行为树逻辑调整，删除非记忆的选择和顺序节点

2025-12-26 16:48:56 +00:00 · 2025-10-03 18:09:47 +08:00
parent 63d9855658
commit 9a3e7028d2
9 changed files with 167 additions and 243 deletions
--- a/src/behaviortree/BTNode/AbstractNodes.ts
+++ b/src/behaviortree/BTNode/AbstractNodes.ts
@@ -1,66 +0,0 @@
-/**
- * @Author: Gongxh
- * @Date: 2025-09-01
- * @Description: 抽象节点基类
- */
-
-import { IBlackboard } from "../Blackboard";
-import { BTNode, IBTNode } from "./BTNode";
-
-/**
- * 叶子节点 基类
- * 没有子节点
- */
-export abstract class LeafNode extends BTNode {
-    constructor() {
-        super([]);
-    }
-}
-
-/**
- * 修饰节点 基类
- * 有且仅有一个子节点
- */
-export abstract class Decorator extends BTNode {
-    constructor(child: IBTNode) {
-        super([child]);
-    }
-}
-
-/**
- * 组合节点 基类
- * 多个子节点
- */
-export abstract class Composite extends BTNode {
-    constructor(...children: IBTNode[]) {
-        super(children);
-    }
-}
-
-/**
- * 数值型修饰节点 基类
- * 包含最大值和当前值的通用逻辑，适用于所有需要数值计数的修饰节点
- */
-export abstract class NumericDecorator extends Decorator {
-    protected _value: number = 0;
-    protected override open(): void {
-        super.open();
-        this._value = 0;
-    }
-}
-
-/**
- * 记忆修饰节点基类
- * 只有记忆节点才需要设置局部数据
- */
-export abstract class MemoryComposite 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(`__nMemoryRunningIndex`, 0);
-    }
-}
--- a/src/behaviortree/BTNode/Action.ts
+++ b/src/behaviortree/BTNode/Action.ts
@@ -1,6 +1,16 @@
 import { BT } from "../BT";
 import { Status } from "../header";
-import { LeafNode } from "./AbstractNodes";
+import { BTNode } from "./BTNode";
+
+/**
+ * 叶子节点 基类
+ * 没有子节点
+ */
+export abstract class LeafNode extends BTNode {
+    constructor() {
+        super([]);
+    }
+}

 /**
 * 次数等待节点(无子节点)
@@ -56,12 +66,12 @@ export class WaitTime extends LeafNode {

    protected override open(): void {
        super.open();
-        this._value = new Date().getTime();
+        this._value = 0;
    }

-    public tick(): Status {
-        const currTime = new Date().getTime();
-        if (currTime - this._value >= this._max * 1000) {
+    public tick(dt: number): Status {
+        this._value += dt;
+        if (this._value >= this._max) {
            return Status.SUCCESS;
        }
        return Status.RUNNING;
--- a/src/behaviortree/BTNode/BTNode.ts
+++ b/src/behaviortree/BTNode/BTNode.ts
@@ -15,8 +15,8 @@ export interface IBTNode {
    /**
     * @internal
     */
-    _execute(): Status;
-    tick(): Status;
+    _execute(dt: number): Status;
+    tick(dt: number): Status;

    /**
     * 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
@@ -67,7 +67,7 @@ export abstract class BTNode implements IBTNode {
    /**
     * @internal
     */
-    public _execute(): Status {
+    public _execute(dt: number): Status {
        // 首次执行时初始化
        const isRunning = this._local.openNodes.get(this) || false;
        if (!isRunning) {
@@ -76,7 +76,7 @@ export abstract class BTNode implements IBTNode {
        }

        // 执行核心逻辑
-        const status = this.tick();
+        const status = this.tick(dt);

        // 执行完成时清理
        if (status !== Status.RUNNING) {
@@ -98,7 +98,7 @@ export abstract class BTNode implements IBTNode {
     * 子类必须实现此方法
     * @returns 执行状态
     */
-    public abstract tick(): Status;
+    public abstract tick(dt: number): Status;

    /**
     * 清理节点（执行完成时调用）
--- a/src/behaviortree/BTNode/Composite.ts
+++ b/src/behaviortree/BTNode/Composite.ts
@@ -1,9 +1,19 @@
+import { IBlackboard } from "../Blackboard";
 import { BT } from "../BT";
 import { Status } from "../header";
-import { Composite, MemoryComposite } from "./AbstractNodes";
-import { IBTNode } from "./BTNode";
+import { BTNode, IBTNode } from "./BTNode";
 import { WeightDecorator } from "./Decorator";

+/**
+ * 组合节点基类
+ * 有多个子节点
+ */
+export abstract class Composite extends BTNode {
+    constructor(...children: IBTNode[]) {
+        super(children);
+    }
+}
+
 /**
 * 记忆选择节点 从上到下执行
 * 遇到 FAILURE 继续下一个 
@@ -11,23 +21,29 @@ import { WeightDecorator } from "./Decorator";
 * 
 * 遇到 RUNNING 返回 RUNNING 下次从该节点开始
 */
-@BT.CompositeNode("MemSelector", {
-    name: "记忆选择节点",
-    group: "基础组合节点",
-    desc: "记住上次运行位置的选择节点，从记忆位置开始执行",
-})
-export class MemSelector extends MemoryComposite {
-    public tick(): Status {
-        let index = this.get<number>(`__nMemoryRunningIndex`);
+@BT.CompositeNode("Selector", { name: "选择节点", group: "基础组合节点", desc: "选择节点" })
+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<number>(`__nRunningIndex`);
        for (let i = index; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
+            let status = this.children[i]!._execute(dt);
            if (status === Status.FAILURE) {
                continue;
            }
            if (status === Status.SUCCESS) {
                return status;
            }
-            this.set(`__nMemoryRunningIndex`, i);
+            this.set(`__nRunningIndex`, i);
            return Status.RUNNING;
        }
        return Status.FAILURE;
@@ -35,29 +51,35 @@ export class MemSelector extends MemoryComposite {
 }

 /**
- * 记忆顺序节点 从上到下执行
+ * 顺序节点 从上到下执行
 * 遇到 SUCCESS 继续下一个
 * 遇到 FAILURE 停止迭代 返回 FAILURE 下次重新开始
 * 
 * 遇到 RUNNING 返回 RUNNING 下次从该节点开始
 */
-@BT.CompositeNode("MemSequence", {
-    name: "记忆顺序节点",
-    group: "基础组合节点",
-    desc: "记住上次运行位置的序列节点，从记忆位置开始执行",
-})
-export class MemSequence extends MemoryComposite {
-    public tick(): Status {
-        let index = this.get<number>(`__nMemoryRunningIndex`);
+@BT.CompositeNode("Sequence", { name: "顺序节点", group: "基础组合节点", desc: "顺序节点" })
+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<number>(`__nRunningIndex`);
        for (let i = index; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
+            let status = this.children[i]!._execute(dt);
            if (status === Status.SUCCESS) {
                continue;
            }
            if (status === Status.FAILURE) {
                return Status.FAILURE;
            }
-            this.set(`__nMemoryRunningIndex`, i);
+            this.set(`__nRunningIndex`, i);
            return Status.RUNNING;
        }
        return Status.SUCCESS;
@@ -65,24 +87,22 @@ export class MemSequence extends MemoryComposite {
 }

 /**
- * 选择节点 从上到下执行
- * 返回第一个不为 FAILURE 的子节点状态
- * 否则返回 FAILURE
+ * 并行节点 从上到下执行 全部执行一遍
+ * 返回优先级 FAILURE > RUNNING > SUCCESS
 */
-@BT.CompositeNode("Selector", {
-    name: "选择节点",
-    group: "基础组合节点",
-    desc: "依次执行子节点，直到找到成功或运行中的节点",
-})
-export class Selector extends Composite {
-    public tick(): Status {
+@BT.CompositeNode("Parallel", { name: "并行节点", group: "基础组合节点", desc: "同时执行所有子节点，全部成功才返回成功" })
+export class Parallel extends Composite {
+    public tick(dt: number): Status {
+        let result = Status.SUCCESS;
        for (let i = 0; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
-            if (status !== Status.FAILURE) {
-                return status;
+            let status = this.children[i]!._execute(dt);
+            if (result === Status.FAILURE || status === Status.FAILURE) {
+                result = Status.FAILURE;
+            } else if (status === Status.RUNNING) {
+                result = Status.RUNNING;
            }
        }
-        return Status.FAILURE;
+        return result;
    }
 }

@@ -117,7 +137,7 @@ export class RandomSelector extends Composite {
        return (child instanceof WeightDecorator) ? (child.weight) : 1;
    }

-    public tick(): Status {
+    public tick(dt: number): Status {
        if (this.children.length === 0) {
            return Status.FAILURE;
        }
@@ -139,58 +159,11 @@ export class RandomSelector extends Composite {
                left = mid + 1;
            }
        }
-        const status = this.children[childIndex]!._execute();
+        const status = this.children[childIndex]!._execute(dt);
        return status;
    }
 }

-/**
- * 顺序节点 从上到下执行
- * 遇到 SUCCESS 继续下一个
- * 否则返回子节点状态
- */
-@BT.CompositeNode("Sequence", {
-    name: "顺序节点",
-    group: "基础组合节点",
-    desc: "依次执行所有子节点，全部成功才返回成功",
-})
-export class Sequence extends Composite {
-    public tick(): Status {
-        for (let i = 0; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
-            if (status === Status.SUCCESS) {
-                continue;
-            }
-            return status;
-        }
-        return Status.SUCCESS;
-    }
-}
-
-/**
- * 并行节点 从上到下执行 全部执行一遍
- * 返回优先级 FAILURE > RUNNING > SUCCESS
- */
-@BT.CompositeNode("Parallel", {
-    name: "并行节点",
-    group: "基础组合节点",
-    desc: "同时执行所有子节点，全部成功才返回成功",
-})
-export class Parallel extends Composite {
-    public tick(): Status {
-        let result = Status.SUCCESS;
-        for (let i = 0; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
-            if (result === Status.FAILURE || status === Status.FAILURE) {
-                result = Status.FAILURE;
-            } else if (status === Status.RUNNING) {
-                result = Status.RUNNING;
-            }
-        }
-        return result;
-    }
-}
-
 /**
 * 并行节点 从上到下执行 全部执行一遍
 * 返回优先级 SUCCESS > RUNNING > FAILURE
@@ -201,10 +174,10 @@ export class Parallel extends Composite {
    desc: "同时执行所有子节点，任意一个成功即返回成功",
 })
 export class ParallelAnySuccess extends Composite {
-    public tick(): Status {
+    public tick(dt: number): Status {
        let result = Status.FAILURE;
        for (let i = 0; i < this.children.length; i++) {
-            let status = this.children[i]!._execute();
+            let status = this.children[i]!._execute(dt);
            if (result === Status.SUCCESS || status === Status.SUCCESS) {
                result = Status.SUCCESS;
            } else if (status === Status.RUNNING) {
--- a/src/behaviortree/BTNode/Condition.ts
+++ b/src/behaviortree/BTNode/Condition.ts
@@ -5,7 +5,7 @@
 */

 import { Status } from "../header";
-import { Decorator, LeafNode } from "./AbstractNodes";
+import { LeafNode } from "./Action";

 /** 条件叶子节点 */
 export abstract class Condition extends LeafNode {
@@ -19,16 +19,3 @@ export abstract class Condition extends LeafNode {
        return this.isEligible() ? Status.SUCCESS : Status.FAILURE;
    }
 }
-
-/** 条件装饰节点 */
-export abstract class ConditionDecorator extends Decorator {
-    /**
-     * 判断是否满足条件
-     * @returns 是否满足条件
-     */
-    protected abstract isEligible(): boolean;
-
-    public tick(): Status {
-        return this.isEligible() ? this.children[0]!._execute() : Status.FAILURE;
-    }
-}
--- a/src/behaviortree/BTNode/Decorator.ts
+++ b/src/behaviortree/BTNode/Decorator.ts
@@ -6,8 +6,30 @@

 import { BT } from "../BT";
 import { Status } from "../header";
-import { Decorator, NumericDecorator } from "./AbstractNodes";
-import { IBTNode } from "./BTNode";
+import { BTNode, IBTNode } from "./BTNode";
+
+/**
+ * 修饰节点 基类
+ * 有且仅有一个子节点
+ */
+export abstract class Decorator extends BTNode {
+    constructor(child: IBTNode) {
+        super([child]);
+    }
+}
+
+/** 条件装饰节点基类 */
+export abstract class ConditionDecorator extends Decorator {
+    /**
+     * 判断是否满足条件
+     * @returns 是否满足条件
+     */
+    protected abstract isEligible(): boolean;
+
+    public tick(dt: number): Status {
+        return this.isEligible() ? this.children[0]!._execute(dt) : Status.FAILURE;
+    }
+}

 /**
 * 结果反转节点
@@ -15,14 +37,10 @@ import { IBTNode } from "./BTNode";
 * 第一个Child Node节点, 返回 FAILURE, 本Node向自己的Parent Node也返回 SUCCESS
 * 第一个Child Node节点, 返回 SUCCESS, 本Node向自己的Parent Node也返回 FAILURE
 */
-@BT.DecoratorNode("Inverter", {
-    name: "反转器",
-    group: "基础装饰节点",
-    desc: "反转子节点的执行结果，成功变失败，失败变成功",
-})
+@BT.DecoratorNode("Inverter", { name: "反转器", group: "基础装饰节点", desc: "反转子节点的执行结果，成功变失败，失败变成功" })
 export class Inverter extends Decorator {
-    public tick(): Status {
-        const status = this.children[0]!._execute();
+    public tick(dt: number): Status {
+        const status = this.children[0]!._execute(dt);

        if (status === Status.SUCCESS) {
            return Status.FAILURE;
@@ -40,15 +58,12 @@ export class Inverter extends Decorator {
 * 规定时间内, 根据Child Node的结果, 本节点向自己的父节点也返回相同的结果
 * 超时后, 直接返回 FAILURE
 */
-@BT.DecoratorNode("LimitTime", {
-    name: "时间限制器",
-    group: "基础装饰节点",
-    desc: "限制子节点执行时间，超时返回失败",
-})
-export class LimitTime extends NumericDecorator {
+@BT.DecoratorNode("LimitTime", { name: "时间限制器", group: "基础装饰节点", desc: "限制子节点执行时间，超时返回失败" })
+export class LimitTime extends Decorator {
    @BT.prop({ type: BT.ParamType.float, description: "最大时间(秒)", defaultValue: 1 })
    protected _max: number = 1;

+    private _value: number = 0;
    /**
     * 时间限制节点
     * @param child 子节点 
@@ -60,15 +75,15 @@ export class LimitTime extends NumericDecorator {
    }

    protected override open(): void {
-        this._value = Date.now();
+        this._value = 0;
    }

-    public tick(): Status {
-        const currentTime = Date.now();
-        if (currentTime - this._value > this._max * 1000) {
+    public tick(dt: number): Status {
+        this._value += dt;
+        if (this._value > this._max) {
            return Status.FAILURE;
        }
-        return this.children[0]!._execute();
+        return this.children[0]!._execute(dt);
    }
 }

@@ -77,25 +92,27 @@ export class LimitTime extends NumericDecorator {
 * 必须且只能包含一个子节点
 * 次数超过后, 直接返回失败; 次数未超过, 返回子节点状态
 */
-@BT.DecoratorNode("LimitTicks", {
-    name: "次数限制器",
-    group: "基础装饰节点",
-    desc: "限制子节点执行次数，超过次数返回失败",
-})
-export class LimitTicks extends NumericDecorator {
+@BT.DecoratorNode("LimitTicks", { name: "次数限制器", group: "基础装饰节点", desc: "限制子节点执行次数，超过次数返回失败" })
+export class LimitTicks extends Decorator {
    @BT.prop({ type: BT.ParamType.int, description: "最大次数", defaultValue: 1 })
    protected _max: number = 1;
+
+    private _value: number = 0;
    constructor(child: IBTNode, max: number = 1) {
        super(child);
        this._max = max;
    }

-    public tick(): Status {
+    protected override open(): void {
+        this._value = 0;
+    }
+
+    public tick(dt: number): Status {
        this._value++;
        if (this._value > this._max) {
            return Status.FAILURE;
        }
-        return this.children[0]!._execute();
+        return this.children[0]!._execute(dt);
    }
 }

@@ -105,21 +122,24 @@ export class LimitTicks extends NumericDecorator {
 * 子节点是成功或失败，累加计数
 * 次数超过之后返回子节点状态，否则返回 RUNNING
 */
-@BT.DecoratorNode("Repeat", {
-    name: "重复节点",
-    group: "基础装饰节点",
-    desc: "重复执行子节点指定次数",
-})
-export class Repeat extends NumericDecorator {
+@BT.DecoratorNode("Repeat", { name: "重复节点", group: "基础装饰节点", desc: "重复执行子节点指定次数" })
+export class Repeat extends Decorator {
    @BT.prop({ type: BT.ParamType.int, description: "重复次数", defaultValue: 1 })
    protected _max: number = 1;
+
+    private _value: number = 0;
    constructor(child: IBTNode, max: number = 1) {
        super(child);
        this._max = max;
    }
-    public tick(): Status {
+
+    protected override open(): void {
+        this._value = 0;
+    }
+
+    public tick(dt: number): Status {
        // 执行子节点
-        const status = this.children[0]!._execute();
+        const status = this.children[0]!._execute(dt);
        // 如果子节点完成（成功或失败），增加计数
        if (status === Status.SUCCESS || status === Status.FAILURE) {
            this._value++;
@@ -139,20 +159,23 @@ export class Repeat extends NumericDecorator {
 * 
 * 子节点成功 计数+1
 */
-@BT.DecoratorNode("RepeatUntilFailure", {
-    name: "重复直到失败",
-    group: "基础装饰节点",
-    desc: "重复执行子节点直到失败或达到最大次数",
-})
-export class RepeatUntilFailure extends NumericDecorator {
+@BT.DecoratorNode("RepeatUntilFailure", { name: "重复直到失败", group: "基础装饰节点", desc: "重复执行子节点直到失败或达到最大次数" })
+export class RepeatUntilFailure extends Decorator {
    @BT.prop({ type: BT.ParamType.int, description: "最大重试次数", defaultValue: 1 })
    protected _max: number = 1;
+
+    private _value: number = 0;
    constructor(child: IBTNode, max: number = 1) {
        super(child);
        this._max = max;
    }
-    public tick(): Status {
-        const status = this.children[0]!._execute();
+
+    protected override open(): void {
+        this._value = 0;
+    }
+
+    public tick(dt: number): Status {
+        const status = this.children[0]!._execute(dt);
        if (status === Status.FAILURE) {
            return Status.FAILURE;
        }
@@ -174,21 +197,24 @@ export class RepeatUntilFailure extends NumericDecorator {
 * 
 * 子节点失败, 计数+1
 */
-@BT.DecoratorNode("RepeatUntilSuccess", {
-    name: "重复直到成功",
-    group: "基础装饰节点",
-    desc: "重复执行子节点直到成功或达到最大次数",
-})
-export class RepeatUntilSuccess extends NumericDecorator {
+@BT.DecoratorNode("RepeatUntilSuccess", { name: "重复直到成功", group: "基础装饰节点", desc: "重复执行子节点直到成功或达到最大次数" })
+export class RepeatUntilSuccess extends Decorator {
    @BT.prop({ type: BT.ParamType.int, description: "最大重试次数", defaultValue: 1, step: 1 })
    protected _max: number = 1;
+
+    private _value: number = 0;
    constructor(child: IBTNode, max: number = 1) {
        super(child);
        this._max = max;
    }
-    public tick(): Status {
+
+    protected override open(): void {
+        this._value = 0;
+    }
+
+    public tick(dt: number): Status {
        // 执行子节点
-        const status = this.children[0]!._execute();
+        const status = this.children[0]!._execute(dt);
        if (status === Status.SUCCESS) {
            return Status.SUCCESS;
        }
@@ -206,11 +232,7 @@ export class RepeatUntilSuccess extends NumericDecorator {
 /**
 * 权重装饰节点
 */
-@BT.DecoratorNode("WeightDecorator", {
-    name: "权重装饰器",
-    group: "基础装饰节点",
-    desc: "权重装饰节点",
-})
+@BT.DecoratorNode("WeightDecorator", { name: "权重装饰器", group: "基础装饰节点", desc: "权重装饰节点" })
 export class WeightDecorator extends Decorator {
    @BT.prop({ type: BT.ParamType.int, description: "权重", defaultValue: 1, step: 1 })
    private _weight: number;
@@ -221,8 +243,8 @@ export class WeightDecorator extends Decorator {
        this._weight = weight || 1;
    }

-    public tick(): Status {
-        return this.children[0]!._execute();
+    public tick(dt: number): Status {
+        return this.children[0]!._execute(dt);
    }

    public get weight(): number {
--- a/src/behaviortree/BehaviorTree.ts
+++ b/src/behaviortree/BehaviorTree.ts
@@ -34,8 +34,8 @@ export class BehaviorTree<T> {
    /**
     * 执行行为树
     */
-    public tick(): Status {
-        return this._root._execute();
+    public tick(dt: number): Status {
+        return this._root._execute(dt);
    }

    /**
--- a/src/behaviortree/Factory.ts
+++ b/src/behaviortree/Factory.ts
@@ -8,7 +8,7 @@ import { BehaviorTree } from "./BehaviorTree";
 import { BT } from "./BT";
 import { IBTNode } from "./BTNode/BTNode";

-interface INodeConfig {
+export interface INodeConfig {
    id: string,
    className: string,
    parameters: Record<string, any>,
--- a/src/index.ts
+++ b/src/index.ts
@@ -2,14 +2,12 @@
 /** 行为树 */
 export { BehaviorTree } from "./behaviortree/BehaviorTree";
 export { Blackboard } from "./behaviortree/Blackboard";
-export { } from "./behaviortree/BT";
-export * from "./behaviortree/BTNode/AbstractNodes";
 export * from "./behaviortree/BTNode/Action";
 export { IBTNode } from "./behaviortree/BTNode/BTNode";
 export * from "./behaviortree/BTNode/Composite";
 export * from "./behaviortree/BTNode/Condition";
 export * from "./behaviortree/BTNode/Decorator";
-export { createBehaviorTree } from "./behaviortree/Factory";
+export { createBehaviorTree, INodeConfig } from "./behaviortree/Factory";
 export { Status } from "./behaviortree/header";

 // 导出装饰器内容