Added Race node

dist/nodes/composite/Race.d.ts

@@ -0,0 +1,26 @@
+import Composite from "./Composite";
+import Node from "../Node";
+import { Agent } from "../../Agent";
+import Attribute from "../../attributes/Attribute";
+import { BehaviourTreeOptions } from "../../BehaviourTreeOptions";
+/**
+ * A RACE node.
+ * The child nodes are executed concurrently until one succeeds or all fail.
+ */
+export default class Race extends Composite {
+    /**
+     * @param attributes The node attributes.
+     * @param children The child nodes.
+     */
+    constructor(attributes: Attribute[], children: Node[]);
+    /**
+     * Called when the node is being updated.
+     * @param agent The agent.
+     * @param options The behaviour tree options object.
+     */
+    protected onUpdate(agent: Agent, options: BehaviourTreeOptions): void;
+    /**
+     * Gets the name of the node.
+     */
+    getName: () => string;
+}

src/nodes/composite/Parallel.ts

@@ -24,44 +24,17 @@ export default class Parallel extends Composite {
      * @param options The behaviour tree options object.
      */
     protected onUpdate(agent: Agent, options: BehaviourTreeOptions): void {
-        // Keep a count of the number of succeeded child nodes.
-        let succeededCount = 0;
-
-        let hasChildFailed = false;
-
-        // Iterate over all of the children of this node.
+        // Iterate over all of the children of this node, updating any that aren't in a settled state.
         for (const child of this.children) {
             // If the child has never been updated or is running then we will need to update it now.
             if (child.getState() === State.READY || child.getState() === State.RUNNING) {
                 // Update the child of this node.
                 child.update(agent, options);
             }
-
-            // If the current child has a state of 'SUCCEEDED' then we should move on to the next child.
-            if (child.getState() === State.SUCCEEDED) {
-                // The child node has succeeded, keep track of this to determine if all children have.
-                succeededCount++;
-
-                // The child node succeeded, but we have not finished checking every child node yet.
-                continue;
-            }
-
-            // If the current child has a state of 'FAILED' then this node is also a 'FAILED' node.
-            if (child.getState() === State.FAILED) {
-                hasChildFailed = true;
-
-                // There is no need to check the rest of the children.
-                break;
-            }
-
-            // The node should be in the 'RUNNING' state.
-            if (child.getState() !== State.RUNNING) {
-                // The child node was not in an expected state.
-                throw new Error("child node was not in an expected state.");
-            }
         }
 
-        if (hasChildFailed) {
+        // If any of our child nodes have failed then this node has also failed.
+        if (this.children.find((child) => child.is(State.FAILED))) {
             // This node is a 'FAILED' node.
             this.setState(State.FAILED);
 
@@ -71,10 +44,20 @@ export default class Parallel extends Composite {
                     child.abort(agent);
                 }
             }
-        } else {
-            // If all children have succeeded then this node has also succeeded, otherwise it is still running.
-            this.setState(succeededCount === this.children.length ? State.SUCCEEDED : State.RUNNING);
+
+            return;
         }
+
+        // A parallel node will move into the succeeded state if all child nodes move into the succeeded state.
+        if (this.children.every((child) => child.is(State.SUCCEEDED))) {
+            // This node is a 'SUCCEEDED' node.
+            this.setState(State.SUCCEEDED);
+
+            return;
+        }
+
+        // If we didn't move to a succeeded or failed state then this node is still running.
+        this.setState(State.RUNNING);
     }
 
     /**

src/nodes/composite/Race.ts

@@ -0,0 +1,67 @@
+import Composite from "./Composite";
+import State from "../../State";
+import Node from "../Node";
+import { Agent } from "../../Agent";
+import Attribute from "../../attributes/Attribute";
+import { BehaviourTreeOptions } from "../../BehaviourTreeOptions";
+
+/**
+ * A RACE node.
+ * The child nodes are executed concurrently until one succeeds or all fail.
+ */
+export default class Race extends Composite {
+    /**
+     * @param attributes The node attributes.
+     * @param children The child nodes.
+     */
+    constructor(attributes: Attribute[], children: Node[]) {
+        super("race", attributes, children);
+    }
+
+    /**
+     * Called when the node is being updated.
+     * @param agent The agent.
+     * @param options The behaviour tree options object.
+     */
+    protected onUpdate(agent: Agent, options: BehaviourTreeOptions): void {
+        // Iterate over all of the children of this node, updating any that aren't in a settled state.
+        for (const child of this.children) {
+            // If the child has never been updated or is running then we will need to update it now.
+            if (child.getState() === State.READY || child.getState() === State.RUNNING) {
+                // Update the child of this node.
+                child.update(agent, options);
+            }
+        }
+
+        // If any of our child nodes have succeeded then this node has also succeeded
+        if (this.children.find((child) => child.is(State.SUCCEEDED))) {
+            // This node is a 'SUCCEEDED' node.
+            this.setState(State.SUCCEEDED);
+
+            // Abort every running child.
+            for (const child of this.children) {
+                if (child.getState() === State.RUNNING) {
+                    child.abort(agent);
+                }
+            }
+
+            return;
+        }
+
+        // A race node will move into the failed state if all child nodes move into the failed state as none can succeed.
+        if (this.children.every((child) => child.is(State.FAILED))) {
+            // This node is a 'FAILED' node.
+            this.setState(State.FAILED);
+
+            return;
+        }
+
+        // If we didn't move to a succeeded or failed state then this node is still running.
+        this.setState(State.RUNNING);
+    }
+
+    /**
+     * Gets the name of the node.
+     */
+    getName = () => "RACE";
+}