@nice2dev/game-engine 0.1.0 → 1.0.3

package/dist/esm/ai/BehaviorTree.js

@@ -0,0 +1,1186 @@
+/**
+ * @file BehaviorTree.ts
+ * @description Behavior Tree System with Graphical Editor Support
+ * PRO-1.4: Professional Editor Features
+ *
+ * Features:
+ * - Full behavior tree implementation
+ * - Composite nodes (Selector, Sequence, Parallel)
+ * - Decorator nodes (Inverter, Repeater, Succeeder, etc.)
+ * - Leaf nodes (Actions, Conditions)
+ * - Real-time preview and debugging
+ * - Blackboard system for shared data
+ * - Subtree support
+ * - Serialization support
+ */
+/** Blackboard for sharing data between nodes */
+class BTBlackboard {
+    constructor() {
+        this.data = new Map();
+        this.types = new Map();
+        this.listeners = new Map();
+    }
+    /** Set a value in the blackboard */
+    set(key, value) {
+        const name = typeof key === 'string' ? key : key.name;
+        const oldValue = this.data.get(name);
+        this.data.set(name, value);
+        if (typeof key !== 'string') {
+            this.types.set(name, key.type);
+        }
+        // Notify listeners
+        if (oldValue !== value) {
+            const callbacks = this.listeners.get(name);
+            if (callbacks) {
+                for (const cb of callbacks) {
+                    cb(value);
+                }
+            }
+        }
+    }
+    /** Get a value from the blackboard */
+    get(key) {
+        const name = typeof key === 'string' ? key : key.name;
+        const value = this.data.get(name);
+        if (value === undefined && typeof key !== 'string' && key.defaultValue !== undefined) {
+            return key.defaultValue;
+        }
+        return value;
+    }
+    /** Check if key exists */
+    has(key) {
+        const name = typeof key === 'string' ? key : key.name;
+        return this.data.has(name);
+    }
+    /** Remove a key */
+    delete(key) {
+        const name = typeof key === 'string' ? key : key.name;
+        this.data.delete(name);
+        this.types.delete(name);
+    }
+    /** Clear all data */
+    clear() {
+        this.data.clear();
+    }
+    /** Subscribe to key changes */
+    subscribe(key, callback) {
+        const name = typeof key === 'string' ? key : key.name;
+        let callbacks = this.listeners.get(name);
+        if (!callbacks) {
+            callbacks = [];
+            this.listeners.set(name, callbacks);
+        }
+        callbacks.push(callback);
+        // Return unsubscribe function
+        return () => {
+            const idx = callbacks.indexOf(callback);
+            if (idx >= 0) {
+                callbacks.splice(idx, 1);
+            }
+        };
+    }
+    /** Get all keys */
+    keys() {
+        return Array.from(this.data.keys());
+    }
+    /** Clone the blackboard */
+    clone() {
+        const bb = new BTBlackboard();
+        for (const [key, value] of this.data) {
+            bb.data.set(key, value);
+        }
+        for (const [key, type] of this.types) {
+            bb.types.set(key, type);
+        }
+        return bb;
+    }
+    /** Export to JSON */
+    toJSON() {
+        const result = {};
+        for (const [key, value] of this.data) {
+            result[key] = value;
+        }
+        return result;
+    }
+    /** Import from JSON */
+    fromJSON(data) {
+        for (const [key, value] of Object.entries(data)) {
+            this.data.set(key, value);
+        }
+    }
+}
+/** Base class for all behavior tree nodes */
+class BTNode {
+    constructor(type, category, name) {
+        /** Position in editor */
+        this.position = { x: 0, y: 0 };
+        /** Custom properties */
+        this.properties = {};
+        /** Current execution status (for debugging) */
+        this.lastStatus = 'inactive';
+        /** Last execution time (for profiling) */
+        this.lastExecutionTime = 0;
+        this.id = `bt_${Date.now()}_${Math.random().toString(36).substr(2, 9)}`;
+        this.type = type;
+        this.category = category;
+        this.name = name;
+    }
+    /** Initialize the node */
+    initialize(context) { }
+    /** Reset the node state */
+    reset() {
+        this.lastStatus = 'inactive';
+    }
+    /** Called when execution is aborted */
+    abort() {
+        this.lastStatus = 'aborted';
+    }
+    /** Serialize to JSON */
+    toJSON() {
+        return {
+            id: this.id,
+            type: this.type,
+            category: this.category,
+            name: this.name,
+            position: this.position,
+            properties: this.properties,
+            comment: this.comment,
+        };
+    }
+}
+// ============================================================
+// Composite Nodes
+// ============================================================
+/** Base class for composite nodes (have children) */
+class BTComposite extends BTNode {
+    constructor(type, name) {
+        super(type, 'composite', name);
+        this.children = [];
+        this.currentChild = 0;
+    }
+    addChild(child) {
+        this.children.push(child);
+    }
+    removeChild(child) {
+        const idx = this.children.indexOf(child);
+        if (idx >= 0) {
+            this.children.splice(idx, 1);
+        }
+    }
+    reset() {
+        super.reset();
+        this.currentChild = 0;
+        for (const child of this.children) {
+            child.reset();
+        }
+    }
+    abort() {
+        super.abort();
+        // Abort currently running child
+        if (this.currentChild < this.children.length) {
+            this.children[this.currentChild].abort();
+        }
+    }
+    toJSON() {
+        return {
+            ...super.toJSON(),
+            children: this.children.map((c) => c.toJSON()),
+        };
+    }
+}
+/** Sequence: Runs children in order until one fails */
+class BTSequence extends BTComposite {
+    constructor(name = 'Sequence') {
+        super('sequence', name);
+    }
+    tick(context) {
+        while (this.currentChild < this.children.length) {
+            const child = this.children[this.currentChild];
+            const status = child.tick(context);
+            child.lastStatus = status;
+            if (status === 'running') {
+                this.lastStatus = 'running';
+                return 'running';
+            }
+            if (status === 'failure') {
+                this.currentChild = 0;
+                this.lastStatus = 'failure';
+                return 'failure';
+            }
+            this.currentChild++;
+        }
+        this.currentChild = 0;
+        this.lastStatus = 'success';
+        return 'success';
+    }
+    clone() {
+        const node = new BTSequence(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.children = this.children.map((c) => c.clone());
+        return node;
+    }
+}
+/** Selector: Runs children until one succeeds */
+class BTSelector extends BTComposite {
+    constructor(name = 'Selector') {
+        super('selector', name);
+    }
+    tick(context) {
+        while (this.currentChild < this.children.length) {
+            const child = this.children[this.currentChild];
+            const status = child.tick(context);
+            child.lastStatus = status;
+            if (status === 'running') {
+                this.lastStatus = 'running';
+                return 'running';
+            }
+            if (status === 'success') {
+                this.currentChild = 0;
+                this.lastStatus = 'success';
+                return 'success';
+            }
+            this.currentChild++;
+        }
+        this.currentChild = 0;
+        this.lastStatus = 'failure';
+        return 'failure';
+    }
+    clone() {
+        const node = new BTSelector(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.children = this.children.map((c) => c.clone());
+        return node;
+    }
+}
+/** Parallel: Runs all children simultaneously */
+class BTParallel extends BTComposite {
+    constructor(name = 'Parallel') {
+        super('parallel', name);
+        /** Policy for determining success */
+        this.successPolicy = 'all';
+        /** Policy for determining failure */
+        this.failurePolicy = 'one';
+        this.childStatuses = [];
+    }
+    initialize(context) {
+        this.childStatuses = new Array(this.children.length).fill('running');
+    }
+    tick(context) {
+        let successCount = 0;
+        let failureCount = 0;
+        let runningCount = 0;
+        for (let i = 0; i < this.children.length; i++) {
+            // Skip already completed children
+            if (this.childStatuses[i] !== 'running') {
+                if (this.childStatuses[i] === 'success')
+                    successCount++;
+                else if (this.childStatuses[i] === 'failure')
+                    failureCount++;
+                continue;
+            }
+            const child = this.children[i];
+            const status = child.tick(context);
+            child.lastStatus = status;
+            this.childStatuses[i] = status;
+            if (status === 'success')
+                successCount++;
+            else if (status === 'failure')
+                failureCount++;
+            else
+                runningCount++;
+        }
+        // Check failure policy
+        if (this.failurePolicy === 'one' && failureCount > 0) {
+            this.reset();
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        if (this.failurePolicy === 'all' && failureCount === this.children.length) {
+            this.reset();
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        // Check success policy
+        if (this.successPolicy === 'one' && successCount > 0) {
+            this.reset();
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        if (this.successPolicy === 'all' && successCount === this.children.length) {
+            this.reset();
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        // Still running
+        if (runningCount > 0) {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        // Mixed results, depends on policy
+        this.reset();
+        this.lastStatus = 'failure';
+        return 'failure';
+    }
+    reset() {
+        super.reset();
+        this.childStatuses = [];
+    }
+    clone() {
+        const node = new BTParallel(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.successPolicy = this.successPolicy;
+        node.failurePolicy = this.failurePolicy;
+        node.children = this.children.map((c) => c.clone());
+        return node;
+    }
+}
+/** Random Selector: Selects children in random order */
+class BTRandomSelector extends BTComposite {
+    constructor(name = 'Random Selector') {
+        super('randomSelector', name);
+        this.shuffledOrder = [];
+    }
+    initialize(context) {
+        this.shuffle();
+    }
+    shuffle() {
+        this.shuffledOrder = this.children.map((_, i) => i);
+        for (let i = this.shuffledOrder.length - 1; i > 0; i--) {
+            const j = Math.floor(Math.random() * (i + 1));
+            [this.shuffledOrder[i], this.shuffledOrder[j]] = [
+                this.shuffledOrder[j],
+                this.shuffledOrder[i],
+            ];
+        }
+    }
+    tick(context) {
+        while (this.currentChild < this.shuffledOrder.length) {
+            const childIdx = this.shuffledOrder[this.currentChild];
+            const child = this.children[childIdx];
+            const status = child.tick(context);
+            child.lastStatus = status;
+            if (status === 'running') {
+                this.lastStatus = 'running';
+                return 'running';
+            }
+            if (status === 'success') {
+                this.currentChild = 0;
+                this.shuffle();
+                this.lastStatus = 'success';
+                return 'success';
+            }
+            this.currentChild++;
+        }
+        this.currentChild = 0;
+        this.shuffle();
+        this.lastStatus = 'failure';
+        return 'failure';
+    }
+    clone() {
+        const node = new BTRandomSelector(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.children = this.children.map((c) => c.clone());
+        return node;
+    }
+}
+/** Random Sequence: Runs children in random order */
+class BTRandomSequence extends BTComposite {
+    constructor(name = 'Random Sequence') {
+        super('randomSequence', name);
+        this.shuffledOrder = [];
+    }
+    initialize(context) {
+        this.shuffle();
+    }
+    shuffle() {
+        this.shuffledOrder = this.children.map((_, i) => i);
+        for (let i = this.shuffledOrder.length - 1; i > 0; i--) {
+            const j = Math.floor(Math.random() * (i + 1));
+            [this.shuffledOrder[i], this.shuffledOrder[j]] = [
+                this.shuffledOrder[j],
+                this.shuffledOrder[i],
+            ];
+        }
+    }
+    tick(context) {
+        while (this.currentChild < this.shuffledOrder.length) {
+            const childIdx = this.shuffledOrder[this.currentChild];
+            const child = this.children[childIdx];
+            const status = child.tick(context);
+            child.lastStatus = status;
+            if (status === 'running') {
+                this.lastStatus = 'running';
+                return 'running';
+            }
+            if (status === 'failure') {
+                this.currentChild = 0;
+                this.shuffle();
+                this.lastStatus = 'failure';
+                return 'failure';
+            }
+            this.currentChild++;
+        }
+        this.currentChild = 0;
+        this.shuffle();
+        this.lastStatus = 'success';
+        return 'success';
+    }
+    clone() {
+        const node = new BTRandomSequence(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.children = this.children.map((c) => c.clone());
+        return node;
+    }
+}
+// ============================================================
+// Decorator Nodes
+// ============================================================
+/** Base class for decorator nodes (single child) */
+class BTDecorator extends BTNode {
+    constructor(type, name) {
+        super(type, 'decorator', name);
+        this.child = null;
+    }
+    setChild(child) {
+        this.child = child;
+    }
+    reset() {
+        var _a;
+        super.reset();
+        (_a = this.child) === null || _a === void 0 ? void 0 : _a.reset();
+    }
+    abort() {
+        var _a;
+        super.abort();
+        (_a = this.child) === null || _a === void 0 ? void 0 : _a.abort();
+    }
+    toJSON() {
+        return {
+            ...super.toJSON(),
+            children: this.child ? [this.child.toJSON()] : [],
+        };
+    }
+}
+/** Inverter: Inverts child's result */
+class BTInverter extends BTDecorator {
+    constructor(name = 'Inverter') {
+        super('inverter', name);
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status === 'running') {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        const inverted = status === 'success' ? 'failure' : 'success';
+        this.lastStatus = inverted;
+        return inverted;
+    }
+    clone() {
+        var _a;
+        const node = new BTInverter(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Succeeder: Always returns success */
+class BTSucceeder extends BTDecorator {
+    constructor(name = 'Succeeder') {
+        super('succeeder', name);
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status === 'running') {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        this.lastStatus = 'success';
+        return 'success';
+    }
+    clone() {
+        var _a;
+        const node = new BTSucceeder(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Failer: Always returns failure */
+class BTFailer extends BTDecorator {
+    constructor(name = 'Failer') {
+        super('failer', name);
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status === 'running') {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        this.lastStatus = 'failure';
+        return 'failure';
+    }
+    clone() {
+        var _a;
+        const node = new BTFailer(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Repeater: Repeats child N times */
+class BTRepeater extends BTDecorator {
+    constructor(name = 'Repeater', times = -1) {
+        super('repeater', name);
+        this.times = -1; // -1 = infinite
+        this.currentCount = 0;
+        this.times = times;
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        while (this.times === -1 || this.currentCount < this.times) {
+            const status = this.child.tick(context);
+            this.child.lastStatus = status;
+            if (status === 'running') {
+                this.lastStatus = 'running';
+                return 'running';
+            }
+            this.currentCount++;
+            this.child.reset();
+        }
+        this.currentCount = 0;
+        this.lastStatus = 'success';
+        return 'success';
+    }
+    reset() {
+        super.reset();
+        this.currentCount = 0;
+    }
+    clone() {
+        var _a;
+        const node = new BTRepeater(this.name, this.times);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** RepeatUntilFail: Repeats until child fails */
+class BTRepeatUntilFail extends BTDecorator {
+    constructor(name = 'Repeat Until Fail') {
+        super('repeatUntilFail', name);
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status === 'failure') {
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        if (status === 'running') {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        // Success - reset and continue
+        this.child.reset();
+        this.lastStatus = 'running';
+        return 'running';
+    }
+    clone() {
+        var _a;
+        const node = new BTRepeatUntilFail(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** RepeatUntilSuccess: Repeats until child succeeds */
+class BTRepeatUntilSuccess extends BTDecorator {
+    constructor(name = 'Repeat Until Success') {
+        super('repeatUntilSuccess', name);
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status === 'success') {
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        if (status === 'running') {
+            this.lastStatus = 'running';
+            return 'running';
+        }
+        // Failure - reset and continue
+        this.child.reset();
+        this.lastStatus = 'running';
+        return 'running';
+    }
+    clone() {
+        var _a;
+        const node = new BTRepeatUntilSuccess(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Timeout: Fails if child takes too long */
+class BTTimeout extends BTDecorator {
+    constructor(name = 'Timeout', seconds = 5) {
+        super('timeout', name);
+        this.elapsed = 0;
+        this.started = false;
+        this.timeoutSeconds = seconds;
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        if (!this.started) {
+            this.elapsed = 0;
+            this.started = true;
+        }
+        this.elapsed += context.dt;
+        if (this.elapsed >= this.timeoutSeconds) {
+            this.child.abort();
+            this.started = false;
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status !== 'running') {
+            this.started = false;
+        }
+        this.lastStatus = status;
+        return status;
+    }
+    reset() {
+        super.reset();
+        this.elapsed = 0;
+        this.started = false;
+    }
+    clone() {
+        var _a;
+        const node = new BTTimeout(this.name, this.timeoutSeconds);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Cooldown: Rate limits child execution */
+class BTCooldown extends BTDecorator {
+    constructor(name = 'Cooldown', seconds = 1) {
+        super('cooldown', name);
+        this.lastExecution = -Infinity;
+        this.cooldownSeconds = seconds;
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const elapsed = context.time - this.lastExecution;
+        if (elapsed < this.cooldownSeconds) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        if (status !== 'running') {
+            this.lastExecution = context.time;
+        }
+        this.lastStatus = status;
+        return status;
+    }
+    reset() {
+        super.reset();
+        // Don't reset lastExecution - cooldown should persist
+    }
+    clone() {
+        var _a;
+        const node = new BTCooldown(this.name, this.cooldownSeconds);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Condition Guard: Only runs child if condition is true */
+class BTConditionGuard extends BTDecorator {
+    constructor(name = 'Guard', condition = () => true) {
+        super('guard', name);
+        this.condition = condition;
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        if (!this.condition(context)) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        this.lastStatus = status;
+        return status;
+    }
+    clone() {
+        var _a;
+        const node = new BTConditionGuard(this.name, this.condition);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+/** Wait Action: Waits for a duration */
+class BTWait extends BTNode {
+    constructor(name = 'Wait', seconds = 1) {
+        super('wait', 'action', name);
+        this.elapsed = 0;
+        this.started = false;
+        this.seconds = seconds;
+    }
+    tick(context) {
+        if (!this.started) {
+            this.elapsed = 0;
+            this.started = true;
+        }
+        this.elapsed += context.dt;
+        if (this.elapsed >= this.seconds) {
+            this.started = false;
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        this.lastStatus = 'running';
+        return 'running';
+    }
+    reset() {
+        super.reset();
+        this.elapsed = 0;
+        this.started = false;
+    }
+    clone() {
+        const node = new BTWait(this.name, this.seconds);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        return node;
+    }
+}
+/** Log Action: Logs a message */
+class BTLog extends BTNode {
+    constructor(name = 'Log', message = '', level = 'info') {
+        super('log', 'action', name);
+        this.message = message;
+        this.level = level;
+    }
+    tick(context) {
+        console.log(`[BT ${this.level}] ${this.message}`);
+        this.lastStatus = 'success';
+        return 'success';
+    }
+    clone() {
+        const node = new BTLog(this.name, this.message, this.level);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        return node;
+    }
+}
+// ============================================================
+// Subtree Node
+// ============================================================
+class BTSubtree extends BTNode {
+    constructor(name, subtreeId) {
+        super('subtree', 'subtree', name);
+        this.subtree = null;
+        this.subtreeId = subtreeId;
+    }
+    setSubtree(tree) {
+        this.subtree = tree;
+    }
+    tick(context) {
+        if (!this.subtree) {
+            this.lastStatus = 'failure';
+            return 'failure';
+        }
+        const status = this.subtree.tick(context);
+        this.lastStatus = status;
+        return status;
+    }
+    reset() {
+        var _a;
+        super.reset();
+        (_a = this.subtree) === null || _a === void 0 ? void 0 : _a.reset();
+    }
+    clone() {
+        var _a;
+        const node = new BTSubtree(this.name, this.subtreeId);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.subtree = ((_a = this.subtree) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+// ============================================================
+// Root Node
+// ============================================================
+class BTRoot extends BTNode {
+    constructor(name = 'Root') {
+        super('root', 'root', name);
+        this.child = null;
+    }
+    setChild(child) {
+        this.child = child;
+    }
+    tick(context) {
+        if (!this.child) {
+            this.lastStatus = 'success';
+            return 'success';
+        }
+        const status = this.child.tick(context);
+        this.child.lastStatus = status;
+        this.lastStatus = status;
+        return status;
+    }
+    reset() {
+        var _a;
+        super.reset();
+        (_a = this.child) === null || _a === void 0 ? void 0 : _a.reset();
+    }
+    toJSON() {
+        return {
+            ...super.toJSON(),
+            children: this.child ? [this.child.toJSON()] : [],
+        };
+    }
+    clone() {
+        var _a;
+        const node = new BTRoot(this.name);
+        node.properties = { ...this.properties };
+        node.position = { ...this.position };
+        node.child = ((_a = this.child) === null || _a === void 0 ? void 0 : _a.clone()) || null;
+        return node;
+    }
+}
+// ============================================================
+// Behavior Tree
+// ============================================================
+class BehaviorTree {
+    constructor(name = 'Behavior Tree') {
+        /** Execution statistics */
+        this.stats = {
+            tickCount: 0,
+            lastTickTime: 0,
+            averageTickTime: 0,
+        };
+        /** Debugging */
+        this.debugMode = false;
+        this.breakpoints = new Set();
+        this.isPaused = false;
+        this.id = `tree_${Date.now()}_${Math.random().toString(36).substr(2, 9)}`;
+        this.name = name;
+        this.root = new BTRoot();
+        this.blackboard = new BTBlackboard();
+    }
+    /** Tick the tree */
+    tick(context) {
+        if (this.isPaused) {
+            return 'running';
+        }
+        // Merge blackboards
+        const mergedContext = {
+            ...context,
+            blackboard: this.blackboard,
+        };
+        const startTime = performance.now();
+        const status = this.root.tick(mergedContext);
+        const endTime = performance.now();
+        // Update stats
+        this.stats.tickCount++;
+        this.stats.lastTickTime = endTime - startTime;
+        this.stats.averageTickTime =
+            (this.stats.averageTickTime * (this.stats.tickCount - 1) + this.stats.lastTickTime) /
+                this.stats.tickCount;
+        return status;
+    }
+    /** Reset the tree */
+    reset() {
+        this.root.reset();
+    }
+    /** Pause execution */
+    pause() {
+        this.isPaused = true;
+    }
+    /** Resume execution */
+    resume() {
+        this.isPaused = false;
+    }
+    /** Add breakpoint */
+    addBreakpoint(nodeId) {
+        this.breakpoints.add(nodeId);
+    }
+    /** Remove breakpoint */
+    removeBreakpoint(nodeId) {
+        this.breakpoints.delete(nodeId);
+    }
+    /** Toggle breakpoint */
+    toggleBreakpoint(nodeId) {
+        if (this.breakpoints.has(nodeId)) {
+            this.breakpoints.delete(nodeId);
+        }
+        else {
+            this.breakpoints.add(nodeId);
+        }
+    }
+    /** Find node by ID */
+    findNode(nodeId) {
+        return this.findNodeRecursive(this.root, nodeId);
+    }
+    findNodeRecursive(node, nodeId) {
+        if (node.id === nodeId)
+            return node;
+        if (node instanceof BTComposite) {
+            for (const child of node.children) {
+                const found = this.findNodeRecursive(child, nodeId);
+                if (found)
+                    return found;
+            }
+        }
+        else if (node instanceof BTDecorator && node.child) {
+            return this.findNodeRecursive(node.child, nodeId);
+        }
+        else if (node instanceof BTRoot && node.child) {
+            return this.findNodeRecursive(node.child, nodeId);
+        }
+        return null;
+    }
+    /** Get all nodes */
+    getAllNodes() {
+        const nodes = [];
+        this.collectNodes(this.root, nodes);
+        return nodes;
+    }
+    collectNodes(node, nodes) {
+        nodes.push(node);
+        if (node instanceof BTComposite) {
+            for (const child of node.children) {
+                this.collectNodes(child, nodes);
+            }
+        }
+        else if (node instanceof BTDecorator && node.child) {
+            this.collectNodes(node.child, nodes);
+        }
+        else if (node instanceof BTRoot && node.child) {
+            this.collectNodes(node.child, nodes);
+        }
+    }
+    /** Clone the tree */
+    clone() {
+        const tree = new BehaviorTree(this.name);
+        tree.root = this.root.clone();
+        tree.blackboard = this.blackboard.clone();
+        return tree;
+    }
+    /** Serialize to JSON */
+    toJSON() {
+        return {
+            id: this.id,
+            name: this.name,
+            root: this.root.toJSON(),
+            blackboard: this.blackboard.toJSON(),
+        };
+    }
+}
+// ============================================================
+// Node Registry
+// ============================================================
+class BTNodeRegistry {
+    constructor() {
+        this.definitions = new Map();
+    }
+    register(definition) {
+        this.definitions.set(definition.type, definition);
+    }
+    get(type) {
+        return this.definitions.get(type);
+    }
+    getAll() {
+        return Array.from(this.definitions.values());
+    }
+    getByCategory(category) {
+        return this.getAll().filter((d) => d.category === category);
+    }
+    createNode(type, properties) {
+        const def = this.definitions.get(type);
+        if (!def)
+            return null;
+        return def.create(properties);
+    }
+}
+// ============================================================
+// Factory Functions
+// ============================================================
+function createBehaviorTree(name) {
+    return new BehaviorTree(name);
+}
+function createBlackboard() {
+    return new BTBlackboard();
+}
+function createNodeRegistry() {
+    const registry = new BTNodeRegistry();
+    // Register built-in nodes
+    registry.register({
+        type: 'sequence',
+        category: 'composite',
+        name: 'Sequence',
+        description: 'Executes children in order until one fails',
+        icon: 'arrow-right',
+        color: '#3b82f6',
+        create: () => new BTSequence(),
+    });
+    registry.register({
+        type: 'selector',
+        category: 'composite',
+        name: 'Selector',
+        description: 'Executes children until one succeeds',
+        icon: 'git-branch',
+        color: '#22c55e',
+        create: () => new BTSelector(),
+    });
+    registry.register({
+        type: 'parallel',
+        category: 'composite',
+        name: 'Parallel',
+        description: 'Executes all children simultaneously',
+        icon: 'layers',
+        color: '#8b5cf6',
+        properties: [
+            { name: 'successPolicy', type: 'enum', enumValues: ['all', 'one'], default: 'all' },
+            { name: 'failurePolicy', type: 'enum', enumValues: ['all', 'one'], default: 'one' },
+        ],
+        create: (props) => {
+            const node = new BTParallel();
+            if (props === null || props === void 0 ? void 0 : props.successPolicy)
+                node.successPolicy = props.successPolicy;
+            if (props === null || props === void 0 ? void 0 : props.failurePolicy)
+                node.failurePolicy = props.failurePolicy;
+            return node;
+        },
+    });
+    registry.register({
+        type: 'inverter',
+        category: 'decorator',
+        name: 'Inverter',
+        description: 'Inverts the result of its child',
+        icon: 'refresh-cw',
+        color: '#f97316',
+        create: () => new BTInverter(),
+    });
+    registry.register({
+        type: 'repeater',
+        category: 'decorator',
+        name: 'Repeater',
+        description: 'Repeats child N times (-1 = infinite)',
+        icon: 'repeat',
+        color: '#f97316',
+        properties: [{ name: 'times', type: 'number', default: -1, min: -1 }],
+        create: (props) => { var _a; return new BTRepeater('Repeater', (_a = props === null || props === void 0 ? void 0 : props.times) !== null && _a !== void 0 ? _a : -1); },
+    });
+    registry.register({
+        type: 'timeout',
+        category: 'decorator',
+        name: 'Timeout',
+        description: 'Fails if child takes too long',
+        icon: 'clock',
+        color: '#f97316',
+        properties: [{ name: 'seconds', type: 'number', default: 5, min: 0 }],
+        create: (props) => { var _a; return new BTTimeout('Timeout', (_a = props === null || props === void 0 ? void 0 : props.seconds) !== null && _a !== void 0 ? _a : 5); },
+    });
+    registry.register({
+        type: 'wait',
+        category: 'action',
+        name: 'Wait',
+        description: 'Waits for a duration',
+        icon: 'pause',
+        color: '#6b7280',
+        properties: [{ name: 'seconds', type: 'number', default: 1, min: 0 }],
+        create: (props) => { var _a; return new BTWait('Wait', (_a = props === null || props === void 0 ? void 0 : props.seconds) !== null && _a !== void 0 ? _a : 1); },
+    });
+    registry.register({
+        type: 'log',
+        category: 'action',
+        name: 'Log',
+        description: 'Logs a message',
+        icon: 'message-square',
+        color: '#6b7280',
+        properties: [
+            { name: 'message', type: 'string', default: '' },
+            { name: 'level', type: 'enum', enumValues: ['info', 'warn', 'error'], default: 'info' },
+        ],
+        create: (props) => {
+            var _a, _b;
+            return new BTLog('Log', (_a = props === null || props === void 0 ? void 0 : props.message) !== null && _a !== void 0 ? _a : '', (_b = props === null || props === void 0 ? void 0 : props.level) !== null && _b !== void 0 ? _b : 'info');
+        },
+    });
+    return registry;
+}
+/** Create execution context */
+function createBTContext(params) {
+    let isAborted = false;
+    return {
+        entityId: params.entityId,
+        blackboard: params.blackboard || new BTBlackboard(),
+        dt: params.dt,
+        time: params.time,
+        world: params.world,
+        emit: () => { },
+        abort: () => {
+            isAborted = true;
+        },
+        get isAborted() {
+            return isAborted;
+        },
+    };
+}
+
+export { BTBlackboard, BTComposite, BTConditionGuard, BTCooldown, BTDecorator, BTFailer, BTInverter, BTLog, BTNode, BTNodeRegistry, BTParallel, BTRandomSelector, BTRandomSequence, BTRepeatUntilFail, BTRepeatUntilSuccess, BTRepeater, BTRoot, BTSelector, BTSequence, BTSubtree, BTSucceeder, BTTimeout, BTWait, BehaviorTree, createBTContext, createBehaviorTree, createBlackboard, createNodeRegistry };
+//# sourceMappingURL=BehaviorTree.js.map