private void createIdleState()
{
//this is a lambda expression nameless/anonymous delegate thingy of type FSM.FSMState
idleState = (fsm, gameObj) =>
{
//HashSet<KeyValuePair<string, object>> worldState = dataProvider.getWorldState();
//HashSet<KeyValuePair<string, object>> goal = dataProvider.createGoalState();
Profiler.BeginSample("Gathering and ordering goals by priority ");
List <Condition> originalState = dataProvider.GetWorldState();
List <Goal> goals = dataProvider.GetGoalState();
goals = OrderByPriority(goals);
//Debug.Log("WORLD STATE " + prettyPrint(originalState));
//Debug.Log("GOAL STATE " + prettyPrint(goals));
Profiler.EndSample();
Profiler.BeginSample("Begin Planning -- for loop through goals and calling planner");
Queue <GoapAction> plan = null;
foreach (Goal ourGoal in goals)
{ //this cycles through the goals by priority until it finds one that works with a plan
plan = planner_.Plan(ourGoal, availableActions_, originalState, this.gameObject);
if (plan != null)
{
//if you find a plan that works, break and continue on
//Debug.Log("<color=cyan>Plan found!:</color>" + prettyPrint(plan) + " for " + gameObj.name);
break;
}
else
{
}
}
Profiler.EndSample();
// planner_.Plan(goals, availableActions_, originalState, this.gameObject);
Profiler.BeginSample("Checking to see if plan is null/failed and returning to idle if so");
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goals, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
//Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goals) + " for " + gameObj.name);
dataProvider.PlanFailed(goals);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
Profiler.EndSample();
};
}
public IdleState(IGoap _goapData, StateMachine _controller, List <GoapAction> _availableActions, GoapPlanner _planner, GoapAgent _agent)
{
goapData = _goapData;
worldState = goapData.GetWorldState();
goal = goapData.GetGoalState();
controller = _controller;
planner = _planner;
agent = _agent;
availableActions = _availableActions;
}
// GOAP Planning State
public void IdleState()
{
State = AgentState.Planning;
// Get the world state and the goal we want to plan for
Dictionary <string, bool> worldState = agentImplementation.GetWorldState();
Dictionary <string, bool> goal = agentImplementation.GetGoalState(goalIndex);
// Clear previous plan ( actions )
currentPlan.Clear();
// Find new plan
currentPlan = planner.Plan(gameObject, availableActions, worldState, goal, goalIndex == 0 ? "Eliminate" : "Find Enemy");
if (HasActionPlan())
{
CurrentPlanTextual = Utilities.GetCollectionString(currentPlan.ToList());
goalIndex = 0;
// Plan Available - Change State
ChangeState(FSMKeys.PERFORM_STATE);
}
else
{
Debug.LogError("IdleState: Failed Plan | Goal Index:: " + goalIndex + "\n");
// Loop between goal index 0 and maximum number of goals
goalIndex = (int)Mathf.Repeat(++goalIndex, agentImplementation.GetGoalsCount());
// Plan Not Available - Loop State
ChangeState(FSMKeys.IDLE_STATE);
}
}