init

2025-12-26 16:48:56 +00:00 · 2025-06-04 23:10:59 +08:00
commit 0d9f048f39
18 changed files with 1538 additions and 0 deletions
--- a/src/behaviortree/BTNode/Composite.ts
+++ b/src/behaviortree/BTNode/Composite.ts
@@ -0,0 +1,206 @@
+import { Status } from "../header";
+import { Ticker } from "../Ticker";
+import { BaseNode } from "./BaseNode";
+
+/**
+ * 可以包含多个节点的集合装饰器基类
+ *
+ */
+export abstract class Composite extends BaseNode {
+    constructor(...children: BaseNode[]) {
+        super(children);
+    }
+}
+
+/**
+ * 记忆选择节点
+ * 选择不为 FAILURE 的节点
+ * 任意一个Child Node返回不为 FAILURE, 本Node向自己的Parent Node也返回Child Node状态
+ */
+export class MemSelector extends Composite {
+    /**
+     * 打开
+     * @param {Ticker} ticker 
+     */
+    public open(ticker: Ticker): void {
+        super.open(ticker);
+        ticker.blackboard.set("runningChild", 0, ticker.tree.id, this.id);
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let childIndex = ticker.blackboard.get("runningChild", ticker.tree.id, this.id) as number;
+
+        for (let i = childIndex; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+
+            if (status !== Status.FAILURE) {
+                if (status === Status.RUNNING) {
+                    ticker.blackboard.set("runningChild", i, ticker.tree.id, this.id);
+                }
+                return status;
+            }
+        }
+
+        return Status.FAILURE;
+    }
+}
+
+/**
+ * 记忆顺序节点
+ * 如果上次执行到 RUNING 的节点, 下次进入节点后, 直接从 RUNING 节点开始
+ * 遇到 RUNING 或者 FAILURE 停止迭代
+ * 任意一个Child Node返回不为 SUCCESS, 本Node向自己的Parent Node也返回Child Node状态
+ * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
+ */
+export class MemSequence extends Composite {
+    /**
+     * 打开
+     * @param {Ticker} ticker 
+     */
+    public open(ticker: Ticker): void {
+        super.open(ticker);
+        ticker.blackboard.set("runningChild", 0, ticker.tree.id, this.id);
+    }
+
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let childIndex = ticker.blackboard.get("runningChild", ticker.tree.id, this.id) as number;
+        for (let i = childIndex; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+            if (status !== Status.SUCCESS) {
+                if (status === Status.RUNNING) {
+                    ticker.blackboard.set("runningChild", i, ticker.tree.id, this.id);
+                }
+                return status;
+            }
+        }
+        return Status.SUCCESS;
+    }
+}
+
+/**
+ * 随机选择节点
+ * 从Child Node中随机选择一个执行
+ */
+export class RandomSelector extends Composite {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let childIndex = (Math.random() * this.children.length) | 0;
+        let child = this.children[childIndex];
+        let status = child._execute(ticker);
+
+        return status;
+    }
+}
+
+/**
+ * 选择节点，选择不为 FAILURE 的节点
+ * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node：
+ * 如遇到一个Child Node执行后返回 SUCCESS 或者 RUNING，那停止迭代，本Node向自己的Parent Node也返回 SUCCESS 或 RUNING
+ */
+export class Selector extends Composite {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        for (let i = 0; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+            if (status !== Status.FAILURE) {
+                return status;
+            }
+        }
+        return Status.FAILURE;
+    }
+}
+
+/**
+ * 顺序节点
+ * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node：
+ * 遇到 FAILURE 或 RUNING, 那停止迭代，返回FAILURE 或 RUNING
+ * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
+ */
+export class Sequence extends Composite {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        for (let i = 0; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+            if (status !== Status.SUCCESS) {
+                return status;
+            }
+        }
+        return Status.SUCCESS;
+    }
+}
+
+/**
+ * 并行节点 每次进入全部重新执行一遍
+ * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node：
+ * 1. 当存在Child Node执行后返回 FAILURE, 本节点返回 FAILURE
+ * 2. 当存在Child Node执行后返回 RUNING, 本节点返回 RUNING
+ * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
+ */
+export class Parallel extends Composite {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let result = Status.SUCCESS;
+        for (let i = 0; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+            if (status == Status.FAILURE) {
+                result = Status.FAILURE;
+            } else if (result == Status.SUCCESS && status == Status.RUNNING) {
+                result = Status.RUNNING;
+            }
+        }
+        return result;
+    }
+}
+
+/**
+ * 并行节点 每次进入全部重新执行一遍
+ * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node：
+ * 1. 当存在Child Node执行后返回 FAILURE, 本节点返回 FAILURE
+ * 2. 任意 Child Node 返回 SUCCESS, 本节点返回 SUCCESS
+ * 否则返回 RUNNING
+ */
+export class ParallelAnySuccess extends Composite {
+    /**
+     * 执行
+     * @param {Ticker} ticker 
+     * @returns {Status} 
+     */
+    public tick(ticker: Ticker): Status {
+        let result = Status.RUNNING;
+        for (let i = 0; i < this.children.length; i++) {
+            let status = this.children[i]._execute(ticker);
+            if (status == Status.FAILURE) {
+                result = Status.FAILURE;
+            } else if (result == Status.RUNNING && status == Status.SUCCESS) {
+                result = Status.SUCCESS;
+            }
+        }
+        return result;
+    }
+}