chore: release packages (#409)

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

docs/src/content/docs/en/modules/behavior-tree/custom-actions.md

@@ -182,6 +182,70 @@ export class IsHealthLow implements INodeExecutor {
 }
 ```
 
+## Using Custom Executors in BehaviorTreeBuilder
+
+After defining a custom executor with `@NodeExecutorMetadata`, use the `.action()` method in the builder:
+
+```typescript
+import { BehaviorTreeBuilder, BehaviorTreeStarter } from '@esengine/behavior-tree';
+
+// Use custom executor in behavior tree
+const tree = BehaviorTreeBuilder.create('CombatAI')
+    .defineBlackboardVariable('health', 100)
+    .defineBlackboardVariable('target', null)
+    .selector('Root')
+        .sequence('AttackSequence')
+            // Use custom action - matches implementationType in decorator
+            .action('AttackAction', 'Attack', { damage: 25 })
+            .action('MoveToTarget', 'Chase')
+        .end()
+        .action('WaitAction', 'Idle', { duration: 1000 })
+    .end()
+    .build();
+
+// Start the behavior tree
+const entity = scene.createEntity('Enemy');
+BehaviorTreeStarter.start(entity, tree);
+```
+
+### Builder Methods for Custom Nodes
+
+| Method | Description |
+|--------|-------------|
+| `.action(type, name?, config?)` | Add custom action node |
+| `.condition(type, name?, config?)` | Add custom condition node |
+| `.executeAction(name)` | Use blackboard function `action_{name}` |
+| `.executeCondition(name)` | Use blackboard function `condition_{name}` |
+
+### Complete Example
+
+```typescript
+// 1. Define custom executor
+@NodeExecutorMetadata({
+    implementationType: 'AttackAction',
+    nodeType: NodeType.Action,
+    displayName: 'Attack',
+    category: 'Combat',
+    configSchema: {
+        damage: { type: 'number', default: 10, supportBinding: true }
+    }
+})
+class AttackAction implements INodeExecutor {
+    execute(context: NodeExecutionContext): TaskStatus {
+        const damage = BindingHelper.getValue<number>(context, 'damage', 10);
+        console.log(`Attacking with ${damage} damage!`);
+        return TaskStatus.Success;
+    }
+}
+
+// 2. Build and use
+const tree = BehaviorTreeBuilder.create('AI')
+    .selector('Root')
+        .action('AttackAction', 'Attack', { damage: 50 })
+    .end()
+    .build();
+```
+
 ## Registering Custom Executors
 
 Executors are auto-registered via the decorator. To manually register:

docs/src/content/docs/modules/behavior-tree/custom-actions.md

@@ -606,6 +606,107 @@ export class RetryDecorator implements INodeExecutor {
 }
 ```
 
+## 在代码中使用自定义执行器
+
+定义了自定义执行器后，可以通过 `BehaviorTreeBuilder` 的 `.action()` 和 `.condition()` 方法在代码中使用：
+
+### 使用 action() 方法
+
+```typescript
+import { BehaviorTreeBuilder, BehaviorTreeStarter } from '@esengine/behavior-tree';
+
+// 使用自定义执行器构建行为树
+const tree = BehaviorTreeBuilder.create('CombatAI')
+    .defineBlackboardVariable('health', 100)
+    .defineBlackboardVariable('target', null)
+    .selector('Root')
+        .sequence('AttackSequence')
+            // 使用自定义动作 - implementationType 匹配装饰器中的定义
+            .action('AttackAction', 'Attack', { damage: 25 })
+            .action('MoveToPosition', 'Chase', { speed: 10 })
+        .end()
+        .action('DelayAction', 'Idle', { duration: 1.0 })
+    .end()
+    .build();
+
+// 启动行为树
+const entity = scene.createEntity('Enemy');
+BehaviorTreeStarter.start(entity, tree);
+```
+
+### 使用 condition() 方法
+
+```typescript
+const tree = BehaviorTreeBuilder.create('AI')
+    .selector('Root')
+        .sequence('AttackBranch')
+            // 使用自定义条件
+            .condition('CheckHealth', 'IsHealthy', { threshold: 50, operator: 'greater' })
+            .action('AttackAction', 'Attack')
+        .end()
+    .end()
+    .build();
+```
+
+### Builder 方法对照表
+
+| 方法 | 说明 | 使用场景 |
+|------|------|----------|
+| `.action(type, name?, config?)` | 使用自定义动作执行器 | 自定义 Action 类 |
+| `.condition(type, name?, config?)` | 使用自定义条件执行器 | 自定义 Condition 类 |
+| `.executeAction(name)` | 调用黑板函数 `action_{name}` | 简单逻辑、快速原型 |
+| `.executeCondition(name)` | 调用黑板函数 `condition_{name}` | 简单条件判断 |
+
+### 完整示例
+
+```typescript
+import {
+    BehaviorTreeBuilder,
+    BehaviorTreeStarter,
+    NodeExecutorMetadata,
+    INodeExecutor,
+    NodeExecutionContext,
+    TaskStatus,
+    NodeType,
+    BindingHelper
+} from '@esengine/behavior-tree';
+
+// 1. 定义自定义执行器
+@NodeExecutorMetadata({
+    implementationType: 'AttackAction',
+    nodeType: NodeType.Action,
+    displayName: '攻击',
+    category: 'Combat',
+    configSchema: {
+        damage: { type: 'number', default: 10, supportBinding: true }
+    }
+})
+class AttackAction implements INodeExecutor {
+    execute(context: NodeExecutionContext): TaskStatus {
+        const damage = BindingHelper.getValue<number>(context, 'damage', 10);
+        console.log(`执行攻击，造成 ${damage} 点伤害！`);
+        return TaskStatus.Success;
+    }
+}
+
+// 2. 构建行为树
+const enemyAI = BehaviorTreeBuilder.create('EnemyAI')
+    .defineBlackboardVariable('health', 100)
+    .defineBlackboardVariable('target', null)
+    .selector('MainBehavior')
+        .sequence('AttackBranch')
+            .condition('CheckHealth', 'HasEnoughHealth', { threshold: 20, operator: 'greater' })
+            .action('AttackAction', 'Attack', { damage: 50 })
+        .end()
+        .log('逃跑', 'Flee')
+    .end()
+    .build();
+
+// 3. 启动行为树
+const entity = scene.createEntity('Enemy');
+BehaviorTreeStarter.start(entity, enemyAI);
+```
+
 ## 注册执行器
 
 ### 自动注册

packages/framework/behavior-tree/CHANGELOG.md

@@ -1,5 +1,54 @@
 # @esengine/behavior-tree
 
+## 4.2.0
+
+### Minor Changes
+
+- [#408](https://github.com/esengine/esengine/pull/408) [`b9ea8d1`](https://github.com/esengine/esengine/commit/b9ea8d14cf38e1480f638c229f9ee150b65f0c60) Thanks [@esengine](https://github.com/esengine)! - feat: add action() and condition() methods to BehaviorTreeBuilder
+
+    Added new methods to support custom executor types directly in the builder:
+    - `action(implementationType, name?, config?)` - Use custom action executors registered via `@NodeExecutorMetadata`
+    - `condition(implementationType, name?, config?)` - Use custom condition executors
+
+    This provides a cleaner API for using custom node executors compared to the existing `executeAction()` which only supports blackboard functions.
+
+    Example:
+
+    ```typescript
+    // Define custom executor
+    @NodeExecutorMetadata({
+        implementationType: 'AttackAction',
+        nodeType: NodeType.Action,
+        displayName: 'Attack',
+        category: 'Combat'
+    })
+    class AttackAction implements INodeExecutor {
+        execute(context: NodeExecutionContext): TaskStatus {
+            return TaskStatus.Success;
+        }
+    }
+
+    // Use in builder
+    const tree = BehaviorTreeBuilder.create('AI')
+        .selector('Root')
+        .action('AttackAction', 'Attack', { damage: 50 })
+        .end()
+        .build();
+    ```
+
+## 4.1.2
+
+### Patch Changes
+
+- [#406](https://github.com/esengine/esengine/pull/406) [`0de4527`](https://github.com/esengine/esengine/commit/0de45279e612c04ae9be7fbd65ce496e4797a43c) Thanks [@esengine](https://github.com/esengine)! - fix(behavior-tree): export NodeExecutorMetadata as value instead of type
+
+    Fixed the export of `NodeExecutorMetadata` decorator in `execution/index.ts`.
+    Previously it was exported as `export type { NodeExecutorMetadata }` which only
+    exported the type signature, not the actual function. This caused runtime errors
+    in Cocos Creator: "TypeError: (intermediate value) is not a function".
+
+    Changed to `export { NodeExecutorMetadata }` to properly export the decorator function.
+
 ## 4.1.1
 
 ### Patch Changes

packages/framework/behavior-tree/package.json

@@ -1,6 +1,6 @@
 {
     "name": "@esengine/behavior-tree",
-    "version": "4.1.1",
+    "version": "4.2.0",
     "description": "ECS-based AI behavior tree system - works with any ECS framework (ESEngine, Cocos, Laya, etc.)",
     "main": "dist/index.js",
     "module": "dist/index.js",
@@ -29,7 +29,8 @@
         "clean": "rimraf dist tsconfig.tsbuildinfo",
         "build": "tsup",
         "build:watch": "tsup --watch",
-        "type-check": "tsc --noEmit"
+        "type-check": "tsc --noEmit",
+        "test": "node --experimental-vm-modules node_modules/jest/bin/jest.js"
     },
     "author": "yhh",
     "license": "MIT",

packages/framework/behavior-tree/src/BehaviorTreeBuilder.ts

@@ -181,12 +181,73 @@ export class BehaviorTreeBuilder {
     }
 
     /**
-     * 添加执行动作
+     * 添加执行动作（通过黑板函数）
+     *
+     * @zh 使用黑板中的 action_{actionName} 函数执行动作
+     * @en Execute action using action_{actionName} function from blackboard
+     *
+     * @example
+     * ```typescript
+     * BehaviorTreeBuilder.create("AI")
+     *     .defineBlackboardVariable("action_Attack", (entity) => TaskStatus.Success)
+     *     .selector("Root")
+     *         .executeAction("Attack")
+     *     .end()
+     *     .build();
+     * ```
      */
     executeAction(actionName: string, name?: string): BehaviorTreeBuilder {
         return this.addActionNode('ExecuteAction', name || 'ExecuteAction', { actionName });
     }
 
+    /**
+     * 添加自定义动作节点
+     *
+     * @zh 直接使用注册的执行器类型（通过 @NodeExecutorMetadata 装饰器注册的类）
+     * @en Use a registered executor type directly (class registered via @NodeExecutorMetadata decorator)
+     *
+     * @param implementationType - 执行器类型名称（@NodeExecutorMetadata 中的 implementationType）
+     * @param name - 节点显示名称
+     * @param config - 节点配置参数
+     *
+     * @example
+     * ```typescript
+     * // 1. 定义自定义执行器
+     * @NodeExecutorMetadata({
+     *     implementationType: 'AttackAction',
+     *     nodeType: NodeType.Action,
+     *     displayName: '攻击动作',
+     *     category: 'Action'
+     * })
+     * class AttackAction implements INodeExecutor {
+     *     execute(context: NodeExecutionContext): TaskStatus {
+     *         console.log("执行攻击！");
+     *         return TaskStatus.Success;
+     *     }
+     * }
+     *
+     * // 2. 在行为树中使用
+     * BehaviorTreeBuilder.create("AI")
+     *     .selector("Root")
+     *         .action("AttackAction", "Attack")
+     *     .end()
+     *     .build();
+     * ```
+     */
+    action(implementationType: string, name?: string, config?: Record<string, any>): BehaviorTreeBuilder {
+        return this.addActionNode(implementationType, name || implementationType, config || {});
+    }
+
+    /**
+     * 添加自定义条件节点
+     *
+     * @zh 直接使用注册的条件执行器类型
+     * @en Use a registered condition executor type directly
+     */
+    condition(implementationType: string, name?: string, config?: Record<string, any>): BehaviorTreeBuilder {
+        return this.addConditionNode(implementationType, name || implementationType, config || {});
+    }
+
     /**
      * 添加黑板比较条件
      */

packages/framework/behavior-tree/src/execution/index.ts

@@ -5,7 +5,7 @@ export { BehaviorTreeAssetManager } from './BehaviorTreeAssetManager';
 export type { INodeExecutor, NodeExecutionContext } from './NodeExecutor';
 export { NodeExecutorRegistry, BindingHelper } from './NodeExecutor';
 export { BehaviorTreeExecutionSystem } from './BehaviorTreeExecutionSystem';
-export type { NodeMetadata, ConfigFieldDefinition, NodeExecutorMetadata } from './NodeMetadata';
-export { NodeMetadataRegistry } from './NodeMetadata';
+export type { NodeMetadata, ConfigFieldDefinition } from './NodeMetadata';
+export { NodeMetadataRegistry, NodeExecutorMetadata } from './NodeMetadata';
 
 export * from './Executors';

packages/physics/rapier2d/tsup.config.ts

@@ -6,7 +6,7 @@ export default defineConfig({
     dts: true,
     sourcemap: true,
     clean: true,
-    external: ["../pkg/rapier_wasm2d.js"],
+    external: [/\.\.\/pkg\/rapier_wasm2d/],
     loader: {
         ".wasm": "base64",
     },