From 8be01226288512b2a5f74f7545fe73d0b0f3dd84 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=8F=B8=E9=A9=AC=E5=A5=94=E8=85=BE?= <simabenteng@qq.com>
Date: Thu, 23 Dec 2021 22:31:55 +0800
Subject: [PATCH] Add close function into BehaviorTree class.

---
 src/core/BehaviorTree.js | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/src/core/BehaviorTree.js b/src/core/BehaviorTree.js
index e6438d7..12e75cf 100644
--- a/src/core/BehaviorTree.js
+++ b/src/core/BehaviorTree.js
@@ -332,4 +332,35 @@ export default class BehaviorTree {
 
     return state;
   }
+
+  /**
+   * Close all open nodes to ensure close function in nodes be called.
+   * If stop running tree tick via external, call this function.
+   * @param target
+   * @param blackboard
+   * @returns {*}
+   */
+  close(target, blackboard) {
+    if (!blackboard) {
+      throw 'The blackboard parameter is obligatory and must be an ' +
+      'instance of b3.Blackboard';
+    }
+
+    /* CREATE A TICK OBJECT */
+    var tick = new Tick();
+    tick.debug = this.debug;
+    tick.target = target;
+    tick.blackboard = blackboard;
+    tick.tree = this;
+
+    /* CLOSE ALL OPEN NODES */
+    var lastOpenNodes = blackboard.get('openNodes', this.id);
+    for (var i = 0; i < lastOpenNodes.length; i++) {
+      lastOpenNodes[i]._close(tick);
+    }
+
+    /* POPULATE BLACKBOARD */
+    blackboard.set('openNodes', tick._openNodes.slice(0), this.id);
+    blackboard.set('nodeCount', tick._nodeCount, this.id);
+  }
 };