Feature/ecs behavior tree (#188)
* feat(behavior-tree): 完全 ECS 化的行为树系统 * feat(editor-app): 添加行为树可视化编辑器 * chore: 移除 Cocos Creator 扩展目录 * feat(editor-app): 行为树编辑器功能增强 * fix(editor-app): 修复 TypeScript 类型错误 * feat(editor-app): 使用 FlexLayout 重构面板系统并优化资产浏览器 * feat(editor-app): 改进编辑器UI样式并修复行为树执行顺序 * feat(behavior-tree,editor-app): 添加装饰器系统并优化编辑器性能 * feat(behavior-tree,editor-app): 添加属性绑定系统 * feat(editor-app,behavior-tree): 优化编辑器UI并改进行为树功能 * feat(editor-app,behavior-tree): 添加全局黑板系统并增强资产浏览器功能 * feat(behavior-tree,editor-app): 添加运行时资产导出系统 * feat(behavior-tree,editor-app): 添加SubTree系统和资产选择器 * feat(behavior-tree,editor-app): 优化系统架构并改进编辑器文件管理 * fix(behavior-tree,editor-app): 修复SubTree节点错误显示空节点警告 * fix(editor-app): 修复局部黑板类型定义文件扩展名错误
This commit is contained in:
YHH
GitHub
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import { Entity, IScene, createLogger } from '@esengine/ecs-framework';
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import type { BehaviorTreeAsset, BehaviorTreeNodeData, BlackboardVariableDefinition, PropertyBinding } from './BehaviorTreeAsset';
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import { BehaviorTreeNode } from '../Components/BehaviorTreeNode';
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import { BlackboardComponent } from '../Components/BlackboardComponent';
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import { PropertyBindings } from '../Components/PropertyBindings';
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import { NodeType } from '../Types/TaskStatus';
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// 导入所有节点组件
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import { RootNode } from '../Components/Composites/RootNode';
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import { SequenceNode } from '../Components/Composites/SequenceNode';
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import { SelectorNode } from '../Components/Composites/SelectorNode';
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import { ParallelNode } from '../Components/Composites/ParallelNode';
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import { ParallelSelectorNode } from '../Components/Composites/ParallelSelectorNode';
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import { RandomSequenceNode } from '../Components/Composites/RandomSequenceNode';
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import { RandomSelectorNode } from '../Components/Composites/RandomSelectorNode';
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import { InverterNode } from '../Components/Decorators/InverterNode';
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import { RepeaterNode } from '../Components/Decorators/RepeaterNode';
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import { UntilSuccessNode } from '../Components/Decorators/UntilSuccessNode';
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import { UntilFailNode } from '../Components/Decorators/UntilFailNode';
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import { AlwaysSucceedNode } from '../Components/Decorators/AlwaysSucceedNode';
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import { AlwaysFailNode } from '../Components/Decorators/AlwaysFailNode';
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import { ConditionalNode } from '../Components/Decorators/ConditionalNode';
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import { CooldownNode } from '../Components/Decorators/CooldownNode';
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import { TimeoutNode } from '../Components/Decorators/TimeoutNode';
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import { WaitAction } from '../Components/Actions/WaitAction';
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import { LogAction } from '../Components/Actions/LogAction';
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import { SetBlackboardValueAction } from '../Components/Actions/SetBlackboardValueAction';
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import { ModifyBlackboardValueAction } from '../Components/Actions/ModifyBlackboardValueAction';
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import { ExecuteAction } from '../Components/Actions/ExecuteAction';
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import { BlackboardCompareCondition, CompareOperator } from '../Components/Conditions/BlackboardCompareCondition';
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import { BlackboardExistsCondition } from '../Components/Conditions/BlackboardExistsCondition';
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import { RandomProbabilityCondition } from '../Components/Conditions/RandomProbabilityCondition';
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import { ExecuteCondition } from '../Components/Conditions/ExecuteCondition';
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import { AbortType } from '../Types/TaskStatus';
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const logger = createLogger('BehaviorTreeAssetLoader');
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/**
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* 实例化选项
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*/
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export interface InstantiateOptions {
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/**
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* 实体名称前缀
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*/
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namePrefix?: string;
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/**
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* 是否共享黑板（如果为true，将使用全局黑板服务）
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*/
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sharedBlackboard?: boolean;
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/**
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* 黑板变量覆盖（用于运行时动态设置初始值）
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*/
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blackboardOverrides?: Record<string, any>;
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/**
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* 是否作为子树实例化
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* 如果为 true，根节点不会添加 RootNode 组件，避免触发预加载逻辑
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*/
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asSubTree?: boolean;
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}
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/**
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* 行为树资产加载器
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*
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* 将BehaviorTreeAsset实例化为可运行的Entity树
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*/
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export class BehaviorTreeAssetLoader {
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/**
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* 从资产实例化行为树
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*
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* @param asset 行为树资产
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* @param scene 目标场景
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* @param options 实例化选项
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* @returns 根实体
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*
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* @example
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* ```typescript
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* const asset = await loadAssetFromFile('enemy-ai.btree.bin');
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* const aiRoot = BehaviorTreeAssetLoader.instantiate(asset, scene);
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* BehaviorTreeStarter.start(aiRoot);
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* ```
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*/
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static instantiate(
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asset: BehaviorTreeAsset,
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scene: IScene,
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options: InstantiateOptions = {}
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): Entity {
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logger.info(`开始实例化行为树: ${asset.metadata.name}`);
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// 创建节点映射
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const nodeMap = new Map<string, BehaviorTreeNodeData>();
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for (const node of asset.nodes) {
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nodeMap.set(node.id, node);
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}
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// 查找根节点
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const rootNodeData = nodeMap.get(asset.rootNodeId);
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if (!rootNodeData) {
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throw new Error(`未找到根节点: ${asset.rootNodeId}`);
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}
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// 创建实体映射
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const entityMap = new Map<string, Entity>();
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// 递归创建实体树
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const rootEntity = this.createEntityTree(
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rootNodeData,
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nodeMap,
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entityMap,
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scene,
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options.namePrefix,
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options.asSubTree
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);
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// 添加黑板
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this.setupBlackboard(rootEntity, asset.blackboard, options.blackboardOverrides);
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// 设置属性绑定
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if (asset.propertyBindings && asset.propertyBindings.length > 0) {
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this.setupPropertyBindings(asset.propertyBindings, entityMap);
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}
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logger.info(`行为树实例化完成: ${asset.nodes.length} 个节点`);
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return rootEntity;
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}
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/**
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* 递归创建实体树
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*/
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private static createEntityTree(
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nodeData: BehaviorTreeNodeData,
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nodeMap: Map<string, BehaviorTreeNodeData>,
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entityMap: Map<string, Entity>,
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scene: IScene,
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namePrefix?: string,
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asSubTree?: boolean,
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isRootOfSubTree: boolean = true
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): Entity {
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const entityName = namePrefix ? `${namePrefix}_${nodeData.name}` : nodeData.name;
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const entity = scene.createEntity(entityName);
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// 记录实体
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entityMap.set(nodeData.id, entity);
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// 添加BehaviorTreeNode组件
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const btNode = entity.addComponent(new BehaviorTreeNode());
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btNode.nodeType = nodeData.nodeType;
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btNode.nodeName = nodeData.name;
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// 添加节点特定组件（如果是子树的根节点，跳过 RootNode）
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this.addNodeComponents(entity, nodeData, asSubTree && isRootOfSubTree);
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// 递归创建子节点
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for (const childId of nodeData.children) {
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const childData = nodeMap.get(childId);
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if (!childData) {
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logger.warn(`子节点未找到: ${childId}`);
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continue;
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}
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const childEntity = this.createEntityTree(
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childData,
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nodeMap,
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entityMap,
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scene,
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namePrefix,
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asSubTree,
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false // 子节点不是根节点
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);
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entity.addChild(childEntity);
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}
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return entity;
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}
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/**
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* 添加节点特定组件
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* @param skipRootNode 是否跳过添加 RootNode 组件（用于子树）
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*/
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private static addNodeComponents(entity: Entity, nodeData: BehaviorTreeNodeData, skipRootNode: boolean = false): void {
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const { nodeType, data, name } = nodeData;
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logger.debug(`addNodeComponents: name=${name}, data.nodeType=${data.nodeType}, skipRootNode=${skipRootNode}`);
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// 根据节点类型和名称添加对应组件
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if (data.nodeType === 'root' || name === '根节点' || name === 'Root') {
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if (!skipRootNode) {
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logger.debug(`添加 RootNode 组件: ${name}`);
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entity.addComponent(new RootNode());
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} else {
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// 子树的根节点，使用第一个子节点的类型（通常是 SequenceNode）
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logger.debug(`跳过为子树根节点添加 RootNode: ${name}`);
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// 添加一个默认的 SequenceNode 作为子树的根
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this.addCompositeComponent(entity, '序列', data);
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}
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}
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// 组合节点
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else if (nodeType === NodeType.Composite) {
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this.addCompositeComponent(entity, name, data);
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}
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// 装饰器节点
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else if (nodeType === NodeType.Decorator) {
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this.addDecoratorComponent(entity, name, data);
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}
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// 动作节点
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else if (nodeType === NodeType.Action) {
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this.addActionComponent(entity, name, data);
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}
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// 条件节点
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else if (nodeType === NodeType.Condition) {
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this.addConditionComponent(entity, name, data);
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}
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}
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/**
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* 添加组合节点组件
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*/
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private static addCompositeComponent(entity: Entity, name: string, data: Record<string, any>): void {
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const nameLower = name.toLowerCase();
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if (nameLower.includes('sequence') || nameLower.includes('序列')) {
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const node = entity.addComponent(new SequenceNode());
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node.abortType = (data.abortType as AbortType) ?? AbortType.None;
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} else if (nameLower.includes('selector') || nameLower.includes('选择')) {
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const node = entity.addComponent(new SelectorNode());
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node.abortType = (data.abortType as AbortType) ?? AbortType.None;
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} else if (nameLower.includes('parallelselector') || nameLower.includes('并行选择')) {
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const node = entity.addComponent(new ParallelSelectorNode());
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node.failurePolicy = data.failurePolicy ?? 'one';
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} else if (nameLower.includes('parallel') || nameLower.includes('并行')) {
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const node = entity.addComponent(new ParallelNode());
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node.successPolicy = data.successPolicy ?? 'all';
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node.failurePolicy = data.failurePolicy ?? 'one';
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} else if (nameLower.includes('randomsequence') || nameLower.includes('随机序列')) {
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entity.addComponent(new RandomSequenceNode());
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} else if (nameLower.includes('randomselector') || nameLower.includes('随机选择')) {
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entity.addComponent(new RandomSelectorNode());
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} else {
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logger.warn(`未知的组合节点类型: ${name}`);
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}
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}
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/**
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* 添加装饰器组件
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*/
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private static addDecoratorComponent(entity: Entity, name: string, data: Record<string, any>): void {
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const nameLower = name.toLowerCase();
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if (nameLower.includes('inverter') || nameLower.includes('反转')) {
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entity.addComponent(new InverterNode());
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} else if (nameLower.includes('repeater') || nameLower.includes('重复')) {
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const node = entity.addComponent(new RepeaterNode());
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node.repeatCount = data.repeatCount ?? -1;
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node.endOnFailure = data.endOnFailure ?? false;
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} else if (nameLower.includes('untilsuccess') || nameLower.includes('直到成功')) {
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entity.addComponent(new UntilSuccessNode());
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} else if (nameLower.includes('untilfail') || nameLower.includes('直到失败')) {
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entity.addComponent(new UntilFailNode());
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} else if (nameLower.includes('alwayssucceed') || nameLower.includes('总是成功')) {
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entity.addComponent(new AlwaysSucceedNode());
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} else if (nameLower.includes('alwaysfail') || nameLower.includes('总是失败')) {
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entity.addComponent(new AlwaysFailNode());
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} else if (nameLower.includes('conditional') || nameLower.includes('条件装饰')) {
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const node = entity.addComponent(new ConditionalNode());
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node.conditionCode = data.conditionCode ?? '';
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node.shouldReevaluate = data.shouldReevaluate ?? true;
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} else if (nameLower.includes('cooldown') || nameLower.includes('冷却')) {
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const node = entity.addComponent(new CooldownNode());
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node.cooldownTime = data.cooldownTime ?? 1.0;
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} else if (nameLower.includes('timeout') || nameLower.includes('超时')) {
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const node = entity.addComponent(new TimeoutNode());
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node.timeoutDuration = data.timeoutDuration ?? 1.0;
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} else {
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logger.warn(`未知的装饰器类型: ${name}`);
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}
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}
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/**
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* 添加动作组件
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*/
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private static addActionComponent(entity: Entity, name: string, data: Record<string, any>): void {
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const nameLower = name.toLowerCase();
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if (nameLower.includes('wait') || nameLower.includes('等待')) {
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const action = entity.addComponent(new WaitAction());
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action.waitTime = data.waitTime ?? 1.0;
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} else if (nameLower.includes('log') || nameLower.includes('日志')) {
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const action = entity.addComponent(new LogAction());
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action.message = data.message ?? '';
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action.level = data.level ?? 'log';
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} else if (nameLower.includes('setblackboard') || nameLower.includes('setvalue') || nameLower.includes('设置变量')) {
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const action = entity.addComponent(new SetBlackboardValueAction());
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action.variableName = data.variableName ?? '';
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action.value = data.value;
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} else if (nameLower.includes('modifyblackboard') || nameLower.includes('modifyvalue') || nameLower.includes('修改变量')) {
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const action = entity.addComponent(new ModifyBlackboardValueAction());
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action.variableName = data.variableName ?? '';
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action.operation = data.operation ?? 'add';
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action.operand = data.operand ?? 0;
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} else if (nameLower.includes('execute') || nameLower.includes('自定义')) {
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const action = entity.addComponent(new ExecuteAction());
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action.actionCode = data.actionCode ?? 'return TaskStatus.Success;';
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} else {
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logger.warn(`未知的动作类型: ${name}`);
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}
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}
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/**
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* 添加条件组件
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*/
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private static addConditionComponent(entity: Entity, name: string, data: Record<string, any>): void {
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const nameLower = name.toLowerCase();
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if (nameLower.includes('compare') || nameLower.includes('比较变量')) {
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const condition = entity.addComponent(new BlackboardCompareCondition());
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condition.variableName = data.variableName ?? '';
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condition.operator = (data.operator as CompareOperator) ?? CompareOperator.Equal;
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condition.compareValue = data.compareValue;
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condition.invertResult = data.invertResult ?? false;
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} else if (nameLower.includes('exists') || nameLower.includes('变量存在')) {
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const condition = entity.addComponent(new BlackboardExistsCondition());
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condition.variableName = data.variableName ?? '';
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condition.checkNotNull = data.checkNotNull ?? false;
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condition.invertResult = data.invertResult ?? false;
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} else if (nameLower.includes('random') || nameLower.includes('概率')) {
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const condition = entity.addComponent(new RandomProbabilityCondition());
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condition.probability = data.probability ?? 0.5;
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} else if (nameLower.includes('execute') || nameLower.includes('执行条件')) {
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const condition = entity.addComponent(new ExecuteCondition());
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condition.conditionCode = data.conditionCode ?? '';
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condition.invertResult = data.invertResult ?? false;
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} else {
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logger.warn(`未知的条件类型: ${name}`);
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}
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}
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/**
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* 设置黑板
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*/
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private static setupBlackboard(
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rootEntity: Entity,
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blackboardDef: BlackboardVariableDefinition[],
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overrides?: Record<string, any>
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): void {
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const blackboard = rootEntity.addComponent(new BlackboardComponent());
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for (const variable of blackboardDef) {
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const value = overrides && overrides[variable.name] !== undefined
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? overrides[variable.name]
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: variable.defaultValue;
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blackboard.defineVariable(
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variable.name,
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variable.type,
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value,
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{
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readonly: variable.readonly,
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description: variable.description
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}
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);
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}
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logger.info(`已设置黑板: ${blackboardDef.length} 个变量`);
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}
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/**
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* 设置属性绑定
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*/
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private static setupPropertyBindings(
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bindings: PropertyBinding[],
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entityMap: Map<string, Entity>
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): void {
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for (const binding of bindings) {
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const entity = entityMap.get(binding.nodeId);
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if (!entity) {
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logger.warn(`属性绑定引用的节点不存在: ${binding.nodeId}`);
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continue;
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}
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let propertyBindings = entity.getComponent(PropertyBindings);
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if (!propertyBindings) {
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propertyBindings = entity.addComponent(new PropertyBindings());
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}
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propertyBindings.addBinding(binding.propertyName, binding.variableName);
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}
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logger.info(`已设置属性绑定: ${bindings.length} 个绑定`);
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}
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}
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