behaviortree/lib/BranchNode.js

A JavaScript implementation of Behavior Trees. They are useful for implementing AIs. For Browsers and NodeJS.

"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
    return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
const constants_1 = require("./constants");
const helper_1 = require("./helper");
const Node_1 = __importDefault(require("./Node"));
class BranchNode extends Node_1.default {
    constructor(blueprint) {
        super(blueprint);
        // Override this in subclasses
        this.OPT_OUT_CASE = constants_1.SUCCESS;
        this.START_CASE = constants_1.SUCCESS;
        this.nodeType = 'BranchNode';
        this.nodes = blueprint.nodes || [];
        this.numNodes = this.nodes.length;
    }
    run(blackboard = {}, { lastRun, introspector, rerun, registryLookUp = (x) => x } = {}) {
        if (!rerun)
            this.blueprint.start(blackboard);
        // eslint-disable-next-line @typescript-eslint/no-explicit-any
        let overallResult = this.START_CASE;
        const results = [];
        const lastRunStates = (typeof lastRun === 'object' && lastRun.state) || [];
        const startingIndex = Math.max(lastRunStates.findIndex((x) => (0, helper_1.isRunning)(x)), 0);
        let currentIndex = 0;
        for (; currentIndex < this.numNodes; ++currentIndex) {
            if (currentIndex < startingIndex) {
                // Keep last result
                results[currentIndex] = lastRunStates[currentIndex];
                continue;
            }
            const node = registryLookUp(this.nodes[currentIndex]);
            const result = node.run(blackboard, { lastRun: lastRunStates[currentIndex], introspector, rerun, registryLookUp });
            results[currentIndex] = result;
            if (result === constants_1.RUNNING || typeof result === 'object') {
                overallResult = constants_1.RUNNING;
                break;
            }
            else if (result === this.OPT_OUT_CASE) {
                overallResult = result;
                break;
            }
            else {
                rerun = false;
            }
        }
        const running = (0, helper_1.isRunning)(overallResult);
        if (!running) {
            this.blueprint.end(blackboard);
        }
        if (introspector) {
            const debugResult = running ? constants_1.RUNNING : overallResult;
            introspector.wrapLast(Math.min(currentIndex + 1, this.numNodes), this, debugResult, blackboard);
        }
        return overallResult === constants_1.RUNNING ? { total: overallResult, state: results } : overallResult;
    }
}
exports.default = BranchNode;