Step 1: Create Project Directory Шаг 1: Создание директории проекта

Create a workspace folder and a new directory for your BehaviorTree.CPP WebAssembly test project: Создайте рабочую папку для проектов и новую директорию для вашего тестового WebAssembly-проекта BehaviorTree.CPP:

Windows (Command Prompt / PowerShell)

mkdir C:\projects\bt-wasm-test
cd C:\projects\bt-wasm-test

Step 2: Create Source Files (main.cpp & CMakeLists.txt) Шаг 2: Создание исходных файлов (main.cpp и CMakeLists.txt)

Create the source files in your project directory using Notepad, VS Code, or Sublime Text: Создайте исходные файлы в папке проекта с помощью Блокнота, VS Code или Sublime Text:

Windows (Terminal / Notepad)

notepad main.cpp
notepad CMakeLists.txt

1. File Contents for main.cpp 1. Содержимое файла main.cpp

#include <iostream>
#include <behaviortree_cpp/bt_factory.h>
#include <emscripten.h>

// Custom action node
class SayHello : public BT::SyncActionNode {
public:
    SayHello(const std::string& name, const BT::NodeConfig& config)
        : BT::SyncActionNode(name, config) {}

    static BT::PortsList providedPorts() {
        return {};
    }

    BT::NodeStatus tick() override {
        std::cout << "Hello, BehaviorTree.CPP from WebAssembly!" << std::endl;
        return BT::NodeStatus::SUCCESS;
    }
};

BT::Tree tree;

void loop() {
    // Ticks the behavior tree in the browser/node event loop
    tree.tickOnce();
}

int main() {
    BT::BehaviorTreeFactory factory;
    factory.registerNodeType<SayHello>("SayHello");

    static const char* xml_text = R"(
     <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
             <SayHello/>
         </BehaviorTree>
     </root>
    )";

    tree = factory.createTreeFromText(xml_text);

    // Run the main loop once or at 1 FPS
    // 1 — simulate infinite loop (prevents exiting main)
    emscripten_set_main_loop(loop, 1, 1);

    return 0;
}

2. File Contents for CMakeLists.txt 2. Содержимое файла CMakeLists.txt

cmake_minimum_required(VERSION 3.21)

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
endif()

project(bt_wasm_test CXX)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# -----------------------------------------------------------------------------
# Define Project Source Files
# -----------------------------------------------------------------------------
set(PROJECT_SOURCES
    main.cpp
)

# -----------------------------------------------------------------------------
# Declare Target Type
# -----------------------------------------------------------------------------
add_executable(app)

target_sources(app PRIVATE ${PROJECT_SOURCES})

# -----------------------------------------------------------------------------
# Library Paths for WebAssembly
# -----------------------------------------------------------------------------
set(BTCPP_PATH "C:/libs/behaviortree-4.9.0-wasm")
set(TINYXML2_PATH "C:/libs/tinyxml2-11.0.0-wasm")

# Core TinyXML2 Static Library
add_library(tinyxml2 STATIC IMPORTED)
set_target_properties(tinyxml2 PROPERTIES
    IMPORTED_LOCATION "${TINYXML2_PATH}/lib/libtinyxml2.a"
    INTERFACE_INCLUDE_DIRECTORIES "${TINYXML2_PATH}/include"
)

# BehaviorTree.CPP Static Library
add_library(behaviortree_cpp STATIC IMPORTED)
set_target_properties(behaviortree_cpp PROPERTIES
    IMPORTED_LOCATION "${BTCPP_PATH}/lib/libbehaviortree_cpp.a"
    INTERFACE_INCLUDE_DIRECTORIES "${BTCPP_PATH}/include"
    INTERFACE_LINK_LIBRARIES "tinyxml2"
)

target_link_libraries(app PRIVATE
    behaviortree_cpp
    tinyxml2
)

target_link_options(app PRIVATE
    "-sALLOW_MEMORY_GROWTH=1"
)

Step 3: Create Build & Execution Scripts Шаг 3: Создание скриптов сборки и запуска

Windows (Emscripten / Batch Scripts)

config-wasm.bat

call emcmake cmake -G "MinGW Makefiles" -S . -B dist/web

build-wasm.bat

call emmake cmake --build dist/web

run-wasm.bat

@echo off
node dist/web/app.js

Run the scripts sequentially in Command Prompt: Последовательно запустите скрипты в командной строке:

config-wasm.bat
build-wasm.bat
run-wasm.bat

Step 4: Expected Output Шаг 4: Ожидаемый результат

After running the build and execution scripts, you should see output in your terminal (or browser console if launched via a local server): После запуска скриптов сборки и выполнения вы увидите результат в терминале (или в консоли браузера при запуске через локальный сервер):

Hello, BehaviorTree.CPP from WebAssembly!