/// <summary>
/// Создает новую ноду описывающую конкретное действие из плана ИИ.
/// </summary>
private AntAIDebuggerNode CreatePlanNode(AntAIAction aAction, AntAICondition aConditions,
AntAICondition aPrevConditions, ref Vector2 aNodePosition)
{
AntAICondition condCopy = aConditions.Clone();
condCopy.name = aAction.name;
int numLines;
string desc = DescribePlanAction(condCopy, aPrevConditions, out numLines);
GUIStyle style;
if (_currentPlan.isSuccess)
{
style = (aAction.name.Equals(_agent.currentPlan[0])) ? _activePlanStyle : _planStyle;
}
else
{
style = (aAction.name.Equals(_agent.currentPlan[0])) ? _activeFailedPlanStyle : _failedPlanStyle;
}
var node = AddNode(desc, 220.0f, CalcHeight(numLines), style, style, ref aNodePosition, false);
node.value = aAction.state;
node.SetOutput(node.rect.width - 10.0f, node.rect.height * 0.5f);
node.SetInput(10.0f, node.rect.height * 0.5f);
if (_genericNodes.Count > 0)
{
_genericNodes[_genericNodes.Count - 1].LinkTo(node, new Color(0.3f, 0.7f, 0.4f));
}
_genericNodes.Add(node);
return(node);
}
private void UpdatePlan(Vector2 aNodePosition, out float aMaxHeight)
{
for (int i = 0, n = _genericNodes.Count; i < n; i++)
{
_genericNodes[i].isActive = false;
}
aMaxHeight = 0.0f;
int curIndex = 0;
AntAIDebuggerNode node;
if (_genericNodes.Count > 0)
{
node = _genericNodes[curIndex];
UpdateWorldStateNode(_agent.planner.debugConditions, node);
node.isActive = true;
node.rect.x = aNodePosition.x;
aNodePosition.x += node.rect.width;
}
else
{
node = CreateWorldStateNode(_agent.planner.debugConditions, ref aNodePosition);
}
curIndex++;
AntAIAction action;
AntAICondition conditions = _agent.planner.debugConditions;
AntAICondition prevConditions;
for (int i = 0, n = _currentPlan.Count; i < n; i++)
{
action = _agent.planner.GetAction(_currentPlan[i]);
prevConditions = conditions.Clone();
conditions.Act(action.post);
if (curIndex < _genericNodes.Count)
{
node = _genericNodes[curIndex];
UpdatePlanNode(action, conditions, prevConditions, node);
node.isActive = true;
node.rect.x = aNodePosition.x;
aNodePosition.x += node.rect.width;
}
else
{
node = CreatePlanNode(action, conditions, prevConditions, ref aNodePosition);
}
aMaxHeight = (node.rect.height > aMaxHeight)
? node.rect.height
: aMaxHeight;
curIndex++;
}
}
/// <summary>
/// Обновляет ноду описывающую конкретное действие из плана ИИ.
/// </summary>
private void UpdatePlanNode(AntAIAction aAction, AntAICondition aConditions,
AntAICondition aPrevConditions, AntAIDebuggerNode aNode)
{
AntAICondition condCopy = aConditions.Clone();
condCopy.name = aAction.name;
aNode.value = aAction.state;
int numLines;
aNode.title = DescribePlanAction(condCopy, aPrevConditions, out numLines);
aNode.rect.height = CalcHeight(numLines);
if (_currentPlan.isSuccess)
{
aNode.defaultNodeStyle = (aAction.name.Equals(_agent.currentPlan[0])) ? _activePlanStyle : _planStyle;
}
else
{
aNode.defaultNodeStyle = (aAction.name.Equals(_agent.currentPlan[0])) ? _activeFailedPlanStyle : _failedPlanStyle;
}
}
/// <summary>
/// Builds the plan.
/// </summary>
/// <param name="aPlan">Reference to the result Plan.</param>
/// <param name="aCurrent">Current World State.</param>
/// <param name="aGoal">Goal World State that we want reach.</param>
public void MakePlan(ref AntAIPlan aPlan, AntAICondition aCurrent, AntAICondition aGoal)
{
#if UNITY_EDITOR
DebugConditions = aCurrent.Clone();
#endif
var opened = new List <AntAINode>();
var closed = new List <AntAINode>();
opened.Add(new AntAINode
{
world = aCurrent,
parent = null,
cost = 0,
heuristic = aCurrent.Heuristic(aGoal),
sum = aCurrent.Heuristic(aGoal),
action = string.Empty
});
AntAINode current = opened[0];
while (opened.Count > 0)
{
// Find lowest rank.
current = opened[0];
for (int i = 1, n = opened.Count; i < n; i++)
{
if (opened[i].sum < current.sum)
{
current = opened[i];
}
}
opened.Remove(current);
if (current.world.Match(aGoal))
{
// Plan is found!
ReconstructPlan(ref aPlan, closed, current);
aPlan.isSuccess = true;
if (EventPlanUpdated != null)
{
EventPlanUpdated(aPlan);
}
return;
}
closed.Add(current);
// Get neighbors.
List <AntAIAction> neighbors = GetPossibleTransitions(current.world);
AntAICondition neighbor;
int openedIndex = -1;
int closedIndex = -1;
int cost = -1;
for (int i = 0, n = neighbors.Count; i < n; i++)
{
cost = current.cost + neighbors[i].cost;
neighbor = current.world.Clone();
neighbor.Act(neighbors[i].post);
openedIndex = FindEqual(opened, neighbor);
closedIndex = FindEqual(closed, neighbor);
if (openedIndex > -1 && cost < opened[openedIndex].cost)
{
opened.RemoveAt(openedIndex);
openedIndex = -1;
}
if (closedIndex > -1 && cost < closed[closedIndex].cost)
{
closed.RemoveAt(closedIndex);
closedIndex = -1;
}
if (openedIndex == -1 && closedIndex == -1)
{
opened.Add(new AntAINode
{
world = neighbor,
cost = cost,
heuristic = neighbor.Heuristic(aGoal),
sum = cost + neighbor.Heuristic(aGoal),
action = neighbors[i].name,
parent = current.world
});
}
}
}
// Failed plan.
ReconstructPlan(ref aPlan, closed, current);
aPlan.isSuccess = false;
if (EventPlanUpdated != null)
{
EventPlanUpdated(aPlan);
}
}