public void DrawGizmos(GOAPAgent _agent)
{
foreach (var node in Nodes)
{
GOAPAction action = node.Value as GOAPAction;
if (action != null)
{
action.DrawGizmos(_agent);
}
}
}
public GOAPNode Spawn(GOAPNode _parent, float _runningCost, Dictionary <string, bool> _state, GOAPAction _action)
{
GOAPNode unit = base.Spawn();
unit.parent = _parent;
unit.runningCost = _runningCost;
unit.state = _state;
unit.action = _action;
return(unit);
}
public GOAPNode(GOAPNode _parent, float _runningCost, Dictionary <string, bool> _state, GOAPAction _action)
{
parent = _parent;
runningCost = _runningCost;
state = _state;
action = _action;
}
protected virtual void Start()
{
States = new Dictionary <string, bool>();
foreach (var item in preState)
{
States[item.Key] = item.Value;
}
IdleState idleState = new IdleState(FSM)
{
onStart = () => { },
onExit = () => { }
};
idleState.onUpdate = () =>
{
if (NextPlanTime > FSM.time)
{
return;
}
if (T_GraphAsset == null)
{
return;
}
NextPlanTime = FSM.time + interval;
// 搜寻计划
foreach (GOAPGoal goal in Goals)
{
Planner.Plan(T_Graph.AvailableActions.ToArray(), States, goal, maxDepth, ref storedActionQueue);
if (StoredActionQueue.Count == 0)
{
CurrentGoal = goal;
break;
}
}
if (storedActionQueue.Count > 0)
{
actionQueue.Clear();
foreach (var action in storedActionQueue)
{
actionQueue.Enqueue(action);
}
//通知计划找到
if (Provider != null)
{
Provider.PlanFound(CurrentGoal, actionQueue);
}
//转换状态
FSM.ChangeTo("PerformActionState");
}
else
{
//通知计划没找到
if (Provider != null)
{
Provider.PlanFailed(Goals);
}
CurrentGoal = null;
}
};
GOAPFSMState performActionState = new GOAPFSMState(FSM)
{
onStart = () => { },
onExit = () => { }
};
performActionState.onUpdate = () =>
{
if (HasPlan)
{
// 如果当前有计划(目标尚未完成)
GOAPAction action = actionQueue.Peek();
if (CurrentAction != action)
{
CurrentAction = action;
action.OnPrePerform();
}
// 成功 or 失败
GOAPActionStatus status = action.OnPerform();
switch (status)
{
case GOAPActionStatus.Success:
foreach (var effect in action.Effects)
{
SetState(effect.Key, effect.Value);
}
action.OnPostPerform(true);
if (Provider != null)
{
Provider.ActionFinished(action.Effects);
}
actionQueue.Dequeue();
CurrentAction = null;
break;
case GOAPActionStatus.Failure:
if (replanOnFailed)
{
EnforceReplan();
}
else
{
AbortPlan();
}
return;
default:
break;
}
}
else
{
// 如果没有计划(目标已完成)
// 如果目标为一次性，移除掉
if (CurrentGoal != null && CurrentGoal.Once)
{
Goals.Remove(CurrentGoal);
}
// 通知计划完成
if (Provider != null)
{
Provider.PlanFinished();
}
// 当前目标设置为空
CurrentGoal = null;
FSM.ChangeTo("IdleState");
}
};
FSM.PushState("IdleState", idleState);
FSM.PushState("PerformActionState", performActionState);
FSM.ChangeTo("IdleState");
}
