init

src/behaviortree/BehaviorTree.ts

@@ -0,0 +1,61 @@
+import { Blackboard } from "./Blackboard";
+import { BaseNode } from "./BTNode/BaseNode";
+import { createUUID } from "./header";
+import { Ticker } from "./Ticker";
+
+/**
+ * 行为树
+ * 所有节点全部添加到树中
+ */
+export class BehaviorTree {
+    /** 行为树ID @internal */
+    private _id: string;
+    /** 行为树跟节点 @internal */
+    private _root: BaseNode;
+    /**
+     * constructor
+     * @param root 根节点
+     */
+    constructor(root: BaseNode) {
+        this._id = createUUID();
+        this._root = root;
+    }
+
+    /**
+     * 执行
+     * @param subject 主体
+     * @param blackboard 黑板
+     * @param ticker 更新器
+     */
+    public tick(subject: any, blackboard: Blackboard, ticker?: Ticker): void {
+        ticker = ticker || new Ticker(subject, blackboard, this);
+        ticker.openNodes.length = 0;
+        this._root._execute(ticker);
+        // 上次打开的节点
+        let lastOpenNodes = blackboard.get("openNodes", this._id) as BaseNode[];
+        // 当前打开的节点
+        let currOpenNodes = ticker.openNodes;
+        let start = 0;
+        for (let i = 0; i < Math.min(lastOpenNodes.length, currOpenNodes.length); i++) {
+            start = i + 1;
+            if (lastOpenNodes[i] !== currOpenNodes[i]) {
+                break;
+            }
+        }
+        // 关闭不需要的节点
+        for (let i = lastOpenNodes.length - 1; i >= start; i--) {
+            lastOpenNodes[i]._close(ticker);
+        }
+        /* POPULATE BLACKBOARD */
+        blackboard.set("openNodes", currOpenNodes, this._id);
+        blackboard.set("nodeCount", ticker.nodeCount, this._id);
+    }
+
+    get id(): string {
+        return this._id;
+    }
+
+    get root(): BaseNode {
+        return this._root;
+    }
+}