Added Race node

README.md

@@ -172,7 +172,7 @@ root {
 ```
 
 ### Parallel
-This composite node will update each child node concurrently. It will move to the `SUCCEEDED` state if all of its children have moved to the `SUCCEEDED` state and will move to the `FAILED` state if any of its children move to the `FAILED` state. This node will remain in the `RUNNING` state if any of its children are in the `RUNNING` state.
+This composite node will update each child node concurrently. It will move to the `SUCCEEDED` state if all of its children have moved to the `SUCCEEDED` state and will move to the `FAILED` state if any of its children move to the `FAILED` state, otherwise it will remain in the `RUNNING` state.
 [Example](https://nikkorn.github.io/mistreevous-visualiser/index.html?example=parallel)
 
 *MDSL*
@@ -205,6 +205,40 @@ root {
 }
 ```
 
+### Race
+This composite node will update each child node concurrently. It will move to the `SUCCEEDED` state if any of its children have moved to the `SUCCEEDED` state and will move to the `FAILED` state if all of its children move to the `FAILED` state, otherwise it will remain in the `RUNNING` state.
+[Example](https://nikkorn.github.io/mistreevous-visualiser/index.html?example=race)
+
+*MDSL*
+```
+root {
+    race {
+        action [UnlockDoor]
+        action [FindAlternativePath]
+    }
+}
+```
+
+*JSON*
+```json
+{
+    "type": "root",
+    "child": {
+        "type": "race",
+        "children": [
+            {
+                "type": "action",
+                "call": "UnlockDoor"
+            },
+            {
+                "type": "action",
+                "call": "FindAlternativePath"
+            }
+        ]
+    }
+}
+```
+
 ### Lotto
 This composite node will select a single child at random to run as the active running node. The state of this node will reflect the state of the active child.
 [Example](https://nikkorn.github.io/mistreevous-visualiser/index.html?example=lotto)

dist/BehaviourTreeDefinition.d.ts

@@ -158,6 +158,15 @@ export interface ParallelNodeDefinition extends CompositeNodeDefinition {
      */
     type: "parallel";
 }
+/**
+ * A race node.
+ */
+export interface RaceNodeDefinition extends CompositeNodeDefinition {
+    /**
+     * The node type.
+     */
+    type: "race";
+}
 /**
  * A root node.
  */
@@ -227,7 +236,7 @@ export interface FailNodeDefinition extends DecoratorNodeDefinition {
 /**
  * A type defining any node definition.
  */
-export type AnyNodeDefinition = BranchNodeDefinition | ActionNodeDefinition | ConditionNodeDefinition | WaitNodeDefinition | SequenceNodeDefinition | SelectorNodeDefinition | LottoNodeDefinition | ParallelNodeDefinition | RootNodeDefinition | RepeatNodeDefinition | RetryNodeDefinition | FlipNodeDefinition | SucceedNodeDefinition | FailNodeDefinition;
+export type AnyNodeDefinition = BranchNodeDefinition | ActionNodeDefinition | ConditionNodeDefinition | WaitNodeDefinition | SequenceNodeDefinition | SelectorNodeDefinition | LottoNodeDefinition | ParallelNodeDefinition | RaceNodeDefinition | RootNodeDefinition | RepeatNodeDefinition | RetryNodeDefinition | FlipNodeDefinition | SucceedNodeDefinition | FailNodeDefinition;
 /**
  * A type defining any node type that can be a child of composite parent node.
  */

src/BehaviourTreeBuilder.ts

@@ -6,6 +6,7 @@ import Node from "./nodes/Node";
 import Composite from "./nodes/composite/Composite";
 import Decorator from "./nodes/decorator/Decorator";
 import Parallel from "./nodes/composite/Parallel";
+import Race from "./nodes/composite/Race";
 import Selector from "./nodes/composite/Selector";
 import Sequence from "./nodes/composite/Sequence";
 import Lotto from "./nodes/composite/Lotto";
@@ -38,6 +39,7 @@ type AnyNode =
     | Selector
     | Lotto
     | Parallel
+    | Race
     | Repeat
     | Retry
     | Flip
@@ -163,6 +165,12 @@ function nodeFactory(definition: AnyNodeDefinition, rootNodeDefinitionMap: RootN
                 definition.children.map((child) => nodeFactory(child, rootNodeDefinitionMap))
             );
 
+        case "race":
+            return new Race(
+                attributes,
+                definition.children.map((child) => nodeFactory(child, rootNodeDefinitionMap))
+            );
+
         case "lotto":
             return new Lotto(
                 attributes,

src/BehaviourTreeDefinition.ts

@@ -170,6 +170,16 @@ export interface ParallelNodeDefinition extends CompositeNodeDefinition {
     type: "parallel";
 }
 
+/**
+ * A race node.
+ */
+export interface RaceNodeDefinition extends CompositeNodeDefinition {
+    /**
+     * The node type.
+     */
+    type: "race";
+}
+
 /**
  * A root node.
  */
@@ -254,6 +264,7 @@ export type AnyNodeDefinition =
     | SelectorNodeDefinition
     | LottoNodeDefinition
     | ParallelNodeDefinition
+    | RaceNodeDefinition
     | RootNodeDefinition
     | RepeatNodeDefinition
     | RetryNodeDefinition

src/BehaviourTreeDefinitionUtilities.ts

@@ -49,7 +49,7 @@ export function isDecoratorNode(node: NodeDefinition): node is DecoratorNodeDefi
  * @returns A value of true if the specified node satisfies the CompositeNodeDefinition type.
  */
 export function isCompositeNode(node: NodeDefinition): node is CompositeNodeDefinition {
-    return ["sequence", "selector", "lotto", "parallel"].includes(node.type);
+    return ["sequence", "selector", "lotto", "parallel", "race"].includes(node.type);
 }
 
 /**

src/BehaviourTreeDefinitionValidator.ts

@@ -289,6 +289,10 @@ function validateNode(definition: any, depth: number): void {
             validateParallelNode(definition, depth);
             break;
 
+        case "race":
+            validateRaceNode(definition, depth);
+            break;
+
         case "lotto":
             validateLottoNode(definition, depth);
             break;
@@ -774,6 +778,29 @@ function validateParallelNode(definition: any, depth: number): void {
     definition.children.forEach((child: any) => validateNode(child, depth + 1));
 }
 
+/**
+ * Validate an object that we expect to be a race node definition.
+ * @param definition An object that we expect to be a race node definition.
+ * @param depth The depth of the node in the definition tree.
+ */
+function validateRaceNode(definition: any, depth: number): void {
+    // Check that the node type is correct.
+    if (definition.type !== "race") {
+        throw new Error(`expected node type of 'race' for race node at depth '${depth}'`);
+    }
+
+    // A race node is a composite node, so must have a children nodes array defined.
+    if (!Array.isArray(definition.children) || definition.children.length === 0) {
+        throw new Error(`expected non-empty 'children' array to be defined for race node at depth '${depth}'`);
+    }
+
+    // Validate the node attributes.
+    validateNodeAttributes(definition, depth);
+
+    // Validate the child nodes of this composite node.
+    definition.children.forEach((child: any) => validateNode(child, depth + 1));
+}
+
 /**
  * Validate an object that we expect to be a lotto node definition.
  * @param definition An object that we expect to be a lotto node definition.