This behaviour tree is made up of Composites (Sequences and Selectors), Conditions and Actions to make the tank complete tasks correctly. Exhibiting player like behaviours such as dodging missiles, chasing the enemy, searching for the enemy, fleeing and attacking. All of this is done by using sensors such as vision cones and raycasting to gather data about their surroundings.
Advanced Finite State Machine
Using the same sensors to gather data, this information is then used to transition states within the state machine, this implementation was made Object Oriented by using the State Pattern.