enum {	BT_LEAF	= 0,	BT_SEQUENCE,	BT_PRIORITY,	BT_PARALLEL,	BT_DYNGUARD,	BT_INVERT,	BT_MAXTYPE,}; void btcancel(BehaviorNode*, BehaviorState*, void*);void *btstatefor(BehaviorNode*, BehaviorState*); struct BehaviorNode {	unsigned char id;	unsigned char type;	short ref;	BehaviorNode *guard;	void (*end)(void*);	char name[16];}; typedef struct BehaviorNodeState BehaviorNodeState;struct BehaviorNodeState {	int status;}; typedef struct BehaviorLeaf BehaviorLeaf;struct BehaviorLeaf {	BehaviorNode node;	BehaviorAction action;	void *ctx;}; typedef struct BehaviorLeafState BehaviorLeafState;struct BehaviorLeafState {	BehaviorNodeState node;}; typedef struct BehaviorBranch BehaviorBranch;struct BehaviorBranch {	BehaviorNode node; 	int childcount;	BehaviorNode **children;}; typedef struct BehaviorBranchState BehaviorBranchState;struct BehaviorBranchState {	BehaviorNodeState node;	int childcurrent;}; typedef struct BehaviorParallel BehaviorParallel;struct BehaviorParallel {	BehaviorBranch branch; 	int S;	int F;}; /* unused currently *//*typedef struct BehaviorRepeat BehaviorRepeat;struct BehaviorRepeat {	BehaviorBranch; 	int cur;	int max;};*/ typedef struct BehaviorState BehaviorState;struct BehaviorState {	Behavior *behavior;	union {		/* BT_LEAF */		BehaviorLeafState leaf;		/* BT_SEQUENCE, BT_PRIORITY, BT_PARALLEL		 * BT_DYNGUARD, BT_INVERT */		BehaviorBranchState branch;	} states[];}; typedef struct Behavior Behavior;struct Behavior {	BehaviorNode *root;	unsigned char nstates;};