b23_zuma/assets/script/behaviorTree/BehaviorTree.ts

/** @format */

import {ComAttackable} from '../ECS/components/ComAttackable'
import {ComCocosNode} from '../ECS/components/ComCocosNode'
import {ComMovable} from '../ECS/components/ComMovable'
import {ComTransform} from '../ECS/components/ComTransform'
import {SysBehaviorTree} from '../ECS/systems/SysBehaviorTree'
import {EventAttack, EventDie, EventSkill, EventStopSkill} from '../ECS/core/NodeEvent'
import {ComFindEnemy} from '../ECS/components/ComFindEnemy'
import {ComRole} from '../ECS/components/ComRole'
import {ComDizzy} from '../ECS/components/ComDizzy'
import {ComSkillAbel} from '../ECS/components/ComSkillAbel'
import {ccUtils} from '../utils/ccUtils'
import {FightWorld} from '../ECS/worlds/FightWorld'
import {Data} from '../GameControl'
import {FILTER_CAN_ATTACK_ENEMY, FILTER_CAN_ATTACK_FRIEND} from '../ECS/systems/SysFindEnemy'
import {Log} from '../utils/LogUtils'
import {BUFF_EFFECT_TYPE, ENTRY, ROLE_TYPE, SKILL_TYPE} from '../enums/Enum'
import {EventProcess} from '../ECS/core/EventProcess'

export namespace BT {
    export class BlackBoard {}

    export class ExecuteContext {
        executor: SysBehaviorTree
        world: FightWorld
        bb: BlackBoard

        entity: number
        dt: number

        public init(executor: SysBehaviorTree, world: FightWorld) {
            this.executor = executor
            this.world = world
        }

        public set(entity: number, dt: number, bb: BlackBoard) {
            this.entity = entity
            this.dt = dt
            this.bb = bb
        }
    }

    /** 节点状态 */
    export enum NodeState {
        Executing, // 执行中
        Success, // 成功
        Fail, // 失败
    }

    /** 节点类型 */
    export enum NodeType {
        // 组合节点
        LockedSequence, // 锁状态顺序节点
        Sequence, //
        Selector, // 选择节点
        RandomSelector, // 随机选择节点
        Parallel, // 并行节点
        RootSelector, //行为树根选择节点，每帧会循环进入所有子节点

        // 修饰节点
        Inverter, // 逆变节点
        Success, // 成功节点
        Fail, // 失败节点
        Repeater, // 重复节点
        RetryTillSuccess, // 重复直到成功

        // 叶子结点
        Wait, // 等待
        Action,
        WalkToCloseTarget, // 往最近的敌人移动  往敌方X方向移动，到达条件会往敌方X，Y方向一起移动
        MeleeWalkToTarget, // 近战移动到即将攻击目标的攻击点
        MeleeMonitor, // 近战监测目标敌人是否进入近战接触范围,进入近战接触范围，会往敌方X，Y方向一起移动
        MeleeXMonitor, // 当X轴没有敌人再去判断近战监测范围
        AttackMonitor, // 监测目标敌人是否进入攻击范围
        Attack, // 攻击
        WillAttackNotWillAttack, // 将要攻击的敌人将要攻击
        WillAttack, //将要攻击敌人
        WillBeAttack, //将要被攻击
        HasAttackEnemy, //有正在攻击的敌人
        FindEnemy, // 有没有最近的敌人
        HasBeAttack, // 有没有最近的敌人
        BeDizzy, // 被晕眩
        Dizzy, // 晕眩中
        HasSkill, // 是否有技能能施放
        CastSkill, // 技能施放中
        Skill, // 技能施放
        Stop, //停止移动
        StopAttack, //停止攻击
        StopSkill, //停止吟唱技能
    }

    export class NodeBase {
        public type: NodeType
        public state: NodeState = NodeState.Success
        public failLog: string
        public successLog: string

        constructor(type: NodeType) {
            this.type = type
        }
    }

    let debug = CC_DEV

    /** 组合节点 */
    class CombineNode extends NodeBase {
        public children: NodeBase[] = []

        public constructor(type: NodeType, children: NodeBase[]) {
            super(type)
            this.children = children
        }
    }

    export class SequenceNode extends CombineNode {
        public currIdx = 0
        public ignoreFailure = false

        constructor(children: NodeBase[], ignoreFailture = false) {
            super(NodeType.Sequence, children)
            this.ignoreFailure = ignoreFailture
        }
    }

    /** 依次执行子节点, 遇到执行失败的则退出并返回失败, 全部执行成功则返回成功  */
    export class LockedSequenceNode extends CombineNode {
        public currIdx = 0
        public ignoreFailure = false

        constructor(children: NodeBase[], ignoreFailture = false) {
            super(NodeType.LockedSequence, children)
            this.ignoreFailure = ignoreFailture
        }
    }

    /** 依次执行子节点, 遇到执行成功的则退出并返回成功, 全部执行失败则返回失败 */
    export class SelectorNode extends CombineNode {
        public currIdx: number = -1

        constructor(children: NodeBase[]) {
            super(NodeType.Selector, children)
        }
    }

    /** 行为树根节点，类似SelectorNode，但是会比SelectorNode多一些逻辑，进入节点后会直接update子节点 */
    export class RootSelectorNode extends CombineNode {
        public currIdx: number = -1
        public isMelee = true

        constructor(children: NodeBase[], isMelee = true) {
            super(NodeType.RootSelector, children)
            this.isMelee = isMelee
        }
    }

    /** 根据权重随机选择执行某个子节点 */
    export class RandomSelectorNode extends CombineNode {
        public weights: number[] // 权重
        public currIdx = -1 // 选中的节点
        constructor(children: NodeBase[], weigets?: number[]) {
            super(NodeType.RandomSelector, children)
            this.weights = weigets ? weigets : new Array(children.length).fill(1)
        }
    }

    /** 并行执行所有子节点, 全部执行完毕后返回 */
    export class ParallelNode extends CombineNode {
        public ignoreFailture = true

        constructor(children: NodeBase[], ignoreFailture?: boolean) {
            super(NodeType.Parallel, children)
            this.ignoreFailture = ignoreFailture
        }
    }

    /** 修饰节点 */
    class DecoratorNode extends NodeBase {
        public child: NodeBase = null

        public constructor(type: NodeType, child: NodeBase) {
            super(type)
            this.child = child
        }
    }

    /** 返回子节点执行结果的取反值 */
    export class InverterNode extends DecoratorNode {
        constructor(child: NodeBase) {
            super(NodeType.Inverter, child)
        }
    }

    /** 子节点执行完毕后, 必定返回成功 */
    export class SuccessNode extends DecoratorNode {
        constructor(child: NodeBase) {
            super(NodeType.Success, child)
        }
    }

    /** 子节点执行完毕后, 必定返回失败 */
    export class FailNode extends DecoratorNode {
        constructor(child: NodeBase) {
            super(NodeType.Fail, child)
        }
    }

    /** 子节点执行重复repeatCount次后返回成功 */
    export class RepeaterNode extends DecoratorNode {
        public repeatCount = 1
        public currRepeatCount = 0
        public mustSuccess = false // 子节点必须支持成功才增加重复次数
        constructor(child: NodeBase, repeatCount: number, mustSuccess = false) {
            super(NodeType.Repeater, child)
            this.repeatCount = repeatCount
            this.mustSuccess = mustSuccess
        }
    }

    /** 子节点重复执行直到返回成功 */
    export class RetryTillSuccess extends DecoratorNode {
        timeout: number // 超时时间
        countDown: number // 剩余时间
        constructor(child: NodeBase, timeout: number) {
            super(NodeType.RetryTillSuccess, child)
            this.timeout = timeout
        }
    }

    /** 叶子结点 */
    export class WaitNode extends NodeBase {
        public waitSeconds: number
        public countDown: number

        constructor(seconds: number) {
            super(NodeType.Wait)
            this.waitSeconds = seconds
        }
    }

    export class WalkToCloseTargetNode extends NodeBase {
        public speed: number
        public isCloseX: boolean

        constructor(speed: number, isCloseX: boolean) {
            super(NodeType.WalkToCloseTarget)
            this.speed = speed
            this.isCloseX = isCloseX
        }
    }

    /** 移动到目标攻击位置后 返回成功 */
    export class MeleeWalkToTargetNode extends NodeBase {
        public speed: number

        constructor(speed: number) {
            super(NodeType.MeleeWalkToTarget)
            this.speed = speed
        }
    }

    export class MeleeMonitorNode extends NodeBase {
        constructor() {
            super(NodeType.MeleeMonitor)
        }
    }

    export class MeleeXMonitorNode extends NodeBase {
        constructor() {
            super(NodeType.MeleeXMonitor)
        }
    }

    export class AttackMonitorNode extends NodeBase {
        constructor() {
            super(NodeType.AttackMonitor)
        }
    }

    export class AttackNode extends NodeBase {
        constructor() {
            super(NodeType.Attack)
        }
    }

    /** 将要攻击的目标 */
    export class WillAttackNode extends NodeBase {
        constructor() {
            super(NodeType.WillAttack)
        }
    }

    /** 将要被攻击的目标 */
    export class WillBeAttackNode extends NodeBase {
        constructor() {
            super(NodeType.WillBeAttack)
        }
    }

    /** 有正在攻击的目标 */
    export class HasAttackEnemyNode extends NodeBase {
        constructor() {
            super(NodeType.HasAttackEnemy)
        }
    }

    export class WillAttackNotWillAttackNode extends NodeBase {
        constructor() {
            super(NodeType.WillAttackNotWillAttack)
        }
    }

    export class BeDizzyNode extends NodeBase {
        constructor() {
            super(NodeType.BeDizzy)
        }
    }

    export class DizzyNode extends NodeBase {
        constructor() {
            super(NodeType.Dizzy)
        }
    }

    export class HasSkillNode extends NodeBase {
        constructor() {
            super(NodeType.HasSkill)
        }
    }

    export class SkillNode extends NodeBase {
        constructor() {
            super(NodeType.Skill)
        }
    }

    export class CastSkillNode extends NodeBase {
        constructor() {
            super(NodeType.CastSkill)
        }
    }

    export class FindEnemyNode extends NodeBase {
        constructor() {
            super(NodeType.FindEnemy)
        }
    }

    export class HasBeAttackNode extends NodeBase {
        constructor() {
            super(NodeType.HasBeAttack)
        }
    }

    export class StopNode extends NodeBase {
        constructor() {
            super(NodeType.Stop)
        }
    }

    export class StopAttackNode extends NodeBase {
        constructor() {
            super(NodeType.StopAttack)
        }
    }

    export class StopSkillNode extends NodeBase {
        constructor() {
            super(NodeType.StopSkill)
        }
    }

    class NodeHandler {
        onEnter: (node: NodeBase, context: ExecuteContext) => void
        onUpdate: (node: NodeBase, context: ExecuteContext) => void
    }

    export const NodeHandlers: NodeHandler[] = []

    /** Sequence node */
    NodeHandlers[NodeType.Sequence] = {
        onEnter(node: SequenceNode, context: ExecuteContext): void {
            node.currIdx = 0
            context.executor.onEnterBTNode(node.children[node.currIdx], context)
            node.state = NodeState.Executing
        },
        onUpdate(node: SequenceNode, context: ExecuteContext): void {
            if (node.currIdx < 0 || node.currIdx >= node.children.length) {
                // 越界了, 不应该发生, 直接认为是失败了
                node.state = NodeState.Fail
                if (debug) node.failLog = '越界了, 不应该发生, 直接认为是失败了'
                return
            }

            // 检查前置条件是否满足
            for (let i = 0; i < node.currIdx; i++) {
                context.executor.updateBTNode(node.children[i], context)
                if (node.children[i].state !== NodeState.Success) {
                    //当前置条件不满足，节点应该失败
                    node.state = NodeState.Fail
                    if (debug) node.failLog = '队列行为被前置打断===Sequence Fail==>' + node.children[i].failLog
                    return
                }
            }

            context.executor.updateBTNode(node.children[node.currIdx], context)
            const state = node.children[node.currIdx].state
            if (node.currIdx == 4 && context.entity == debugEntity)
                console.log('state', state, state == NodeState.Executing)
            if (state == NodeState.Executing) return

            if (state == NodeState.Fail && !node.ignoreFailure) {
                node.state = NodeState.Fail
                if (debug) node.failLog = '队列中断==>' + node.children[node.currIdx].failLog
                return
            }
            if (state == NodeState.Success && node.currIdx == node.children.length - 1) {
                node.state = NodeState.Success
                if (debug) node.successLog = '队列成功==>' + node.children[node.currIdx].successLog
                return
            }
            context.executor.onEnterBTNode(node.children[++node.currIdx], context)
        },
    }
    // 子节点某个节点在中途失败，不影响后续节点执行，后续节点执行完结束队列，举个例子 攻击动作1秒 --》 等待2秒，如果攻击动作在0.5秒被打断，这个队列节点也要等到2秒后结束
    /** LockedSequence node */
    NodeHandlers[NodeType.LockedSequence] = {
        onEnter(node: LockedSequenceNode, context: ExecuteContext): void {
            node.currIdx = 0
            context.executor.onEnterBTNode(node.children[node.currIdx], context)
            node.state = NodeState.Executing
        },
        onUpdate(node: LockedSequenceNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            if (node.currIdx < 0 || node.currIdx >= node.children.length) {
                // 越界了, 不应该发生, 直接认为是失败了
                node.state = NodeState.Fail
                return
            }

            context.executor.updateBTNode(node.children[node.currIdx], context)
            let state = node.children[node.currIdx].state
            if (state == NodeState.Executing) return

            if (state === NodeState.Fail && !node.ignoreFailure) {
                node.state = NodeState.Fail
                return
            }
            if (state === NodeState.Success && node.currIdx == node.children.length - 1) {
                node.state = NodeState.Success
                return
            }
            context.executor.onEnterBTNode(node.children[++node.currIdx], context)
        },
    }

    /** Selector node */
    NodeHandlers[NodeType.Selector] = {
        onEnter(node: SelectorNode, context: ExecuteContext): void {
            node.currIdx = 0
            context.executor.onEnterBTNode(node.children[node.currIdx], context)
            node.state = NodeState.Executing
        },
        onUpdate(node: SelectorNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            if (node.currIdx < 0 || node.currIdx >= node.children.length) {
                // 越界了, 认为是失败了
                node.state = NodeState.Fail
                return
            }

            context.executor.updateBTNode(node.children[node.currIdx], context)
            let state = node.children[node.currIdx].state
            if (state == NodeState.Executing) return

            // 执行到最后一个都失败了, 那边selector失败了
            if (state === NodeState.Fail && node.currIdx == node.children.length - 1) {
                node.state = NodeState.Fail
                return
            }
            if (state == NodeState.Success) {
                node.state = NodeState.Success
                return
            }
            context.executor.onEnterBTNode(node.children[++node.currIdx], context)
        },
    }
    export let debugEntity: number = -1
    let debugEntityCurIdx: number = -1
    let rootSelectorLog = ['晕眩', '放技能', '攻击', '往X轴敌人移动', '停止']
    let meleeRootSelectorLog = [
        '晕眩',
        '放技能',
        '寻敌',
        '往X轴敌人移动',
        '往敌人移动',
        '将被攻击',
        '将攻击敌人',
        '攻击',
        '停止',
    ]
    /** UpdateSelector node */
    NodeHandlers[NodeType.RootSelector] = {
        onEnter(node: RootSelectorNode, context: ExecuteContext): void {
            node.currIdx = 0
            context.executor.onEnterBTNode(node.children[node.currIdx], context)
            node.state = NodeState.Executing
            this.onUpdate(node, context)
        },
        onUpdate(node: RootSelectorNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            if (node.currIdx < 0 || node.currIdx >= node.children.length) {
                // 越界了, 认为是失败了
                node.state = NodeState.Fail
                return
            }
            while (node.currIdx < node.children.length) {
                context.executor.updateBTNode(node.children[node.currIdx], context)

                let state = node.children[node.currIdx].state
                if (state == NodeState.Executing) break

                // 执行到最后一个都失败了, 那边selector失败了
                if (state === NodeState.Fail && node.currIdx == node.children.length - 1) {
                    node.state = NodeState.Fail
                    break
                }
                if (state == NodeState.Success) {
                    if (context.entity == debugEntity && node.currIdx != debugEntityCurIdx) {
                        let failStr = ''
                        let debugRootLog = node.isMelee ? meleeRootSelectorLog : rootSelectorLog
                        for (let i = 0; i < node.currIdx; i++) {
                            failStr += `[${debugRootLog[i]}]` + '(' + node.children[i].failLog + ')'
                        }
                        console.log('--------', context.entity, '--------', 'RootSelector Fail ', failStr)
                        console.log(
                            'RootSelector Success ',
                            debugRootLog[node.currIdx],
                            node.children[node.currIdx].successLog,
                            '--------',
                            context.entity,
                            '--------',
                        )
                        node.currIdx = debugEntityCurIdx
                    }
                    node.state = NodeState.Success
                    break
                }
                context.executor.onEnterBTNode(node.children[++node.currIdx], context)
            }
        },
    }
    /** Selector node */
    NodeHandlers[NodeType.RandomSelector] = {
        onEnter(node: RandomSelectorNode, context: ExecuteContext): void {
            // 根据权重随机获取idx
            let totalWeight = 0
            for (const weight of node.weights) {
                totalWeight += weight
            }
            let randomWeight = Math.random() * totalWeight
            for (let i = 0; i < node.weights.length; i++) {
                randomWeight -= node.weights[i]
                if (randomWeight <= 0) {
                    node.currIdx = i
                    break
                }
            }
            context.executor.onEnterBTNode(node.children[node.currIdx], context)
            node.state = NodeState.Executing
        },
        onUpdate(node: RandomSelectorNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let n = node.children[node.currIdx]
            context.executor.updateBTNode(n, context)
            node.state = n.state
        },
    }

    /** Parallel node */
    NodeHandlers[NodeType.Parallel] = {
        onEnter(node: ParallelNode, context: ExecuteContext): void {
            for (const n of node.children) {
                context.executor.onEnterBTNode(n, context)
            }
            node.state = NodeState.Executing
        },
        onUpdate(node: ParallelNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let end = true
            for (const child of node.children) {
                context.executor.updateBTNode(child, context)
                if (child.state === NodeState.Executing) {
                    end = false
                    continue
                }

                if (child.state == NodeState.Fail) {
                    node.state = NodeState.Fail
                    return
                }
            }
            if (end) {
                node.state = NodeState.Success
            }
        },
    }

    /** Inverter node */
    NodeHandlers[NodeType.Inverter] = {
        onEnter(node: InverterNode, context: ExecuteContext): void {
            context.executor.onEnterBTNode(node.child, context)
            node.state = NodeState.Executing
        },
        onUpdate(node: InverterNode, context: ExecuteContext): void {
            context.executor.updateBTNode(node.child, context)
            if (node.child.state === NodeState.Executing) return
            if (node.child.state == NodeState.Success) {
                node.state = NodeState.Fail
                if (debug) node.failLog = node.child.successLog
            }
            if (node.child.state == NodeState.Fail) {
                node.state = NodeState.Success
                if (debug) node.successLog = node.child.failLog
            }
        },
    }

    /** Success node */
    NodeHandlers[NodeType.Success] = {
        onEnter(node: SuccessNode, context: ExecuteContext): void {
            context.executor.onEnterBTNode(node.child, context)
            node.state = NodeState.Executing
        },
        onUpdate(node: SuccessNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            context.executor.updateBTNode(node.child, context)
            if (node.child.state === NodeState.Executing) return
            node.state = NodeState.Success
        },
    }

    /** Fail node */
    NodeHandlers[NodeType.Fail] = {
        onEnter(node: FailNode, context: ExecuteContext): void {
            context.executor.onEnterBTNode(node.child, context)
            node.state = NodeState.Executing
        },
        onUpdate(node: FailNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            context.executor.updateBTNode(node.child, context)
            if (node.child.state === NodeState.Executing) return
            node.state = NodeState.Fail
        },
    }

    /** Repeater node */
    NodeHandlers[NodeType.Repeater] = {
        onEnter(node: RepeaterNode, context: ExecuteContext): void {
            node.currRepeatCount = 0
            context.executor.onEnterBTNode(node.child, context)
            node.state = NodeState.Executing
        },
        onUpdate(node: RepeaterNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            context.executor.updateBTNode(node.child, context)
            if (node.child.state === NodeState.Executing) return
            if (!node.mustSuccess || node.child.state == NodeState.Success) node.currRepeatCount++
            if (node.currRepeatCount >= node.repeatCount) {
                node.state = NodeState.Success
                return
            }
            context.executor.onEnterBTNode(node.child, context)
        },
    }

    /** RetryTillSuccess node */
    NodeHandlers[NodeType.RetryTillSuccess] = {
        onEnter(node: RetryTillSuccess, context: ExecuteContext): void {
            node.countDown = node.timeout
            context.executor.onEnterBTNode(node.child, context)
            node.state = NodeState.Executing
        },

        onUpdate(node: RetryTillSuccess, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            node.countDown -= context.dt

            context.executor.updateBTNode(node.child, context)
            if (node.child.state === NodeState.Executing) return

            if (node.child.state == NodeState.Success) {
                node.state = NodeState.Success
                return
            }

            if (node.countDown > 0) {
                context.executor.onEnterBTNode(node.child, context)
                return
            }
            node.state = NodeState.Fail
        },
    }

    /** Wait node */
    NodeHandlers[NodeType.Wait] = {
        onEnter(node: WaitNode, context: ExecuteContext): void {
            node.countDown = node.waitSeconds
            node.state = NodeState.Executing
        },
        onUpdate(node: WaitNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            node.countDown -= context.dt
            if (node.countDown <= 0) {
                node.state = NodeState.Success
            }
        },
    }
    //-------------------------------------行为能执行的条件,每次行为update要执行条件--------------------------------------------------
    /** FindEnemy node 战场上有没有敌人 */
    NodeHandlers[NodeType.FindEnemy] = {
        onEnter(node: FindEnemyNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: FindEnemyNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state = !context.world.isDie(comFindEnemy?.enemy) ? NodeState.Success : NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '找到敌人==>' + comFindEnemy.enemy.toString()
                } else {
                    node.failLog = '战场上没有敌人'
                }
            }
        },
    }
    /** MeleeMonitor node 是否进入Y轴近战监视区域 */
    NodeHandlers[NodeType.MeleeMonitor] = {
        onEnter(node: MeleeMonitorNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: MeleeMonitorNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state =
                comFindEnemy && comFindEnemy.cObject && comFindEnemy.cObject.containsBody.size > 0
                    ? BT.NodeState.Success
                    : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog =
                        '敌人进入Y轴近战监视区域==>' + comFindEnemy.cObject.containsBody.keysArr().toString()
                } else {
                    node.failLog = 'Y轴近战监视区域没有敌人'
                }
            }
        },
    }
    /** MeleeMonitor node 是否进入X轴近战监视区域 */
    NodeHandlers[NodeType.MeleeXMonitor] = {
        onEnter(node: MeleeXMonitorNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: MeleeXMonitorNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state =
                comFindEnemy && comFindEnemy.cObjectMeleeX && comFindEnemy.cObjectMeleeX.containsBody.size > 0
                    ? BT.NodeState.Success
                    : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog =
                        '敌人进入X轴近战监视区域==>' + comFindEnemy.cObjectMeleeX.containsBody.keysArr().toString()
                } else {
                    node.failLog = 'X轴近战监视区域没有敌人'
                }
            }
        },
    }

    /** AttackMonitor node 是否进入攻击范围*/
    NodeHandlers[NodeType.AttackMonitor] = {
        onEnter(node: AttackMonitorNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: AttackMonitorNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state =
                comFindEnemy && comFindEnemy.attackCObject && comFindEnemy.attackCObject.containsBody.size > 0
                    ? BT.NodeState.Success
                    : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog =
                        '敌人进入攻击范围==>' + comFindEnemy.attackCObject.containsBody.keysArr().toString()
                } else {
                    node.failLog = '没有敌人进入攻击范围'
                }
            }
        },
    }
    /** WillAttackNotWillAttack node 近战即将攻击的目标有没有即将攻击的目标*/
    NodeHandlers[NodeType.WillAttackNotWillAttack] = {
        onEnter(node: WillAttackNotWillAttackNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: WillAttackNotWillAttackNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let comMovable = context.world.getComponent(comFindEnemy?.willAttackMelee, ComMovable)
            node.state = comMovable.speed ? NodeState.Fail : NodeState.Success
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '近战即将攻击的目标正在走路==>' + comFindEnemy?.willAttackMelee
                } else {
                    node.failLog = '近战即将攻击的目标停止了==>' + comFindEnemy?.willAttackMelee
                }
            }
        },
    }
    /** WillAttackNode node 近战即将攻击敌人*/
    NodeHandlers[NodeType.WillAttack] = {
        onEnter(node: WillAttackNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: WillAttackNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state = !context.world.isDie(comFindEnemy?.willAttackMelee) ? BT.NodeState.Success : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '近战有即将攻击的敌人==>' + comFindEnemy?.willAttackMelee
                } else {
                    node.failLog = '近战没有即将攻击敌人'
                }
            }
        },
    }
    /** WillAttackNode node 近战即将被敌人攻击*/
    NodeHandlers[NodeType.WillBeAttack] = {
        onEnter(node: WillBeAttackNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: WillBeAttackNode, context: ExecuteContext): void {
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            node.state = !context.world.isDie(comFindEnemy?.willBeAttackMelee)
                ? BT.NodeState.Success
                : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '近战即将被敌人攻击==>' + comFindEnemy?.willBeAttackMelee
                } else {
                    node.failLog = '近战没有近战即将被敌人攻击'
                }
            }
        },
    }

    /** HasAttackEnemy node 近战有没有正在攻击的敌人*/
    NodeHandlers[NodeType.HasAttackEnemy] = {
        onEnter(node: HasAttackEnemyNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: HasAttackEnemyNode, context: ExecuteContext): void {
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            node.state = !context.world.isDie(comAttackable?.curAttack) ? BT.NodeState.Success : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '近战正在攻击的敌==>' + comAttackable?.curAttack
                } else {
                    node.failLog = '近战没有正在攻击的敌人'
                }
            }
        },
    }

    /** BeDizzy node 是否被晕眩*/
    NodeHandlers[NodeType.BeDizzy] = {
        onEnter(node: BeDizzyNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: BeDizzyNode, context: ExecuteContext): void {
            let comDizzy = context.world.getComponent(context.entity, ComDizzy)
            node.state = comDizzy && comDizzy.countDown > 0 ? NodeState.Success : NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '被晕眩='
                } else {
                    node.failLog = '没被晕眩'
                }
            }
        },
    }
    /** HasSkill node 有没有技能可以施放*/
    // 所有的判断条件每次都要判断
    NodeHandlers[NodeType.HasSkill] = {
        onEnter(node: HasSkillNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: HasSkillNode, context: ExecuteContext): void {
            let comSkillAbel = context.world.getComponent(context.entity, ComSkillAbel)
            if (!comSkillAbel) {
                //console.log('HasSkill onUpdate', '目标没有ComSkillAbel', context.entity)
                node.state = NodeState.Fail
                return
            }
            node.state =
                comSkillAbel &&
                comSkillAbel.skillConfig &&
                comSkillAbel.roles.length >= comSkillAbel.skillConfig.minRole
                    ? NodeState.Success
                    : NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = `有技能可以施放===>${
                        comSkillAbel.skillConfig.name
                    }==>技能目标${comSkillAbel.roles.toString()}`
                } else {
                    node.failLog = `没有技能可以施放===>技能目标人数：${comSkillAbel.roles.length}技能:${comSkillAbel.skillConfig?.name}正在施放:${comSkillAbel.dirty}`
                }
            }
        },
    }
    /** CastSkill node 正在施放技能*/
    // 所有的判断条件每次都要判断
    NodeHandlers[NodeType.CastSkill] = {
        onEnter(node: HasSkillNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: HasSkillNode, context: ExecuteContext): void {
            let comSkillAbel = context.world.getComponent(context.entity, ComSkillAbel)
            if (!comSkillAbel) {
                //console.log('HasSkill onUpdate', '目标没有ComSkillAbel', context.entity)
                node.state = NodeState.Fail
                return
            }
            node.state = comSkillAbel.dirty ? NodeState.Success : NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '正在施放技能'
                } else {
                    node.failLog = '没有正在施放技能'
                }
            }
        },
    }
    /** BeDizzy node 是否即将被攻击*/
    NodeHandlers[NodeType.HasBeAttack] = {
        onEnter(node: HasBeAttackNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: HasBeAttackNode, context: ExecuteContext): void {
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            node.state = comAttackable && comAttackable.beAttacks.length > 0 ? BT.NodeState.Success : BT.NodeState.Fail
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '被近战包围==>' + comAttackable.beAttacks.toString()
                } else {
                    node.failLog = '没有被近战包围'
                }
            }
        },
    }
    //-------------------------------------行为--------------------------------------------------
    /** MeleeWalkToTarget node */
    NodeHandlers[NodeType.MeleeWalkToTarget] = {
        onEnter(node: MeleeWalkToTargetNode, context: ExecuteContext): void {
            let comTrans = context.world.getComponent(context.entity, ComTransform)
            let comMovable = context.world.getComponent(context.entity, ComMovable)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let targetComTrans = context.world.getComponent(comFindEnemy.willAttackMelee, ComTransform)
            let targetComMovable = context.world.getComponent(comFindEnemy.willAttackMelee, ComMovable)
            let targetPos = context.world.moveToMeleeAttackPos(
                context.entity,
                comTrans,
                targetComTrans,
                targetComMovable,
            )
            comMovable.pointIdx = 0
            comMovable.points.length = 0
            comMovable.points.push(targetPos)
            //加速前往近战攻击点
            context.world.changeMoveSpeed(context.entity, node.speed)
            node.state = NodeState.Executing
            //console.log(' onEnter  comFindEnemy.willAttackMelee', context.entity, comFindEnemy.willAttackMelee)
        },
        onUpdate(node: MeleeWalkToTargetNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let comMovable = context.world.getComponent(context.entity, ComMovable)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            //在进入行为之前满足条件，这时候运行到下一帧，可能在SysFindEnemy系统中修改了死亡的敌人comFindEnemy.willAttackMelee=0
            if (context.world.isDie(comFindEnemy.willAttackMelee)) {
                Log.error('MeleeWalkToTarget onUpdate', '将要攻击的敌人不存在', comFindEnemy.willAttackMelee)
                node.state = BT.NodeState.Fail
                return
            }
            if (
                comMovable.points.length == 0 ||
                comMovable.pointIdx < 0 ||
                comMovable.pointIdx >= comMovable.points.length
            ) {
                // 把将要击打变成击打
                comAttackable.curAttack = comFindEnemy.willAttackMelee
                let enemyComFindEnemy = context.world.getComponent(comAttackable.curAttack, ComFindEnemy)
                let enemyComAttackable = context.world.getComponent(comAttackable.curAttack, ComAttackable)
                // 敌人击打数组加入自己
                enemyComAttackable.beAttacks.push(context.entity)
                //如果敌人等待着自己将敌人攻击赋值
                if (enemyComFindEnemy && enemyComFindEnemy.willBeAttackMelee == context.entity) {
                    enemyComFindEnemy.willBeAttackMelee = 0
                    enemyComAttackable.curAttack = context.entity
                    comAttackable.beAttacks.push(comAttackable.curAttack)
                }
                comFindEnemy.willAttackMelee = 0

                node.state = BT.NodeState.Success
                if (debug) {
                    if (node.state == NodeState.Success) {
                        node.successLog = '走到了近战攻击点==>' + comAttackable.curAttack.toString()
                    }
                }
            }
        },
    }

    /** WalkToClosedTarget node */
    NodeHandlers[NodeType.WalkToCloseTarget] = {
        onEnter(node: WalkToCloseTargetNode, context: ExecuteContext): void {
            let comTrans = context.world.getComponent(context.entity, ComTransform)
            let comMovable = context.world.getComponent(context.entity, ComMovable)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let comCocosNode = context.world.getComponent(context.entity, ComCocosNode)
            let comRole = context.world.getComponent(context.entity, ComRole)
            let comSpComCocosNode = context.world.getComponent(comRole.spineEntity, ComCocosNode)
            let targetComTrans = context.world.getComponent(comFindEnemy.enemy, ComTransform)
            comMovable.pointIdx = 0
            comMovable.points.length = 0
            comMovable.points.push(
                cc.v2(comTrans.x, comTrans.y),
                cc.v2(targetComTrans.x, node.isCloseX ? comTrans.y : targetComTrans.y),
            )
            context.world.changeMoveSpeed(context.entity, node.speed)
            comMovable.closeTarget = comFindEnemy.enemy
            comTrans.dir.x = targetComTrans.x > comTrans.x ? 1 : -1
            comCocosNode.node?.getComponent(EventProcess)?.syncDir(comTrans.dir)
            comSpComCocosNode?.node?.getComponent(EventProcess)?.syncDir(comTrans.dir)
            node.state = NodeState.Executing
        },
        onUpdate(node: WalkToCloseTargetNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let comTrans = context.world.getComponent(context.entity, ComTransform)
            let comMovable = context.world.getComponent(context.entity, ComMovable)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let targetComTrans = context.world.getComponent(comFindEnemy.enemy, ComTransform)
            if (comMovable.points[1]) {
                comMovable.points[1].x = targetComTrans.x
                comMovable.points[1].y = node.isCloseX ? comTrans.y : targetComTrans.y
            }
            if (
                comMovable.points.length == 0 ||
                comMovable.pointIdx < 0 ||
                comMovable.pointIdx >= comMovable.points.length
            ) {
                node.state = BT.NodeState.Success
            }
        },
    }

    /** Attack node */
    NodeHandlers[NodeType.Attack] = {
        onEnter(node: AttackNode, context: ExecuteContext): void {
            //当攻击目标死亡，前置条件被打断，被再次执行攻击行为，这个时候要return
            if (node.state == NodeState.Executing) {
                return
            }
            let comCocosNode = context.world.getComponent(context.entity, ComCocosNode)
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            let comRole = context.world.getComponent(context.entity, ComRole)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            //远程每次切换最近的目标
            if (!comAttackable.isMelee) {
                comAttackable.curAttack = comFindEnemy.enemy
            }
            let enemyComTransform = context.world.getComponent(comAttackable.curAttack, ComTransform)
            let comTransform = context.world.getComponent(context.entity, ComTransform)
            //console.log('攻击节点 ------------------->', context.entity)
            comTransform.dir.x = comTransform?.x - enemyComTransform?.x < 0 ? 1 : -1
            let comSpineTransform = context.world.getComponent(comRole.spineEntity, ComTransform)
            if (comSpineTransform) {
                comSpineTransform.dir.x = comTransform.dir.x
            }
            let attackSpeed = Math.clampValue(comRole.attackSpeed, Data.game.minAttackSpeed, Data.game.maxAttackSpeed)
            let attackScale = Data.game.rateNum / attackSpeed
            let buffs = comRole.buffs
            let attackIndex = 0
            for (let i = 0; i < buffs.length; i++) {
                let tmpIndex = buffs[i].buffCfg.effectType.indexOf(BUFF_EFFECT_TYPE.changeSpineAttack)
                if (tmpIndex >= 0) {
                    attackIndex = buffs[i].buffCfg.effectParm[tmpIndex][0]
                }
            }
            comCocosNode.events.push(
                new EventAttack(comTransform.dir, !comAttackable.isMelee, attackScale, attackIndex),
            )
            //同步spine攻击
            let comSpineNode = context.world.getComponent(comRole.spineEntity, ComCocosNode)
            comSpineNode?.events.push(
                new EventAttack(comTransform.dir, !comAttackable.isMelee, attackScale, attackIndex),
            )
            comAttackable.countDown = (comRole.attackTime + comRole.attackCD) * attackScale * Data.game.gameSpeed
            comAttackable.dirty = true
            comAttackable.hurtFrame =
                comAttackable.countDown - comRole.roleCfg.hurtFrame * attackScale * comRole.attackTime
            comAttackable.hurtFrameCompleted = false
            node.state = NodeState.Executing
        },
        onUpdate(node: AttackNode, context: ExecuteContext): void {
            if (node.state != NodeState.Executing) return
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            let comFindEnemy = context.world.getComponent(context.entity, ComFindEnemy)
            let comRole = context.world.getComponent(context.entity, ComRole)
            //可能当前攻击敌人死亡
            // if (context.world.isDie(comAttackable?.curAttack)) {
            //     //console.log('Attack onUpdate', '当前攻击敌人死亡', context.entity, comAttackable?.curAttack)
            //     comAttackable.dirty = false
            //     comAttackable.countDown = 0
            //     node.state = NodeState.Fail
            // }
            if (comAttackable && comAttackable.countDown <= 0) {
                node.state = NodeState.Success
                if (debug) {
                    if (node.state == NodeState.Success) {
                        node.successLog = '攻击行为成功==>' + comAttackable?.curAttack
                    }
                }
                let comBeAttackRole: ComRole = context.world.getComponent(comAttackable.curAttack, ComRole)
                //当正在攻击对面基地的时候，敌军有别的单位，不在打基地了--》修改为Y轴探测范围内有人不再攻击基地
                if (context.world.isBase(comBeAttackRole)) {
                    let filter = context.world.getFilter(
                        comRole.group == Data.game.gFriend ? FILTER_CAN_ATTACK_ENEMY : FILTER_CAN_ATTACK_FRIEND,
                    )
                    if (filter.entities.size > 1 && comFindEnemy.cObject.containsBody.size > 1) {
                        comAttackable.curAttack = 0
                    }
                }
            }
        },
    }
    /** Skill node */
    NodeHandlers[NodeType.Skill] = {
        onEnter(node: SkillNode, context: ExecuteContext): void {
            let comSkillAbel = context.world.getComponent(context.entity, ComSkillAbel)
            let comCocosNode = context.world.getComponent(context.entity, ComCocosNode)
            let comRole = context.world.getComponent(context.entity, ComRole)
            if (!comSkillAbel || !comCocosNode || !comRole) {
                !comSkillAbel && console.log('Skill onEnter', '目标没有ComSkillAbel', context.entity)
                !comCocosNode && console.log('Skill onEnter', '目标没有ComCocosNode', context.entity)
                return
            }
            //console.log('施放技能', comSkillAbel.skillConfig.name)
            if (CC_DEV) ccUtils.setLabel(comSkillAbel.skillConfig.name, comCocosNode.node, 'skill')
            //技能无CD的buff只放一次
            let curSkillIndex = 0
            for (let i = 0; i < comRole.skills.length; i++) {
                if (comRole.skills[i].ID == comSkillAbel.skillConfig.ID) {
                    curSkillIndex = i
                    let cd = comRole.skillCDs[i]
                    if (cd > 0 && cd != Data.game.cdMax && comRole.entryMap.get(ENTRY.skillCD)?.num) {
                        cd *= 1 - comRole.entryMap.get(ENTRY.skillCD).num / Data.game.rateNum
                        if (cd < 0) cd = 0
                    }
                    comRole.skillCountDowns[i] =
                        (cd == 0 && comSkillAbel.skillConfig.type != SKILL_TYPE.holo) || cd == Data.game.cdMax
                            ? Infinity
                            : cd
                }
            }
            comSkillAbel.dirty = true
            comSkillAbel.startDirty = true
            comSkillAbel.skillDirty = true
            //吟唱时间
            comSkillAbel.countDown =
                comSkillAbel.skillConfig.castDuration > comRole.castTime[curSkillIndex]
                    ? comSkillAbel.skillConfig.castDuration
                    : comRole.castTime[curSkillIndex]
            let timeScale = 1 - comSkillAbel.skillConfig.castFrame
            if (timeScale > 1) timeScale = 1
            if (timeScale < 0) timeScale = 0
            comSkillAbel.castSkillTime = timeScale * comSkillAbel.countDown
            comCocosNode.events.push(
                new EventSkill(comSkillAbel.countDown, comRole.skills.indexOf(comSkillAbel.skillConfig)),
            )
            //同步spine吟唱
            let comSpineNode = context.world.getComponent(comRole.spineEntity, ComCocosNode)
            comSpineNode?.events.push(
                new EventSkill(comSkillAbel.countDown, comRole.skills.indexOf(comSkillAbel.skillConfig)),
            )
            node.state = NodeState.Executing
        },
        onUpdate(node: SkillNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let comSkillAbel = context.world.getComponent(context.entity, ComSkillAbel)
            let comCocosNode = context.world.getComponent(context.entity, ComCocosNode)
            // 技能开始的时候没有技能施放目标停止施放技能
            if (comSkillAbel.skillConfig && comSkillAbel.roles.length == 0 && comSkillAbel.skillConfig.minRole > 0) {
                Log.error('Skill onUpdate', '没有技能施放目标停止施放技能', context.entity, comSkillAbel.skillConfig)
                let comRole = context.world.getComponent(context.entity, ComRole)
                let curSkillIndex = comRole.skills.findIndex(value => value.ID == comSkillAbel.skillConfig.ID)
                if (curSkillIndex >= 0) {
                    //让技能可以重新被施放
                    comRole.skillCountDowns[curSkillIndex] = 0
                }
                comSkillAbel.dirty = false
                node.state = NodeState.Fail
            }
            if (comSkillAbel && comSkillAbel.countDown <= 0) {
                comSkillAbel.dirty = false
                node.state = NodeState.Success
                if (debug) {
                    if (node.state == NodeState.Success) {
                        node.successLog = '技能行为成功==>' + context.entity
                    }
                }
                if (debug) ccUtils.setLabel('', comCocosNode.node, 'skill')
            }
        },
    }

    /** Dizzy node */
    NodeHandlers[NodeType.Dizzy] = {
        onEnter(node: DizzyNode, context: ExecuteContext): void {
            let comDizzy = context.world.getComponent(context.entity, ComDizzy)
            if (!comDizzy) {
                //console.log('Dizzy onEnter', '目标没有ComDizzy', context.entity)
                return
            }
            comDizzy.dirty = true
            node.state = NodeState.Executing
        },
        onUpdate(node: DizzyNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
        },
    }

    /** StopNode node */
    NodeHandlers[NodeType.Stop] = {
        onEnter(node: StopNode, context: ExecuteContext): void {
            node.state = NodeState.Executing
        },
        onUpdate(node: StopNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            context.world.changeMoveSpeed(context.entity, 0)
            node.state = NodeState.Success
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '停止行为成功==>' + context.entity
                }
            }
        },
    }
    /** StopAttack node */
    NodeHandlers[NodeType.StopAttack] = {
        onEnter(node: StopAttackNode, context: ExecuteContext): void {
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            if (!comAttackable) {
                Log.error('StopAttack onEnter', '目标没有ComAttackable', context.entity)
                return
            }
            node.state = NodeState.Executing
        },
        onUpdate(node: StopAttackNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let comAttackable = context.world.getComponent(context.entity, ComAttackable)
            comAttackable.dirty = false
            comAttackable.countDown = 0
            node.state = NodeState.Success
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '停止攻击行为成功==>' + context.entity
                }
            }
        },
    }
    /** StopAttack node */
    NodeHandlers[NodeType.StopSkill] = {
        onEnter(node: StopAttackNode, context: ExecuteContext): void {
            let comSkill = context.world.getComponent(context.entity, ComSkillAbel)
            if (!comSkill) {
                Log.error('StopSkill onEnter', '目标没有ComSkill', context.entity)
                return
            }
            node.state = NodeState.Executing
        },
        onUpdate(node: StopAttackNode, context: ExecuteContext): void {
            if (node.state !== NodeState.Executing) return
            let comSkill = context.world.getComponent(context.entity, ComSkillAbel)
            let comRole = context.world.getComponent(context.entity, ComRole)
            let comSpineCocosNode = context.world.getComponent(comRole?.spineEntity, ComCocosNode)
            comSpineCocosNode.events.push(new EventStopSkill())
            comSkill.dirty = false
            comSkill.countDown = Infinity
            comSkill.skillConfig = null
            comSkill.isInShield = false
            node.state = NodeState.Success
            if (debug) {
                if (node.state == NodeState.Success) {
                    node.successLog = '停止技能行为成功==>' + context.entity
                }
            }
        },
    }
}