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下面是一个完整的TypeScript代码示例，展示了如何将状态机和行为树结合起来使用。状态机控制智能体的状态，行为树负责智能体的智能决策。在执行决策前，行为树会检查状态机的当前状态。
// 定义状态枚举
enum BodyState {IDLE,MOVING,ATTACKING
}// 状态机类，控制智能体的状态
class StateMachine {private state: BodyState;constructor() {this.state = BodyState.IDLE;}getState(): BodyState {return this.state;}setState(state: BodyState): void {this.state = state;}
}// 智能体类，拥有一个状态机
class Entity {private stateMachine: StateMachine;constructor() {this.stateMachine = new StateMachine();}getStateMachine(): StateMachine {return this.stateMachine;}getState(): BodyState {return this.stateMachine.getState();}// 智能体可以拥有更多的属性和方法
}// 行为树的相关代码
enum Status {SUCCESS,FAILURE,RUNNING
}abstract class Node {abstract execute(entity: Entity): Status;
}abstract class CompositeNode extends Node {protected children: Node[] = [];addChild(child: Node): void {this.children.push(child);}
}class SelectorNode extends CompositeNode {execute(entity: Entity): Status {for (const child of this.children) {const status = child.execute(entity);if (status === Status.SUCCESS) {return Status.SUCCESS;}}return Status.FAILURE;}
}class SequenceNode extends CompositeNode {execute(entity: Entity): Status {for (const child of this.children) {const status = child.execute(entity);if (status === Status.FAILURE) {return Status.FAILURE;}}return Status.SUCCESS;}
}abstract class ConditionNode extends Node {abstract check(entity: Entity): boolean;execute(entity: Entity): Status {return this.check(entity) ? Status.SUCCESS : Status.FAILURE;}
}abstract class ActionNode extends Node {abstract performAction(entity: Entity): boolean;execute(entity: Entity): Status {return this.performAction(entity) ? Status.SUCCESS : Status.FAILURE;}
}abstract class DecoratorNode extends Node {protected child: Node;constructor(child: Node) {super();this.child = child;}
}class InverterNode extends DecoratorNode {execute(entity: Entity): Status {const status = this.child.execute(entity);if (status === Status.SUCCESS) {return Status.FAILURE;} else if (status === Status.FAILURE) {return Status.SUCCESS;} else {return status;}}
}class RepeaterNode extends DecoratorNode {private maxRepeats: number;private stopOnSuccess: boolean;private stopOnFailure: boolean;constructor(child: Node, maxRepeats: number, stopOnSuccess: boolean = false, stopOnFailure: boolean = false) {super(child);this.maxRepeats = maxRepeats;this.stopOnSuccess = stopOnSuccess;this.stopOnFailure = stopOnFailure;}execute(entity: Entity): Status {let count = 0;while (this.maxRepeats === -1 || count < this.maxRepeats) {const status = this.child.execute(entity);if (this.stopOnSuccess && status === Status.SUCCESS) {return Status.SUCCESS;}if (this.stopOnFailure && status === Status.FAILURE) {return Status.FAILURE;}count++;}return Status.SUCCESS;}
}// 定义行为树节点
class IsEnemyInRange extends ConditionNode {check(entity: Entity): boolean {// 判断敌人是否在范围内return Math.random() < 0.5; // 50% 概率敌人在范围内}
}class ChaseEnemy extends ActionNode {performAction(entity: Entity): boolean {const stateMachine = entity.getStateMachine();if (stateMachine.getState() === BodyState.IDLE || stateMachine.getState() === BodyState.MOVING) {console.log("Chasing the enemy!");stateMachine.setState(BodyState.MOVING);return true; // 假设追击成功}return false;}
}class AttackEnemy extends ActionNode {performAction(entity: Entity): boolean {const stateMachine = entity.getStateMachine();if (stateMachine.getState() === BodyState.MOVING) {console.log("Attacking the enemy!");stateMachine.setState(BodyState.ATTACKING);return true; // 假设攻击成功}return false;}
}// 创建智能体实例
const entity = new Entity();// 创建行为树
const root = new SelectorNode();const sequence = new SequenceNode();
root.addChild(sequence);const condition = new IsEnemyInRange();
sequence.addChild(condition);const chase = new ChaseEnemy();
const repeater = new RepeaterNode(chase, 3); // 重复执行ChaseEnemy 3次
sequence.addChild(repeater);const attack = new AttackEnemy();
sequence.addChild(attack);// 执行为树
const status = root.execute(entity);
console.log(`Behavior tree execution status: ${Status[status]}`);
console.log(`Current body state: ${BodyState[entity.getState()]}`);
在这个示例中，智能体类拥有一个状态机，通过行为树来控制智能体的状态。行为树会根据状态机的当前状态来决策执行某个行为，同时更新状态机的状态。
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