节点运行状态添加到黑板中;修复黑板清理数据的逻辑

package.json

@@ -1,6 +1,6 @@
 {
     "name": "kunpocc-behaviortree",
-    "version": "0.0.4",
+    "version": "0.0.5",
     "description": "行为树",
     "main": "./dist/kunpocc-behaviortree.cjs",
     "module": "./dist/kunpocc-behaviortree.mjs",

src/behaviortree/BTNode/BTNode.ts

@@ -12,9 +12,11 @@ export interface IBTNode {
      */
     _initialize(root: IBlackboard, parent: IBlackboard): void;
 
+    /**
+     * @internal
+     */
     _execute(): Status;
     tick(): Status;
-    cleanupAll(): void;
 
     /**
      * 优先写入自己的黑板数据, 如果没有则写入父节点的黑板数据
@@ -48,25 +50,14 @@ export abstract class BTNode implements IBTNode {
 
     /** 树根节点的黑板引用 */
     protected _root!: IBlackboard;
+
     /** 本节点的的黑板引用 可能等于 _parent */
     protected _local!: IBlackboard;
 
-    private _isRunning: boolean;
-    /**
-     * 创建
-     * @param children 子节点列表
-     */
     constructor(children?: IBTNode[]) {
         this.children = children ? [...children] : [];
-        this._isRunning = false;
     }
 
-    /**
-     * 打开节点
-     * @param tree 行为树
-     * 
-     * @internal
-     */
     public _initialize(root: IBlackboard, parent: IBlackboard): void {
         this._root = root;
         // 在需要的节点中重写，创建新的local
@@ -74,13 +65,13 @@ export abstract class BTNode implements IBTNode {
     }
 
     /**
-     * 执行节点
      * @internal
      */
     public _execute(): Status {
         // 首次执行时初始化
-        if (!this._isRunning) {
+        const isRunning = this._local.openNodes.get(this) || false;
-            this._isRunning = true;
+        if (!isRunning) {
+            this._local.openNodes.set(this, true);
             this.open();
         }
 
@@ -89,7 +80,7 @@ export abstract class BTNode implements IBTNode {
 
         // 执行完成时清理
         if (status !== Status.RUNNING) {
-            this._isRunning = false;
+            this._local.openNodes.delete(this);
             this.close();
         }
 
@@ -115,20 +106,6 @@ export abstract class BTNode implements IBTNode {
      */
     protected close(): void { }
 
-    /**
-     * 递归清理节点及其所有子节点的状态
-     * 用于行为树中断时清理所有节点状态
-     */
-    public cleanupAll(): void {
-        // 清理基础状态
-        this._isRunning = false;
-
-        // 递归清理所有子节点
-        for (const child of this.children) {
-            child.cleanupAll();
-        }
-    }
-
     public getEntity<T>(): T {
         return this._local.getEntity();
     }

src/behaviortree/BehaviorTree.ts

@@ -58,8 +58,6 @@ export class BehaviorTree<T> {
      * 清空黑板并重置所有节点状态
      */
     public reset(): void {
-        this._blackboard.clear();
+        this._blackboard.clean();
-        // 重置所有节点的状态
-        this._root.cleanupAll();
     }
 }

src/behaviortree/Blackboard.ts

@@ -6,6 +6,7 @@
  * 专门用于存储和管理行为树执行过程中的共享数据
  */
 
+import { IBTNode } from "../kunpocc-behaviortree";
 
 /** 
  * 黑板数据接口
@@ -16,8 +17,10 @@ export interface IBlackboard {
     set<T>(key: string, value: T): void;
     delete(key: string): void;
     has(key: string): boolean;
-    clear(): void;
+    clean(): void;
     createChild(scope?: number): IBlackboard;
+    /** @internal */
+    openNodes: WeakMap<IBTNode, boolean>;
 }
 
 /**
@@ -28,6 +31,12 @@ export class Blackboard implements IBlackboard {
     public parent?: Blackboard | undefined;
     public children = new Set<Blackboard>();
 
+    /** 
+     * 正在运行中的节点
+     * @internal
+     */
+    public openNodes = new WeakMap<IBTNode, boolean>();
+
     /** 实体 */
     private readonly _entity: any;
     public getEntity<T>(): T {
@@ -69,24 +78,12 @@ export class Blackboard implements IBlackboard {
         return new Blackboard(this);
     }
 
-    public clear(): void {
+    public clean(): void {
-        // 从父黑板中删除自己
-        if (this.parent) {
-            this.parent.children.delete(this);
-        }
-
-        // 清理所有子黑板
-        this.children.forEach(child => {
-            child.parent = undefined;
-        });
-
-        this.children.clear();
-
-        // 断开父级引用
-        this.parent = undefined;
-
         // 清空当前黑板数据
         this._data.clear();
+        
+        // 重置运行状态
+        this.openNodes = new WeakMap<IBTNode, boolean>();
     }
 }