CocosPlugin/kunpocc-behaviortree
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Author SHA1 Message Date
gongxh
80a2438f6e 更新文档 2025-09-23 16:07:04 +08:00
gongxh
50e29feeb8 行为树节点参数添加复合类型参数，更新demo 2025-09-18 22:56:35 +08:00
gongxh
f60bf869a1 修改内置节点的描述信息 2025-09-18 16:49:59 +08:00
gongxh
eb6934ce6a 重新导出行为树配置 2025-10-06 11:15:33 +08:00
gongxh
e50bb3ba34 修改版本到0.1.0 2025-09-17 22:53:17 +08:00
gongxh
6b9e7dbdda 修改节点装饰器和md文档 2025-09-17 22:47:09 +08:00
gongxh
b20cf3fd41 demo逻辑调整 2025-09-17 21:54:30 +08:00
gongxh
249022a300 处理装饰节点的非子节点关闭时清理子节点的打开状态 2025-10-03 18:49:36 +08:00
gongxh
9a3e7028d2 行为树逻辑调整，删除非记忆的选择和顺序节点 2025-10-03 18:09:47 +08:00
gongxh
63d9855658 添加条件装饰节点 2025-09-17 14:10:19 +08:00
gongxh
b1107805d0 导出 Status 枚举;导出参数类型;添加条件节点基类 2025-10-03 11:43:11 +08:00
gongxh
b582a5d1da 添加demo 2025-09-17 10:25:13 +08:00
gongxh
d7fc1e49ae 添加根据数据创建行为树的方法 2025-09-16 18:12:33 +08:00
gongxh
1c5f9de608 修改节点装饰器 
# Conflicts:
#	package.json
 2025-09-15 14:50:42 +08:00
gongxh
3071611cd0 编译添加复制到demo 2025-09-09 09:45:51 +08:00
gongxh
6ae0b4200a 导出节点元数据 2025-09-08 16:49:40 +08:00
gongxh
6d6162031a 添加装饰器给蓝图编辑器做准备;修改随机节点添加权重支持 2025-09-08 16:10:08 +08:00
gongxh
10ca8fd2a8 fix: 修复黑板数据清理不彻底bug 2025-09-05 16:22:12 +08:00
64 changed files with 8477 additions and 702 deletions
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610
README.md
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@@ -1,77 +1,45 @@
# 行为树 # 行为树
> 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。
[![npm version](https://badge.fury.io/js/kunpocc-behaviortree.svg)](https://badge.fury.io/js/kunpocc-behaviortree) [![npm version](https://badge.fury.io/js/kunpocc-behaviortree.svg)](https://badge.fury.io/js/kunpocc-behaviortree)
[![License: ISC](https://img.shields.io/badge/License-ISC-blue.svg)](https://opensource.org/licenses/ISC) [![License: ISC](https://img.shields.io/badge/License-ISC-blue.svg)](https://opensource.org/licenses/ISC)
一个简洁、高效的 TypeScript 行为树库。
该库无任何依赖，理论上可用于所有js、ts项目。
作者主要使用此库作为游戏AI的实现。
## 什么是行为树
行为树（Behavior Tree）是一种用于描述和控制复杂行为逻辑的数据结构，最初在游戏AI领域大放异彩，现在已经广泛应用于机器人控制、自动化系统等领域。它简单、直观、可扩展，是真正解决实际问题的好工具。
行为树本质上是一个**有向无环图**，用树状结构来组织和执行行为逻辑。每个节点代表一个行为或决策，通过父子关系形成层次化的控制流。
## 特性 ## 特性
- 🎯 **简洁设计**: 零废话，直接解决问题
- 🔧 **类型安全**: 完整 TypeScript 支持 - 🔧 **类型安全**: 完整 TypeScript 支持
- 🚀 **高性能**: 优化的执行机制，最小开销
- 🧠 **记忆节点**: 智能状态记忆，避免重复计算
- 📦 **零依赖**: 纯净实现，无第三方依赖 - 📦 **零依赖**: 纯净实现，无第三方依赖
- 🔄 **状态管理**: 分层黑板系统，数据隔离清晰 - 🔄 **状态管理**: 分层黑板系统，数据隔离清晰
## 快速开始 ## 快速开始
### 安装 #### 安装
```bash ```bash
npm install kunpocc-behaviortree npm install kunpocc-behaviortree
``` ```
### 基础示例 #### 内置demo (基于cocos creator 3.8.6)
```typescript 项目根目录下的 `bt-demo`文件夹
import {
BehaviorTree, Status, Action, Condition,
Sequence, Selector
} from 'kunpocc-behaviortree';
// 定义实体
interface Enemy {
health: number;
hasWeapon: boolean;
position: { x: number, y: number };
}
const enemy: Enemy = { ## GUI编辑器
health: 30,
hasWeapon: true,
position: { x: 100, y: 200 }
};
// 创建行为树 查看详情: [GUI编辑器](./docs/USED.md)
const tree = new BehaviorTree(enemy,
new Selector(
// 生命值低时逃跑
new Sequence(
new Condition((node) => {
const entity = node.getEntity<Enemy>();
return entity.health < 50;
}),
new Action((node) => {
console.log("血量低，逃跑！");
return Status.SUCCESS;
})
),
// 否则攻击
new Action((node) => {
console.log("发起攻击！");
return Status.SUCCESS;
})
)
);
// 执行 ![image](./image/image_tree.png)
tree.tick(); // 输出: "血量低，逃跑！"
```
## 核心概念 ## 核心概念
### 状态类型 #### 状态类型
```typescript ```typescript
enum Status { enum Status {
SUCCESS, // 成功 SUCCESS, // 成功
@@ -80,453 +48,183 @@ enum Status {
} }
``` ```
### 节点类型 #### 节点类型
- **组合节点**: 控制子节点执行逻辑（Sequence、Selector、Parallel等） - **组合节点**: 包含多个子节点 (Composite)
- **装饰节点**: 修饰单个子节点（Inverter、Repeat、Limit等） - **装饰节点**: 有且只有一个子节点（Decorator）
- **叶子节点**: 执行具体逻辑（Action、Condition、Wait等） - **叶子节点**: 不能包含子节点 (LeafNode)
- **条件节点**: 特殊的叶子节点 (Condition)
## 节点详解
## 装饰器
> **自行实现的节点，通过装饰器把数据暴露给行为树编辑器**
##### ClassAction - 行为节点装饰器
##### ClassCondition - 条件节点装饰器
##### ClassComposite - 组合节点装饰器
##### ClassDecorator - 装饰节点装饰器
##### prop - 属性装饰器
## 内置节点
### 组合节点 (Composite) ### 组合节点 (Composite)
#### Sequence - 顺序节点 ##### Selector - 选择节点
按顺序执行子节点，全部成功才成功： * 选择第一个成功的子节点
```typescript
new Sequence(
checkAmmo, // 检查弹药
aim, // 瞄准
shoot // 射击
)
// 只有全部成功才返回SUCCESS
```
#### Selector - 选择节点 ##### Sequence - 顺序节点
选择第一个成功的子节点： * 按顺序执行子节点，执行过程中子节点返回非SUCCESS，则返回子节点状态，全部成功返回SUCCESS
```typescript
new Selector(
tryMeleeAttack, // 尝试近战
tryRangedAttack, // 尝试远程
retreat // 撤退
)
// 任一成功就返回SUCCESS
```
#### Parallel - 并行节点 ##### Parallel - 并行节点
同时执行所有子节点，全部成功才成功： * 依次执行所有子节点（从左到右），全部成功才成功
```typescript * 注意：这里的"并行"是逻辑概念，实际是顺序执行
new Parallel(
moveToTarget, // 移动到目标
playAnimation, // 播放动画
updateUI // 更新UI
)
// 任一失败返回FAILURE，有RUNNING返回RUNNING，全部SUCCESS才返回SUCCESS
```
#### ParallelAnySuccess - 并行任一成功 ##### RandomSelector - 随机选择节点
同时执行所有子节点，任一成功就成功： * 随机选择一个子节点执行
```typescript
new ParallelAnySuccess(
findCover, // 寻找掩体
callForHelp, // 呼叫支援
counterAttack // 反击
)
// 任一SUCCESS就返回SUCCESS
```
#### Memory节点 - 状态记忆 ##### ParallelAnySuccess - 并行任一成功
记忆节点会记住上次执行位置，避免重复执行： * 依次执行所有子节点（从左到右），任一成功就成功
```typescript
// MemSequence - 记忆顺序节点
new MemSequence(
longTask1, // 第一次：SUCCESS，继续下一个
longTask2, // 第一次：RUNNING，记住这个位置； 第二次：从longTask2开始继续执行
longTask3
)
// MemSelector - 记忆选择节点
new MemSelector(
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
)
```
#### RandomSelector - 随机选择
随机选择一个子节点执行：
```typescript
new RandomSelector(
idleBehavior1,
idleBehavior2,
idleBehavior3
)
```
### 装饰节点 (Decorator) ### 装饰节点 (Decorator)
#### Inverter - 反转节点 ##### ConditionDecorator - 条件装饰节点
反转子节点的成功/失败状态：
```typescript
new Inverter(
new Condition((node) => {
const enemy = node.getEntity<Enemy>();
return enemy.isAlive;
})
) // 敌人死亡时返回SUCCESS
```
#### Repeat - 重复节点 * 子类需实现
重复执行子节点指定次数：
```typescript
new Repeat(
new Action((node) => {
console.log("射击");
return Status.SUCCESS;
}),
3 // 射击3次
)
```
#### RepeatUntilSuccess - 重复直到成功 ```typescript
```typescript /**
new RepeatUntilSuccess( * 判断是否满足条件
new Action((node) => { * @returns 是否满足条件
console.log("尝试开门"); */
return Math.random() > 0.5 ? Status.SUCCESS : Status.FAILURE; protected abstract isEligible(): boolean;
}), ```
5 // 最多尝试5次
)
```
#### RepeatUntilFailure - 重复直到失败 ##### Inverter - 反转节点
```typescript * 反转子节点的成功/失败状态
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
)
```
#### LimitTime - 时间限制 ##### 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
)
```
#### LimitTicks - 次数限制 * 规定时间内, 向父节点返回子节点的结果，超时后返回失败
```typescript
new LimitTicks(
new Action((node) => {
console.log("尝试操作");
return Status.SUCCESS;
}),
5 // 最多执行5次
)
```
### 叶子节点 (Leaf) ##### LimitTicks - 次数限制
#### Action - 动作节点 * 执行次数(子节点非RUNNNG状态)内，向父节点返回子节点的结果，超过次数后返回失败
执行自定义逻辑：
```typescript
new Action((node) => {
// 直接获取实体
const target = node.getEntity<Character>();
// 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 ##### Repeat - 重复节点
检查条件： * 重复执行指定次数
```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 ##### RepeatUntilSuccess - 重复直到成功
```typescript
new WaitTime(2.5) // 等待2.5秒
```
#### WaitTicks - 帧数等待 * 设置最大重试次数
```typescript
new WaitTicks(60) // 等待60帧 ##### RepeatUntilFailure - 重复直到失败
```
* 设置最大重试次数
##### WeightDecorator - 权重装饰节点
* 用于随机选择节点的子节点的按权重随机
### 叶子节点 (LeafNode)
##### LeafNode - 叶子节点基类
##### WaitTicks - 次数等待节点
##### WaitTime - 时间等待节点
### 条件节点 (Condition)
##### Condition - 条件节点基类
* 特殊的叶子节点，子类需实现
```typescript
/**
* 判断是否满足条件
* @returns 是否满足条件
*/
protected abstract isEligible(): boolean;
```
## 黑板系统 ## 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： ### 黑板系统的作用
黑板系统（Blackboard System）是行为树中的数据共享中心，类似于传统 AI 系统中的黑板概念。它解决了行为树中节点间数据传递和状态共享的核心问题：
- **数据传递**：在不同节点间传递运行时数据
- **状态管理**：维护游戏对象的状态信息
- **解耦设计**：避免节点间直接依赖，提高代码可维护性
- **上下文感知**：让节点能够感知周围环境和历史状态
### 数据隔离层次
黑板系统采用三层数据隔离设计，形成清晰的数据作用域：
#### 1. 本地数据（Node Level）
- **作用域**：当前节点可见
- **生命周期**：随节点创建和销毁
- **用途**：节点内部状态、临时变量、私有数据
#### 2. 树级数据（Tree Level）
- **作用域**：整棵行为树内所有节点可见
- **生命周期**：随行为树创建和销毁
- **用途**：树内节点间共享的状态、任务进度、策略参数
#### 3. 全局数据（Global Level）
- **作用域**：所有行为树实例可见
- **生命周期**：应用程序生命周期
- **用途**：全局配置、静态数据、跨树共享状态
### 黑板的使用
```typescript ```typescript
// 在节点中使用黑板 import * as BT from "kunpocc-behaviortree";
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 // 设置全局数据 所有行为树实例可见
黑板数据按以下顺序查找： BT.globalBlackboard.set("playerPosition", {x: 100, y: 100});
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 // 在节点中使用黑板数据
Memory节点会创建独立的子黑板，确保状态隔离： export class BTAction extends BT.LeafNode {
```typescript public tick(): BT.Status {
const mem1 = new MemSequence(/* ... */); // 获取全局数据
const mem2 = new MemSequence(/* ... */); const playerPosition = this.getGlobal<{x: number, y: number}>("playerPosition");
// mem1 和 mem2 的记忆状态完全独立 console.log(playerPosition);
```
## 完整示例 // 设置树级数据
this.setRoot("isDead", true);
```typescript // 获取树级数据
import { const isDead = this.getRoot<boolean>("isDead");
BehaviorTree, Status, Action, Condition, console.log(isDead);
Sequence, Selector, MemSelector, Parallel,
Inverter, RepeatUntilSuccess, LimitTime
} from 'kunpocc-behaviortree';
interface Character { // 设置节点数据
health: number; this.set<boolean>("finished", true);
mana: number;
hasWeapon: boolean;
isInCombat: boolean;
position: { x: number, y: number };
}
const character: Character = { // 获取节点数据
health: 80, const finished = this.get<boolean>("finished");
mana: 50, console.log(finished);
hasWeapon: true,
isInCombat: false,
position: { x: 0, y: 0 }
};
// 构建复杂行为树 return BT.Status.SUCCESS;
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"
// 进入战斗状态
character.isInCombat = true;
character.health = 20; // 低血量
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 ## 贡献
欢迎提交 Issue 和 Pull Request。请确保： 欢迎提交 Issue 和 Pull Request。请确保：

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#///////////////////////////
# Cocos Creator 3D Project
#///////////////////////////
library/
temp/
local/
build/
profiles/
extensions/
publish/
#//////////////////////////
# NPM
#//////////////////////////
node_modules/
#//////////////////////////
# VSCode
#//////////////////////////
.vscode/
.creator/
#//////////////////////////
# WebStorm
#//////////////////////////
.idea/
package-lock.json
**/.DS_Store

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# 项目说明
clone项目后，到项目根目录，执行以下命令，安装项目依赖库
```bash
npm i
```
重新用creator打开项目
本项目使用的creator版本为3.8.6

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11
bt-demo/assets/scene/GameEntry.scene.meta Normal file
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"ver": "1.1.50",
"importer": "scene",
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"uuid": "bef93422-3e63-4c0f-a5cf-d926e7360673",
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9
bt-demo/assets/script.meta Normal file
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{
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118
bt-demo/assets/script/BTNode.ts Normal file
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/**
* @Author: Gongxh
* @Date: 2025-09-17
* @Description: 定义一些行为节点
*/
import { sp } from "cc";
import { BT } from "./Header";
@BT.ClassAction("BTAnimation", { name: "播放动画", group: "动画", desc: "通过动画名播放动画，播放完成后返回成功" })
export class BTAnimation extends BT.LeafNode {
@BT.prop({ type: BT.ParamType.string, description: "动画名" })
private _name: string = "";
@BT.prop({ type: BT.ParamType.bool, description: "是否循环" })
private _loop: boolean = false;
private _complete: boolean = false;
protected open(): void {
super.open();
this._complete = false;
console.log("open", this._name, this._loop);
let skeleton = this.getEntity<sp.Skeleton>();
skeleton.setAnimation(0, this._name, this._loop);
if (!this._loop) {
skeleton.setCompleteListener(() => {
this._complete = true;
});
}
}
public tick(): BT.Status {
if (!this._loop && this._complete) {
return BT.Status.SUCCESS;
}
return BT.Status.RUNNING;
}
protected close(): void {
super.close();
console.log("close", this._name, this._loop);
}
}
/** 条件节点 */
@BT.ClassCondition("BTConditionRandom", { name: "随机条件节点", group: "基础条件节点", desc: "随机0-1的值，大于设置值返回成功，否则返回失败" })
export class BTConditionRandom extends BT.Condition {
@BT.prop({ type: BT.ParamType.float, description: "值", defaultValue: 0.5 })
private _value: number = 0.5;
public isEligible(): boolean {
return Math.random() < this._value;
}
}
/************************ 下方是几个编辑器中测试用的节点，删除即可 *************************/
@BT.ClassAction("BTTestNode2", { name: "空行为节点", group: "测试", desc: "测试节点" })
export class BTTestNode2 extends BT.LeafNode {
public tick(): BT.Status {
return BT.Status.SUCCESS;
}
}
@BT.ClassAction("BTTestNode", { name: "嵌套数据测试节点", group: "测试", desc: "测试节点" })
export class BTTestNode extends BT.LeafNode {
@BT.prop({
type: BT.ParamType.object,
properties: {
x: { type: BT.ParamType.int, min: 0 },
y: { type: BT.ParamType.int, min: 0 }
}
})
position: { x: number, y: number };
// 对象数组参数
@BT.prop({
type: BT.ParamType.array,
itemType: BT.ParamType.object,
itemProperties: {
name: { type: BT.ParamType.string },
value: { type: BT.ParamType.int }
}
})
configs: Array<{ name: string, value: number }>;
public tick(): BT.Status {
return BT.Status.SUCCESS;
}
}
/** 条件节点 */
@BT.ClassCondition("BTConditionTest", { name: "测试条件节点", group: "基础条件节点", desc: "" })
export class BTConditionRandomTest extends BT.Condition {
public isEligible(): boolean {
return true;
}
}
/** 条件装饰节点 */
@BT.ClassDecorator("BTCondition", { name: "条件装饰节点", group: "基础装饰节点", desc: "随机0-1的值，大于设置值返回成功，否则返回失败" })
export class BTCondition extends BT.ConditionDecorator {
@BT.prop({ type: BT.ParamType.float, description: "值" })
private _value: number = 0.5;
public isEligible(): boolean {
return Math.random() > this._value;
}
}

9
bt-demo/assets/script/BTNode.ts.meta Normal file
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23
bt-demo/assets/script/GameEntry.ts Normal file
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import { _decorator, Component, JsonAsset, sp } from 'cc';
import { BT } from './Header';
const { ccclass, property, menu } = _decorator;
@ccclass("GameEntry")
@menu("kunpo/GameEntry")
export class GameEntry extends Component {
@property(sp.Skeleton)
private skeleton: sp.Skeleton = null;
@property(JsonAsset)
private btConfig: JsonAsset = null;
private _tree: BT.BehaviorTree<sp.Skeleton> = null;
start(): void {
console.log("btConfig", this.btConfig);
let btTree1: BT.INodeConfig[] = this.btConfig.json["bt-tree1"]
this._tree = BT.createBehaviorTree(btTree1, this.skeleton);
}
protected update(dt: number): void {
this._tree.tick(dt);
}
}

9
bt-demo/assets/script/GameEntry.ts.meta Normal file
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9
bt-demo/assets/script/Header.ts Normal file
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@@ -0,0 +1,9 @@
/**
* @Author: Gongxh
* @Date: 2025-09-17
* @Description: 头文件
*/
import * as BT from "kunpocc-behaviortree";
export { BT };

9
bt-demo/assets/script/Header.ts.meta Normal file
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73
bt-demo/assets/script/Math.ts Normal file
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interface Math {
/**
* 限制值
* @param value 当前值
* @param min 最小值
* @param max 最大值
*/
clampf(value: number, min: number, max: number): number;
/**
* 随机从 min 到 max 的整数(包含min和max)
* @param min
* @param max
*/
rand(min: number, max: number): number;
/**
* 随机从 min 到 max的数
* @param min
* @param max
*/
randRange(min: number, max: number): number;
/**
* 角度转弧度
* @param angle 角度
*/
rad(angle: number): number;
/**
* 弧度转角度
* @param radian 弧度
*/
deg(radian: number): number;
/**
* 数值平滑渐变
* @param num1
* @param num2
* @param elapsedTime
* @param responseTime
*/
smooth(num1: number, num2: number, elapsedTime: number, responseTime: number): number;
}
Math.clampf = function (value: number, min: number, max: number): number {
return Math.min(Math.max(value, min), max);
};
Math.rand = function (min: number, max: number): number {
return Math.floor(Math.random() * (max - min + 1) + min);
};
Math.randRange = function (min: number, max: number): number {
return Math.random() * (max - min) + min;
};
Math.rad = function (angle: number): number {
return (angle * Math.PI) / 180;
};
Math.deg = function (radian: number): number {
return (radian * 180) / Math.PI;
};
Math.smooth = function (num1: number, num2: number, elapsedTime: number, responseTime: number): number {
let out: number = num1;
if (elapsedTime > 0) {
out = out + (num2 - num1) * (elapsedTime / (elapsedTime + responseTime));
}
return out;
};

9
bt-demo/assets/script/Math.ts.meta Normal file
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1
bt-demo/extensions-config/.gitignore vendored Normal file
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local/

337
bt-demo/extensions-config/bt-editor/bt-tree1.json Normal file
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{
"name": "bt-tree2",
"description": "这是一个描述",
"nodes": [
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"className": "Selector",
"name": "选择节点",
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"parameters": {},
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"alias": "根选择节点"
},
{
"id": "1758190139303_t5o7vv3ak",
"className": "BTTestNode",
"name": "嵌套数据测试节点",
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},
"parameters": {
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"_loop": true
},
"children": []
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{
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"alias": "待机动画"
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{
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"name": "顺序节点",
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}

68
bt-demo/extensions-config/bt-editor/bt-tree2.json Normal file
View File

@@ -0,0 +1,68 @@
{
"name": "bt-tree2",
"description": "",
"nodes": [
{
"id": "1758206972710_bhxebhy7o",
"className": "Sequence",
"name": "顺序节点",
"position": {
"x": 80,
"y": -320
},
"parameters": {},
"children": [
"1758090634327_mf36nwkdt"
]
},
{
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"className": "Selector",
"name": "选择节点",
"position": {
"x": -80,
"y": -220
},
"parameters": {},
"children": [
"1758206988178_55b7kk5va"
],
"alias": "是的发放是的发放"
},
{
"id": "1758206988178_55b7kk5va",
"className": "BTAnimation",
"name": "播放动画",
"position": {
"x": -20,
"y": -40
},
"parameters": {
"_name": "",
"_loop": false
},
"children": []
}
],
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}
}

331
bt-demo/extensions-config/bt-editor/bttest.json Normal file
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@@ -0,0 +1,331 @@
{
"name": "bttest",
"description": "死亡顺序节点",
"nodes": [
{
"id": "1758261718850_lh2zeww5x",
"className": "Selector",
"name": "选择节点",
"position": {
"x": -60,
"y": -220
},
"parameters": {},
"children": [
"1758523039812_tjcddh9ze",
"1758253809172_7ug7k3z91",
"1758363111204_lop2a6plc",
"1758523349295_96r7men3n"
],
"alias": "根选择节点"
},
{
"id": "1758253809172_7ug7k3z91",
"className": "Sequence",
"name": "顺序节点",
"position": {
"x": -60,
"y": -120
},
"parameters": {},
"children": [
"1758253982404_6rhda0crn",
"1758363223180_wgl2lftj9"
],
"alias": "战斗顺序节点"
},
{
"id": "1758253982404_6rhda0crn",
"className": "BTConditionTest",
"name": "测试条件节点",
"position": {
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"y": -60
},
"parameters": {},
"children": [],
"alias": "攻击范围内"
},
{
"id": "1758363111204_lop2a6plc",
"className": "Sequence",
"name": "顺序节点",
"position": {
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"y": -120
},
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"children": [
"1758523389760_eimzn4sqi",
"1758523381506_arxf3pn6e"
],
"alias": "巡逻顺序节点"
},
{
"id": "1758363223180_wgl2lftj9",
"className": "Selector",
"name": "选择节点",
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"y": -40
},
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"children": [
"1758371105178_0cdpe0b8s",
"1758371282480_wtl4l8yy4"
],
"alias": "攻击选择"
},
{
"id": "1758371105178_0cdpe0b8s",
"className": "Sequence",
"name": "顺序节点",
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"y": 60
},
"parameters": {},
"children": [
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"1758371186379_nl05q6e4w"
],
"alias": "技能攻击"
},
{
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"className": "BTConditionTest",
"name": "测试条件节点",
"position": {
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},
"parameters": {},
"children": [],
"alias": "可以释放技能"
},
{
"id": "1758371186379_nl05q6e4w",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": 20,
"y": 140
},
"parameters": {},
"children": [],
"alias": "释放技能"
},
{
"id": "1758371282480_wtl4l8yy4",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": 160,
"y": 60
},
"parameters": {},
"children": [],
"alias": "普通攻击"
},
{
"id": "1758523039812_tjcddh9ze",
"className": "Sequence",
"name": "顺序节点",
"position": {
"x": -540,
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},
"parameters": {},
"children": [
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"1758523095101_kc0taam2a",
"1758523118932_tv2q9zeij"
],
"alias": "死亡顺序节点"
},
{
"id": "1758523078993_5vt56w1fv",
"className": "BTConditionTest",
"name": "测试条件节点",
"position": {
"x": -680,
"y": -60
},
"parameters": {},
"children": [],
"alias": "血量小于0"
},
{
"id": "1758523095101_kc0taam2a",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": -540,
"y": -40
},
"parameters": {},
"children": [],
"alias": "播放死亡动画"
},
{
"id": "1758523118932_tv2q9zeij",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": -400,
"y": -40
},
"parameters": {},
"children": [],
"alias": "删除实体"
},
{
"id": "1758523349295_96r7men3n",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": 580,
"y": -120
},
"parameters": {},
"children": [],
"alias": "随便走走"
},
{
"id": "1758523381506_arxf3pn6e",
"className": "BTTestNode2",
"name": "空行为节点",
"position": {
"x": 440,
"y": -40
},
"parameters": {},
"children": [],
"alias": "追击敌人"
},
{
"id": "1758523389760_eimzn4sqi",
"className": "BTConditionTest",
"name": "测试条件节点",
"position": {
"x": 300,
"y": -60
},
"parameters": {},
"children": [],
"alias": "发现敌人"
}
],
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}

11
bt-demo/package.json Executable file
View File

@@ -0,0 +1,11 @@
{
"name": "kunpocreator",
"uuid": "f5d24040-9cd4-4a5a-8559-38bf55e621f7",
"creator": {
"version": "3.8.6"
},
"dependencies": {
"kunpocc-behaviortree": "^0.1.1",
"ts-node": "^10.9.2"
}
}

80
bt-demo/settings/v2/packages/builder.json Normal file
View File

@@ -0,0 +1,80 @@
{
"__version__": "1.3.9",
"bundleConfig": {
"custom": {
"default": {
"displayName": "i18n:builder.asset_bundle.defaultConfig",
"configs": {
"native": {
"preferredOptions": {
"isRemote": false,
"compressionType": "merge_all_json"
}
},
"web": {
"preferredOptions": {
"isRemote": false,
"compressionType": "merge_dep"
},
"fallbackOptions": {
"compressionType": "merge_dep"
}
},
"miniGame": {
"fallbackOptions": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"configMode": "fallback",
"overwriteSettings": {
"alipay-mini-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"bytedance-mini-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"fb-instant-games": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"huawei-quick-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"migu-mini-game": {
"isRemote": false,
"compressionType": "merge_all_json"
},
"oppo-mini-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"taobao-mini-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"vivo-mini-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"wechatgame": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"xiaomi-quick-game": {
"isRemote": true,
"compressionType": "merge_all_json"
},
"taobao-creative-app": {
"isRemote": true,
"compressionType": "merge_all_json"
}
}
}
}
}
}
}
}

23
bt-demo/settings/v2/packages/cocos-service.json Normal file
View File

@@ -0,0 +1,23 @@
{
"__version__": "3.0.9",
"game": {
"name": "未知游戏",
"app_id": "UNKNOW",
"c_id": "0"
},
"appConfigMaps": [
{
"app_id": "UNKNOW",
"config_id": "8c18cb"
}
],
"configs": [
{
"app_id": "UNKNOW",
"config_id": "8c18cb",
"config_name": "Default",
"config_remarks": "",
"services": []
}
]
}

3
bt-demo/settings/v2/packages/device.json Normal file
View File

@@ -0,0 +1,3 @@
{
"__version__": "1.0.1"
}

451
bt-demo/settings/v2/packages/engine.json Normal file
View File

@@ -0,0 +1,451 @@
{
"__version__": "1.0.12",
"modules": {
"graphics": {
"pipeline": "legacy-pipeline"
},
"configs": {
"migrationsConfig": {
"cache": {
"base": {
"_value": true
},
"gfx-webgl": {
"_value": true
},
"gfx-webgl2": {
"_value": true
},
"gfx-webgpu": {
"_value": false
},
"animation": {
"_value": true
},
"skeletal-animation": {
"_value": true
},
"3d": {
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},
"meshopt": {
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},
"2d": {
"_value": true
},
"xr": {
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},
"rich-text": {
"_value": true
},
"mask": {
"_value": true
},
"graphics": {
"_value": true
},
"ui-skew": {
"_value": false
},
"affine-transform": {
"_value": true
},
"ui": {
"_value": true
},
"particle": {
"_value": false
},
"physics": {
"_value": false,
"_option": "physics-ammo"
},
"physics-ammo": {
"_value": false,
"_flags": {
"LOAD_BULLET_MANUALLY": false
}
},
"physics-cannon": {
"_value": false
},
"physics-physx": {
"_value": false,
"_flags": {
"LOAD_PHYSX_MANUALLY": false
}
},
"physics-builtin": {
"_value": false
},
"physics-2d": {
"_value": true,
"_option": "physics-2d-builtin"
},
"physics-2d-box2d": {
"_value": false
},
"physics-2d-box2d-wasm": {
"_value": false,
"_flags": {
"LOAD_BOX2D_MANUALLY": false
}
},
"physics-2d-builtin": {
"_value": false
},
"physics-2d-box2d-jsb": {
"_value": false
},
"intersection-2d": {
"_value": true
},
"primitive": {
"_value": false
},
"profiler": {
"_value": true
},
"occlusion-query": {
"_value": false
},
"geometry-renderer": {
"_value": false
},
"debug-renderer": {
"_value": false
},
"particle-2d": {
"_value": true
},
"audio": {
"_value": true
},
"video": {
"_value": true
},
"webview": {
"_value": true
},
"tween": {
"_value": true
},
"websocket": {
"_value": true
},
"websocket-server": {
"_value": false
},
"terrain": {
"_value": false
},
"light-probe": {
"_value": false
},
"tiled-map": {
"_value": false
},
"vendor-google": {
"_value": false
},
"spine": {
"_value": true,
"_option": "spine-3.8"
},
"spine-3.8": {
"_value": true,
"_flags": {
"LOAD_SPINE_MANUALLY": false
}
},
"spine-4.2": {
"_value": false,
"_flags": {
"LOAD_SPINE_MANUALLY": false
}
},
"dragon-bones": {
"_value": false
},
"marionette": {
"_value": true
},
"procedural-animation": {
"_value": true
},
"custom-pipeline-post-process": {
"_value": false
},
"render-pipeline": {
"_value": true,
"_option": "legacy-pipeline"
},
"custom-pipeline": {
"_value": true
},
"legacy-pipeline": {
"_value": false
}
},
"flags": {
"LOAD_SPINE_MANUALLY": false
},
"name": "迁移生成的配置",
"includeModules": [
"2d",
"affine-transform",
"animation",
"audio",
"base",
"gfx-webgl",
"gfx-webgl2",
"graphics",
"intersection-2d",
"legacy-pipeline",
"marionette",
"mask",
"particle-2d",
"physics-2d-builtin",
"procedural-animation",
"profiler",
"rich-text",
"skeletal-animation",
"spine-3.8",
"tween",
"ui",
"video",
"websocket",
"webview"
],
"noDeprecatedFeatures": {
"value": true,
"version": "<=3.8.0"
}
},
"defaultConfig": {
"name": "默认配置",
"cache": {
"base": {
"_value": true
},
"gfx-webgl": {
"_value": true
},
"gfx-webgl2": {
"_value": false
},
"gfx-webgpu": {
"_value": false
},
"animation": {
"_value": true
},
"skeletal-animation": {
"_value": true
},
"3d": {
"_value": false
},
"meshopt": {
"_value": false
},
"2d": {
"_value": true
},
"xr": {
"_value": false
},
"rich-text": {
"_value": true
},
"mask": {
"_value": true
},
"graphics": {
"_value": true
},
"ui-skew": {
"_value": false
},
"affine-transform": {
"_value": true
},
"ui": {
"_value": true
},
"particle": {
"_value": false
},
"physics": {
"_value": false,
"_option": "physics-ammo"
},
"physics-ammo": {
"_value": true,
"_flags": {
"LOAD_BULLET_MANUALLY": false
}
},
"physics-cannon": {
"_value": false
},
"physics-physx": {
"_value": false,
"_flags": {
"LOAD_PHYSX_MANUALLY": false
}
},
"physics-builtin": {
"_value": false
},
"physics-2d": {
"_value": true,
"_option": "physics-2d-builtin"
},
"physics-2d-box2d": {
"_value": true
},
"physics-2d-box2d-wasm": {
"_value": false,
"_flags": {
"LOAD_BOX2D_MANUALLY": false
}
},
"physics-2d-builtin": {
"_value": false
},
"physics-2d-box2d-jsb": {
"_value": false
},
"intersection-2d": {
"_value": true
},
"primitive": {
"_value": false
},
"profiler": {
"_value": true
},
"occlusion-query": {
"_value": false
},
"geometry-renderer": {
"_value": false
},
"debug-renderer": {
"_value": false
},
"particle-2d": {
"_value": true
},
"audio": {
"_value": true
},
"video": {
"_value": true
},
"webview": {
"_value": true
},
"tween": {
"_value": true
},
"websocket": {
"_value": true
},
"websocket-server": {
"_value": false
},
"terrain": {
"_value": false
},
"light-probe": {
"_value": false
},
"tiled-map": {
"_value": false
},
"vendor-google": {
"_value": false
},
"spine": {
"_value": true,
"_option": "spine-3.8"
},
"spine-3.8": {
"_value": true,
"_flags": {
"LOAD_SPINE_MANUALLY": false
}
},
"spine-4.2": {
"_value": false,
"_flags": {
"LOAD_SPINE_MANUALLY": false
}
},
"dragon-bones": {
"_value": false
},
"marionette": {
"_value": true
},
"procedural-animation": {
"_value": true
},
"custom-pipeline-post-process": {
"_value": false
},
"render-pipeline": {
"_value": true,
"_option": "custom-pipeline"
},
"custom-pipeline": {
"_value": true
},
"legacy-pipeline": {
"_value": false
}
},
"flags": {
"LOAD_SPINE_MANUALLY": false
},
"includeModules": [
"2d",
"affine-transform",
"animation",
"audio",
"base",
"custom-pipeline",
"gfx-webgl",
"graphics",
"intersection-2d",
"marionette",
"mask",
"particle-2d",
"physics-2d-builtin",
"procedural-animation",
"profiler",
"rich-text",
"skeletal-animation",
"spine-3.8",
"tween",
"ui",
"video",
"websocket",
"webview"
],
"noDeprecatedFeatures": {
"value": true,
"version": "<=3.8.0"
}
}
},
"globalConfigKey": "defaultConfig"
},
"macroConfig": {
"BATCHER2D_MEM_INCREMENT": 288
}
}

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{
"__version__": "1.0.1",
"information": {
"customSplash": {
"id": "customSplash",
"label": "customSplash",
"enable": true,
"customSplash": {
"complete": false,
"form": "https://creator-api.cocos.com/api/form/show?sid=39d299030f31eb42b71bc53d67bdc54e"
}
},
"removeSplash": {
"id": "removeSplash",
"label": "removeSplash",
"enable": true,
"removeSplash": {
"complete": false,
"form": "https://creator-api.cocos.com/api/form/show?sid=39d299030f31eb42b71bc53d67bdc54e"
}
}
}
}

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{
"__version__": "1.0.4"
}

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{
"__version__": "1.0.6",
"general": {
"designResolution": {
"height": 1334,
"width": 750,
"fitHeight": true
},
"highQuality": false
},
"custom_joint_texture_layouts": [],
"script": {
"preserveSymlinks": true
},
"layer": [
{
"name": "Window",
"value": 1
},
{
"name": "Game",
"value": 2
},
{
"name": "Graphics",
"value": 4
}
]
}

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{
"__version__": "1.0.3",
"current-scene": "bef93422-3e63-4c0f-a5cf-d926e7360673"
}

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{
/* Base configuration. Do not edit this field. */
"extends": "./temp/tsconfig.cocos.json",
/* Add your custom configuration here. */
"compilerOptions": {
"strict": false,
"module": "ES6",
"target": "ES6"
}
}

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# 行为树使用指南
![image](../image/bt-gui.png)
本指南将详细介绍如何使用 kunpocc-behaviortree 库和行为树编辑器。
## 一、开发环境
- 引擎版本：Cocos Creator 3.8.6
- 编程语言：TypeScript
- 支持引擎版本：Cocos Creator 3.7+
## 二、安装
1. 安装 kunpocc-behaviortree
```
npm install kunpocc-behaviortree
```
2. 下载扩展插件(bt-editor)
3. 项目脚本中引入库文件
```typescript
// 比如在项目代码目录下添加一个文件 header.ts
// 写上如下代码
import * as BT from "kunpocc-behaviortree";
export { BT };
```
4. 重启creator
5. 启用插件
* 在 Cocos Creator 中选择 `扩展` -> `扩展管理器` -> `已安装扩展`
* 找到 `bt-editor` 并启用
6. 打开扩展面板
* 在 Cocos Creator 顶部菜单栏中选择 `kunpo` -> `行为树编辑器`
7. 创建第一颗行为树 (见下方 `导出文件使用` 部分)
## 三、自定义节点 (扩展编辑器节点池)
### 节点装饰器
装饰器系统是连接自定义节点和编辑器的桥梁
只有通过装饰器装饰的节点，才能在编辑器中的节点池中显示
#### @ClassAction - 行为节点装饰器
用于装饰执行具体逻辑的叶子节点。
```typescript
@BT.ClassAction("NodeName", { name: "显示名称", group: "节点分组", desc: "节点描述" })
export class MyActionNode extends BT.LeafNode {
public tick(): BT.Status {
// 执行逻辑
return BT.Status.SUCCESS;
}
}
```
#### @ClassCondition - 条件节点装饰器
用于装饰判断条件的节点。
```typescript
@BT.ClassCondition("ConditionName", { name: "条件名称", group: "条件分组", desc: "节点描述" })
export class MyCondition extends BT.Condition {
protected isEligible(): boolean {
// 返回判断结果
return true;
}
}
```
#### @ClassComposite - 组合节点装饰器
用于装饰控制子节点执行流程的组合节点。
```typescript
@BT.ClassComposite("CompositeName", { name: "组合名称", group: "组合分组", desc: "节点描述" })
export class MyComposite extends BT.Composite {
public tick(dt: number): BT.Status {
// 控制子节点执行逻辑
for (const child of this.children) {
const status = child._execute(dt);
if (status !== BT.Status.SUCCESS) {
return status;
}
}
return BT.Status.SUCCESS;
}
}
```
#### @ClassDecorator - 装饰节点装饰器
用于装饰修改单个子节点行为的装饰节点。
```typescript
@BT.ClassDecorator("DecoratorName", { name: "装饰名称", group: "装饰分组", desc: "节点描述" })
export class MyDecorator extends BT.Decorator {
public tick(dt: number): BT.Status {
// 装饰逻辑，修改子节点行为
return this.children[0]._execute(dt);
}
}
```
### 节点属性装饰器 (扩展节点参数)
为节点添加可在编辑器中配置的参数。
```typescript
@BT.ClassAction("NodeName", { name: "显示名称", group: "节点分组", desc: "节点描述" })
export class MyNode extends BT.LeafNode {
// 基础类型参数
@BT.prop({ type: BT.ParamType.string, description: "动画名称", defaultValue: "idle" })
private animationName: string = "idle";
@BT.prop({ type: BT.ParamType.float, description: "速度", min: 0, max: 10, step: 0.1, defaultValue: 1.0 })
private speed: number = 1.0;
@BT.prop({ type: BT.ParamType.bool, description: "是否循环" })
private loop: boolean = false;
// 对象参数
@BT.prop({
type: BT.ParamType.object,
description: "位置信息",
properties: {
x: { type: BT.ParamType.int, min: 0 },
y: { type: BT.ParamType.int, min: 0 }
}
})
private position: { x: number, y: number };
// 数组参数
@BT.prop({
type: BT.ParamType.array,
description: "巡逻点列表",
itemType: BT.ParamType.object,
itemProperties: {
x: { type: BT.ParamType.float },
y: { type: BT.ParamType.float },
name: { type: BT.ParamType.string }
}
})
private patrolPoints: Array<{ x: number, y: number, name: string }>;
}
```
#### 参数类型详解
| 类型 | BT.ParamType | 描述 | 支持属性 |
|------|--------------|------|----------|
| 整数 | `int` | 整数类型 | `min`, `max`, `step`, `defaultValue` |
| 浮点数 | `float` | 浮点数类型 | `min`, `max`, `step`, `defaultValue` |
| 字符串 | `string` | 字符串类型 | `defaultValue` |
| 布尔 | `bool` | 布尔类型 | `defaultValue` |
| 对象 | `object` | 对象类型 | `properties` |
| 数组 | `array` | 数组类型 | `itemType`, `itemProperties` |
## 四、编辑器介绍
#### 快捷键
- **打开编辑器**: `Ctrl+Shift+K` (Windows) / `Cmd+Shift+K` (Mac)
- **导出配置**: `Ctrl+Shift+L` (Windows) / `Cmd+Shift+L` (Mac)
#### 菜单访问
在 Cocos Creator 顶部菜单栏中选择 `kunpo` -> `行为树编辑器`
### 编辑器功能介绍
行为树编辑器提供了一个直观的可视化界面，让你可以轻松创建和管理复杂的行为树结构。
#### 核心功能
##### 可视化节点编辑
- **拖拽创建**：从左侧节点库拖拽节点到画布中
- **分组管理**：节点按功能分组显示，便于查找
- **实时预览**：节点显示类型图标和描述信息
##### 属性参数配置
- **智能表单**：根据`@prop`装饰器自动生成配置界面
- **类型校验**：支持数字、字符串、布尔值、对象、数组等类型
- **默认值**：自动填充装饰器中定义的默认值
- **约束验证**：支持最小值、最大值、步长等约束条件
##### 连接线管理
- **可视连接**：通过拖拽连接点创建父子关系
- **自动布局**：连接线自动避让，保持界面整洁
- **连接验证**：防止创建非法的节点连接关系
##### 画布操作
- **缩放平移**：鼠标滚轮缩放，拖拽平移画布
- **多选操作**：支持框选多个节点进行批量操作
##### 节点管理
- **别名设置**：为节点设置有意义的别名，便于理解
- **复制粘贴**：快速复制节点及其子树结构
- **删除操作**：删除节点时自动清理相关连接
##### 编辑器界面布局
```
┌─────────────────────────────────────────────────────────────────────────────┐
│ 顶部工具栏 │
│ [设置导出路径] [过滤行为树] [选择行为树▼] [导出配置] │
├─────────────┬─────────────────────────────────────────────┬─────────────────┤
│ │ │ │
│ 节点库 │ │ 右侧面板 │
│ (左侧) │ │ │
│ │ ┌───────────────────────────────────────┐ │ ┌──────────────┐│
│ • 行为节点 │ │ 画布工具栏 │ │ │ 行为树名称 │ │
│ • 条件节点 │ │ [缩放] [重置] [清空] [复制] [粘贴] │ │ │ 行为树描述 │ │
│ • 组合节点 │ └─────────────────────────────────────────┘ │ └──────────────┘ │
│ • 装饰节点 │ │ │
│ • 内置节点 │ ┌─────────────────────────────────────────┐ │ ┌──────────────┐ │
│ │ │ │ │ │ │ │
│ │ │ 画布操作区 │ │ │ 节点参数区 │ │
│ │ │ │ │ │ │ │
│ │ │ ┌─────┐ │ │ │ • 节点名称 │ │
│ │ │ │根节点│ │ │ │ • 参数配置 │ │
│ │ │ └──┬──┘ │ │ │ • 描述信息 │ │
│ │ │ │ │ │ │ • 别名设置 │ │
│ │ │ ┌──▼──┐ ┌──────┐ │ │ │ │ │
│ │ │ │子节点│ │子节点│ │ │ └──────────────┘ │
│ │ │ └─────┘ └──────┘ │ │ │
│ │ │ │ │ ┌──────────────┐ │
│ │ │ │ │ │ [删除行为树] │ │
│ │ └────────────────────────────────────────┘ │ │ [创建新树] │ │
│ │ │ └──────────────┘ │
└────────────┴──────────────────────────────────────────────┴──────────────────┘
```
### 导出文件使用
#### 在项目中使用导出配置
##### 1. 配置文件格式
```json
{
"boss1": [
{
"id": "1758206972710_bhxebhy7o",
"className": "Sequence",
"parameters": {},
"children": [
"1758090634327_mf36nwkdt"
]
},
{
"id": "1758090634327_mf36nwkdt",
"className": "Selector",
"parameters": {},
"children": [
"1758206988178_55b7kk5va"
]
},
{
"id": "1758206988178_55b7kk5va",
"className": "BTAnimation",
"parameters": {
"_name": "",
"_loop": false
},
"children": []
}
]
}
```
##### 2. 配置文件放入项目资源目录
将从编辑器导出的JSON文件放入项目资源目录
自行加载配置数据
```
assets/
├── resources/
│ └── config/
│ ├── bt_config.json // 所有行为树的信息都在这个里边
```
##### 3. 创建行为树实例
* BT.createBehaviorTree(config["boss1"], entity);
* 函数详解
```typescript
// 工厂函数签名
function createBehaviorTree<T>(config: INodeConfig[], entity: T): BehaviorTree<T>
// 内部工作流程：
// 1. 验证配置格式
// 2. 创建节点映射表 (id -> config)
// 3. 递归创建节点树
// - 通过className查找构造函数
// - 根据节点类型选择创建方式
// - 设置节点参数
// - 建立父子关系
// 4. 返回行为树实例
```
## 五、更新声明
## 0.0.1 (2025-09-23)
- 首版本
## 六、联系作者
* 邮箱: gong.xinhai@163.com
* 微信: G0900901
* 扫码加微信:
## 七、版权声明
此插件源代码可商业使用
商业授权范围仅限于在您自行开发的游戏作品中使用
不得进行任何形式的转售、租赁、传播等
## 八、购买须知
本产品为付费虚拟商品，一经购买成功概不退款，请在购买前谨慎确认购买内容。

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{ {
"name": "kunpocc-behaviortree", "name": "kunpocc-behaviortree",
"version": "0.0.5", "version": "0.1.2",
"description": "行为树", "description": "行为树",
"main": "./dist/kunpocc-behaviortree.cjs", "main": "./dist/kunpocc-behaviortree.cjs",
"module": "./dist/kunpocc-behaviortree.mjs", "module": "./dist/kunpocc-behaviortree.mjs",
@@ -19,7 +19,8 @@
}, },
"scripts": { "scripts": {
"clean": "rm -rf dist", "clean": "rm -rf dist",
"build": "npm run clean && rollup -c rollup.config.mjs" "copy": "cp -r dist/* ./bt-demo/node_modules/kunpocc-behaviortree/dist/",
"build": "npm run clean && rollup -c rollup.config.mjs && npm run copy"
}, },
"files": [ "files": [
"dist/kunpocc-behaviortree.cjs", "dist/kunpocc-behaviortree.cjs",
@@ -50,4 +51,4 @@
"ts-node": "^10.9.2", "ts-node": "^10.9.2",
"tslib": "^2.6.2" "tslib": "^2.6.2"
} }
} }

6
rollup.config.mjs
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@@ -5,7 +5,7 @@ import dts from 'rollup-plugin-dts';
export default [ export default [
{ {
// 生成未压缩的 JS 文件 // 生成未压缩的 JS 文件
input: 'src/kunpocc-behaviortree.ts', input: 'src/index.ts',
external: ['cc', 'fairygui-cc'], external: ['cc', 'fairygui-cc'],
output: [ output: [
{ {
@@ -38,7 +38,7 @@ export default [
}, },
{ {
// 生成压缩的 JS 文件 // 生成压缩的 JS 文件
input: 'src/kunpocc-behaviortree.ts', input: 'src/index.ts',
external: ['cc', 'fairygui-cc'], external: ['cc', 'fairygui-cc'],
output: [ output: [
{ {
@@ -72,7 +72,7 @@ export default [
}, },
{ {
// 生成声明文件的配置 // 生成声明文件的配置
input: 'src/kunpocc-behaviortree.ts', input: 'src/index.ts',
output: { output: {
file: 'dist/kunpocc-behaviortree.d.ts', file: 'dist/kunpocc-behaviortree.d.ts',
format: 'es' format: 'es'

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/**
* 行为树装饰器和元数据管理
* 用于编辑器显示和配置节点信息
*/
export namespace BT {
/**
* 参数类型枚举
*/
export enum ParamType {
int = "number",
float = "float",
string = "string",
bool = "boolean",
object = "object",
array = "array"
}
/**
* 节点类型枚举
*/
export enum Type {
/** 行为节点 */
Action = "action",
/** 条件节点 */
Condition = "condition",
/** 组合节点 */
Composite = "composite",
/** 装饰节点 */
Decorator = "decorator"
}
/**
* 参数描述接口
*/
export interface ParameterInfo {
/** 参数名称 */
name: string;
/** 参数类型 */
type: ParamType;
/** 参数描述 */
description?: string;
/** 默认值 */
defaultValue?: any;
/** 步进 针对数字类型的变更的最小单位 */
step?: number,
/** 最小值 */
min?: number,
/** 最大值 */
max?: number,
/** 对象属性定义 - 仅当type为object时使用 */
properties?: { [key: string]: Omit<ParameterInfo, "name"> };
/** 数组元素类型 - 仅当type为array时使用 */
itemType?: ParamType;
/** 数组元素对象定义 - 仅当type为array且itemType为object时使用 */
itemProperties?: { [key: string]: Omit<ParameterInfo, "name"> };
}
/**
* 节点元数据接口
*/
export interface NodeMetadata {
/** 节点名称 */
name: string;
/** 节点类名 */
className: string;
/** 节点分组 */
group: string;
/** 节点类型 */
type: Type;
/** 节点描述 */
description: string;
/** 参数列表 */
parameters: ParameterInfo[];
/** 最大子节点数量：0=不允许子节点，1=最多一个子节点，-1=无限制 */
maxChildren: number;
}
/**
* 注册节点名 到 节点构造函数的映射
*/
const NODE_NAME_TO_CONSTRUCTOR_MAP = new Map<string, any>();
/**
* 节点元数据存储
*/
const NODE_METADATA_MAP = new Map<any, NodeMetadata>();
/**
* 节点参数存储
*/
const NODE_PARAMETERS_MAP = new Map<any, ParameterInfo[]>();
/**
* 节点属性装饰器
*/
export function prop(paramInfo: Omit<ParameterInfo, "name">) {
return function (target: any, propertyKey: string) {
const ctor = target.constructor;
if (!NODE_PARAMETERS_MAP.has(ctor)) {
NODE_PARAMETERS_MAP.set(ctor, []);
}
const parameters = NODE_PARAMETERS_MAP.get(ctor)!;
parameters.push({
...paramInfo,
name: propertyKey
});
};
}
/**
* 行为节点装饰器
* @param name 节点的类名 编辑器导出数据中的节点名字
* @param info.group 节点在编辑器中的分组
* @param info.name 节点在编辑器中的中文名
* @param info.desc 节点描述信息
*/
export function ClassAction(name: string, info?: { group?: string, name?: string, desc?: string }) {
return function <T extends new (...args: any[]) => any>(constructor: T) {
const parameters = NODE_PARAMETERS_MAP.get(constructor) || [];
const fullMetadata: NodeMetadata = {
className: name,
group: info?.group || '未分组',
name: info?.name || '',
description: info?.desc || '',
type: Type.Action,
maxChildren: 0,
parameters
};
NODE_METADATA_MAP.set(constructor, fullMetadata);
NODE_NAME_TO_CONSTRUCTOR_MAP.set(name, constructor);
return constructor;
};
}
/**
* 条件节点装饰器
*/
export function ClassCondition(name: string, info?: { group?: string, name?: string, desc?: string }) {
return function <T extends new (...args: any[]) => any>(constructor: T) {
const parameters = NODE_PARAMETERS_MAP.get(constructor) || [];
const fullMetadata: NodeMetadata = {
className: name,
group: info?.group || '未分组',
name: info?.name || '',
description: info?.desc || '',
type: Type.Condition,
maxChildren: 0,
parameters
};
NODE_METADATA_MAP.set(constructor, fullMetadata);
NODE_NAME_TO_CONSTRUCTOR_MAP.set(name, constructor);
return constructor;
};
}
/**
* 组合节点装饰器
*/
export function ClassComposite(name: string, info?: { group?: string, name?: string, desc?: string }) {
return function <T extends new (...args: any[]) => any>(constructor: T) {
const parameters = NODE_PARAMETERS_MAP.get(constructor) || [];
const fullMetadata: NodeMetadata = {
className: name,
group: info?.group || '未分组',
name: info?.name || '',
description: info?.desc || '',
type: Type.Composite,
maxChildren: -1,
parameters
};
NODE_METADATA_MAP.set(constructor, fullMetadata);
NODE_NAME_TO_CONSTRUCTOR_MAP.set(name, constructor);
return constructor;
};
}
/**
* 装饰节点装饰器
*/
export function ClassDecorator(name: string, info?: { group?: string, name?: string, desc?: string }) {
return function <T extends new (...args: any[]) => any>(constructor: T) {
const parameters = NODE_PARAMETERS_MAP.get(constructor) || [];
const fullMetadata: NodeMetadata = {
className: name,
group: info?.group || '未分组',
name: info?.name || '',
description: info?.desc || '',
type: Type.Decorator,
maxChildren: 1,
parameters
};
NODE_METADATA_MAP.set(constructor, fullMetadata);
NODE_NAME_TO_CONSTRUCTOR_MAP.set(name, constructor);
return constructor;
};
}
/**
* 获取所有节点元数据
*/
export function getAllNodeMetadata(): Map<any, NodeMetadata> {
return new Map(NODE_METADATA_MAP);
}
/**
* 通过节点名 获取 节点构造函数
*/
export function getNodeConstructor(name: string): any {
return NODE_NAME_TO_CONSTRUCTOR_MAP.get(name);
}
/**
* 通过节点构造函数 找到节点元数据
*/
export function getNodeMetadata(ctor: any): NodeMetadata {
return NODE_METADATA_MAP.get(ctor)!;
}
}
let _global = globalThis || window || global;
(_global as any)["getKunpoBTNodeMaps"] = function () {
return BT.getAllNodeMetadata();
};

73
src/behaviortree/BTNode/AbstractNodes.ts
View File

@@ -1,73 +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 readonly _max: number;
protected _value: number = 0;
constructor(child: IBTNode, max: number = 1) {
super(child);
this._max = max;
}
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);
}
}

34
src/behaviortree/BTNode/Action.ts
View File

@@ -1,16 +1,14 @@
import { BT } from "../BT";
import { Status } from "../header"; import { Status } from "../header";
import { LeafNode } from "./AbstractNodes"; import { BTNode } from "./BTNode";
import { IBTNode } from "./BTNode";
export class Action extends LeafNode { /**
protected _func: (node: IBTNode) => Status; * 叶子节点 基类
constructor(func: (node: IBTNode) => Status) { * 没有子节点
super(); */
this._func = func; export abstract class LeafNode extends BTNode {
} constructor() {
super([]);
public tick(): Status {
return this._func?.(this) ?? Status.SUCCESS;
} }
} }
@@ -19,7 +17,9 @@ export class Action extends LeafNode {
* 次数内，返回RUNNING * 次数内，返回RUNNING
* 超次，返回SUCCESS * 超次，返回SUCCESS
*/ */
@BT.ClassAction("WaitTicks", { name: "次数等待节点", group: "基础行为节点", desc: "指定次数后返回成功, 否则返回执行中" })
export class WaitTicks extends LeafNode { export class WaitTicks extends LeafNode {
@BT.prop({ type: BT.ParamType.int, description: "最大等待次数", defaultValue: 0, step: 1 })
private _max: number; private _max: number;
private _value: number; private _value: number;
@@ -46,22 +46,24 @@ export class WaitTicks extends LeafNode {
* 时间等待节点 时间(秒) * 时间等待节点 时间(秒)
* 时间到后返回SUCCESS，否则返回RUNNING * 时间到后返回SUCCESS，否则返回RUNNING
*/ */
@BT.ClassAction("WaitTime", { name: "时间等待节点", group: "基础行为节点", desc: "等待指定时间(秒)后返回成功, 否则返回执行中" })
export class WaitTime extends LeafNode { export class WaitTime extends LeafNode {
@BT.prop({ type: BT.ParamType.float, description: "等待时间(秒)", defaultValue: 0, step: 0.01 })
private _max: number; private _max: number;
private _value: number = 0; private _value: number = 0;
constructor(duration: number = 0) { constructor(duration: number = 0) {
super(); super();
this._max = duration * 1000; this._max = duration;
} }
protected override open(): void { protected override open(): void {
super.open(); super.open();
this._value = new Date().getTime(); this._value = 0;
} }
public tick(): Status { public tick(dt: number): Status {
const currTime = new Date().getTime(); this._value += dt;
if (currTime - this._value >= this._max) { if (this._value >= this._max) {
return Status.SUCCESS; return Status.SUCCESS;
} }
return Status.RUNNING; return Status.RUNNING;

29
src/behaviortree/BTNode/BTNode.ts
View File

@@ -15,8 +15,8 @@ export interface IBTNode {
/** /**
* @internal * @internal
*/ */
_execute(): Status; _execute(dt: number): Status;
tick(): 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 * 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 * @internal
*/ */
public _execute(): Status { public _execute(dt: number): Status {
// 首次执行时初始化 // 首次执行时初始化
const isRunning = this._local.openNodes.get(this) || false; const isRunning = this._local.openNodes.get(this) || false;
if (!isRunning) { if (!isRunning) {
@@ -76,14 +76,13 @@ export abstract class BTNode implements IBTNode {
} }
// 执行核心逻辑 // 执行核心逻辑
const status = this.tick(); const status = this.tick(dt);
// 执行完成时清理 // 执行完成时清理
if (status !== Status.RUNNING) { if (status !== Status.RUNNING) {
this._local.openNodes.delete(this); this._local.openNodes.delete(this);
this.close(); this.close();
} }
return status; return status;
} }
@@ -92,19 +91,25 @@ export abstract class BTNode implements IBTNode {
* 子类重写此方法进行状态初始化 * 子类重写此方法进行状态初始化
*/ */
protected open(): void { } 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();
}
}
/** /**
* 执行节点逻辑 * 执行节点逻辑
* 子类必须实现此方法 * 子类必须实现此方法
* @returns 执行状态 * @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）
* 子类重写此方法进行状态清理
*/
protected close(): void { }
public getEntity<T>(): T { public getEntity<T>(): T {
return this._local.getEntity(); return this._local.getEntity();

203
src/behaviortree/BTNode/Composite.ts
View File

@@ -1,5 +1,18 @@
import { IBlackboard } from "../Blackboard";
import { BT } from "../BT";
import { Status } from "../header"; import { Status } from "../header";
import { Composite, MemoryComposite } from "./AbstractNodes"; 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 * 记忆选择节点 从上到下执行
@@ -8,78 +21,30 @@ import { Composite, MemoryComposite } from "./AbstractNodes";
* *
* 遇到 RUNNING 返回 RUNNING 下次从该节点开始 * 遇到 RUNNING 返回 RUNNING 下次从该节点开始
*/ */
export class MemSelector extends MemoryComposite { @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" })
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 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(): 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;
}
if (status === Status.FAILURE) {
return Status.FAILURE;
}
this.set(`__nMemoryRunningIndex`, i);
return Status.RUNNING;
}
return Status.SUCCESS;
}
}
/**
* 随机选择节点
* 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(): Status {
if (this.children.length === 0) {
return Status.FAILURE;
}
const childIndex = Math.floor(Math.random() * this.children.length);
const status = this.children[childIndex]!._execute();
return status;
}
}
/**
* 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 { export class Selector extends Composite {
public tick(): Status { public override _initialize(global: IBlackboard, branch: IBlackboard): void {
for (let i = 0; i < this.children.length; i++) { super._initialize(global, branch);
let status = this.children[i]!._execute(); this._local = branch.createChild();
if (status !== Status.FAILURE) { }
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(dt);
if (status === Status.FAILURE) {
continue;
}
if (status === Status.SUCCESS) {
return status; return status;
} }
this.set(`__nRunningIndex`, i);
return Status.RUNNING;
} }
return Status.FAILURE; return Status.FAILURE;
} }
@@ -88,30 +53,50 @@ export class Selector extends Composite {
/** /**
* 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 SUCCESS 继续下一个
* 否则返回子节点状态 * 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.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 { export class Sequence extends Composite {
public tick(): Status { public override _initialize(global: IBlackboard, branch: IBlackboard): void {
for (let i = 0; i < this.children.length; i++) { super._initialize(global, branch);
let status = this.children[i]!._execute(); 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(dt);
if (status === Status.SUCCESS) { if (status === Status.SUCCESS) {
continue; continue;
} }
return status; if (status === Status.FAILURE) {
return Status.FAILURE;
}
this.set(`__nRunningIndex`, i);
return Status.RUNNING;
} }
return Status.SUCCESS; return Status.SUCCESS;
} }
} }
/** /**
* 并行节点 从上到下执行 全部执行一遍 * 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
* 返回优先级 FAILURE > RUNNING > SUCCESS * 返回优先级 FAILURE > RUNNING > SUCCESS
*/ */
@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 { export class Parallel extends Composite {
public tick(): Status { public tick(dt: number): Status {
let result = Status.SUCCESS; let result = Status.SUCCESS;
for (let i = 0; i < this.children.length; i++) { 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.FAILURE || status === Status.FAILURE) { if (result === Status.FAILURE || status === Status.FAILURE) {
result = Status.FAILURE; result = Status.FAILURE;
} else if (status === Status.RUNNING) { } else if (status === Status.RUNNING) {
@@ -122,15 +107,71 @@ export class Parallel extends Composite {
} }
} }
/** /**
* 并行节点 从上到下执行 全部执行一遍 * 随机选择节点
* 随机选择一个子节点执行
* 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" })
export class RandomSelector extends Composite {
private _totalWeight: number = 0;
private _weights: number[] = [];
constructor(...children: IBTNode[]) {
super(...children);
this._totalWeight = 0;
this._weights = [];
for (const child of children) {
const weight = this.getChildWeight(child);
this._totalWeight += weight;
this._weights.push(this._totalWeight);
}
}
private getChildWeight(child: IBTNode): number {
return (child instanceof WeightDecorator) ? (child.weight) : 1;
}
public tick(dt: number): Status {
if (this.children.length === 0) {
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;
}
}
const status = this.children[childIndex]!._execute(dt);
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
* 返回优先级 SUCCESS > RUNNING > FAILURE * 返回优先级 SUCCESS > RUNNING > FAILURE
*/ */
@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 { export class ParallelAnySuccess extends Composite {
public tick(): Status { public tick(dt: number): Status {
let result = Status.FAILURE; let result = Status.FAILURE;
for (let i = 0; i < this.children.length; i++) { 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) { if (result === Status.SUCCESS || status === Status.SUCCESS) {
result = Status.SUCCESS; result = Status.SUCCESS;
} else if (status === Status.RUNNING) { } else if (status === Status.RUNNING) {

29
src/behaviortree/BTNode/Condition.ts
View File

@@ -1,20 +1,21 @@
import { Status } from "../header";
import { LeafNode } from "./AbstractNodes";
import { IBTNode } from "./BTNode";
/** /**
* 条件节点 * @Author: Gongxh
* 根据条件函数返回SUCCESS或FAILURE * @Date: 2025-09-17
* @Description: 条件节点基类
*/ */
export class Condition extends LeafNode {
/** 执行函数 @internal */ import { Status } from "../header";
private readonly _func: (node: IBTNode) => boolean; import { LeafNode } from "./Action";
constructor(func: (node: IBTNode) => boolean) {
super(); /** 条件叶子节点 */
this._func = func; export abstract class Condition extends LeafNode {
} /**
* 判断是否满足条件
* @returns 是否满足条件
*/
protected abstract isEligible(): boolean;
public tick(): Status { public tick(): Status {
return this._func?.(this) ? Status.SUCCESS : Status.FAILURE; return this.isEligible() ? Status.SUCCESS : Status.FAILURE;
} }
} }

167
src/behaviortree/BTNode/Decorator.ts
View File

@@ -4,9 +4,35 @@
* @Description: 装饰节点 装饰节点下必须包含子节点 * @Description: 装饰节点 装饰节点下必须包含子节点
*/ */
import { BT } from "../BT";
import { Status } from "../header"; import { Status } from "../header";
import { Decorator, NumericDecorator } from "./AbstractNodes"; import { BTNode, IBTNode } from "./BTNode";
import { 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 {
if (this.isEligible()) {
return this.children[0]!._execute(dt);
}
return Status.FAILURE;
}
}
/** /**
* 结果反转节点 * 结果反转节点
@@ -14,9 +40,10 @@ 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 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 * 第一个Child Node节点, 返回 SUCCESS, 本Node向自己的Parent Node也返回 FAILURE
*/ */
@BT.ClassDecorator("Inverter", { name: "结果反转节点", 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, 执行中保持不变" })
export class Inverter extends Decorator { export class Inverter extends Decorator {
public tick(): Status { public tick(dt: number): Status {
const status = this.children[0]!._execute(); const status = this.children[0]!._execute(dt);
if (status === Status.SUCCESS) { if (status === Status.SUCCESS) {
return Status.FAILURE; return Status.FAILURE;
@@ -34,26 +61,33 @@ 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 * 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 * 超时后, 直接返回 FAILURE
*/ */
export class LimitTime extends NumericDecorator { @BT.ClassDecorator("LimitTime", { name: "时间限制节点", group: "基础装饰节点", desc: "限制时间内返回子节点状态, 超时后返回失败" })
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 * 时间限制节点
* @param child 子节点 * @param child 子节点
* @param max 最大时间 (秒) 默认1秒 * @param max 最大时间 (秒) 默认1秒
*/ */
constructor(child: IBTNode, max: number = 1) { constructor(child: IBTNode, max: number = 1) {
super(child, max * 1000); super(child);
this._max = max;
} }
protected override open(): void { protected override open(): void {
this._value = Date.now(); this._value = 0;
} }
public tick(): Status { public tick(dt: number): Status {
const currentTime = Date.now(); this._value += dt;
if (currentTime - this._value > this._max) { if (this._value > this._max) {
this.cleanupChild();
return Status.FAILURE; return Status.FAILURE;
} }
return this.children[0]!._execute(); return this.children[0]!._execute(dt);
} }
} }
@@ -62,13 +96,31 @@ export class LimitTime extends NumericDecorator {
* 必须且只能包含一个子节点 * 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 * 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 LimitTicks extends NumericDecorator { @BT.ClassDecorator("LimitTicks", { name: "次数限制节点", group: "基础装饰节点", desc: "子节点成功, 次数+1, 限制次数内返回子节点状态, 超过限制次数返回失败" })
public tick(): Status { export class LimitTicks extends Decorator {
this._value++; @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;
}
protected override open(): void {
this._value = 0;
}
public tick(dt: number): Status {
if (this._value > this._max) { if (this._value > this._max) {
this.cleanupChild();
return Status.FAILURE; return Status.FAILURE;
} }
return this.children[0]!._execute(); let status = this.children[0]!._execute(dt);
if (status !== Status.RUNNING) {
this._value++;
}
return status;
} }
} }
@@ -78,12 +130,26 @@ export class LimitTicks extends NumericDecorator {
* 子节点是成功或失败，累加计数 * 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 * 次数超过之后返回子节点状态，否则返回 RUNNING
*/ */
export class Repeat extends NumericDecorator { @BT.ClassDecorator("Repeat", { name: "重复节点", group: "基础装饰节点", desc: "子节点成功或失败次数+1, 重复执行指定次数" })
public tick(): Status { export class Repeat extends Decorator {
@BT.prop({ type: BT.ParamType.int, description: "重复次数", defaultValue: 1, min: 1 })
protected _max: number = 1;
private _value: number = 0;
constructor(child: IBTNode, max: number = 1) {
super(child);
this._max = max;
}
protected override open(): void {
this._value = 0;
}
public tick(dt: number): Status {
// 执行子节点 // 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 // 如果子节点完成（成功或失败），增加计数
if (status === Status.SUCCESS || status === Status.FAILURE) { if (status !== Status.RUNNING) {
this._value++; this._value++;
// 检查是否达到最大次数 // 检查是否达到最大次数
if (this._value >= this._max) { if (this._value >= this._max) {
@@ -101,9 +167,23 @@ export class Repeat extends NumericDecorator {
* *
* 子节点成功 计数+1 * 子节点成功 计数+1
*/ */
export class RepeatUntilFailure extends NumericDecorator { @BT.ClassDecorator("RepeatUntilFailure", { name: "重复直到失败", group: "基础装饰节点", desc: "子节点成功则次数+1, 限制次数内返回执行中, 重复执行子节点直到子节点返回失败, 超过限制次数返回失败" })
public tick(): Status { export class RepeatUntilFailure extends Decorator {
const status = this.children[0]!._execute(); @BT.prop({ type: BT.ParamType.int, description: "最大重试次数", defaultValue: 1, min: 1 })
protected _max: number = 1;
private _value: number = 0;
constructor(child: IBTNode, max: number = 1) {
super(child);
this._max = max;
}
protected override open(): void {
this._value = 0;
}
public tick(dt: number): Status {
const status = this.children[0]!._execute(dt);
if (status === Status.FAILURE) { if (status === Status.FAILURE) {
return Status.FAILURE; return Status.FAILURE;
} }
@@ -125,10 +205,24 @@ export class RepeatUntilFailure extends NumericDecorator {
* *
* 子节点失败, 计数+1 * 子节点失败, 计数+1
*/ */
export class RepeatUntilSuccess extends NumericDecorator { @BT.ClassDecorator("RepeatUntilSuccess", { name: "重复直到成功", group: "基础装饰节点", desc: "子节点失败则次数+1, 限制次数内返回执行中, 重复执行子节点直到子节点返回成功, 超过限制次数返回失败" })
public tick(): Status { 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;
}
protected override open(): void {
this._value = 0;
}
public tick(dt: number): Status {
// 执行子节点 // 执行子节点
const status = this.children[0]!._execute(); const status = this.children[0]!._execute(dt);
if (status === Status.SUCCESS) { if (status === Status.SUCCESS) {
return Status.SUCCESS; return Status.SUCCESS;
} }
@@ -141,4 +235,27 @@ export class RepeatUntilSuccess extends NumericDecorator {
} }
return Status.RUNNING; return Status.RUNNING;
} }
}
/**
* 权重装饰节点
*/
@BT.ClassDecorator("WeightDecorator", { name: "权重装饰节点", group: "基础装饰节点", desc: "根据权重随机选择子节点执行, 用于随机选择节点的子节点" })
export class WeightDecorator extends Decorator {
@BT.prop({ type: BT.ParamType.int, description: "权重", defaultValue: 1, step: 1 })
private _weight: number;
constructor(child: IBTNode, weight?: number) {
super(child);
// 优先使用构造函数参数，否则使用装饰器默认参数
this._weight = weight || 1;
}
public tick(dt: number): Status {
return this.children[0]!._execute(dt);
}
public get weight(): number {
return this._weight;
}
} }

4
src/behaviortree/BehaviorTree.ts
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@@ -34,8 +34,8 @@ export class BehaviorTree<T> {
/** /**
* 执行行为树 * 执行行为树
*/ */
public tick(): Status { public tick(dt: number): Status {
return this._root._execute(); return this._root._execute(dt);
} }
/** /**

9
src/behaviortree/Blackboard.ts
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@@ -6,7 +6,7 @@
* 专门用于存储和管理行为树执行过程中的共享数据 * 专门用于存储和管理行为树执行过程中的共享数据
*/ */
import { IBTNode } from "../kunpocc-behaviortree"; import { IBTNode } from "./BTNode/BTNode";
/** /**
* 黑板数据接口 * 黑板数据接口
@@ -81,9 +81,14 @@ export class Blackboard implements IBlackboard {
public clean(): void { public clean(): void {
// 清空当前黑板数据 // 清空当前黑板数据
this._data.clear(); this._data.clear();
// 重置运行状态 // 重置运行状态
this.openNodes = new WeakMap<IBTNode, boolean>(); this.openNodes = new WeakMap<IBTNode, boolean>();
// 递归清理所有子黑板
for (const child of this.children) {
child.clean();
}
} }
} }

71
src/behaviortree/Factory.ts Normal file
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@@ -0,0 +1,71 @@
/**
* @Author: Gongxh
* @Date: 2025-09-16
* @Description: 根据数据创建一颗行为树
*/
import { BehaviorTree } from "./BehaviorTree";
import { BT } from "./BT";
import { IBTNode } from "./BTNode/BTNode";
export interface INodeConfig {
id: string,
className: string,
parameters: Record<string, any>,
children: string[]
}
/**
* 根据节点配置递归创建节点
* @param info 节点配置
* @param nodeMap 所有节点配置的映射表
* @returns 创建的节点实例
*/
function createNodeRecursively(info: INodeConfig, nodeMap: Map<string, INodeConfig>): IBTNode {
// 获取节点构造函数
const ctor = BT.getNodeConstructor(info.className);
if (!ctor) {
throw new Error(`未找到节点【${info.className}】的构造函数`);
}
// 递归创建子节点
const childNodes: IBTNode[] = [];
for (const childId of info.children || []) {
const childInfo = nodeMap.get(childId);
if (!childInfo) {
throw new Error(`未找到子节点【${childId}】，行为树配置导出信息错误`);
}
const childNode = createNodeRecursively(childInfo, nodeMap);
childNodes.push(childNode);
}
// 创建节点实例
let btnode: IBTNode;
const metadata = BT.getNodeMetadata(ctor);
if (metadata.type === BT.Type.Action || metadata.type === BT.Type.Condition) {
btnode = new ctor();
} else if (metadata.type === BT.Type.Decorator) {
btnode = new ctor(childNodes[0]!);
} else {
btnode = new ctor(...childNodes);
}
// 设置节点参数
for (const key in info.parameters) {
(btnode as any)[key] = info.parameters[key];
}
return btnode;
}
export function createBehaviorTree<T>(config: INodeConfig[], entity: T): BehaviorTree<T> {
// 验证配置
if (!config || !Array.isArray(config) || config.length === 0) {
throw new Error("Config is empty or invalid");
}
// 创建配置映射表
const nodeMap = new Map<string, INodeConfig>();
for (const info of config) {
nodeMap.set(info.id, info);
}
return new BehaviorTree(entity, createNodeRecursively(config[0]!, nodeMap));
}

2
src/behaviortree/header.ts
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@@ -2,4 +2,4 @@ export enum Status {
FAILURE, FAILURE,
SUCCESS, SUCCESS,
RUNNING, RUNNING,
} }

15
src/index.ts Normal file
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@@ -0,0 +1,15 @@
/** 行为树 */
export { BehaviorTree } from "./behaviortree/BehaviorTree";
export { Blackboard, globalBlackboard } from "./behaviortree/Blackboard";
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, INodeConfig } from "./behaviortree/Factory";
export { Status } from "./behaviortree/header";
// 导出装饰器内容
import { BT } from "./behaviortree/BT";
export const { ClassAction, ClassCondition, ClassComposite, ClassDecorator, prop, ParamType } = BT;

13
src/kunpocc-behaviortree.ts
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@@ -1,13 +0,0 @@
/** 行为树 */
export { BehaviorTree } from "./behaviortree/BehaviorTree";
export { Blackboard } from "./behaviortree/Blackboard";
export * from "./behaviortree/BTNode/AbstractNodes";
export * from "./behaviortree/BTNode/Action";
export { IBTNode } from "./behaviortree/BTNode/BTNode";
export * from "./behaviortree/BTNode/Composite";
export { Condition } from "./behaviortree/BTNode/Condition";
export * from "./behaviortree/BTNode/Decorator";
export { Status } from "./behaviortree/header";

2
tsconfig.json
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@@ -4,6 +4,7 @@
"lib": ["es6", "dom"], "lib": ["es6", "dom"],
"module": "commonjs", "module": "commonjs",
"experimentalDecorators": true, // 启用ES装饰器 "experimentalDecorators": true, // 启用ES装饰器
"emitDecoratorMetadata": true, // 启用装饰器元数据
"strict": true, "strict": true,
"noImplicitAny": true, "noImplicitAny": true,
"strictNullChecks": true, "strictNullChecks": true,
@@ -20,7 +21,6 @@
}, },
"include": [ "include": [
"./src/**/*" "./src/**/*"
// "libs"
], ],
// 排除 // 排除
"exclude": [ "exclude": [