//setup all coniditionals and their delegate functions
Coniditional tooClose = new Conditional(isTooClose);
Coniditional targetMoved = new Conditional(hasTargetMoved);
Coniditional pathFound = new Conditional(hasPathBeenFound);
Coniditional reachedCell = new Conditional(hasReachedCell);
Coniditional reachedTarget = new Conditional(hasReachedTarget);
Coniditional isNewPath = new Conditional(hasNewPath);

//setup all actions and their delegate functions
BehaviorAction moveToCell = new BehaviorAction(moveTowardsCell);
BehaviorAction calcPath = new BehaviorAction(calculatePath);
BehaviorAction initPathfinder = new BehaviorAction(initializePathfinder);
BehaviorAction getNextCell = new BehaviorAction(getNextPathCell);
BehaviorAction setPath = new BehaviorAction(setNewPath);
BehaviorAction getPath = new BehaviorAction(getCurrentPath);
BehaviorAction updatePosition = new BehaviorAction(updateTargetPosision);
BehaviorAction reset = new BehaviorAction(resetPathfinder);
BehaviorAction animate = new BehaviorAction(updateAnimation);

//setup an initilization branch
ParallelSequence initialize = new ParallelSequence(initPathfinder, calcPath);

//if the target has moved, reset and calculate a new path
ParallelSelector ifMovedCreateNewPath = new ParallelSelector(new Inverter(targetMoved), new Inverter(reset), calcPath);
ParallelSelector ifPathFoundGetPath = new ParallelSelector(new Inverter(pathFound), getPath);
ParallelSelector ifPathNewUseIt = new ParallelSelector(new Inverter(isNewPath), setPath);
ParallelSelector ifReachedCellGetNext = new ParallelSelector(new Inverter(reachedCell), getNextCell);
ParallelSelector ifNotReachedTargetMoveTowardsCell = new ParallelSelector(reachedTarget, moveToCell);
        
//follow target so long as you're not too close and then animate
ParallelSequence follow = new ParallelSequence(new Inverter(tooClose), updatePosition, ifMovedCreateNewPath, ifPathFoundGetPath, ifPathIsNewUseIt, ifReachedCellGetNext, ifNotReachedTargetMoveTowardsCell, animate);

//setup root node, choose initialization phase or pathing/movement phase
RootSelector root = new RootSelector(switchBehaviors, initialize, follow);

//set a reference to the root
Behavior behavior = new Behavior(root);

//to execute the behavior
behavior.Behave();