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"angle": 8.31 }, + { "time": 2, "angle": -5.33 }, + { "time": 2.6667, "angle": 8.31 } + ] + }, + "xiangji": { + "rotate": [ + { "angle": 29.78 } + ], + "translate": [ + { "x": 242.48, "y": 16.76 } + ] + }, + "bone4": { + "translate": [ + { "y": -4 }, + { "time": 0.3333, "y": -0.8 }, + { "time": 0.6667, "y": -4 }, + { "time": 1, "y": -0.8 }, + { "time": 1.3333, "y": -4 }, + { "time": 1.6667, "y": -0.8 }, + { "time": 2, "y": -4 }, + { "time": 2.3333, "y": -0.8 }, + { "time": 2.6667, "y": -4 } + ] + }, + "嘴巴3": { + "rotate": [ + { "angle": -1.46 } + ] + }, + "右手_15": { + "rotate": [ + { "angle": 8.31 }, + { "time": 0.6667, "angle": -5.33 }, + { "time": 1.3333, "angle": 8.31 }, + { "time": 2, "angle": -5.33 }, + { "time": 2.6667, "angle": 8.31 } + ] + }, + "右手_11": { + "rotate": [ + { "angle": -6.37 }, + { "time": 0.6667, "angle": 7.08 }, + { "time": 1.3333, "angle": -6.37 }, + { "time": 2, "angle": 7.08 }, + { "time": 2.6667, "angle": -6.37 } + ] + }, + "tui_6": { + "translate": [ + { 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"y": -1.17 }, + { "time": 1.6 } + ] + }, + "右眼上9": { + "translate": [ + { "time": 1.4 }, + { "time": 1.4333, "y": -7.26 }, + { "time": 1.4667, "x": -3.43, "y": -28.57, "curve": "stepped" }, + { "time": 1.5, "x": -3.43, "y": -28.57 }, + { "time": 1.5333, "y": -7.26 }, + { "time": 1.6 } + ] + }, + "头发18": { + "rotate": [ + { "angle": -0.76 } + ] + }, + "腿_13": { + "translate": [ + {}, + { "time": 0.6667, "x": 33.41 }, + { "time": 1.3333 }, + { "time": 2, "x": 33.41 }, + { "time": 2.6667 } + ] + }, + "腿_9": { + "translate": [ + {}, + { "time": 0.6667, "x": -32.16 }, + { "time": 1.3333 }, + { "time": 2, "x": -32.16 }, + { "time": 2.6667 } + ] + }, + "挡2": { + "scale": [ + {}, + { "time": 0.6667, "x": 0.849 }, + { "time": 2, "x": 1.014 } + ] + }, + "话筒4": { + "rotate": [ + { "angle": 29.78 }, + { "time": 0.6667, "angle": 9.96 }, + { "time": 1.3333, "angle": 29.78 }, + { "time": 2, "angle": 9.96 }, + { "time": 2.6667, "angle": 29.78 } + ], + "translate": [ + { "x": 30.12, "y": -6.83 }, + { "time": 0.6667, "x": -1.1, "y": 11.81 }, + { "time": 1.3333, "x": 30.12, "y": -6.83 }, + { "time": 2, "x": -1.1, "y": 11.81 }, + { "time": 2.6667, "x": 30.12, "y": -6.83 } + ] + } + }, + "drawOrder": [ + { + "offsets": [ + { "slot": "右手_5", "offset": -18 }, + { "slot": "抹布", "offset": -20 }, + { "slot": "xiangji", "offset": -20 }, + { "slot": "身体2", "offset": -19 }, + { "slot": "扫把", "offset": -35 } + ] + } + ] + } +} +} \ No newline at end of file diff --git a/bt-demo/assets/resources/juese1.json.meta b/bt-demo/assets/resources/juese1.json.meta new file mode 100644 index 0000000..b08cf00 --- /dev/null +++ b/bt-demo/assets/resources/juese1.json.meta @@ -0,0 +1,13 @@ +{ + "ver": "1.2.7", + "importer": "spine-data", + "imported": true, + "uuid": "6aa6ec55-2434-467e-becb-934b6411ff37", + "files": [ + ".json" + ], + "subMetas": {}, + "userData": { + "atlasUuid": "2a140e27-a3cf-4808-87f1-234d62f6a3af" + } +} diff --git a/bt-demo/assets/resources/juese1.png b/bt-demo/assets/resources/juese1.png new file mode 100644 index 0000000..55a1336 Binary files /dev/null and b/bt-demo/assets/resources/juese1.png differ diff --git a/bt-demo/assets/resources/juese1.png.meta b/bt-demo/assets/resources/juese1.png.meta new file mode 100644 index 0000000..a18885b --- /dev/null +++ b/bt-demo/assets/resources/juese1.png.meta @@ -0,0 +1,42 @@ +{ + "ver": "1.0.27", + "importer": "image", + "imported": true, + "uuid": "f3e02866-6afe-4e54-aea5-d742ce999083", + "files": [ + ".json", + ".png" + ], + "subMetas": { + "6c48a": { + "importer": "texture", + "uuid": "f3e02866-6afe-4e54-aea5-d742ce999083@6c48a", + "displayName": "juese1", + "id": "6c48a", + "name": "texture", + "userData": { + "wrapModeS": "repeat", + "wrapModeT": "repeat", + "minfilter": "linear", + "magfilter": "linear", + "mipfilter": "none", + "anisotropy": 0, + "isUuid": true, + "imageUuidOrDatabaseUri": "f3e02866-6afe-4e54-aea5-d742ce999083", + "visible": false + }, + "ver": "1.0.22", + "imported": true, + "files": [ + ".json" + ], + "subMetas": {} + } + }, + "userData": { + "type": "texture", + "hasAlpha": true, + "fixAlphaTransparencyArtifacts": false, + "redirect": "f3e02866-6afe-4e54-aea5-d742ce999083@6c48a" + } +} diff --git a/bt-demo/assets/scene/GameEntry.scene b/bt-demo/assets/scene/GameEntry.scene index 34a40c8..1854d2a 100644 --- a/bt-demo/assets/scene/GameEntry.scene +++ b/bt-demo/assets/scene/GameEntry.scene @@ -202,7 +202,10 @@ "skeleton": { "__id__": 6 }, - "btConfig": null, + "btConfig": { + "__uuid__": "c8aeef5d-6d0e-4093-848e-7d8f1ca30261", + "__expectedType__": "cc.JsonAsset" + }, "_id": "69LhmWaZRIUpmYvdiN82Ha" }, { @@ -226,11 +229,11 @@ "a": 255 }, "_skeletonData": { - "__uuid__": "39a7d8cd-533a-479a-b909-9575bf720338", + "__uuid__": "6aa6ec55-2434-467e-becb-934b6411ff37", "__expectedType__": "sp.SkeletonData" }, "defaultSkin": "default", - "defaultAnimation": "idle", + "defaultAnimation": "zoulu", "_premultipliedAlpha": true, "_timeScale": 1, "_preCacheMode": 0, @@ -304,13 +307,13 @@ "__prefab": null, "_contentSize": { "__type__": "cc.Size", - "width": 419.8399963378906, - "height": 686.0800170898438 + "width": 606, + "height": 398.8900146484375 }, "_anchorPoint": { "__type__": "cc.Vec2", - "x": 0.45412539378136013, - "y": 0.011660447470739235 + "x": 0.2154950434618657, + "y": 0.07997191819064561 }, "_id": "c9XaAZS6pNILxWx4jmSYKE" }, diff --git a/bt-demo/assets/script/BTNode.ts b/bt-demo/assets/script/BTNode.ts index 0d4302a..f19c167 100644 --- a/bt-demo/assets/script/BTNode.ts +++ b/bt-demo/assets/script/BTNode.ts @@ -115,4 +115,17 @@ export class BTCondition extends BT.ConditionDecorator { public isEligible(): boolean { return Math.random() > this._value; } +} + +//////////////////////////自定义行为树//////////////////////////////////// + +/** 爆发状态条件节点 */ +@BT.ClassCondition("BTConditionTest", { name: "爆发状态条件节点", group: "基础条件节点", desc: "" }) +export class BTConditionInCrit extends BT.Condition { + + public isEligible(): boolean { + let isCrit: boolean = this.get("isCrit") + // console.log("是否处于爆发状态？", isCrit) + return isCrit; + } } \ No newline at end of file diff --git a/bt-demo/assets/script/GameEntry.ts b/bt-demo/assets/script/GameEntry.ts index ce2c2e8..04d6073 100644 --- a/bt-demo/assets/script/GameEntry.ts +++ b/bt-demo/assets/script/GameEntry.ts @@ -13,7 +13,7 @@ export class GameEntry extends Component { private _tree: BT.BehaviorTree = null; start(): void { console.log("btConfig", this.btConfig); - let btTree1: BT.INodeConfig[] = this.btConfig.json["bt-tree1"] + let btTree1: BT.INodeConfig[] = this.btConfig.json["actor2"] this._tree = BT.createBehaviorTree(btTree1, this.skeleton); } diff --git a/bt-demo/extensions-config/bt-editor/actor2.json b/bt-demo/extensions-config/bt-editor/actor2.json new file mode 100644 index 0000000..b5b643b --- /dev/null +++ b/bt-demo/extensions-config/bt-editor/actor2.json @@ -0,0 +1,481 @@ +{ + "name": "actor2", + "description": "", + "nodes": [ + { + "id": "1760666774273_6twatctr8", + "className": "Selector", + "name": "选择节点", + "position": { + "x": -60, + "y": -220 + }, + "parameters": {}, + "children": [ + "1760666778409_kl1cri6xp", + "1760668712628_4untk0pc1", + "1760668771864_xs1f57m7t" + ] + }, + { + "id": "1760666778409_kl1cri6xp", + "className": "Sequence", + "name": "顺序节点", + "position": { + "x": -620, + "y": -120 + }, + "parameters": {}, + "children": [ + "1760666838184_0sf89zrd4", + "1760666881111_eu9y7q5m6" + ], + "alias": "待机顺序节点" + }, + { + "id": "1760666838184_0sf89zrd4", + "className": "BTConditionRandom", + "name": "随机条件节点", + "position": { + "x": -680, + "y": -60 + }, + "parameters": { + "_value": 0.6 + }, + "children": [] + }, + { + "id": "1760666881111_eu9y7q5m6", + "className": "LimitTime", + "name": "时间限制器", + "position": { + "x": -540, + "y": -40 + }, + "parameters": { + "_max": 4 + }, + "children": [ + "1760666881111_qoyqb9mkm" + ] + }, + { + "id": "1760666881111_qoyqb9mkm", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": -540, + "y": 40 + }, + "parameters": { + "_name": "daiji", + "_loop": true + }, + "children": [] + }, + { + "id": "1760668712628_4untk0pc1", + "className": "Sequence", + "name": "顺序节点", + "position": { + "x": -340, + "y": -120 + }, + "parameters": {}, + "children": [ + "1760668729192_kuio9twvr", + "1760668729192_pvcbrqpga" + ], + "alias": "走路顺序节点" + }, + { + "id": "1760668729192_kuio9twvr", + "className": "BTConditionRandom", + "name": "随机条件节点", + "position": { + "x": -400, + "y": -60 + }, + "parameters": { + "_value": 0.6 + }, + "children": [] + }, + { + "id": "1760668729192_pvcbrqpga", + "className": "LimitTime", + "name": "时间限制器", + "position": { + "x": -260, + "y": -40 + }, + "parameters": { + "_max": 4 + }, + "children": [ + "1760668729192_6f5mhy8o5" + ] + }, + { + "id": "1760668729192_6f5mhy8o5", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": -260, + "y": 40 + }, + "parameters": { + "_name": "zoulu", + "_loop": true + }, + "children": [] + }, + { + "id": "1760668771864_s2nrgxu59", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": -120, + "y": 40 + }, + "parameters": { + "_name": "shouyin1", + "_loop": false + }, + "children": [] + }, + { + "id": "1760668771864_ryllyy413", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": 20, + "y": 40 + }, + "parameters": { + "_name": "shouyin2", + "_loop": false + }, + "children": [] + }, + { + "id": "1760668771864_36a49lgd5", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": 160, + "y": 40 + }, + "parameters": { + "_name": "dasao1", + "_loop": false + }, + "children": [] + }, + { + "id": "1760668771864_xs1f57m7t", + "className": "RandomSelector", + "name": "随机选择节点", + "position": { + "x": 220, + "y": -120 + }, + "parameters": {}, + "children": [ + "1760669249155_dd86swcyd", + "1760669282323_w8e5afa7f", + "1760669285498_33g4ibw4s", + "1760669288762_vavcm4qce", + "1760669292090_vri0pwmjl", + "1760669293676_4iizzuu5y" + ] + }, + { + "id": "1760668771864_v45om2x5m", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": 300, + "y": 40 + }, + "parameters": { + "_name": "dasao2", + "_loop": false + }, + "children": [] + }, + { + "id": "1760668771864_l7co5r94f", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": 440, + "y": 40 + }, + "parameters": { + "_name": "sheying1", + "_loop": false + }, + "children": [] + }, + { + "id": "1760668771864_mve2r80e3", + "className": "BTAnimation", + "name": "播放动画", + "position": { + "x": 580, + "y": 40 + }, + "parameters": { + "_name": "sheying2", + "_loop": false + }, + "children": [] + }, + { + "id": "1760669249155_dd86swcyd", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": -120, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_s2nrgxu59" + ] + }, + { + "id": "1760669282323_w8e5afa7f", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": 20, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_ryllyy413" + ] + }, + { + "id": "1760669285498_33g4ibw4s", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": 160, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_36a49lgd5" + ] + }, + { + "id": "1760669288762_vavcm4qce", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": 300, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_v45om2x5m" + ] + }, + { + "id": "1760669292090_vri0pwmjl", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": 440, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_l7co5r94f" + ] + }, + { + "id": "1760669293676_4iizzuu5y", + "className": "WeightDecorator", + "name": "权重装饰节点", + "position": { + "x": 580, + "y": -40 + }, + "parameters": { + "_weight": 1 + }, + "children": [ + "1760668771864_mve2r80e3" + ] + } + ], + "connections": [ + { + "id": "conn_1760666871430_poh4dvjwi", + "sourceNodeId": "1760666778409_kl1cri6xp", + "targetNodeId": "1760666838184_0sf89zrd4", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760666881111_a8i6ryu0v", + "sourceNodeId": "1760666881111_eu9y7q5m6", + "targetNodeId": "1760666881111_qoyqb9mkm", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760666914926_34fuxnrwc", + "sourceNodeId": "1760666778409_kl1cri6xp", + "targetNodeId": "1760666881111_eu9y7q5m6", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760668704512_mpippypy6", + "sourceNodeId": "1760666774273_6twatctr8", + "targetNodeId": "1760666778409_kl1cri6xp", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760668729192_qt1bumeu7", + "sourceNodeId": "1760668729192_pvcbrqpga", + "targetNodeId": "1760668729192_6f5mhy8o5", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760668731720_c2a4cu2iz", + "sourceNodeId": "1760668712628_4untk0pc1", + "targetNodeId": "1760668729192_kuio9twvr", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760668733320_y6s636wtc", + "sourceNodeId": "1760668712628_4untk0pc1", + "targetNodeId": "1760668729192_pvcbrqpga", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760668756520_yxs004ghe", + "sourceNodeId": "1760666774273_6twatctr8", + "targetNodeId": "1760668712628_4untk0pc1", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669254025_9of7apgsm", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669249155_dd86swcyd", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669265721_rbxmewqrx", + "sourceNodeId": "1760669249155_dd86swcyd", + "targetNodeId": "1760668771864_s2nrgxu59", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669297425_93y6h29te", + "sourceNodeId": "1760669282323_w8e5afa7f", + "targetNodeId": "1760668771864_ryllyy413", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669300401_wj5smi6q5", + "sourceNodeId": "1760669285498_33g4ibw4s", + "targetNodeId": "1760668771864_36a49lgd5", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669303074_2zcgl7tmh", + "sourceNodeId": "1760669288762_vavcm4qce", + "targetNodeId": "1760668771864_v45om2x5m", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669305922_el07uklys", + "sourceNodeId": "1760669292090_vri0pwmjl", + "targetNodeId": "1760668771864_l7co5r94f", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669308449_h0p002ff4", + "sourceNodeId": "1760669293676_4iizzuu5y", + "targetNodeId": "1760668771864_mve2r80e3", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669311177_631n86t83", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669282323_w8e5afa7f", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669313009_n87mb2ovs", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669285498_33g4ibw4s", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669314577_967btvjvq", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669288762_vavcm4qce", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669316441_h73u37spc", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669292090_vri0pwmjl", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760669318825_j3noil5ka", + "sourceNodeId": "1760668771864_xs1f57m7t", + "targetNodeId": "1760669293676_4iizzuu5y", + "sourcePointType": "child", + "targetPointType": "parent" + }, + { + "id": "conn_1760670761598_u2fpnqus3", + "sourceNodeId": "1760666774273_6twatctr8", + "targetNodeId": "1760668771864_xs1f57m7t", + "sourcePointType": "child", + "targetPointType": "parent" + } + ], + "canvasScale": 0.9294397018150369, + "canvasOffset": { + "x": 713.7056029818497, + "y": 429.08390345073457 + } +} \ No newline at end of file diff --git a/bt-demo/extensions-config/bt-editor/example-boss.json b/bt-demo/extensions-config/bt-editor/example-boss.json index f52ba73..4b091e1 100644 --- a/bt-demo/extensions-config/bt-editor/example-boss.json +++ b/bt-demo/extensions-config/bt-editor/example-boss.json @@ -486,9 +486,9 @@ "targetPointType": "parent" } ], - "canvasScale": 1.0893125857312862, + "canvasScale": 0.7146979874982969, "canvasOffset": { - "x": 1076.4697723606591, - "y": 543.3385223005863 + "x": 845.1442956244039, + "y": 486.99278521877983 } } \ No newline at end of file diff --git a/bt-demo/extensions-config/bt-editor/test-bttree.json b/bt-demo/extensions-config/bt-editor/test-bttree.json deleted file mode 100644 index 93ae083..0000000 --- a/bt-demo/extensions-config/bt-editor/test-bttree.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "name": "test-bttree", - "description": "", - "nodes": [], - "connections": [], - "canvasScale": 1, - "canvasOffset": { - "x": 723, - "y": 531.5 - } -} \ No newline at end of file diff --git a/bt-demo/settings/v2/packages/bt-editor.json b/bt-demo/settings/v2/packages/bt-editor.json new file mode 100644 index 0000000..7f85f57 --- /dev/null +++ b/bt-demo/settings/v2/packages/bt-editor.json @@ -0,0 +1,14 @@ +{ + "__version__": "1.0.1", + "panelSize": { + "width": 1800, + "height": 1172, + "timestamp": 1759221857309 + }, + "panel": { + "size": { + "width": 2056, + "height": 900 + } + } +} diff --git a/package.json b/package.json index bdcd33d..d5cc4b5 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "kunpocc-behaviortree", - "version": "0.1.3", + "version": "0.1.5", "description": "行为树", "main": "./dist/kunpocc-behaviortree.cjs", "module": "./dist/kunpocc-behaviortree.mjs", diff --git a/src/behaviortree/BTNode/BTNode.ts b/src/behaviortree/BTNode/BTNode.ts index c6f53ad..5fac5ec 100644 --- a/src/behaviortree/BTNode/BTNode.ts +++ b/src/behaviortree/BTNode/BTNode.ts @@ -38,6 +38,14 @@ export interface IBTNode { /** 获取关联的实体 */ getEntity(): T; + + /** + * 递归清理子节点的打开状态 + * 用途: + * 1.装饰节点的子节点未关闭，但是装饰节点关闭时，需要清理子节点的打开状态 + * 2.组合节点关闭，但是子节点可能还在运行，需要清理子节点的打开状态 + */ + cleanupChild(): void; } @@ -92,15 +100,14 @@ export abstract class BTNode implements IBTNode { */ protected open(): void { } protected close(): void { } - /** - * 清理子节点的打开状态 - * 一般用于装饰节点的非子节点关闭时， 用来清理子节点的打开状态 - */ - protected cleanupChild(): void { - const child = this.children[0]; - if (child && this._local.openNodes.has(child)) { - this._local.openNodes.delete(child); - (child as BTNode).close(); + + public cleanupChild(): void { + for (const child of this.children) { + if (this._local.openNodes.has(child)) { + child.cleanupChild(); + this._local.openNodes.delete(child); + (child as BTNode).close(); + } } } diff --git a/src/behaviortree/BTNode/Composite.ts b/src/behaviortree/BTNode/Composite.ts index 0553d8c..54694e4 100644 --- a/src/behaviortree/BTNode/Composite.ts +++ b/src/behaviortree/BTNode/Composite.ts @@ -7,11 +7,22 @@ import { WeightDecorator } from "./Decorator"; /** * 组合节点基类 * 有多个子节点 + * + * 组合节点全部都有记忆能力 */ export abstract class Composite extends BTNode { constructor(...children: IBTNode[]) { super(children); } + + public override _initialize(global: IBlackboard, branch: IBlackboard): void { + super._initialize(global, branch); + this._local = branch.createChild(); + } + + protected override open(): void { + this.set(`__nRunningIndex`, 0); + } } /** @@ -23,16 +34,6 @@ export abstract class Composite extends BTNode { */ @BT.ClassComposite("Selector", { name: "选择节点", group: "基础组合节点", desc: "子节点从左到右执行, 子节点状态: 成功则选择成立, 失败继续下一个, 执行中则返回执行中, 下次从该节点开始" }) export class Selector extends Composite { - public override _initialize(global: IBlackboard, branch: IBlackboard): void { - super._initialize(global, branch); - this._local = branch.createChild(); - } - - protected override open(): void { - super.open(); - this.set(`__nRunningIndex`, 0); - } - public tick(dt: number): Status { let index = this.get(`__nRunningIndex`); for (let i = index; i < this.children.length; i++) { @@ -59,16 +60,6 @@ export class Selector extends Composite { */ @BT.ClassComposite("Sequence", { name: "顺序节点", group: "基础组合节点", desc: "子节点从左到右执行, 子节点状态: 成功则继续下一个, 失败则停止迭代返回失败, 执行中返回执行中, 下次从该节点开始" }) export class Sequence extends Composite { - public override _initialize(global: IBlackboard, branch: IBlackboard): void { - super._initialize(global, branch); - this._local = branch.createChild(); - } - - protected override open(): void { - super.open(); - this.set(`__nRunningIndex`, 0); - } - public tick(dt: number): Status { let index = this.get(`__nRunningIndex`); for (let i = index; i < this.children.length; i++) { @@ -87,22 +78,49 @@ export class Sequence extends Composite { } /** - * 并行节点 从左到右依次执行所有子节点 - * 注意：这里的"并行"是逻辑概念，实际是顺序执行 + * 并行节点 从左到右依次执行所有子节点 必定全部执行一遍 * 返回优先级 FAILURE > RUNNING > SUCCESS + * 注意：这里的"并行"是逻辑概念，实际是顺序执行 + * + * 记忆机制: 已经失败的子节点不会重复执行，只执行运行中的子节点 */ @BT.ClassComposite("Parallel", { name: "并行节点", group: "基础组合节点", desc: "依次执行所有子节点(从左到右), 子节点状态: 任意失败则失败 > 任意执行中则执行中 > 全部成功则成功" }) export class Parallel extends Composite { + protected override open(): void { + super.open(); + // 初始化所有子节点状态为RUNNING + for (let i = 0; i < this.children.length; i++) { + this.set(`__childStatus_${i}`, Status.RUNNING); + } + } + public tick(dt: number): Status { let result = Status.SUCCESS; for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(dt); - if (result === Status.FAILURE || status === Status.FAILURE) { + // 获取该子节点的缓存状态 + let status = this.get(`__childStatus_${i}`); + + // 只执行还在运行中的子节点 + if (status === Status.RUNNING) { + status = this.children[i]!._execute(dt); + // 缓存子节点状态 + if (status !== Status.FAILURE && result !== Status.FAILURE) { + this.set(`__childStatus_${i}`, status); + } + } + + // 优先级: FAILURE > RUNNING > SUCCESS + // 必须执行完所有子节点，不能提前终止 + if (status === Status.FAILURE) { result = Status.FAILURE; - } else if (status === Status.RUNNING) { + } else if (status === Status.RUNNING && result !== Status.FAILURE) { result = Status.RUNNING; } } + // 所有子节点执行完毕后，如果不是RUNNING则清理 + if (result !== Status.RUNNING) { + this.cleanupChild(); + } return result; } } @@ -110,7 +128,7 @@ export class Parallel extends Composite { /** * 随机选择节点 - * 随机选择一个子节点执行 + * 随机选择一个子节点执行，支持权重 * 返回子节点状态 */ @BT.ClassComposite("RandomSelector", { name: "随机选择节点", group: "基础组合节点", desc: "随机选择一个子节点执行, 返回子节点状态" }) @@ -124,14 +142,26 @@ export class RandomSelector extends Composite { this._weights = []; for (const child of children) { - const weight = this.getChildWeight(child); + const weight = (child instanceof WeightDecorator) ? child.weight : 1; this._totalWeight += weight; this._weights.push(this._totalWeight); } } - private getChildWeight(child: IBTNode): number { - return (child instanceof WeightDecorator) ? (child.weight) : 1; + protected override open(): void { + this.set(`__nRunningIndex`, -1); + } + + /** 根据权重随机选择子节点索引 */ + private selectRandomIndex(): number { + const randomValue = Math.random() * this._totalWeight; + // 线性查找（行为树子节点数量通常很少，性能足够） + for (let i = 0; i < this._weights.length; i++) { + if (randomValue < this._weights[i]!) { + return i; + } + } + return this._weights.length - 1; } public tick(dt: number): Status { @@ -139,45 +169,67 @@ export class RandomSelector extends Composite { return Status.FAILURE; } - // 基于权重的随机选择 - const randomValue = Math.random() * this._totalWeight; - - // 使用二分查找找到对应的子节点索引（O(log n)复杂度） - let left = 0; - let right = this._weights.length - 1; - let childIndex = 0; - - while (left <= right) { - const mid = Math.floor((left + right) / 2); - if (this._weights[mid]! > randomValue) { - childIndex = mid; - right = mid - 1; - } else { - left = mid + 1; - } + // 获取或选择子节点索引 + let index = this.get(`__nRunningIndex`); + if (index === -1) { + index = this.selectRandomIndex(); } - const status = this.children[childIndex]!._execute(dt); + + // 执行选中的子节点 + const status = this.children[index]!._execute(dt); + + // 如果返回RUNNING，记录索引以便下次继续执行 + if (status === Status.RUNNING) { + this.set(`__nRunningIndex`, index); + } + return status; } } /** - * 并行任意成功节点 从左到右依次执行所有子节点 - * 注意：这里的"并行"是逻辑概念，实际是顺序执行 + * 并行任意成功节点 从左到右依次执行所有子节点 必定全部执行一遍 * 返回优先级 SUCCESS > RUNNING > FAILURE + * 注意：这里的"并行"是逻辑概念，实际是顺序执行 + * + * 记忆机制: 已经失败的子节点不会重复执行，只执行运行中的子节点 */ @BT.ClassComposite("ParallelAnySuccess", { name: "并行任意成功节点", group: "基础组合节点", desc: "依次执行所有子节点(从左到右), 任意一个成功则成功 > 任意一个执行中则执行中 > 全部失败则失败" }) export class ParallelAnySuccess extends Composite { + protected override open(): void { + super.open(); + // 初始化所有子节点状态为RUNNING + for (let i = 0; i < this.children.length; i++) { + this.set(`__childStatus_${i}`, Status.RUNNING); + } + } + public tick(dt: number): Status { let result = Status.FAILURE; for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(dt); - if (result === Status.SUCCESS || status === Status.SUCCESS) { + // 获取该子节点的缓存状态 + let status = this.get(`__childStatus_${i}`); + + // 只执行还在运行中的子节点 + if (status === Status.RUNNING) { + status = this.children[i]!._execute(dt); + // 缓存子节点状态 + if (status !== Status.SUCCESS && result !== Status.SUCCESS) { + this.set(`__childStatus_${i}`, status); + } + } + + // 优先级: SUCCESS > RUNNING > FAILURE + if (status === Status.SUCCESS) { result = Status.SUCCESS; - } else if (status === Status.RUNNING) { + } else if (status === Status.RUNNING && result !== Status.SUCCESS) { result = Status.RUNNING; } } + // 所有子节点执行完毕后，如果不是RUNNING则清理 + if (result !== Status.RUNNING) { + this.cleanupChild(); + } return result; } } \ No newline at end of file diff --git a/src/behaviortree/BTNode/Decorator.ts b/src/behaviortree/BTNode/Decorator.ts index 3e9ce61..d919248 100644 --- a/src/behaviortree/BTNode/Decorator.ts +++ b/src/behaviortree/BTNode/Decorator.ts @@ -30,6 +30,7 @@ export abstract class ConditionDecorator extends Decorator { if (this.isEligible()) { return this.children[0]!._execute(dt); } + this.cleanupChild(); return Status.FAILURE; } }