User:Gazyi/CS:GO Bot Behavior Trees

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← Counter-Strike: Global Offensive Level Creation

In Counter-Strike: Global Offensive, bots can be given a Behavior Tree to follow. A behavior tree dictates how the bot senses things (vision, hearing, damage sensing), moves, attacks, and does other actions.

They use Valve's proprietary KeyValues3 format (.kv3), which is a text-based format with somewhat strict syntax. They typically use the bt_ prefix, to signify that file is a Behavior Tree. They are stored in csgo/scripts/ai. One can create and use his own behavior trees, see below.

Officially, behavior trees are used for the game modes Co-op Strike, Guardian and Deathmatch.

Behavior trees were first added to the game on September 16, 2019. Since September 1, 2020, behavior trees can be packed into BSP files.

Using a Behavior Tree

The ConVar mp_bot_ai_bt can assign a behavior tree to all bots on the server. Its value is a string representing the path to a .kv3 file, starting from csgo/. For example, the following line is used for official Deathmatch and can be found in csgo/cfg/gamemode_deathmatch.cfg:

mp_bot_ai_bt "scripts/ai/deathmatch/bt_default.kv3"

For the Co-op game mode, info_enemy_terrorist_spawn entities have the KeyValue behavior_tree_file that can be used to specify a behavior tree only for bots spawning at this entity.

Related Console Commands

ConVar	Default Value	Description
cv_bot_ai_bt_debug_target	-1	Draw the behavior tree of the given bot.
cv_bot_ai_bt_hiding_spot_show	0	Draw hiding spots.
cv_bot_ai_bt_moveto_show_next_hiding_spot	0	Draw the hiding spot the bot will check next.
mp_bot_ai_bt	""	Use the specified behavior tree file to drive the bot behavior.
mp_bot_ai_bt_clear_cache	ConCommand	Clears the cache for behavior tree files.

Format

The first line of a .kv3 file is always a header specifying the KV3 version. For CS:GO, use this header:

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->

Now define general bot configuration. Use "config" key, which should contain full path to that file, including file extension:

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->
{
	config = "scripts/ai/<path to bt_config>/<bt_config_name>.kv3"
}

Behavior trees always start with root. Define it with "root" key. Every behavior node should be inside it.

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->
{
	config = "scripts/ai/<path to bt_config>/<bt_config_name>.kv3"
	root = 
	{
		<Behavior Node>
	}
}

Behavior Node format depends on its type and parameters:

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->
{
	config = "scripts/ai/<path to bt_config>/<bt_config_name>.kv3"
	root = 
	{
		type = <Node Type>
		<parameter> = <value>
		...
		child = 
		{
			<Behavior Node>
		}
	}
}

Some nodes allows to define new global variables. Their input name should contain both double and single quotes:

type = "action_set_global_counter"
input_name = "'Test'" // Note those quotation marks.
input_value = 1

Configuration

Todo: 

• Explain parameters in bt_config

These parameters define general bot reaction and combat behavior for every bot skill ( low, fair, normal, tough, hard, very_hard, expert, default ), like a botprofile.db.

Default format is:

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->
{
	<skill level>
	{
		<Variables from table below>
		attack = <Attack table>
	}
}

List of parameters

Variable	Description
aim_target_acquisition_lerp_time
aim_target_acquisition_lerp_time_deviation
aim_target_acquisition_angle_penalty
aim_target_acquisition_angle_penalty_deviation
aim_target_acquisition_angle_penalty_reduction_ratio
aim_target_acquisition_angle_tolerance
aim_target_acquisition_angle_lerp_bias
aim_target_tracking_lerp_time
aim_target_tracking_lerp_time_deviation
aim_target_tracking_focus_interval
aim_target_tracking_focus_interval_deviation
aim_target_tracking_angle_lerp_bias
aim_new_target_angle_tolerance
aim_max_duration
aim_max_duration_deviation
aim_punch_angle_reaction_chance
look_around_awareness_yaw_range	Max angle to horizontal rotate viewcamera from this viewpoint.
look_around_awareness_pitch_range	Max angle to vertical rotate viewcamera from this viewpoint.
look_around_focus_interval	Delay between next viewcamera rotation.
look_around_focus_interval_deviation
look_around_lerp_time	Time to rotate viewcamera to next position.
look_around_lerp_time_deviation
look_around_lerp_bias	Smooths viewcamera movement.
reaction_time	Delay before reaction on event.
combat_crouch_chance
combat_dodge_command_duration
combat_dodge_command_duration_deviation

Attack Table

Attack table defines handling of different weapon types.

Example:

attack =
[
	// duration, duration deviation, cadence, cooldown, cooldown deviation

	// KNIFE						PISTOL							SUBMACHINEGUN
	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ 0.95, 0.25, 0.5, 0.15, 0.05 ],[ 0.42, 0.07, 0.0, 0.15, 0.05 ],
	// RIFLE						SHOTGUN							SNIPER_RIFLE
	[ 0.22, 0.07, 0.0, 0.45, 0.15 ],[ 0.3, 0.0, 0.0, 0.95, 0.25 ],[ 0.22, 0.07, 0.0, 2.0, 0.0 ],
	// MACHINEGUN					C4								TASER
	[ 0.75, 0.15, 0.0, 0.3, 0.1 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],
	// GRENADE						EQUIPMENT						STACKABLEITEM
	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],
	// FISTS						BREACHCHARGE					BUMPMINE
	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],
	// TABLET						MELEE							SHIELD
	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ],
	// WEAPONTYPE_ZONE_REPULSOR		UNKNOWN
	[ -1.0, -1.0, -1.0, -1.0, -1.0 ],[ -1.0, -1.0, -1.0, -1.0, -1.0 ]
]

Nodes

This is a list of all nodes on November 9, 2021.

Todo: 

• Complete node parameters and descriptions, check for inaccuracies.
• Define variable types for parameters.
• Explain all parameters.

Combinators

Type	Parameters	Description
parallel		Executes all child functions in one script tick.
selector		Executes child functions as sequence until meeting child with true condition.
sequencer		Executes child functions as sequence until meeting child with false condition.
subtree	string file, string name	Executes behavior tree from file.

Decorators

Type	Parameters	Description
decorator_bot_service	array memory_to_expire(variable? domain (GroupID or AllBots), flag key (ShortTermAttackMemory, ShortTermDamageMemory, ShortTermAreaDamageMemory, ShortTermInvestigateMemory, LongTermMemory, DamageThroughSmokeMemory, Threats), int time, int distance), array tagged_entities_to_expire, int_flag? basic_chatter_enable, vector? input_chatter_enemies, int chatter_outnumbered_threshold	Kinda main bot behavior function? Usually contains all subtree routines.
decorator_buy_service	array output	Returns array of items that bot will buy, then executes function.
decorator_dec_global_counter	variable input_name	Decreases input variable by 1, then executes function?
decorator_find_utility_strat	vector input_location, int distance_threshold, vector output_location, vector output_angles, string output_weapon	Unused.
decorator_game_event		Warning:Release Notes for 21/10/2021 say about it but it doesn't exist in code?
decorator_hiding_spot_service	variable? domain (GroupID or AllBots), vector output_hiding_spot, int distance_threshold, int expiration_time	Returns hiding spot, then executes function? Usually located right after script root.
decorator_invert		Unused. Valve scripts usually use negated = 1 flag in node parameters.
decorator_maybe	float chance	Executes child functions with specified chance (1 - 100%, 0.7 - 70% etc).
decorator_memory	vector? input, memory? output, string output_domain	Saves input in specified memory buffer?
decorator_need_healing	int health_threshold	Executes child functions if bot health is lower that input threshold.
decorator_picker_blocked_by_smoke	vector? input, int distance_threshold	Executes child functions if input position is behind smoke volume?
decorator_picker_dedup	vector? input, memory? against, int distance_threshold	??? Only used in noise picker in Valve scripts.
decorator_picker_grenade_type	array input, array types (EXPLOSIVE, FLASH, FIRE, DECOY, SMOKE, SENSOR, SNOWBALL)	Executes child functions on specified grenade types.
decorator_picker_max_score	array input	???
decorator_picker_nearby	array input, int cutoff_distance	Executes child functions if input entities are within distance.
decorator_picker_random_by_distance	array input, int distance_min, int distance_max	Executes child functions if random entity from input is within distance limits?
decorator_picker_reaction_time	variable? input_domain (GroupID or AllBots), memory? input, vector? output	Executes child functions after delay, that depends of bot skill reaction time?
decorator_picker_visible	array input, int_flag? check_fov	Executes function if input entity in LOS?
decorator_picker_weight_as_distance	array input	??? Only used in noise picker in Valve scripts.
decorator_random_approach_point	vector output	Returns a random point in navmesh.
decorator_random_int	int min, int max, int output	Returns a random int the range of min to max.
decorator_ranker_dist	array input	Sorts entities depending on distance?
decorator_remove	variable? input_domain (GroupID or AllBots), memory? input, array? remove	Removes selected entities from input memory.
decorator_remove_key	variable? input	Removes input variable from script scope.
decorator_repeat		Executes child functions in loop.
decorator_route_service	array config (array routes, array strategies), vector? output_waypoint, string output_waypoint_name, string output_domain	Unused.
decorator_run_once	int max_attempts = 1	Executes child functions limited amount of times?
decorator_sensor	flag entity_type_filter (ALL, PLAYERS, HUMAN_PLAYERS, NOISE, DAMAGE, AREA_DAMAGE, CLASSNAME, GRENADE), function? shape(flag type (sensor_shape_fov, sensor_shape_sphere), int radius), flag team_filter (ANY, CT, TERRORIST, SAME, OPPOSITE, ENEMY), int_flag orphan_only, int_flag priority, string class_name, vector? output	Returns entity detected by sensor and executes child functions.
decorator_set_barrier		Unused.
decorator_set_reaction_time	array? input	Executes child functions on input after delay, that depends of bot skill reaction time?
decorator_succeed		Executes child functions if previous decorator is succeed?
decorator_tag_entity	vector? input, array? output, flag operation_type (BT_DECORATOR_TAG_ENTITY_CLEAR, BT_DECORATOR_TAG_ENTITY_SET), int expiration_time	??? Used in picking target tree in Valve scripts.
decorator_tag_threshold	vector? entity_input, vector? tagged_entities_input, int amount, flag check_type (BT_DECORATOR_TAG_THRESHOLD_AT_MOST, BT_DECORATOR_TAG_THRESHOLD_AT_LEAST)	??? Used to determine if it's safe to do objective in Valve scripts?
decorator_token_service	variable? domain, string output_token_name, string output_token_domain, function config(array tokens, array assignments)	In Guardian Mode: defines bot GroupID, then executes child functions.
decorator_try_lock	variable? domain	Checks if other bot is already doing same function???
decorator_wait_success	int timeout	Executres child functions after delay?
decorator_wait_success	int timeout	Executres child functions after delay?

Conditions

Type	Parameters	Description
condition_barrier		Unused.
condition_distance_less	vector input, int distance_threshold_min, int distance_threshold_max	Returns true, if distance to input position is less than distance_threshold?
condition_has_parachute		Returns true, if bot has parachute in inventory.
condition_inactive	array input(memory? key), int round_start_threshold_seconds, int sensor_inactivity_threshold_seconds	Returns true, if bot doesn't have any memory and sensor input within timing.
condition_is_airborne		Returns true, if bot is mid-air.
condition_is_at_bomb_site		Returns true, if bot is at bombsite zone.
condition_is_empty	int_flag? global, any input	Returns true, if input variable is empty or doesn't exist.
condition_is_equal	any source, any destination	Returns true, if source variable is equal to "destination" input.
condition_is_greater	any source, any destination	Unused. Returns true, if source variable is greater than "destination" input.
condition_is_greater_equal	any source, any destination	Unused. Returns true, if source variable is equal or greater than "destination" input.
condition_is_inv_slot_empty	flag slot (KNIFE, PISTOL, RIFLE, GRENADES)	Returns true, if input equipment slot is empty.
condition_is_less	any source, any destination	Unused. Returns true, if source variable is less than "destination" input.
condition_is_less_equal	any source, any destination	Unused. Returns true, if source variable is equal or less than "destination" input.
condition_is_reloading		Unused. Returns true, if active weapon is in reloading state.
condition_is_weapon_equipped	string weapon	Returns true, if bot has active weapon with input classname.
condition_is_weapon_suitable	string weapon	Unused.
condition_out_of_ammo		Returns true, if active weapon is out of ammo.
condition_owns_item	string weapon	Returns true, if bot has item with input classname.

Actions

Type	Parameters	Description
action_acquire_items	array items, int_flag? remove_all_items	Equips bot with items from array.
action_aim	vector input, int_flag? acquire_only, flag? ready	Rotates bot towards input point?
action_aim_projectile	vector input, vector output	Calculates angles for throwing at input position?
action_assign_guardian_loadout	string input_token_name, array assignments(string token, array loadout(array items, array wave_numbers, int wave_numbers_min, int wave_numbers_max, int weight))	In Guardian mode: Chooses bot spawn loadout.
action_attack	vector input, flag? output (e.g. output = "Attacking"), flag? ready (e.g. ready = "AimReady")	Bot attack input entity?
action_buy		Bot buys weapons.
action_choose_bomb_site_area	int input, navzone? output	Gets bombzone nav position from index. Supports convars.
action_choose_guardian_bomb_plant_location	vector? output	Chooses plant position in navmesh? Guardian mode only?
action_choose_random_waypoint	navzone? input, vector output	Chooses random waypoint inside input navzone.
action_choose_random_waypoint_within_radius	vector origin, vector output, float radius	Choose random waypoint within specified origin and radius.
action_choose_team_spawn_area	navzone? output	Gets all navzones with spawnpoints?
action_combat_positioning	vector input, flag? is_attacking	Bot tries to reach best combat position against input entity?
action_commit_suicide		Kills bot.
action_compare_global_counter	variable? input_name (e.g. input_name = "'Test'"), int input_value	Compares value from variable "input_name" to input value.
action_coordinated_buy	flag team_filter (ANY, CT, TERRORIST, SAME, OPPOSITE, ENEMY), int save_threshold, flag? id_no_purchase (e.g. id_no_purchase = "DidNotPurchase"), array purchases(array items, string id)	In Guardian mode: restricts buying items to specific groupIDs?
action_crouch		Forces bot to crouch.
action_custom_buy	array item_aliases	Unused.
action_drop_active_weapon		Unused. Forces bot to drop active weapon.
action_equip_item	string item, array items_one_of	Forces bot to select item with classname from input.
action_equip_weapon	string weapon (classname or BEST)	Force bot to select item with classname from input or "best" weapon in inventory.
action_flee_area_damage	vector? input, vector output, int max_search_range, int threat_min_keep_distance	Returns safe spot from that position within search radius.
action_hide		Unused.
action_inspect_current_weapon		Unused. Forces bot to play inspect animation.
action_jump		Forces bot to jump.
action_look_at	vector input_angles, navzone? input_location	Rotates bot at specified angle.
action_move_to	vector destination, flag movement_type (BT_ACTION_MOVETO_RUN, BT_ACTION_MOVETO_WALK), flag route_type (BT_ACTION_MOVETO_FASTEST_ROUTE,BT_ACTION_MOVETO_SAFEST_ROUTE), vector? hiding_spot, vector? threat, int damaging_areas_penalty_cost, int nearest_area_distance_threshold, int hiding_spot_check_distance_threshold, int arrival_epsilon, float additional_arrival_epsilon_2d, int_flag? auto_look_adjust	Forces bot to move at destination point.
action_parachute_positioning		???
action_pull_trigger	int ratio	Forces bot primary attack.
action_reload		Forces bot to reload weapon.
action_say	string phrase, flag? high_priority	Forces bot to say radio command phrase. List of phrases is located in botchatter.db
action_secondary_attack		Unused. Forces bot secondary attack.
action_select_areas_within_radius	vector input, float radius, navzone? output	Returns navzones within specified origin and radius?
action_set_global_counter	variable? input_name, int input_value	Sets input value to variable "input_name".
action_set_global_flag	variable? name, int expiration_time_min, int expiration_time_max	Sets global variable "name" to 1 for specified time?
action_set_value_float	variable? key, float value	Sets float value to variable "key".
action_set_value_vector	variable? key, vector value	Sets vector value to variable "key".
action_standup		Unused. Forces bot to uncrouch.
action_teleport	vector destination	Teleports bot to destination position.
action_use		Forces bot "+use"
action_wait	int wait_time_min, int wait_time_max	Freezes bot AI and script execution for defined amount of time.

Reserved Variables

Those variables are defined in game code. They can be used to get some information about game mode and bot and as conditions.

Variable	Description
int NumberOfTerrorists	Number of players in T team.
int NumberOfAliveTerrorists	Number of alive players in T team.
int NumberOfCounterTerrorists	Number of players in CT team.
int NumberOfAliveCounterTerrorists	Number of alive players in CT team.
int GuardianWaveNumber	Wave number in Guardian Mode.
int AccountBalance	Amount of player money.
float? BlindnessPercentage	Amount of blindness applied by flash grenade.
??? BombIsBeingDefused	Returns ??? when bomb is being defused.
variable? LastCoopSpawnPointName	Targetname of last spawn point spawned that bot in Co-op Strike.
Vector LastCoopSpawnPointLocation	Origin point of last spawn point spawned that bot in Co-op Strike.
int AmmoCount/weapon_name	Remained amount of ammo in weapon with classname "weapon_name" (clip + reserve).
int AmmoCount/current	Remained amount of ammo in active weapon (clip + reserve).

Examples

Default Deathmatch Behavior Tree

Found in csgo/scripts/ai/bt_default.kv3.

<!-- kv3 encoding:text:version{e21c7f3c-8a33-41c5-9977-a76d3a32aa0d} format:generic:version{7412167c-06e9-4698-aff2-e63eb59037e7} -->
{
	config = "scripts/ai/deathmatch/bt_config.kv3"
	root =
	{
		type = "decorator_bot_service"
		memory_to_expire =
		[
			{
				key = "ShortTermAttackMemory"
				time = 0.7
				distance = 0
			},
			{
				key = "LongTermMemory"
				time = 10
				distance = 500
			},
			{
				key = "ShortTermInvestigateMemory"
				time = 3
				distance = 200
			}
		]
		child =
		{
			type = "decorator_buy_service"
			output = "ShouldBuy"
			child =
			{
				type = "parallel"
				children =
				[
					{
						type = "decorator_repeat"
						child =
						{
							type = "parallel"
							children =
							[
								// memorize enemies through vision
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_memorize_enemies_vision.kv3"
									name = "MemorizeEnemiesVision"
								},
								// memorize noises happening right now
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_memorize_noises.kv3"
									name = "MemorizeNoises"
								},
								// record the nearest memorized event to investigate
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_memorize_nearest_investigation.kv3"
									name = "MemorizeNearestInvestigation"
								}
							]
						}
					},
					{
						type = "decorator_repeat"
						child =
						{
							type = "selector"
							children =
							[
								// Buy if we have to
								{
									type = "condition_is_empty"
									input = "ShouldBuy"
									negated = 1
									child =
									{
										// sequencer: evaluate first to last child, in order
										type = "sequencer"
										children =
										[
											{
												type = "action_wait"
												wait_time_min = 3
												wait_time_max = 3
											},
											{
												type = "action_buy"
											},
											{
												type = "decorator_remove_key"
												input = "ShouldBuy"
											}
										]
									}
								},
								// Else: face the damage source if we're taking damage
								{
									type = "decorator_sensor"
									entity_type_filter = "DAMAGE"
									output = "Damage"
									priority = 0
									child =
									{
										type = "condition_is_empty"
										input = "Damage"
										negated = 1
										child =
										{
											type = "action_aim"
											input = "Damage"
											acquire_only = 1
										}
									}
								},
								// Else: attack if we see an enemy
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_attack.kv3"
									name = "Attack"
								},
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_heal_if_needed.kv3"
									name = "HealIfNeeded"
								},
								// Else: investigate the closest memorized event
								{
									type = "subtree"
									file = "scripts/ai/modules/bt_investigate_closest_memorized_event.kv3"
									name = "InvestigateClosestMemorizedEvent"
								},
								// Else: hunt
								{
									// sequencer: evaluate first to last child, in order
									type = "sequencer"
									children =
									[
										{
											type = "action_equip_weapon"
											weapon = "BEST"
										},
										{
											type = "decorator_random_int"
											min = 0
											max = 1
											output = "BombSiteIndex"
											child =
											{
												type = "action_choose_bomb_site_area"
												input = "BombSiteIndex"
												output = "HuntAreas"
											}
										},
										{
											type = "action_choose_team_spawn_area"
											output = "HuntAreas"
										},
										{
											type = "action_choose_random_waypoint"
											input = "HuntAreas"
											output = "TargetHuntArea"
										},
										{
											type = "action_move_to"
											destination = "TargetHuntArea"
											movement_type = "BT_ACTION_MOVETO_RUN"
											route_type = "BT_ACTION_MOVETO_FASTEST_ROUTE"
										}
									]
								}
							]
						}
					}
				]
			}
		}
	}
}