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When a subtree was used multiple times in a behavior tree, the generator produced incorrect sibling/child indices because it reused the same XML element IDs for all instances. This caused getIndexedNode() to always return the first instance's entry. The fix expands subtrees by creating deep copies of their content before processing, ensuring each instance has unique element IDs. Fixes: #28 Signed-off-by: Gerson Fernando Budke <gerson.budke@ossystems.com.br>
Add a sample that validates correct behavior tree traversal when a subtree is used multiple times. This reproduces the scenario from issue #28 where incorrect indices caused nodes to be skipped during execution. The behavior tree structure tests: Sequence -> SubTree(sub) -> A -> SubTree(sub) -> B Expected execution order: sub -> A -> sub -> B The test verifies that all nodes are evaluated in the correct order and that no nodes are skipped due to incorrect sibling indices. Signed-off-by: Gerson Fernando Budke <gerson.budke@ossystems.com.br>
otavio
approved these changes
Jan 2, 2026
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This tries to fix the issue with the usage of subtrees.