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README.md
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README.md
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# 行为树
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一个轻量级、高性能的 TypeScript 行为树库，专为游戏AI和决策系统设计。
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> 一个简洁、高效的 TypeScript 行为树库。遵循"好品味"设计原则：简单数据结构，消除特殊情况，直接暴露问题。
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[](https://badge.fury.io/js/kunpocc-behaviortree)
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[](https://opensource.org/licenses/ISC)
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## 特性
|
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|
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- 🚀 **高性能**: 优化的节点执行机制，最小化运行时开销
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- 🎯 **类型安全**: 完整的 TypeScript 支持，严格的类型检查
|
||||
- 🧩 **模块化**: 清晰的节点类型体系，易于扩展
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- 🔄 **记忆节点**: 支持记忆型组合节点，优化复杂决策流程
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- 📦 **零依赖**: 不依赖任何第三方库
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- 🎮 **游戏优化**: 专为游戏场景优化的黑板系统和状态管理
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||||
- 🎯 **简洁设计**: 零废话，直接解决问题
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||||
- 🔧 **类型安全**: 完整 TypeScript 支持
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- 🚀 **高性能**: 优化的执行机制，最小开销
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- 🧠 **记忆节点**: 智能状态记忆，避免重复计算
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- 📦 **零依赖**: 纯净实现，无第三方依赖
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- 🔄 **状态管理**: 分层黑板系统，数据隔离清晰
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## 安装
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## 快速开始
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||||
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||||
### 安装
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||||
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||||
```bash
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||||
npm install kunpocc-behaviortree
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```
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||||
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||||
## 快速开始
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### 基础示例
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||||
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```typescript
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import {
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BehaviorTree,
|
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Action,
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Condition,
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Sequence,
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Selector,
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Status
|
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BehaviorTree, Status, Action, Condition,
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Sequence, Selector
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} from 'kunpocc-behaviortree';
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|
||||
// 定义AI角色
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interface Character {
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// 定义实体
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interface Enemy {
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health: number;
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hasWeapon: boolean;
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position: { x: number, y: number };
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}
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const character: Character = {
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health: 80,
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hasWeapon: true
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const enemy: Enemy = {
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health: 30,
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hasWeapon: true,
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position: { x: 100, y: 200 }
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};
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// 创建条件节点
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const isHealthLow = new Condition((char: Character) => char.health < 30);
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const hasWeapon = new Condition((char: Character) => char.hasWeapon);
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// 创建行动节点
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const flee = new Action(() => {
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console.log("逃跑！");
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return Status.SUCCESS;
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});
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const attack = new Action(() => {
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console.log("攻击！");
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return Status.SUCCESS;
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});
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// 构建行为树：生命值低时逃跑，否则攻击
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const tree = new BehaviorTree(character,
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// 创建行为树
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const tree = new BehaviorTree(enemy,
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new Selector(
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new Sequence(isHealthLow, flee),
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new Sequence(hasWeapon, attack)
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// 生命值低时逃跑
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new Sequence(
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new Condition((node) => {
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const entity = node.getEntity<Enemy>();
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return entity.health < 50;
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}),
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new Action((node) => {
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console.log("血量低，逃跑！");
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return Status.SUCCESS;
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})
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),
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// 否则攻击
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new Action((node) => {
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console.log("发起攻击！");
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return Status.SUCCESS;
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})
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)
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);
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// 执行行为树
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tree.tick(); // 输出: "攻击！"
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// 执行
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tree.tick(); // 输出: "血量低，逃跑！"
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```
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#### 基本概念
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## 核心概念
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1. 节点状态
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### 状态类型
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```typescript
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enum Status {
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SUCCESS, // 成功
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@@ -78,110 +80,460 @@ enum Status {
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}
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```
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2. 节点类型
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- **动作节点 (Action)**：执行具体行为的叶子节点
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- **组合节点 (Composite)**：控制子节点执行顺序的节点
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- **条件节点 (Condition)**：判断条件的节点
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- **装饰节点 (Decorator)**：修饰其他节点行为的节点
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### 节点类型
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- **组合节点**: 控制子节点执行逻辑（Sequence、Selector、Parallel等）
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- **装饰节点**: 修饰单个子节点（Inverter、Repeat、Limit等）
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- **叶子节点**: 执行具体逻辑（Action、Condition、Wait等）
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#### 常用节点
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## 节点详解
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1. 组合节点
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### 组合节点 (Composite)
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```typescript
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// 顺序节点：按顺序执行所有子节点，直到遇到失败或运行中的节点
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new Sequence(childNode1, childNode2, childNode3);
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#### Sequence - 顺序节点
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按顺序执行子节点，全部成功才成功：
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```typescript
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new Sequence(
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checkAmmo, // 检查弹药
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aim, // 瞄准
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shoot // 射击
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)
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// 只有全部成功才返回SUCCESS
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```
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// 选择节点：选择第一个成功或运行中的子节点
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new Selector(childNode1, childNode2, childNode3);
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#### Selector - 选择节点
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选择第一个成功的子节点：
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```typescript
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new Selector(
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tryMeleeAttack, // 尝试近战
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tryRangedAttack, // 尝试远程
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retreat // 撤退
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)
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// 任一成功就返回SUCCESS
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```
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// 并行节点：同时执行所有子节点，全部成功才成功
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new Parallel(childNode1, childNode2, childNode3);
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#### Parallel - 并行节点
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同时执行所有子节点，全部成功才成功：
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||||
```typescript
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new Parallel(
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moveToTarget, // 移动到目标
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playAnimation, // 播放动画
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updateUI // 更新UI
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)
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// 任一失败返回FAILURE，有RUNNING返回RUNNING，全部SUCCESS才返回SUCCESS
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```
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||||
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||||
// 并行任一成功节点：同时执行所有子节点，任一成功即成功
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new ParallelAnySuccess(childNode1, childNode2, childNode3);
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#### ParallelAnySuccess - 并行任一成功
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同时执行所有子节点，任一成功就成功：
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```typescript
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new ParallelAnySuccess(
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findCover, // 寻找掩体
|
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callForHelp, // 呼叫支援
|
||||
counterAttack // 反击
|
||||
)
|
||||
// 任一SUCCESS就返回SUCCESS
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||||
```
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||||
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// 记忆顺序节点：记住上次执行的位置
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new MemSequence(childNode1, childNode2, childNode3);
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#### Memory节点 - 状态记忆
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记忆节点会记住上次执行位置，避免重复执行：
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// 记忆选择节点：记住上次执行的位置
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new MemSelector(childNode1, childNode2, childNode3);
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```typescript
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// MemSequence - 记忆顺序节点
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new MemSequence(
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longTask1, // 第一次：SUCCESS，继续下一个
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longTask2, // 第一次：RUNNING，记住这个位置； 第二次：从longTask2开始继续执行
|
||||
longTask3
|
||||
)
|
||||
|
||||
// 随机选择节点：随机选择一个子节点执行
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||||
new RandomSelector(childNode1, childNode2, childNode3);
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```
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// MemSelector - 记忆选择节点
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||||
new MemSelector(
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||||
expensiveCheck1, // 第一次：FAILURE，继续下一个
|
||||
expensiveCheck2, // 第一次：RUNNING，记住这个位置； 第二次：从expensiveCheck2开始执行
|
||||
fallback // 如果前面都是FAILURE才会执行到这里
|
||||
)
|
||||
```
|
||||
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||||
2. 动作节点
|
||||
#### RandomSelector - 随机选择
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||||
随机选择一个子节点执行：
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```typescript
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||||
new RandomSelector(
|
||||
idleBehavior1,
|
||||
idleBehavior2,
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||||
idleBehavior3
|
||||
)
|
||||
```
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||||
|
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```typescript
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// 行动节点 - 返回指定状态
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new Action(() => {
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console.log("执行动作");
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return Status.SUCCESS; // 或 Status.FAILURE, Status.RUNNING
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});
|
||||
### 装饰节点 (Decorator)
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// 条件节点 - 检查条件返回成功或失败
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new Condition((subject) => {
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return subject.health > 50; // 返回 true 表示成功，false 表示失败
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});
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#### Inverter - 反转节点
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反转子节点的成功/失败状态：
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||||
```typescript
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new Inverter(
|
||||
new Condition((node) => {
|
||||
const enemy = node.getEntity<Enemy>();
|
||||
return enemy.isAlive;
|
||||
})
|
||||
) // 敌人死亡时返回SUCCESS
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```
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// 等待节点
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||||
new WaitTime(2); // 等待2秒
|
||||
new WaitTicks(5); // 等待5个tick
|
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```
|
||||
#### Repeat - 重复节点
|
||||
重复执行子节点指定次数：
|
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```typescript
|
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new Repeat(
|
||||
new Action((node) => {
|
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console.log("射击");
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return Status.SUCCESS;
|
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}),
|
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3 // 射击3次
|
||||
)
|
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```
|
||||
|
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3. 装饰节点
|
||||
#### RepeatUntilSuccess - 重复直到成功
|
||||
```typescript
|
||||
new RepeatUntilSuccess(
|
||||
new Action((node) => {
|
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console.log("尝试开门");
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return Math.random() > 0.5 ? Status.SUCCESS : Status.FAILURE;
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||||
}),
|
||||
5 // 最多尝试5次
|
||||
)
|
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```
|
||||
|
||||
```typescript
|
||||
// 反转节点 - 反转子节点的成功/失败状态
|
||||
new Inverter(childNode);
|
||||
#### RepeatUntilFailure - 重复直到失败
|
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```typescript
|
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new RepeatUntilFailure(
|
||||
new Action((node) => {
|
||||
console.log("收集资源");
|
||||
return Status.SUCCESS; // 持续收集直到失败
|
||||
}),
|
||||
10 // 最多收集10次
|
||||
)
|
||||
```
|
||||
|
||||
// 重复节点 - 重复执行子节点指定次数
|
||||
new Repeat(childNode, 3);
|
||||
#### LimitTime - 时间限制
|
||||
```typescript
|
||||
new LimitTime(
|
||||
new Action((node) => {
|
||||
console.log("执行复杂计算");
|
||||
return Status.SUCCESS;
|
||||
}),
|
||||
2.0 // 最多执行2秒
|
||||
)
|
||||
```
|
||||
|
||||
// 重复直到失败 - 重复执行直到子节点失败
|
||||
new RepeatUntilFailure(childNode, 5);
|
||||
#### LimitTicks - 次数限制
|
||||
```typescript
|
||||
new LimitTicks(
|
||||
new Action((node) => {
|
||||
console.log("尝试操作");
|
||||
return Status.SUCCESS;
|
||||
}),
|
||||
5 // 最多执行5次
|
||||
)
|
||||
```
|
||||
|
||||
// 重复直到成功 - 重复执行直到子节点成功
|
||||
new RepeatUntilSuccess(childNode, 5);
|
||||
### 叶子节点 (Leaf)
|
||||
|
||||
// 时间限制节点 - 限制子节点执行时间
|
||||
new LimitTime(childNode, 5); // 5秒
|
||||
#### Action - 动作节点
|
||||
执行自定义逻辑：
|
||||
```typescript
|
||||
new Action((node) => {
|
||||
// 直接获取实体
|
||||
const target = node.getEntity<Character>();
|
||||
|
||||
// 次数限制节点 - 限制子节点执行次数
|
||||
new LimitTimes(childNode, 3);
|
||||
```
|
||||
|
||||
4. 使用黑板共享数据
|
||||
|
||||
```typescript
|
||||
// 在节点中使用黑板
|
||||
class CustomAction extends BaseNode {
|
||||
tick<T>(tree: BehaviorTree<T>): Status {
|
||||
// 获取数据 - 使用节点实例作为命名空间
|
||||
const data = tree.blackboard.get<string>("key", this);
|
||||
|
||||
// 设置数据 - 使用节点实例作为命名空间
|
||||
tree.blackboard.set("key", "value", this);
|
||||
// 访问黑板数据
|
||||
const ammo = node.get<number>('ammo');
|
||||
|
||||
if (target && ammo > 0) {
|
||||
console.log("攻击目标");
|
||||
node.set('ammo', ammo - 1);
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
return Status.FAILURE;
|
||||
})
|
||||
```
|
||||
|
||||
#### Condition - 条件节点
|
||||
检查条件：
|
||||
```typescript
|
||||
new Condition((node) => {
|
||||
const player = node.getEntity<Player>();
|
||||
const health = player.health;
|
||||
return health > 50; // true->SUCCESS, false->FAILURE
|
||||
})
|
||||
```
|
||||
|
||||
#### WaitTime - 时间等待
|
||||
```typescript
|
||||
new WaitTime(2.5) // 等待2.5秒
|
||||
```
|
||||
|
||||
#### WaitTicks - 帧数等待
|
||||
```typescript
|
||||
new WaitTicks(60) // 等待60帧
|
||||
```
|
||||
|
||||
## 黑板系统
|
||||
|
||||
黑板系统提供分层数据存储，支持数据隔离和查找链：
|
||||
|
||||
```typescript
|
||||
// 在节点中使用黑板
|
||||
new Action((node) => {
|
||||
// 直接获取实体
|
||||
const entity = node.getEntity<Character>();
|
||||
|
||||
// 本地数据（仅当前节点可见）
|
||||
node.set('local_count', 1);
|
||||
const count = node.get<number>('local_count');
|
||||
|
||||
// 树级数据（整棵树可见）
|
||||
node.setRoot('tree_data', 'shared');
|
||||
const shared = node.getRoot<string>('tree_data');
|
||||
|
||||
// 全局数据（所有树可见）
|
||||
node.setGlobal('global_config', config);
|
||||
const config = node.getGlobal<Config>('global_config');
|
||||
|
||||
return Status.SUCCESS;
|
||||
})
|
||||
```
|
||||
|
||||
### 数据查找链
|
||||
黑板数据按以下顺序查找：
|
||||
1. 当前节点的本地黑板
|
||||
2. 父节点的黑板
|
||||
3. 递归向上查找到根节点
|
||||
|
||||
### Memory节点的数据隔离
|
||||
Memory节点会创建独立的子黑板，确保状态隔离：
|
||||
```typescript
|
||||
const mem1 = new MemSequence(/* ... */);
|
||||
const mem2 = new MemSequence(/* ... */);
|
||||
// mem1 和 mem2 的记忆状态完全独立
|
||||
```
|
||||
|
||||
## 完整示例
|
||||
|
||||
```typescript
|
||||
import {
|
||||
BehaviorTree, Status, Action, Condition,
|
||||
Sequence, Selector, MemSelector, Parallel,
|
||||
Inverter, RepeatUntilSuccess, LimitTime
|
||||
} from 'kunpocc-behaviortree';
|
||||
|
||||
interface Character {
|
||||
health: number;
|
||||
mana: number;
|
||||
hasWeapon: boolean;
|
||||
isInCombat: boolean;
|
||||
position: { x: number, y: number };
|
||||
}
|
||||
|
||||
const character: Character = {
|
||||
health: 80,
|
||||
mana: 50,
|
||||
hasWeapon: true,
|
||||
isInCombat: false,
|
||||
position: { x: 0, y: 0 }
|
||||
};
|
||||
|
||||
// 构建复杂行为树
|
||||
const behaviorTree = new BehaviorTree(character,
|
||||
new Selector(
|
||||
// 战斗行为
|
||||
new Sequence(
|
||||
new Condition((node) => {
|
||||
const char = node.getEntity<Character>();
|
||||
return char.isInCombat;
|
||||
}),
|
||||
new Selector(
|
||||
// 生命值低时治疗
|
||||
new Sequence(
|
||||
new Condition((node) => {
|
||||
const char = node.getEntity<Character>();
|
||||
return char.health < 30;
|
||||
}),
|
||||
new RepeatUntilSuccess(
|
||||
new Action((node) => {
|
||||
const char = node.getEntity<Character>();
|
||||
if (char.mana >= 10) {
|
||||
char.health += 20;
|
||||
char.mana -= 10;
|
||||
console.log("治疗完成");
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
```
|
||||
return Status.FAILURE;
|
||||
}),
|
||||
3 // 最多尝试3次
|
||||
)
|
||||
),
|
||||
// 正常攻击
|
||||
new Sequence(
|
||||
new Condition((node) => {
|
||||
const char = node.getEntity<Character>();
|
||||
return char.hasWeapon;
|
||||
}),
|
||||
new LimitTime(
|
||||
new Action((node) => {
|
||||
console.log("发起攻击");
|
||||
return Status.SUCCESS;
|
||||
}),
|
||||
1.0 // 攻击最多1秒
|
||||
)
|
||||
)
|
||||
)
|
||||
),
|
||||
// 非战斗行为 - 巡逻
|
||||
new MemSelector(
|
||||
new Action((node) => {
|
||||
console.log("巡逻点A");
|
||||
return Status.SUCCESS;
|
||||
}),
|
||||
new Action((node) => {
|
||||
console.log("巡逻点B");
|
||||
return Status.SUCCESS;
|
||||
}),
|
||||
new Action((node) => {
|
||||
console.log("巡逻点C");
|
||||
return Status.SUCCESS;
|
||||
})
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
// 执行行为树
|
||||
console.log("=== 执行行为树 ===");
|
||||
behaviorTree.tick(); // 输出: "巡逻点A"
|
||||
|
||||
#### 注意事项
|
||||
// 进入战斗状态
|
||||
character.isInCombat = true;
|
||||
character.health = 20; // 低血量
|
||||
|
||||
1. 节点状态说明：
|
||||
- `SUCCESS`：节点执行成功
|
||||
- `FAILURE`：节点执行失败
|
||||
- `RUNNING`：节点正在执行中
|
||||
2. 组合节点特性：
|
||||
- `Sequence`：所有子节点返回 SUCCESS 才返回 SUCCESS
|
||||
- `Selector`：任一子节点返回 SUCCESS 就返回 SUCCESS
|
||||
- `Parallel`：并行执行所有子节点
|
||||
- `MemSequence/MemSelector`：会记住上次执行位置
|
||||
3. 性能优化：
|
||||
- 使用黑板共享数据，避免重复计算
|
||||
- 合理使用记忆节点，减少重复执行
|
||||
- 控制行为树的深度，避免过于复杂
|
||||
behaviorTree.tick(); // 输出: "治疗完成"
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 节点设计原则
|
||||
- **单一职责**: 每个节点只做一件事
|
||||
- **状态明确**: 明确定义SUCCESS/FAILURE/RUNNING的含义
|
||||
- **避免副作用**: 尽量避免节点间的隐式依赖
|
||||
|
||||
### 2. 性能优化
|
||||
```typescript
|
||||
// ✅ 好的做法 - 使用记忆节点避免重复计算
|
||||
new MemSelector(
|
||||
expensivePathfinding, // 复杂寻路只计算一次
|
||||
fallbackBehavior
|
||||
)
|
||||
|
||||
// ❌ 避免 - 每次都重新计算
|
||||
new Selector(
|
||||
expensivePathfinding, // 每次tick都会重新计算
|
||||
fallbackBehavior
|
||||
)
|
||||
```
|
||||
|
||||
### 3. 黑板使用
|
||||
```typescript
|
||||
// ✅ 好的做法 - 合理使用数据层级
|
||||
new Action((node) => {
|
||||
// 获取实体
|
||||
const player = node.getEntity<Player>();
|
||||
|
||||
// 临时数据用本地黑板
|
||||
node.set('temp_result', calculation());
|
||||
|
||||
// 共享数据用树级黑板
|
||||
node.setRoot('current_target', target);
|
||||
|
||||
// 配置数据用全局黑板
|
||||
node.setGlobal('game_config', config);
|
||||
})
|
||||
```
|
||||
|
||||
### 4. 错误处理
|
||||
```typescript
|
||||
// ✅ 明确的错误处理
|
||||
new Action((node) => {
|
||||
try {
|
||||
const result = riskyOperation();
|
||||
return result ? Status.SUCCESS : Status.FAILURE;
|
||||
} catch (error) {
|
||||
console.error('Operation failed:', error);
|
||||
return Status.FAILURE;
|
||||
}
|
||||
})
|
||||
```
|
||||
|
||||
## 测试覆盖
|
||||
|
||||
本库包含全面的测试用例，覆盖：
|
||||
- ✅ 17种节点类型 (100%覆盖)
|
||||
- ✅ Memory节点状态管理
|
||||
- ✅ 黑板数据隔离
|
||||
- ✅ 边界条件处理
|
||||
- ✅ 复杂嵌套场景
|
||||
|
||||
运行测试：
|
||||
```bash
|
||||
npm test
|
||||
```
|
||||
|
||||
## API 参考
|
||||
|
||||
### 核心类
|
||||
|
||||
#### `BehaviorTree<T>`
|
||||
```typescript
|
||||
constructor(entity: T, root: IBTNode)
|
||||
tick(): Status // 执行一次行为树
|
||||
reset(): void // 重置所有状态
|
||||
```
|
||||
|
||||
#### `Status`
|
||||
```typescript
|
||||
enum Status {
|
||||
SUCCESS = 0,
|
||||
FAILURE = 1,
|
||||
RUNNING = 2
|
||||
}
|
||||
```
|
||||
|
||||
### 节点接口
|
||||
```typescript
|
||||
interface IBTNode {
|
||||
readonly children: IBTNode[];
|
||||
// 节点黑板
|
||||
local: IBlackboard;
|
||||
tick(): 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
|
||||
set<T>(key: string, value: T): void;
|
||||
get<T>(key: string): T;
|
||||
// 写入树根节点的黑板数据
|
||||
setRoot<T>(key: string, value: T): void;
|
||||
getRoot<T>(key: string): T;
|
||||
// 写入全局黑板数据
|
||||
setGlobal<T>(key: string, value: T): void;
|
||||
getGlobal<T>(key: string): T;
|
||||
|
||||
// 实体访问
|
||||
getEntity<T>(): T;
|
||||
}
|
||||
```
|
||||
|
||||
## 许可证
|
||||
|
||||
ISC License - 详见 [LICENSE](LICENSE) 文件
|
||||
|
||||
## 贡献
|
||||
|
||||
欢迎提交 Issue 和 Pull Request。请确保：
|
||||
1. 代码风格一致
|
||||
2. 添加适当的测试
|
||||
3. 更新相关文档
|
||||
|
||||
---
|
||||
|
||||
*"好的程序员关心数据结构，而不是代码。"* - 这个库遵循简洁设计原则，专注于解决实际问题。
|
||||
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"name": "kunpocc-behaviortree",
|
||||
"version": "0.0.3",
|
||||
"version": "0.0.4",
|
||||
"description": "行为树",
|
||||
"main": "./dist/kunpocc-behaviortree.cjs",
|
||||
"module": "./dist/kunpocc-behaviortree.mjs",
|
||||
|
||||
@@ -4,67 +4,70 @@
|
||||
* @Description: 抽象节点基类
|
||||
*/
|
||||
|
||||
import { BehaviorTree } from "../BehaviorTree";
|
||||
import { BaseNode } from "./BaseNode";
|
||||
import { IBlackboard } from "../Blackboard";
|
||||
import { BTNode, IBTNode } from "./BTNode";
|
||||
|
||||
/**
|
||||
* 可以包含多个节点的集合装饰器基类
|
||||
* 叶子节点 基类
|
||||
* 没有子节点
|
||||
*/
|
||||
export abstract class Composite extends BaseNode {
|
||||
constructor(...children: BaseNode[]) {
|
||||
super(children);
|
||||
export abstract class LeafNode extends BTNode {
|
||||
constructor() {
|
||||
super([]);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 修饰节点基类
|
||||
* 只能包含一个子节点
|
||||
* 修饰节点 基类
|
||||
* 有且仅有一个子节点
|
||||
*/
|
||||
export abstract class Decorator extends BaseNode {
|
||||
constructor(child: BaseNode) {
|
||||
export abstract class Decorator extends BTNode {
|
||||
constructor(child: IBTNode) {
|
||||
super([child]);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 数值型装饰节点基类
|
||||
* 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装饰节点
|
||||
* 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 readonly _max: number;
|
||||
protected _value: number = 0;
|
||||
|
||||
constructor(child: BaseNode, max: number = 1) {
|
||||
constructor(child: IBTNode, max: number = 1) {
|
||||
super(child);
|
||||
this._max = max;
|
||||
}
|
||||
|
||||
protected override initialize<T>(tree: BehaviorTree<T>): void {
|
||||
super.initialize(tree);
|
||||
protected override open(): void {
|
||||
super.open();
|
||||
this._value = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 记忆装饰节点基类
|
||||
* 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 {
|
||||
protected runningIndex = 0;
|
||||
|
||||
protected override initialize<T>(tree: BehaviorTree<T>): void {
|
||||
super.initialize(tree);
|
||||
// 检查是否需要重置记忆
|
||||
const shouldReset = tree.blackboard.get(`reset_memory`, this);
|
||||
if (shouldReset) {
|
||||
this.runningIndex = 0;
|
||||
tree.blackboard.delete(`reset_memory`, this);
|
||||
}
|
||||
public override _initialize(global: IBlackboard, branch: IBlackboard): void {
|
||||
super._initialize(global, branch);
|
||||
this._local = branch.createChild();
|
||||
}
|
||||
|
||||
/**
|
||||
* 重置记忆状态，下次执行时将从第一个子节点开始
|
||||
*/
|
||||
public resetMemory(): void {
|
||||
this.runningIndex = 0;
|
||||
protected override open(): void {
|
||||
super.open();
|
||||
this.set(`__nMemoryRunningIndex`, 0);
|
||||
}
|
||||
}
|
||||
@@ -1,16 +1,16 @@
|
||||
import type { BehaviorTree } from "../BehaviorTree";
|
||||
import { Status } from "../header";
|
||||
import { BaseNode } from "./BaseNode";
|
||||
import { LeafNode } from "./AbstractNodes";
|
||||
import { IBTNode } from "./BTNode";
|
||||
|
||||
export class Action extends BaseNode {
|
||||
protected _func: (subject?: any) => Status;
|
||||
constructor(func: (subject?: any) => Status) {
|
||||
export class Action extends LeafNode {
|
||||
protected _func: (node: IBTNode) => Status;
|
||||
constructor(func: (node: IBTNode) => Status) {
|
||||
super();
|
||||
this._func = func;
|
||||
}
|
||||
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
return this._func?.(tree.subject) ?? Status.SUCCESS;
|
||||
public tick(): Status {
|
||||
return this._func?.(this) ?? Status.SUCCESS;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -19,7 +19,7 @@ export class Action extends BaseNode {
|
||||
* 次数内，返回RUNNING
|
||||
* 超次，返回SUCCESS
|
||||
*/
|
||||
export class WaitTicks extends BaseNode {
|
||||
export class WaitTicks extends LeafNode {
|
||||
private _max: number;
|
||||
private _value: number;
|
||||
|
||||
@@ -29,12 +29,12 @@ export class WaitTicks extends BaseNode {
|
||||
this._value = 0;
|
||||
}
|
||||
|
||||
protected override initialize<T>(tree: BehaviorTree<T>): void {
|
||||
super.initialize(tree);
|
||||
protected override open(): void {
|
||||
super.open();
|
||||
this._value = 0;
|
||||
}
|
||||
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
public tick(): Status {
|
||||
if (++this._value >= this._max) {
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
@@ -46,7 +46,7 @@ export class WaitTicks extends BaseNode {
|
||||
* 时间等待节点 时间(秒)
|
||||
* 时间到后返回SUCCESS，否则返回RUNNING
|
||||
*/
|
||||
export class WaitTime extends BaseNode {
|
||||
export class WaitTime extends LeafNode {
|
||||
private _max: number;
|
||||
private _value: number = 0;
|
||||
constructor(duration: number = 0) {
|
||||
@@ -54,12 +54,12 @@ export class WaitTime extends BaseNode {
|
||||
this._max = duration * 1000;
|
||||
}
|
||||
|
||||
protected override initialize<T>(tree: BehaviorTree<T>): void {
|
||||
super.initialize(tree);
|
||||
protected override open(): void {
|
||||
super.open();
|
||||
this._value = new Date().getTime();
|
||||
}
|
||||
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
public tick(): Status {
|
||||
const currTime = new Date().getTime();
|
||||
if (currTime - this._value >= this._max) {
|
||||
return Status.SUCCESS;
|
||||
|
||||
172
src/behaviortree/BTNode/BTNode.ts
Normal file
172
src/behaviortree/BTNode/BTNode.ts
Normal file
@@ -0,0 +1,172 @@
|
||||
import { globalBlackboard, IBlackboard } from "../Blackboard";
|
||||
import { Status } from "../header";
|
||||
|
||||
export interface IBTNode {
|
||||
readonly children: IBTNode[];
|
||||
/** 本节点的的黑板引用 */
|
||||
local: IBlackboard;
|
||||
/**
|
||||
* 初始化节点
|
||||
* @param root 树根节点的黑板
|
||||
* @param parent 父节点的黑板
|
||||
*/
|
||||
_initialize(root: IBlackboard, parent: IBlackboard): void;
|
||||
|
||||
_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
|
||||
*/
|
||||
set<T>(key: string, value: T): void;
|
||||
get<T>(key: string): T;
|
||||
|
||||
/**
|
||||
* 写入树根节点的黑板数据
|
||||
*/
|
||||
setRoot<T>(key: string, value: T): void;
|
||||
getRoot<T>(key: string): T;
|
||||
|
||||
/**
|
||||
* 写入全局黑板数据
|
||||
*/
|
||||
setGlobal<T>(key: string, value: T): void;
|
||||
getGlobal<T>(key: string): T;
|
||||
|
||||
/** 获取关联的实体 */
|
||||
getEntity<T>(): T;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* 基础节点
|
||||
* 每个节点只管理自己需要的状态
|
||||
*/
|
||||
export abstract class BTNode implements IBTNode {
|
||||
public readonly children: 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
|
||||
this._local = parent;
|
||||
}
|
||||
|
||||
/**
|
||||
* 执行节点
|
||||
* @internal
|
||||
*/
|
||||
public _execute(): Status {
|
||||
// 首次执行时初始化
|
||||
if (!this._isRunning) {
|
||||
this._isRunning = true;
|
||||
this.open();
|
||||
}
|
||||
|
||||
// 执行核心逻辑
|
||||
const status = this.tick();
|
||||
|
||||
// 执行完成时清理
|
||||
if (status !== Status.RUNNING) {
|
||||
this._isRunning = false;
|
||||
this.close();
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* 初始化节点（首次执行时调用）
|
||||
* 子类重写此方法进行状态初始化
|
||||
*/
|
||||
protected open(): void { }
|
||||
|
||||
/**
|
||||
* 执行节点逻辑
|
||||
* 子类必须实现此方法
|
||||
* @returns 执行状态
|
||||
*/
|
||||
public abstract tick(): Status;
|
||||
|
||||
/**
|
||||
* 清理节点（执行完成时调用）
|
||||
* 子类重写此方法进行状态清理
|
||||
*/
|
||||
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();
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置获取全局黑板数据
|
||||
*/
|
||||
public set<T>(key: string, value: T): void {
|
||||
this._local.set(key, value);
|
||||
}
|
||||
|
||||
public get<T>(key: string): T {
|
||||
return this._local.get(key);
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置获取树根节点的黑板数据
|
||||
*/
|
||||
public setRoot<T>(key: string, value: T): void {
|
||||
this._root.set(key, value);
|
||||
}
|
||||
|
||||
public getRoot<T>(key: string): T {
|
||||
return this._root.get(key);
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置全局黑板数据
|
||||
*/
|
||||
public setGlobal<T>(key: string, value: T): void {
|
||||
globalBlackboard.set(key, value);
|
||||
}
|
||||
|
||||
public getGlobal<T>(key: string): T {
|
||||
return globalBlackboard.get(key);
|
||||
}
|
||||
|
||||
public get local(): IBlackboard {
|
||||
return this._local;
|
||||
}
|
||||
}
|
||||
@@ -1,86 +0,0 @@
|
||||
import { BehaviorTree } from "../BehaviorTree";
|
||||
import { Status } from "../header";
|
||||
|
||||
|
||||
/**
|
||||
* 基础节点
|
||||
* 每个节点只管理自己需要的状态
|
||||
*/
|
||||
export abstract class BaseNode {
|
||||
public readonly children: BaseNode[];
|
||||
private _id: string;
|
||||
private _isRunning: boolean;
|
||||
|
||||
set id(id: string) { this._id = id; }
|
||||
get id(): string { return this._id }
|
||||
|
||||
/**
|
||||
* 创建
|
||||
* @param children 子节点列表
|
||||
*/
|
||||
constructor(children?: BaseNode[]) {
|
||||
this._id = ""; // 临时值，将在树构造时被正确设置
|
||||
this.children = children ? [...children] : [];
|
||||
this._isRunning = false;
|
||||
}
|
||||
|
||||
/**
|
||||
* 执行节点
|
||||
* @param tree 行为树
|
||||
* @returns 状态
|
||||
*/
|
||||
public _execute<T>(tree: BehaviorTree<T>): Status {
|
||||
// 首次执行时初始化
|
||||
if (!this._isRunning) {
|
||||
this._isRunning = true;
|
||||
this.initialize(tree);
|
||||
}
|
||||
|
||||
// 执行核心逻辑
|
||||
const status = this.tick(tree);
|
||||
|
||||
// 执行完成时清理
|
||||
if (status !== Status.RUNNING) {
|
||||
this._isRunning = false;
|
||||
this.cleanup(tree);
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* 初始化节点（首次执行时调用）
|
||||
* 子类重写此方法进行状态初始化
|
||||
* @param tree 行为树
|
||||
*/
|
||||
protected initialize<T>(tree: BehaviorTree<T>): void { }
|
||||
|
||||
/**
|
||||
* 清理节点（执行完成时调用）
|
||||
* 子类重写此方法进行状态清理
|
||||
* @param tree 行为树
|
||||
*/
|
||||
protected cleanup<T>(tree: BehaviorTree<T>): void { }
|
||||
|
||||
/**
|
||||
* 执行节点逻辑
|
||||
* 子类必须实现此方法
|
||||
* @param tree 行为树
|
||||
* @returns 执行状态
|
||||
*/
|
||||
public abstract tick<T>(tree: BehaviorTree<T>): Status;
|
||||
|
||||
/**
|
||||
* 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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,44 +1,51 @@
|
||||
import type { BehaviorTree } from "../BehaviorTree";
|
||||
import { Status } from "../header";
|
||||
import { Composite, MemoryComposite } from "./AbstractNodes";
|
||||
|
||||
/**
|
||||
* 记忆选择节点
|
||||
* 选择不为 FAILURE 的节点，记住上次运行的子节点位置
|
||||
* 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
|
||||
* 记忆选择节点 从上到下执行
|
||||
* 遇到 FAILURE 继续下一个
|
||||
* 遇到 SUCCESS 返回 SUCCESS 下次重新开始
|
||||
*
|
||||
* 遇到 RUNNING 返回 RUNNING 下次从该节点开始
|
||||
*/
|
||||
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);
|
||||
if (status !== Status.FAILURE) {
|
||||
if (status === Status.RUNNING) {
|
||||
this.runningIndex = i;
|
||||
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) {
|
||||
continue;
|
||||
}
|
||||
if (status === Status.SUCCESS) {
|
||||
return status;
|
||||
}
|
||||
this.set(`__nMemoryRunningIndex`, i);
|
||||
return Status.RUNNING;
|
||||
}
|
||||
return Status.FAILURE;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 记忆顺序节点
|
||||
* 如果上次执行到 RUNNING 的节点, 下次进入节点后, 直接从 RUNNING 节点开始
|
||||
* 遇到 SUCCESS 或者 FAILURE 停止迭代
|
||||
* 任意一个Child Node返回不为 SUCCESS, 本Node向自己的Parent Node也返回Child Node状态
|
||||
* 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
|
||||
* 记忆顺序节点 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
|
||||
*/
|
||||
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);
|
||||
if (status !== Status.SUCCESS) {
|
||||
if (status === Status.RUNNING) {
|
||||
this.runningIndex = i;
|
||||
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) {
|
||||
continue;
|
||||
}
|
||||
return status;
|
||||
if (status === Status.FAILURE) {
|
||||
return Status.FAILURE;
|
||||
}
|
||||
this.set(`__nMemoryRunningIndex`, i);
|
||||
return Status.RUNNING;
|
||||
}
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
@@ -46,29 +53,30 @@ export class MemSequence extends MemoryComposite {
|
||||
|
||||
/**
|
||||
* 随机选择节点
|
||||
* 从Child Node中随机选择一个执行
|
||||
* 随机选择一个子节点执行
|
||||
* 返回子节点状态
|
||||
*/
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 选择节点，选择不为 FAILURE 的节点
|
||||
* 当执行本Node时，它将从begin到end迭代执行自己的Child Node：
|
||||
* 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
|
||||
* 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
|
||||
*/
|
||||
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;
|
||||
}
|
||||
@@ -78,38 +86,35 @@ export class Selector extends Composite {
|
||||
}
|
||||
|
||||
/**
|
||||
* 顺序节点
|
||||
* 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node：
|
||||
* 遇到 FAILURE 或 RUNNING, 那停止迭代，返回FAILURE 或 RUNNING
|
||||
* 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS
|
||||
* 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
|
||||
*/
|
||||
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);
|
||||
if (status !== Status.SUCCESS) {
|
||||
return status;
|
||||
let status = this.children[i]!._execute();
|
||||
if (status === Status.SUCCESS) {
|
||||
continue;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 从上到下执行 全部执行一遍
|
||||
* 返回优先级 FAILURE > RUNNING > 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) {
|
||||
} else if (status === Status.RUNNING) {
|
||||
result = Status.RUNNING;
|
||||
}
|
||||
}
|
||||
@@ -118,21 +123,18 @@ 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
|
||||
* 否则返回 RUNNING
|
||||
* 并行节点 从上到下执行 全部执行一遍
|
||||
* 返回优先级 SUCCESS > RUNNING > FAILURE
|
||||
*/
|
||||
export class ParallelAnySuccess extends Composite {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
let result = Status.RUNNING;
|
||||
public tick(): Status {
|
||||
let result = Status.FAILURE;
|
||||
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;
|
||||
} else if (status === Status.RUNNING) {
|
||||
result = Status.RUNNING;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
|
||||
@@ -1,20 +1,20 @@
|
||||
import type { BehaviorTree } from "../BehaviorTree";
|
||||
import { Status } from "../header";
|
||||
import { BaseNode } from "./BaseNode";
|
||||
import { LeafNode } from "./AbstractNodes";
|
||||
import { IBTNode } from "./BTNode";
|
||||
|
||||
/**
|
||||
* 条件节点
|
||||
* 根据条件函数返回SUCCESS或FAILURE
|
||||
*/
|
||||
export class Condition extends BaseNode {
|
||||
export class Condition extends LeafNode {
|
||||
/** 执行函数 @internal */
|
||||
private readonly _func: (subject: any) => boolean;
|
||||
constructor(func: (subject: any) => boolean) {
|
||||
private readonly _func: (node: IBTNode) => boolean;
|
||||
constructor(func: (node: IBTNode) => boolean) {
|
||||
super();
|
||||
this._func = func;
|
||||
}
|
||||
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
return this._func?.(tree.subject) ? Status.SUCCESS : Status.FAILURE;
|
||||
public tick(): Status {
|
||||
return this._func?.(this) ? Status.SUCCESS : Status.FAILURE;
|
||||
}
|
||||
}
|
||||
@@ -4,10 +4,9 @@
|
||||
* @Description: 装饰节点 装饰节点下必须包含子节点
|
||||
*/
|
||||
|
||||
import type { BehaviorTree } from "../BehaviorTree";
|
||||
import { Status } from "../header";
|
||||
import { Decorator, NumericDecorator } from "./AbstractNodes";
|
||||
import { BaseNode } from "./BaseNode";
|
||||
import { IBTNode } from "./BTNode";
|
||||
|
||||
/**
|
||||
* 结果反转节点
|
||||
@@ -16,8 +15,8 @@ import { BaseNode } from "./BaseNode";
|
||||
* 第一个Child Node节点, 返回 SUCCESS, 本Node向自己的Parent Node也返回 FAILURE
|
||||
*/
|
||||
export class Inverter extends Decorator {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
const status = this.children[0]!._execute(tree);
|
||||
public tick(): Status {
|
||||
const status = this.children[0]!._execute();
|
||||
|
||||
if (status === Status.SUCCESS) {
|
||||
return Status.FAILURE;
|
||||
@@ -41,44 +40,35 @@ export class LimitTime extends NumericDecorator {
|
||||
* @param child 子节点
|
||||
* @param max 最大时间 (秒) 默认1秒
|
||||
*/
|
||||
constructor(child: BaseNode, max: number = 1) {
|
||||
constructor(child: IBTNode, max: number = 1) {
|
||||
super(child, max * 1000);
|
||||
}
|
||||
|
||||
protected override initialize<T>(tree: BehaviorTree<T>): void {
|
||||
super.initialize(tree);
|
||||
protected override open(): void {
|
||||
this._value = Date.now();
|
||||
}
|
||||
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
public tick(): Status {
|
||||
const currentTime = Date.now();
|
||||
|
||||
if (currentTime - this._value > this._max) {
|
||||
return Status.FAILURE;
|
||||
}
|
||||
|
||||
return this.children[0]!._execute(tree);
|
||||
return this.children[0]!._execute();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 次数限制节点
|
||||
* 必须且只能包含一个子节点
|
||||
* 次数限制内, 返回子节点的状态, 次数达到后, 直接返回失败
|
||||
* 次数超过后, 直接返回失败; 次数未超过, 返回子节点状态
|
||||
*/
|
||||
export class LimitTimes extends NumericDecorator {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
if (this._value >= this._max) {
|
||||
export class LimitTicks extends NumericDecorator {
|
||||
public tick(): Status {
|
||||
this._value++;
|
||||
if (this._value > this._max) {
|
||||
return Status.FAILURE;
|
||||
}
|
||||
const status = this.children[0]!._execute(tree);
|
||||
if (status !== Status.RUNNING) {
|
||||
this._value++;
|
||||
if (this._value < this._max) {
|
||||
return Status.RUNNING;
|
||||
}
|
||||
}
|
||||
return status;
|
||||
return this.children[0]!._execute();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -89,9 +79,9 @@ export class LimitTimes extends NumericDecorator {
|
||||
* 次数超过之后返回子节点状态，否则返回 RUNNING
|
||||
*/
|
||||
export class Repeat extends NumericDecorator {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
public tick(): Status {
|
||||
// 执行子节点
|
||||
const status = this.children[0]!._execute(tree);
|
||||
const status = this.children[0]!._execute();
|
||||
// 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++;
|
||||
@@ -112,8 +102,8 @@ export class Repeat extends NumericDecorator {
|
||||
* 子节点成功 计数+1
|
||||
*/
|
||||
export class RepeatUntilFailure extends NumericDecorator {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
const status = this.children[0]!._execute(tree);
|
||||
public tick(): Status {
|
||||
const status = this.children[0]!._execute();
|
||||
if (status === Status.FAILURE) {
|
||||
return Status.FAILURE;
|
||||
}
|
||||
@@ -136,9 +126,9 @@ export class RepeatUntilFailure extends NumericDecorator {
|
||||
* 子节点失败, 计数+1
|
||||
*/
|
||||
export class RepeatUntilSuccess extends NumericDecorator {
|
||||
public tick<T>(tree: BehaviorTree<T>): Status {
|
||||
public tick(): Status {
|
||||
// 执行子节点
|
||||
const status = this.children[0]!._execute(tree);
|
||||
const status = this.children[0]!._execute();
|
||||
if (status === Status.SUCCESS) {
|
||||
return Status.SUCCESS;
|
||||
}
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import { Blackboard } from "./Blackboard";
|
||||
import { BaseNode } from "./BTNode/BaseNode";
|
||||
import { Blackboard, IBlackboard } from "./Blackboard";
|
||||
import { IBTNode } from "./BTNode/BTNode";
|
||||
import { Status } from "./header";
|
||||
|
||||
/**
|
||||
* 行为树
|
||||
@@ -9,36 +10,23 @@ export class BehaviorTree<T> {
|
||||
/**
|
||||
* @internal
|
||||
*/
|
||||
private _root: BaseNode;
|
||||
private _root: IBTNode;
|
||||
/**
|
||||
* @internal
|
||||
*/
|
||||
private _blackboard: Blackboard;
|
||||
/**
|
||||
* @internal
|
||||
*/
|
||||
private _subject: T;
|
||||
private _blackboard: IBlackboard;
|
||||
|
||||
/**
|
||||
* 节点ID计数器，每个树实例独立管理
|
||||
* @internal
|
||||
*/
|
||||
private _nodeIdCounter: number = 0;
|
||||
|
||||
get root(): BaseNode { return this._root; }
|
||||
get blackboard() { return this._blackboard }
|
||||
get subject(): T { return this._subject; }
|
||||
get root(): IBTNode { return this._root; }
|
||||
get blackboard(): IBlackboard { return this._blackboard }
|
||||
|
||||
/**
|
||||
* constructor
|
||||
* @param subject 主体
|
||||
* @param entity 实体
|
||||
* @param root 根节点
|
||||
*/
|
||||
constructor(subject: T, root: BaseNode) {
|
||||
constructor(entity: T, root: IBTNode) {
|
||||
this._root = root;
|
||||
this._blackboard = new Blackboard();
|
||||
this._subject = subject;
|
||||
|
||||
this._blackboard = new Blackboard(undefined, entity);
|
||||
// 构造时就初始化所有节点ID，避免运行时检查
|
||||
this._initializeAllNodeIds(this._root);
|
||||
}
|
||||
@@ -46,17 +34,8 @@ export class BehaviorTree<T> {
|
||||
/**
|
||||
* 执行行为树
|
||||
*/
|
||||
public tick(): void {
|
||||
this._root._execute(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* 生成节点ID
|
||||
* 每个树实例独立管理节点ID，避免全局状态污染
|
||||
* @internal
|
||||
*/
|
||||
private _generateNodeId(): string {
|
||||
return `${++this._nodeIdCounter}`;
|
||||
public tick(): Status {
|
||||
return this._root._execute();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -65,13 +44,12 @@ export class BehaviorTree<T> {
|
||||
* @param node 要初始化的节点
|
||||
* @internal
|
||||
*/
|
||||
private _initializeAllNodeIds(node: BaseNode): void {
|
||||
private _initializeAllNodeIds(node: IBTNode, parent?: IBTNode): void {
|
||||
// 设置当前节点ID
|
||||
node.id = this._generateNodeId();
|
||||
|
||||
node._initialize(this._blackboard, parent ? parent.local : this._blackboard);
|
||||
// 递归设置所有子节点ID
|
||||
for (const child of node.children) {
|
||||
this._initializeAllNodeIds(child);
|
||||
this._initializeAllNodeIds(child, node);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -84,14 +62,4 @@ export class BehaviorTree<T> {
|
||||
// 重置所有节点的状态
|
||||
this._root.cleanupAll();
|
||||
}
|
||||
|
||||
/**
|
||||
* 重置指定记忆节点的记忆状态
|
||||
* 用于精确控制记忆节点的重置，而不影响其他状态
|
||||
* @param node 记忆节点
|
||||
*/
|
||||
public resetMemoryNode(node: BaseNode): void {
|
||||
// 通过黑板标记该节点需要重置记忆
|
||||
this._blackboard.set(`reset_memory`, true, node);
|
||||
}
|
||||
}
|
||||
@@ -4,67 +4,91 @@
|
||||
* @Description: 行为树共享数据
|
||||
*
|
||||
* 专门用于存储和管理行为树执行过程中的共享数据
|
||||
* 使用 Symbol 作为键实现高性能且安全的键值存储
|
||||
*/
|
||||
|
||||
// 为了避免循环依赖，我们定义一个最小接口
|
||||
interface IBlackboardNode {
|
||||
readonly id: string;
|
||||
|
||||
/**
|
||||
* 黑板数据接口
|
||||
*/
|
||||
export interface IBlackboard {
|
||||
getEntity<T>(): T;
|
||||
get<T>(key: string): T;
|
||||
set<T>(key: string, value: T): void;
|
||||
delete(key: string): void;
|
||||
has(key: string): boolean;
|
||||
clear(): void;
|
||||
createChild(scope?: number): IBlackboard;
|
||||
}
|
||||
|
||||
export class Blackboard {
|
||||
private readonly _data = new Map<IBlackboardNode, Map<string, any>>();
|
||||
/**
|
||||
* 黑板类
|
||||
*/
|
||||
export class Blackboard implements IBlackboard {
|
||||
private readonly _data = new Map<string, any>();
|
||||
public parent?: Blackboard | undefined;
|
||||
public children = new Set<Blackboard>();
|
||||
|
||||
/** 实体 */
|
||||
private readonly _entity: any;
|
||||
public getEntity<T>(): T {
|
||||
return this._entity;
|
||||
}
|
||||
|
||||
constructor(parent?: Blackboard, entity?: any) {
|
||||
this.parent = parent;
|
||||
if (parent) {
|
||||
parent.children.add(this);
|
||||
}
|
||||
// 优先使用传入的 entity，如果没有则从父级继承
|
||||
this._entity = entity !== undefined ? entity : (parent?._entity ?? null);
|
||||
}
|
||||
|
||||
/** 核心: 查找链实现 */
|
||||
public get<T>(key: string): T {
|
||||
if (this._data.has(key)) {
|
||||
return this._data.get(key) as T;
|
||||
}
|
||||
return this.parent?.get(key) as T;
|
||||
}
|
||||
|
||||
/** 写入: 只在当前层 */
|
||||
public set<T>(key: string, value: T): void {
|
||||
this._data.set(key, value);
|
||||
}
|
||||
|
||||
/** 检查: 沿链查找 */
|
||||
public has(key: string): boolean {
|
||||
return this._data.has(key) || (this.parent?.has(key) ?? false);
|
||||
}
|
||||
|
||||
public delete(key: string): void {
|
||||
this._data.delete(key);
|
||||
}
|
||||
|
||||
public createChild(): Blackboard {
|
||||
return new Blackboard(this);
|
||||
}
|
||||
|
||||
public clear(): 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();
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置数据
|
||||
* @param key 键名
|
||||
* @param value 值
|
||||
* @param node 节点实例（用于生成唯一 Symbol）
|
||||
*/
|
||||
public set<T>(key: string, value: T, node: IBlackboardNode): void {
|
||||
let map = this._data.get(node);
|
||||
if (!map) {
|
||||
map = new Map();
|
||||
this._data.set(node, map);
|
||||
}
|
||||
map.set(key, value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取数据
|
||||
* @param key 键名
|
||||
* @param node 节点实例
|
||||
* @returns 值
|
||||
*/
|
||||
public get<T>(key: string, node: IBlackboardNode): T | undefined {
|
||||
return this._data.get(node)?.get(key) as T;
|
||||
}
|
||||
|
||||
/**
|
||||
* 检查是否存在指定键
|
||||
* @param key 键名
|
||||
* @param node 节点实例
|
||||
* @returns 是否存在
|
||||
*/
|
||||
public has(key: string, node: IBlackboardNode): boolean {
|
||||
return this._data.has(node) ? this._data.get(node)?.has(key) || false : false;
|
||||
}
|
||||
|
||||
/**
|
||||
* 删除指定键的数据
|
||||
* @param key 键名
|
||||
* @param node 节点实例
|
||||
* @returns 是否删除成功
|
||||
*/
|
||||
public delete(key: string, node: IBlackboardNode): boolean {
|
||||
if (this.has(key, node)) {
|
||||
this._data.get(node)?.delete(key);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// 全局共享的黑板实例
|
||||
export const globalBlackboard = new Blackboard();
|
||||
@@ -4,7 +4,7 @@ export { BehaviorTree } from "./behaviortree/BehaviorTree";
|
||||
export { Blackboard } from "./behaviortree/Blackboard";
|
||||
export * from "./behaviortree/BTNode/AbstractNodes";
|
||||
export * from "./behaviortree/BTNode/Action";
|
||||
export { BaseNode as Node } from "./behaviortree/BTNode/BaseNode";
|
||||
export { IBTNode } from "./behaviortree/BTNode/BTNode";
|
||||
export * from "./behaviortree/BTNode/Composite";
|
||||
export { Condition } from "./behaviortree/BTNode/Condition";
|
||||
export * from "./behaviortree/BTNode/Decorator";
|
||||
|
||||
Reference in New Issue
Block a user