CocosPlugin/kunpocc-behaviortree
1
0
Fork 0
mirror of https://github.com/gongxh0901/kunpocc-behaviortree.git synced 2025-12-26 16:48:56 +00:00
Code Issues Packages Projects Releases Wiki Activity

重构黑板数据结构

Browse Source
This commit is contained in:
gongxh
2025-09-03 10:54:07 +08:00
parent 7cd19a373b
commit e9a0a15035
11 changed files with 379 additions and 305 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
src/behaviortree/BTNode/Composite.ts
View File

@@ -1,4 +1,3 @@
import type { BehaviorTree } from "../BehaviorTree";
import { Status } from "../header";
import { Composite, MemoryComposite } from "./AbstractNodes";
@@ -8,12 +7,13 @@ import { Composite, MemoryComposite } from "./AbstractNodes";
* 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 MemoryComposite {
public tick<T>(tree: BehaviorTree<T>): Status {
for (let i = this.runningIndex; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
public tick(): Status {
let index = this.get<number>(`__nMemoryRunningIndex`);
for (let i = index; i < this.children.length; i++) {
let status = this.children[i]!._execute();
if (status !== Status.FAILURE) {
if (status === Status.RUNNING) {
this.runningIndex = i;
this.set(`__nMemoryRunningIndex`, i);
}
return status;
}
@@ -30,12 +30,13 @@ export class MemSelector extends MemoryComposite {
* 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
*/
export class MemSequence extends MemoryComposite {
public tick<T>(tree: BehaviorTree<T>): Status {
for (let i = this.runningIndex; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
public tick(): Status {
let index = this.get<number>(`__nMemoryRunningIndex`);
for (let i = index; i < this.children.length; i++) {
let status = this.children[i]!._execute();
if (status !== Status.SUCCESS) {
if (status === Status.RUNNING) {
this.runningIndex = i;
this.set(`__nMemoryRunningIndex`, i);
}
return status;
}
@@ -49,13 +50,13 @@ export class MemSequence extends MemoryComposite {
* 从Child Node中随机选择一个执行
*/
export class RandomSelector extends Composite {
public tick<T>(tree: BehaviorTree<T>): Status {
public tick(): Status {
if (this.children.length === 0) {
return Status.FAILURE;
}
const childIndex = Math.floor(Math.random() * this.children.length);
const status = this.children[childIndex]!._execute(tree);
const status = this.children[childIndex]!._execute();
return status;
}
}
@@ -66,9 +67,9 @@ export class RandomSelector extends Composite {
* 如遇到一个Child Node执行后返回 SUCCESS 或者 RUNNING，那停止迭代，本Node向自己的Parent Node也返回 SUCCESS 或 RUNNING
*/
export class Selector extends Composite {
public tick<T>(tree: BehaviorTree<T>): Status {
public tick(): Status {
for (let i = 0; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
let status = this.children[i]!._execute();
if (status !== Status.FAILURE) {
return status;
}
@@ -84,9 +85,9 @@ export class Selector extends Composite {
* 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
*/
export class Sequence extends Composite {
public tick<T>(tree: BehaviorTree<T>): Status {
public tick(): Status {
for (let i = 0; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
let status = this.children[i]!._execute();
if (status !== Status.SUCCESS) {
return status;
}
@@ -96,21 +97,24 @@ export class Sequence extends Composite {
}
/**
* 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 RUNNING, 本节点返回 RUNNING
* 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
* 并行节点 每次进入全部执行一遍
* 它将从begin到end迭代执行自己的Child Node：
* 1. 任意子节点返回 FAILURE, 返回 FAILURE
* 2. 否则 任意子节点返回 RUNNING, 返回 RUNNING
* 3. 全部成功, 才返回 SUCCESS
*/
export class Parallel extends Composite {
public tick<T>(tree: BehaviorTree<T>): Status {
public tick(): Status {
let result = Status.SUCCESS;
for (let i = 0; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
if (status == Status.FAILURE) {
let status = this.children[i]!._execute();
if (result === Status.FAILURE || status === Status.FAILURE) {
result = Status.FAILURE;
} else if (result == Status.SUCCESS && status == Status.RUNNING) {
continue;
}
if (status === Status.RUNNING) {
result = Status.RUNNING;
continue;
}
}
return result;
@@ -119,20 +123,23 @@ export class Parallel extends Composite {
/**
* 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
* 它将从begin到end迭代执行自己的Child Node：
* 1. 任意子节点返回 SUCCESS, 返回 SUCCESS
* 2. 否则, 任意子节点返回 FAILURE, 返回 FAILURE
* 否则返回 RUNNING
*/
export class ParallelAnySuccess extends Composite {
public tick<T>(tree: BehaviorTree<T>): Status {
public tick(): Status {
let result = Status.RUNNING;
for (let i = 0; i < this.children.length; i++) {
let status = this.children[i]!._execute(tree);
if (status == Status.FAILURE) {
result = Status.FAILURE;
} else if (result == Status.RUNNING && status == Status.SUCCESS) {
let status = this.children[i]!._execute();
if (result === Status.SUCCESS || status === Status.SUCCESS) {
result = Status.SUCCESS;
continue;
}
if (status === Status.FAILURE) {
result = Status.FAILURE;
continue;
}
}
return result;