Behavior Trees that avoid checking All conditions All the time (BT intro part 5A)

In this video we suggest a solution to the problem of BTs that execute slowly due to their constant checking of many conditions. The key trick is to store the beliefs regarding the conditions in a bit vector, and then update this vector in separate processes. The BT will execute smoothly, as checking a bit vector is super fast, and the values of the bit vector (the beliefs) can be updated at whatever time intervals that is deemed reasonable. We also see how doing this enables so-called event based ticking, as well as active sensing, where data is collected to update beliefs when needed to make important decisions.