init

src/behaviortree/BTNode/Action.ts

@@ -0,0 +1,189 @@
+import { Status } from "../header";
+import { Ticker } from "../Ticker";
+import { BaseNode } from "./BaseNode";
+
+/**
+ * 动作节点
+ * 没有子节点
+ */
+export abstract class Action extends BaseNode {
+    constructor() {
+        super();
+    }
+}
+
+/**
+ * 失败节点(无子节点)
+ * 直接返回FAILURE
+ */
+export class Failure extends Action {
+    /** 执行函数 @internal */
+    private _func: () => void;
+    constructor(func: () => void) {
+        super();
+        this._func = func;
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        this._func();
+        return Status.FAILURE;
+    }
+}
+
+/**
+ * 逻辑节点，一直执行 (无子节点)
+ * 直接返回RUNING
+ */
+export class Running extends Action {
+    /** 执行函数 @internal */
+    private _func: () => void;
+    constructor(func: () => void) {
+        super();
+        this._func = func;
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        this._func();
+        return Status.RUNNING;
+    }
+}
+
+/**
+ * 成功节点 无子节点
+ * 直接返回SUCCESS
+ */
+export class Success extends Action {
+    /** 执行函数 @internal */
+    private _func: () => void;
+    constructor(func: () => void) {
+        super();
+        this._func = func;
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        this._func();
+        return Status.SUCCESS;
+    }
+}
+/**
+ * 次数等待节点(无子节点)
+ * 次数内，返回RUNING
+ * 超次，返回SUCCESS
+ */
+export class WaitTicks extends Action {
+    /** 最大次数 @internal */
+    private _maxTicks: number;
+    /** 经过的次数 @internal */
+    private _elapsedTicks: number;
+    constructor(maxTicks: number = 0) {
+        super();
+        this._maxTicks = maxTicks;
+        this._elapsedTicks = 0;
+    }
+
+    /**
+     * 打开
+     * @param {Ticker} ticker 
+     */
+    public open(ticker: Ticker): void {
+        this._elapsedTicks = 0;
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        if (++this._elapsedTicks >= this._maxTicks) {
+            this._elapsedTicks = 0;
+            return Status.SUCCESS;
+        }
+        return Status.RUNNING;
+    }
+}
+
+/**
+ * 时间等待节点(无子节点)
+ * 时间到后返回SUCCESS，否则返回RUNING
+ */
+export class WaitTime extends Action {
+    /** 等待时间(毫秒 ms) @internal */
+    private _duration: number;
+    constructor(duration: number = 0) {
+        super();
+        this._duration = duration * 1000;
+    }
+
+    /**
+     * 打开
+     * @param {Ticker} ticker 
+     */
+    public open(ticker: Ticker): void {
+        let startTime = new Date().getTime();
+        ticker.blackboard.set("startTime", startTime, ticker.tree.id, this.id);
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let currTime = new Date().getTime();
+        let startTime = ticker.blackboard.get("startTime", ticker.tree.id, this.id);
+        if (currTime - startTime >= this._duration) {
+            return Status.SUCCESS;
+        }
+        return Status.RUNNING;
+    }
+}
+
+/**
+ * 行为树防止被打断节点
+ * 直接返回 SUCCESS
+ * 和 InterruptDefendCancel 必须成对出现
+ */
+export class InterruptDefend extends Action {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        ticker.blackboard.interruptDefend = true;
+        return Status.SUCCESS;
+    }
+}
+
+/**
+ * 行为树被打断取消节点
+ * 直接返回 SUCCESS
+ * 和 InterruptDefend 必须成对出现
+ */
+export class InterruptDefendCancel extends Action {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        ticker.blackboard.interruptDefend = false;
+        return Status.SUCCESS;
+    }
+}