@nice2dev/game-engine 1.3.15 → 1.3.16

package/dist/esm/ai/BehaviorTree.js

@@ -1,1177 +1,1122 @@
-/**
- * @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);
+  constructor() {
+    this.data = /* @__PURE__ */ new Map();
+    this.types = /* @__PURE__ */ new Map();
+    this.listeners = /* @__PURE__ */ 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);
+    }
+    if (oldValue !== value) {
+      const callbacks = this.listeners.get(name);
+      if (callbacks) {
+        for (const cb of callbacks) {
+          cb(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);
-        }
-    }
+      }
+    }
+  }
+  /** Get a value from the blackboard */
+  get(key) {
+    const name = typeof key === "string" ? key : key.name;
+    const value = this.data.get(name);
+    if (value === void 0 && typeof key !== "string" && key.defaultValue !== void 0) {
+      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 () => {
+      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,
-        };
-    }
+  constructor(type, category, name) {
+    this.position = { x: 0, y: 0 };
+    this.properties = {};
+    this.lastStatus = "inactive";
+    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()),
-        };
-    }
+  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();
+    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++;
-        }
+  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 = '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;
-    }
+        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++;
-        }
+  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 = '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;
-    }
+        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++;
-            }
+  constructor(name = "Parallel") {
+    super("parallel", name);
+    this.successPolicy = "all";
+    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++) {
+      if (this.childStatuses[i] !== "running") {
+        if (this.childStatuses[i] === "success") {
+          successCount++;
+        } else if (this.childStatuses[i] === "failure") {
+          failureCount++;
         }
-        // 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;
-    }
+        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++;
+      }
+    }
+    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";
+    }
+    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";
+    }
+    if (runningCount > 0) {
+      this.lastStatus = "running";
+      return "running";
+    }
+    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++;
-        }
+  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 = '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;
-    }
+        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++;
-        }
+  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 = '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;
-    }
+        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() {
-        super.reset();
-        this.child?.reset();
-    }
-    abort() {
-        super.abort();
-        this.child?.abort();
-    }
-    toJSON() {
-        return {
-            ...super.toJSON(),
-            children: this.child ? [this.child.toJSON()] : [],
-        };
-    }
+  constructor(type, name) {
+    super(type, "decorator", name);
+    this.child = null;
+  }
+  setChild(child) {
+    this.child = child;
+  }
+  reset() {
+    super.reset();
+    this.child?.reset();
+  }
+  abort() {
+    super.abort();
+    this.child?.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() {
-        const node = new BTInverter(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    const node = new BTInverter(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTSucceeder(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    const node = new BTSucceeder(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTFailer(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    const node = new BTFailer(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTRepeater(this.name, this.times);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  constructor(name = "Repeater", times = -1) {
+    super("repeater", name);
+    this.times = -1;
+    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() {
+    const node = new BTRepeater(this.name, this.times);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTRepeatUntilFail(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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";
+    }
+    this.child.reset();
+    this.lastStatus = "running";
+    return "running";
+  }
+  clone() {
+    const node = new BTRepeatUntilFail(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTRepeatUntilSuccess(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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";
+    }
+    this.child.reset();
+    this.lastStatus = "running";
+    return "running";
+  }
+  clone() {
+    const node = new BTRepeatUntilSuccess(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTTimeout(this.name, this.timeoutSeconds);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    const node = new BTTimeout(this.name, this.timeoutSeconds);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTCooldown(this.name, this.cooldownSeconds);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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();
+  }
+  clone() {
+    const node = new BTCooldown(this.name, this.cooldownSeconds);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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() {
-        const node = new BTConditionGuard(this.name, this.condition);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    const node = new BTConditionGuard(this.name, this.condition);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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;
-    }
+  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;
-    }
+  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() {
-        super.reset();
-        this.subtree?.reset();
-    }
-    clone() {
-        const node = new BTSubtree(this.name, this.subtreeId);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.subtree = this.subtree?.clone() || null;
-        return node;
-    }
+  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() {
+    super.reset();
+    this.subtree?.reset();
+  }
+  clone() {
+    const node = new BTSubtree(this.name, this.subtreeId);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.subtree = this.subtree?.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() {
-        super.reset();
-        this.child?.reset();
-    }
-    toJSON() {
-        return {
-            ...super.toJSON(),
-            children: this.child ? [this.child.toJSON()] : [],
-        };
-    }
-    clone() {
-        const node = new BTRoot(this.name);
-        node.properties = { ...this.properties };
-        node.position = { ...this.position };
-        node.child = this.child?.clone() || null;
-        return node;
-    }
+  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() {
+    super.reset();
+    this.child?.reset();
+  }
+  toJSON() {
+    return {
+      ...super.toJSON(),
+      children: this.child ? [this.child.toJSON()] : []
+    };
+  }
+  clone() {
+    const node = new BTRoot(this.name);
+    node.properties = { ...this.properties };
+    node.position = { ...this.position };
+    node.child = this.child?.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);
+  constructor(name = "Behavior Tree") {
+    this.stats = {
+      tickCount: 0,
+      lastTickTime: 0,
+      averageTickTime: 0
+    };
+    this.debugMode = false;
+    this.breakpoints = /* @__PURE__ */ 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";
+    }
+    const mergedContext = {
+      ...context,
+      blackboard: this.blackboard
+    };
+    const startTime = performance.now();
+    const status = this.root.tick(mergedContext);
+    const endTime = performance.now();
+    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;
         }
-    }
-    /** 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(),
-        };
-    }
+      }
+    } 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);
-    }
+  constructor() {
+    this.definitions = /* @__PURE__ */ 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);
+  return new BehaviorTree(name);
 }
 function createBlackboard() {
-    return new BTBlackboard();
+  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?.successPolicy) {
-                node.successPolicy = props.successPolicy;
-            }
-            if (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) => new BTRepeater('Repeater', props?.times ?? -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) => new BTTimeout('Timeout', props?.seconds ?? 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) => new BTWait('Wait', props?.seconds ?? 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) => new BTLog('Log', props?.message ?? '', props?.level ?? 'info'),
-    });
-    return registry;
+  const registry = new BTNodeRegistry();
+  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?.successPolicy) {
+        node.successPolicy = props.successPolicy;
+      }
+      if (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) => new BTRepeater("Repeater", props?.times ?? -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) => new BTTimeout("Timeout", props?.seconds ?? 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) => new BTWait("Wait", props?.seconds ?? 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) => new BTLog(
+      "Log",
+      props?.message ?? "",
+      props?.level ?? "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;
-        },
-    };
+  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 };
+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
+};