blueshell
Version:
A Behavior Tree implementation in modern Javascript
88 lines • 2.9 kB
JavaScript
;
Object.defineProperty(exports, "__esModule", { value: true });
exports.Composite = void 0;
const Parent_1 = require("./Parent");
const models_1 = require("../models");
/**
* Base class for all Composite Nodes (nodes which have an array of children).
* Includes support for latching and keeping track of running status.
* @author Joshua Chaitin-Pollak
*/
class Composite extends Parent_1.Parent {
/**
* @constructor
* @param name
* @param _children Children Nodes.
* @param _latched
*/
constructor(name, _children, _latched = false) {
super(name);
this._children = _children;
this._latched = _latched;
this.initChildren(_children);
}
getChildren() {
return this._children;
}
get latched() {
return this._latched;
}
/**
* Return an empty object
* @ignore
* @param state
* @param event
*/
_beforeEvent(state, event) {
const res = super._beforeEvent(state, event);
const nodeStorage = this.getNodeStorage(state);
const pStorage = this._privateStorage(state);
const running = nodeStorage.running !== undefined ? nodeStorage.running : -1;
this.getChildren().forEach((child, i) => {
if (i < running) {
// set event counter for each child before our latch point so they are registered
// as participating in this event (using the previous results)
(0, Parent_1.setEventCounter)(pStorage, state, child);
} // else do nothing with the running node or nodes after latch point
});
return res;
}
/**
* Logging
* @ignore
* @param res
* @param state
* @param event
*/
_afterEvent(res, state, event) {
res = super._afterEvent(res, state, event);
if (this.latched) {
const storage = this.getNodeStorage(state);
// clear latched status if the node is no longer running after processing the event
if (storage.running !== undefined && res !== models_1.resultCodes.RUNNING) {
storage.running = undefined;
}
}
return res;
}
/**
* Invokes `handleChild` for each child.
* @override
* @param state
* @param event
*/
onEvent(state, event) {
const storage = this.getNodeStorage(state);
let firstChild = 0;
// Support for latched composites - ignored if not latched
// wrapped for clarity - not programmatically necessary
if (this.latched) {
firstChild = storage.running !== undefined ? storage.running : 0;
// Reset running
storage.running = undefined;
}
return this.handleChild(state, event, firstChild);
}
}
exports.Composite = Composite;
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