboard)
+				return SUCCESS
+			FAILURE:
+				_children_bag.erase(c)
+				c.after_run(actor, blackboard)
+			RUNNING:
+				running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+
+	return FAILURE
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	_reset()
+	super(actor, blackboard)
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	after_run(actor, blackboard)
+	super(actor, blackboard)
+
+
+func _get_reversed_indexes() -> Array[int]:
+	var reversed: Array[int]
+	reversed.assign(range(_children_bag.size()))
+	reversed.reverse()
+	return reversed
+
+
+## Generates a new shuffled list of the children.
+func _reset() -> void:
+	_children_bag = get_children().duplicate()
+	_children_bag.shuffle()
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SelectorRandomComposite")
+	return classes

addons/beehave/nodes/composites/selector_reactive.gd

@@ -0,0 +1,45 @@
+## Selector Reactive nodes will attempt to execute each of its children until one of
+## them return `SUCCESS`. If all children return `FAILURE`, this node will also
+## return `FAILURE`.
+## If a child returns `RUNNING` it will restart.
+@tool
+@icon("../../icons/selector_reactive.svg")
+class_name SelectorReactiveComposite extends Composite
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	for c in get_children():
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				# Interrupt any child that was RUNNING before.
+				if c != running_child:
+					interrupt(actor, blackboard)
+				c.after_run(actor, blackboard)
+				return SUCCESS
+			FAILURE:
+				c.after_run(actor, blackboard)
+			RUNNING:
+				if c != running_child:
+					interrupt(actor, blackboard)
+					running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+
+	return FAILURE
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SelectorReactiveComposite")
+	return classes

addons/beehave/nodes/composites/sequence.gd

@@ -0,0 +1,64 @@
+## Sequence nodes will attempt to execute all of its children and report
+## `SUCCESS` in case all of the children report a `SUCCESS` status code.
+## If at least one child reports a `FAILURE` status code, this node will also
+## return `FAILURE` and restart.
+## In case a child returns `RUNNING` this node will tick again. 
+@tool
+@icon("../../icons/sequence.svg")
+class_name SequenceComposite extends Composite
+
+
+var successful_index: int = 0
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	for c in get_children():
+
+		if c.get_index() < successful_index:
+			continue
+		
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				successful_index += 1
+				c.after_run(actor, blackboard)
+			FAILURE:
+				# Interrupt any child that was RUNNING before.
+				interrupt(actor, blackboard)
+				c.after_run(actor, blackboard)
+				return FAILURE
+			RUNNING:
+				if c != running_child:
+					if running_child != null:
+						running_child.interrupt(actor, blackboard)
+					running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+
+	_reset()
+	return SUCCESS
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	_reset()
+	super(actor, blackboard)
+	
+func _reset() -> void:
+	successful_index = 0
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SequenceComposite")
+	return classes

addons/beehave/nodes/composites/sequence_random.gd

@@ -0,0 +1,96 @@
+## This node will attempt to execute all of its children just like a
+## [code]SequenceStar[/code] would, with the exception that the children
+## will be executed in a random order.
+@tool
+@icon("../../icons/sequence_random.svg")
+class_name SequenceRandomComposite extends Composite
+
+
+## Whether the sequence should start where it left off after a previous failure.
+@export var resume_on_failure: bool = false
+## Whether the sequence should start where it left off after a previous interruption.
+@export var resume_on_interrupt: bool = false
+## Sets a predicable seed
+@export var random_seed: int = 0:
+	set(rs):
+		random_seed = rs
+		if random_seed != 0:
+			seed(random_seed)
+		else:
+			randomize()
+
+## A shuffled list of the children that will be executed in reverse order.
+var _children_bag: Array[Node] = []
+var c: Node
+
+
+func _ready() -> void:
+	if random_seed == 0:
+		randomize()
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	if _children_bag.is_empty():
+		_reset()
+
+	# We need to traverse the array in reverse since we will be manipulating it.
+	for i in _get_reversed_indexes():
+		c = _children_bag[i]
+
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				_children_bag.erase(c)
+				c.after_run(actor, blackboard)
+			FAILURE:
+				_children_bag.erase(c)
+				c.after_run(actor, blackboard)
+				return FAILURE
+			RUNNING:
+				running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+
+	return SUCCESS
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	if not resume_on_failure:
+		_reset()
+	super(actor, blackboard)
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	if not resume_on_interrupt:
+		_reset()
+	super(actor, blackboard)
+
+
+func _get_reversed_indexes() -> Array[int]:
+	var reversed: Array[int]
+	reversed.assign(range(_children_bag.size()))
+	reversed.reverse()
+	return reversed
+
+
+## Generates a new shuffled list of the children.
+func _reset() -> void:
+	_children_bag = get_children().duplicate()
+	_children_bag.shuffle()
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SequenceRandomComposite")
+	return classes

addons/beehave/nodes/composites/sequence_reactive.gd

@@ -0,0 +1,62 @@
+## Reactive Sequence nodes will attempt to execute all of its children and report
+## `SUCCESS` in case all of the children report a `SUCCESS` status code.
+## If at least one child reports a `FAILURE` status code, this node will also
+## return `FAILURE` and restart.
+## In case a child returns `RUNNING` this node will restart.
+@tool
+@icon("../../icons/sequence_reactive.svg")
+class_name SequenceReactiveComposite extends Composite
+
+
+var successful_index: int = 0
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	for c in get_children():
+		if c.get_index() < successful_index:
+			continue
+		
+		if c != running_child:
+			c.before_run(actor, blackboard)
+		
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+		
+		match response:
+			SUCCESS:
+				successful_index += 1
+				c.after_run(actor, blackboard)
+			FAILURE:
+				# Interrupt any child that was RUNNING before.
+				interrupt(actor, blackboard)
+				c.after_run(actor, blackboard)
+				return FAILURE
+			RUNNING:
+				_reset()
+				if running_child != c:
+					interrupt(actor, blackboard)
+					running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+	_reset()
+	return SUCCESS
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	_reset()
+	super(actor, blackboard)
+	
+func _reset() -> void:
+	successful_index = 0
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SequenceReactiveComposite")
+	return classes

addons/beehave/nodes/composites/sequence_star.gd

@@ -0,0 +1,58 @@
+## Sequence Star nodes will attempt to execute all of its children and report
+## `SUCCESS` in case all of the children report a `SUCCESS` status code.
+## If at least one child reports a `FAILURE` status code, this node will also
+## return `FAILURE` and tick again.
+## In case a child returns `RUNNING` this node will restart.
+@tool
+@icon("../../icons/sequence_reactive.svg")
+class_name SequenceStarComposite extends Composite
+
+
+var successful_index: int = 0
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	for c in get_children():
+		if c.get_index() < successful_index:
+			continue
+
+		if c != running_child:
+			c.before_run(actor, blackboard)
+
+		var response = c.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+		if c is ConditionLeaf:
+			blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		match response:
+			SUCCESS:
+				successful_index += 1
+				c.after_run(actor, blackboard)
+			FAILURE:
+				c.after_run(actor, blackboard)
+				return FAILURE
+			RUNNING:
+				running_child = c
+				if c is ActionLeaf:
+					blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+				return RUNNING
+	_reset()
+	return SUCCESS
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	_reset()
+	super(actor, blackboard)
+
+	
+func _reset() -> void:
+	successful_index = 0
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"SequenceStarComposite")
+	return classes

addons/beehave/nodes/decorators/decorator.gd

@@ -0,0 +1,41 @@
+## Decorator nodes are used to transform the result received by its child.
+## Must only have one child.
+@tool
+@icon("../../icons/category_decorator.svg")
+class_name Decorator extends BeehaveNode
+
+
+var running_child: BeehaveNode = null
+
+
+func _ready():
+	if Engine.is_editor_hint():
+		return
+
+	if self.get_child_count() != 1:
+		push_warning("Beehave Error: Decorator %s should have only one child (NodePath: %s)" % [self.name, self.get_path()])
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings: PackedStringArray = super._get_configuration_warnings()
+
+	if get_child_count() != 1:
+		warnings.append("Decorator should have exactly one child node.")
+
+	return warnings
+
+
+func interrupt(actor: Node, blackboard: Blackboard) -> void:
+	if running_child != null:
+		running_child.interrupt(actor, blackboard)
+		running_child = null
+
+
+func after_run(actor: Node, blackboard: Blackboard) -> void:
+	running_child = null
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"Decorator")
+	return classes

addons/beehave/nodes/decorators/failer.gd

@@ -0,0 +1,34 @@
+## A Failer node will always return a `FAILURE` status code.
+@tool
+@icon("../../icons/failer.svg")
+class_name AlwaysFailDecorator extends Decorator
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var c = get_child(0)
+
+	if c != running_child:
+		c.before_run(actor, blackboard)
+
+	var response = c.tick(actor, blackboard)
+	if can_send_message(blackboard):
+		BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+	if c is ConditionLeaf:
+		blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+		blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+	if response == RUNNING:
+		running_child = c
+		if c is ActionLeaf:
+			blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+		return RUNNING
+	else:
+		c.after_run(actor, blackboard)
+		return FAILURE
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"AlwaysFailDecorator")
+	return classes

addons/beehave/nodes/decorators/inverter.gd

@@ -0,0 +1,42 @@
+## An inverter will return `FAILURE` in case it's child returns a `SUCCESS` status
+## code or `SUCCESS` in case its child returns a `FAILURE` status code.
+@tool
+@icon("../../icons/inverter.svg")
+class_name InverterDecorator extends Decorator
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var c = get_child(0)
+
+	if c != running_child:
+		c.before_run(actor, blackboard)
+
+	var response = c.tick(actor, blackboard)
+	if can_send_message(blackboard):
+		BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+	if c is ConditionLeaf:
+		blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+		blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+	match response:
+		SUCCESS:
+			c.after_run(actor, blackboard)
+			return FAILURE
+		FAILURE:
+			c.after_run(actor, blackboard)
+			return SUCCESS
+		RUNNING:
+			running_child = c
+			if c is ActionLeaf:
+				blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+			return RUNNING
+		_:
+			push_error("This should be unreachable")
+			return -1
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"InverterDecorator")
+	return classes

addons/beehave/nodes/decorators/limiter.gd

@@ -0,0 +1,41 @@
+## The limiter will execute its child `x` amount of times. When the number of
+## maximum ticks is reached, it will return a `FAILURE` status code.
+@tool
+@icon("../../icons/limiter.svg")
+class_name LimiterDecorator extends Decorator
+
+@onready var cache_key = 'limiter_%s' % self.get_instance_id()
+
+@export var max_count : float = 0
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var child = self.get_child(0)
+	var current_count = blackboard.get_value(cache_key, 0, str(actor.get_instance_id()))
+
+	if current_count == 0:
+		child.before_run(actor, blackboard)
+
+	if current_count < max_count:
+		blackboard.set_value(cache_key, current_count + 1, str(actor.get_instance_id()))
+		var response = child.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(child.get_instance_id(), response)
+
+		if child is ConditionLeaf:
+			blackboard.set_value("last_condition", child, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+		if child is ActionLeaf and response == RUNNING:
+			running_child = child
+			blackboard.set_value("running_action", child, str(actor.get_instance_id()))
+
+		return response
+	else:
+		child.after_run(actor, blackboard)
+		return FAILURE
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"LimiterDecorator")
+	return classes

addons/beehave/nodes/decorators/succeeder.gd

@@ -0,0 +1,34 @@
+## A succeeder node will always return a `SUCCESS` status code.
+@tool
+@icon("../../icons/succeeder.svg")
+class_name AlwaysSucceedDecorator extends Decorator
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var c = get_child(0)
+
+	if c != running_child:
+		c.before_run(actor, blackboard)
+
+	var response = c.tick(actor, blackboard)
+	if can_send_message(blackboard):
+		BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
+
+	if c is ConditionLeaf:
+		blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
+		blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+
+	if response == RUNNING:
+		running_child = c
+		if c is ActionLeaf:
+			blackboard.set_value("running_action", c, str(actor.get_instance_id()))
+		return RUNNING
+	else:
+		c.after_run(actor, blackboard)
+		return SUCCESS
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"AlwaysSucceedDecorator")
+	return classes

addons/beehave/nodes/decorators/time_limiter.gd

@@ -0,0 +1,46 @@
+## The Time Limit Decorator will give its child a set amount of time to finish
+## before interrupting it and return a `FAILURE` status code. The timer is reset
+## every time before the node runs.
+@tool
+@icon("../../icons/limiter.svg")
+class_name TimeLimiterDecorator extends Decorator
+
+@export var wait_time: = 0.0
+
+var time_left: = 0.0
+
+@onready var child: BeehaveNode = get_child(0)
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	if time_left < wait_time:
+		time_left += get_physics_process_delta_time()
+		var response = child.tick(actor, blackboard)
+		if can_send_message(blackboard):
+			BeehaveDebuggerMessages.process_tick(child.get_instance_id(), response)
+		
+		if child is ConditionLeaf:
+			blackboard.set_value("last_condition", child, str(actor.get_instance_id()))
+			blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
+		
+		if response == RUNNING:
+			running_child = child
+			if child is ActionLeaf:
+				blackboard.set_value("running_action", child, str(actor.get_instance_id()))
+		
+		return response
+	else:
+		child.after_run(actor, blackboard)
+		interrupt(actor, blackboard)
+		return FAILURE
+
+
+func before_run(actor: Node, blackboard: Blackboard) -> void:
+	time_left = 0.0
+	child.before_run(actor, blackboard)
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"TimeLimiterDecorator")
+	return classes

addons/beehave/nodes/leaves/action.gd

@@ -0,0 +1,13 @@
+## Actions are leaf nodes that define a task to be performed by an actor.
+## Their execution can be long running, potentially being called across multiple
+## frame executions. In this case, the node should return `RUNNING` until the
+## action is completed.
+@tool
+@icon("../../icons/action.svg")
+class_name ActionLeaf extends Leaf
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"ActionLeaf")
+	return classes

addons/beehave/nodes/leaves/blackboard_compare.gd

@@ -0,0 +1,61 @@
+## Compares two values using the specified comparison operator.
+## Returns [code]FAILURE[/code] if any of the expression fails or the
+## comparison operation returns [code]false[/code], otherwise it returns [code]SUCCESS[/code].
+@tool
+class_name BlackboardCompareCondition extends ConditionLeaf
+
+
+enum Operators {
+	EQUAL,
+	NOT_EQUAL,
+	GREATER,
+	LESS,
+	GREATER_EQUAL,
+	LESS_EQUAL,
+}
+
+
+## Expression represetning left operand.
+## This value can be any valid GDScript expression.
+## In order to use the existing blackboard keys for comparison,
+## use get_value("key_name") e.g. get_value("direction").length()
+@export_placeholder(EXPRESSION_PLACEHOLDER) var left_operand: String = ""
+## Comparison operator.
+@export_enum("==", "!=", ">", "<", ">=", "<=") var operator: int = 0
+## Expression represetning right operand.
+## This value can be any valid GDScript expression.
+## In order to use the existing blackboard keys for comparison,
+## use get_value("key_name") e.g. get_value("direction").length()
+@export_placeholder(EXPRESSION_PLACEHOLDER) var right_operand: String = ""
+
+
+@onready var _left_expression: Expression = _parse_expression(left_operand)
+@onready var _right_expression: Expression = _parse_expression(right_operand)
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var left: Variant = _left_expression.execute([], blackboard)
+	
+	if _left_expression.has_execute_failed():
+		return FAILURE
+	
+	var right: Variant = _right_expression.execute([], blackboard)
+	
+	if _right_expression.has_execute_failed():
+		return FAILURE
+	
+	var result: bool = false
+	
+	match operator:
+		Operators.EQUAL:            result = left == right
+		Operators.NOT_EQUAL:        result = left != right
+		Operators.GREATER:          result = left > right
+		Operators.LESS:             result = left < right
+		Operators.GREATER_EQUAL:    result = left >= right
+		Operators.LESS_EQUAL:       result = left <= right
+	
+	return SUCCESS if result else FAILURE
+
+
+func _get_expression_sources() -> Array[String]:
+	return [left_operand, right_operand]

addons/beehave/nodes/leaves/blackboard_erase.gd

@@ -0,0 +1,25 @@
+## Erases the specified key from the blackboard.
+## Returns [code]FAILURE[/code] if expression execution fails, otherwise [code]SUCCESS[/code].
+@tool
+class_name BlackboardEraseAction extends ActionLeaf
+
+
+## Expression representing a blackboard key.
+@export_placeholder(EXPRESSION_PLACEHOLDER) var key: String = ""
+
+@onready var _key_expression: Expression = _parse_expression(key)
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var key_value: Variant = _key_expression.execute([], blackboard)
+	
+	if _key_expression.has_execute_failed():
+		return FAILURE
+	
+	blackboard.erase_value(key_value)
+	
+	return SUCCESS
+
+
+func _get_expression_sources() -> Array[String]:
+	return [key]

addons/beehave/nodes/leaves/blackboard_has.gd

@@ -0,0 +1,23 @@
+## Returns [code]FAILURE[/code] if expression execution fails or the specified key doesn't exist.
+## Returns [code]SUCCESS[/code] if blackboard has the specified key.
+@tool
+class_name BlackboardHasCondition extends ConditionLeaf
+
+
+## Expression representing a blackboard key.
+@export_placeholder(EXPRESSION_PLACEHOLDER) var key: String = ""
+
+@onready var _key_expression: Expression = _parse_expression(key)
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var key_value: Variant = _key_expression.execute([], blackboard)
+	
+	if _key_expression.has_execute_failed():
+		return FAILURE
+	
+	return SUCCESS if blackboard.has_value(key_value) else FAILURE
+
+
+func _get_expression_sources() -> Array[String]:
+	return [key]

addons/beehave/nodes/leaves/blackboard_set.gd

@@ -0,0 +1,34 @@
+## Sets the specified key to the specified value.
+## Returns [code]FAILURE[/code] if expression execution fails, otherwise [code]SUCCESS[/code].
+@tool
+class_name BlackboardSetAction extends ActionLeaf
+
+
+## Expression representing a blackboard key.
+@export_placeholder(EXPRESSION_PLACEHOLDER) var key: String = ""
+## Expression representing a blackboard value to assign to the specified key.
+@export_placeholder(EXPRESSION_PLACEHOLDER) var value: String = ""
+
+
+@onready var _key_expression: Expression = _parse_expression(key)
+@onready var _value_expression: Expression = _parse_expression(value)
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var key_value: Variant = _key_expression.execute([], blackboard)
+	
+	if _key_expression.has_execute_failed():
+		return FAILURE
+	
+	var value_value: Variant = _value_expression.execute([], blackboard)
+	
+	if _value_expression.has_execute_failed():
+		return FAILURE
+	
+	blackboard.set_value(key_value, value_value)
+	
+	return SUCCESS
+
+
+func _get_expression_sources() -> Array[String]:
+	return [key, value]

addons/beehave/nodes/leaves/condition.gd

@@ -0,0 +1,11 @@
+## Conditions are leaf nodes that either return SUCCESS or FAILURE depending on
+## a single simple condition. They should never return `RUNNING`.
+@tool
+@icon("../../icons/condition.svg")
+class_name ConditionLeaf extends Leaf
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"ConditionLeaf")
+	return classes

addons/beehave/nodes/leaves/leaf.gd

@@ -0,0 +1,46 @@
+## Base class for all leaf nodes of the tree.
+@tool
+@icon("../../icons/category_leaf.svg")
+class_name Leaf extends BeehaveNode
+
+
+const EXPRESSION_PLACEHOLDER: String = "Insert an expression..."
+
+
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings: PackedStringArray = []
+
+	var children: Array[Node] = get_children()
+
+	if children.any(func(x): return x is BeehaveNode):
+		warnings.append("Leaf nodes should not have any child nodes. They won't be ticked.")
+	
+	for source in _get_expression_sources():
+		var error_text: String = _parse_expression(source).get_error_text()
+		if not error_text.is_empty():
+			warnings.append("Expression `%s` is invalid! Error text: `%s`" % [source, error_text])
+	
+	return warnings
+
+
+func _parse_expression(source: String) -> Expression:
+	var result: Expression = Expression.new()
+	var error: int = result.parse(source)
+	
+	if not Engine.is_editor_hint() and error != OK:
+		push_error(
+			"[Leaf] Couldn't parse expression with source: `%s` Error text: `%s`" %\
+			[source, result.get_error_text()]
+		)
+	
+	return result
+
+
+func _get_expression_sources() -> Array[String]: # virtual
+	return []
+
+
+func get_class_name() -> Array[StringName]:
+	var classes := super()
+	classes.push_back(&"Leaf")
+	return classes

addons/beehave/plugin.cfg

@@ -0,0 +1,7 @@
+[plugin]
+
+name="Beehave"
+description="🐝 Behavior Tree addon for Godot Engine"
+author="bitbrain"
+version="2.7.4"
+script="plugin.gd"

addons/beehave/plugin.gd

@@ -0,0 +1,24 @@
+@tool
+extends EditorPlugin
+
+const BeehaveEditorDebugger := preload("debug/debugger.gd")
+var editor_debugger: BeehaveEditorDebugger
+var frames: RefCounted
+
+func _init():
+	name = "BeehavePlugin"
+	add_autoload_singleton("BeehaveGlobalMetrics", "res://addons/beehave/metrics/beehave_global_metrics.gd")
+	add_autoload_singleton("BeehaveGlobalDebugger", "res://addons/beehave/debug/global_debugger.gd")
+	print("Beehave initialized!")
+
+
+func _enter_tree() -> void:
+	editor_debugger = BeehaveEditorDebugger.new()
+	frames = preload("debug/frames.gd").new()
+	add_debugger_plugin(editor_debugger)
+
+
+func _exit_tree() -> void:
+	remove_debugger_plugin(editor_debugger)
+	editor_debugger.free()
+	frames.free()

addons/beehave/utils/utils.gd

@@ -0,0 +1,22 @@
+@tool
+class_name BeehaveUtils
+
+
+static func get_plugin() -> EditorPlugin:
+	var tree: SceneTree = Engine.get_main_loop()
+	return tree.get_root().get_child(0).get_node_or_null("BeehavePlugin")
+
+
+static func get_editor_scale() -> float:
+	var plugin := get_plugin()
+	if plugin:
+		return plugin.get_editor_interface().get_editor_scale()
+	return 1.0
+
+
+static func get_frames() -> RefCounted:
+	var plugin := get_plugin()
+	if plugin:
+		return plugin.frames
+	push_error("Can't find Beehave Plugin")
+	return null

project.godot

@@ -15,12 +15,21 @@ run/main_scene="res://scenes/main.tscn"
 config/features=PackedStringArray("4.0", "Forward Plus")
 config/icon="res://icon.svg"
 
+[autoload]
+
+BeehaveGlobalMetrics="*res://addons/beehave/metrics/beehave_global_metrics.gd"
+BeehaveGlobalDebugger="*res://addons/beehave/debug/global_debugger.gd"
+
 [display]
 
 window/size/viewport_width=1280
 window/size/viewport_height=720
 window/stretch/scale=1.8
 
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/beehave/plugin.cfg")
+
 [input]
 
 move_right={

scenes/enemy.tscn

@@ -1,7 +1,8 @@
-[gd_scene load_steps=6 format=3 uid="uid://bktg1ypaav3q3"]
+[gd_scene load_steps=7 format=3 uid="uid://bktg1ypaav3q3"]
 
 [ext_resource type="Texture2D" uid="uid://bbwsdd0jddmck" path="res://art/Pink_Monster_Walk_6.png" id="1_e5603"]
 [ext_resource type="Script" path="res://scripts/enemy.gd" id="1_l5lyv"]
+[ext_resource type="PackedScene" uid="uid://b51tdt5kunai" path="res://scenes/enemy_behavior_tree.tscn" id="3_jk76t"]
 
 [sub_resource type="Animation" id="Animation_etqki"]
 resource_name = "walk"
@@ -45,3 +46,5 @@ libraries = {
 [node name="CollisionShape2D" type="CollisionShape2D" parent="."]
 position = Vector2(-0.5, -5)
 shape = SubResource("RectangleShape2D_rlijp")
+
+[node name="EnemyBehaviorTree" parent="." instance=ExtResource("3_jk76t")]

scenes/enemy_behavior_tree.tscn

@@ -0,0 +1,22 @@
+[gd_scene load_steps=6 format=3 uid="uid://b51tdt5kunai"]
+
+[ext_resource type="Script" path="res://addons/beehave/nodes/beehave_tree.gd" id="1_b2pc4"]
+[ext_resource type="Script" path="res://addons/beehave/nodes/composites/sequence.gd" id="2_80fm4"]
+[ext_resource type="Script" path="res://scripts/is_idle_condition.gd" id="3_5jur1"]
+[ext_resource type="Script" path="res://scripts/move_to_target_action.gd" id="4_1on4v"]
+[ext_resource type="Script" path="res://scripts/get_random_top_cell.gd" id="4_ouqf7"]
+
+[node name="EnemyBehaviorTree" type="Node"]
+script = ExtResource("1_b2pc4")
+
+[node name="ReturnBallSequence" type="Node" parent="."]
+script = ExtResource("2_80fm4")
+
+[node name="IsIdle" type="Node" parent="ReturnBallSequence"]
+script = ExtResource("3_5jur1")
+
+[node name="GetRandomTopCell" type="Node" parent="ReturnBallSequence"]
+script = ExtResource("4_ouqf7")
+
+[node name="MoveToTargetAction" type="Node" parent="ReturnBallSequence"]
+script = ExtResource("4_1on4v")

scripts/enemy.gd

@@ -4,33 +4,9 @@ extends CharacterBody2D
 @onready var animation_player = $AnimationPlayer
 @export var speed = 80
 var y_spawn_offset = -8
-var is_moving = false
 var destination: Vector2 = Vector2.ZERO
 
-
 func _ready():
 	var spawn_cell: Vector2i = tile_map.get_top_spawn_cell()
 	position = tile_map.map_to_local(spawn_cell)
 	position.y += y_spawn_offset
-
-func _process(_delta):
-	if is_moving:
-		animation_player.play("walk")
-	else:
-		animation_player.stop()
-
-func _physics_process(delta):
-	move_to_rand_cell(delta)
-
-func move_to_rand_cell(delta):
-	if !is_moving:
-		var rand_cell: Vector2i = tile_map.get_random_top_cell()
-		tile_map.set_cell(0, Vector2i(rand_cell.x, rand_cell.y), 1, Vector2i(0, 0), 0) # debug purpose
-		destination = tile_map.map_to_local(rand_cell)
-		destination.y += y_spawn_offset
-		
-		is_moving = true
-	position = position.move_toward(destination, delta * speed)
-	
-	if position == destination:
-		is_moving = false

scripts/get_random_top_cell.gd

@@ -0,0 +1,11 @@
+class_name GetRandomTopCell
+extends ActionLeaf
+
+func tick(actor, _blackboard):
+	var rand_cell: Vector2i = actor.tile_map.get_random_top_cell()
+	actor.tile_map.set_cell(0, Vector2i(rand_cell.x, rand_cell.y), 1, Vector2i(0, 0), 0) # debug purpose
+	
+	actor.destination = actor.tile_map.map_to_local(rand_cell)
+	actor.destination.y += actor.y_spawn_offset
+	
+	return SUCCESS

scripts/is_idle_condition.gd

@@ -0,0 +1,5 @@
+class_name IsIdleCondition
+extends ConditionLeaf
+
+func tick(actor, _blackboard):
+	return SUCCESS

scripts/move_to_target_action.gd

@@ -0,0 +1,16 @@
+class_name MoveToTargetAction
+extends ActionLeaf
+
+func before_run(actor, blackboard):
+	actor.animation_player.play("walk")
+
+func tick(actor, _blackboard):
+	var delta = get_physics_process_delta_time()
+	actor.position = actor.position.move_toward(actor.destination, delta * actor.speed)
+	
+	if actor.position == actor.destination:
+		return SUCCESS
+	return RUNNING
+
+func after_run(actor, blackboard):
+	actor.animation_player.stop()