Prosocial behavior, or "voluntary behavior intended to benefit another"

That is altruistic behavior. However I asked for the definition of a "pro-social outcome".

Let's say there was some change as the result of some action. How can I figure out whether that change is a "pro-social outcome" or is not a "pro-social outcome"?

If "greed" is defined as something like "behavior intended to increase one's own wealth", it seems that as long as a behavior has only one intent (which may not be the case), greed and "voluntary behavior intended to benefit another" are mutually exclusive by definition. However, if you care about whether it benefits others regardless of intent to do so, the answer may be quite different.