void LateUpdate()
{
//if there's a current action and it is still running
if (currentAction != null && currentAction.IsActionActive)
{
// Check the agent has a goal and has reached that goal
if (currentAction.ConditionToExit())
{
CompleteAction();
return;
}
//if a current action is active run its update tick
if (currentAction.IsActionActive == true)
{
currentAction.OnTick();
}
//if not action is active find a new plan
else
{
planner = null;
}
return;
}
// Check we have a planner and an actionQueue
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
// Sort the goals in descending order and store them in sortedGoals
var sortedGoals = from entry in goalsDictionary orderby entry.Value descending select entry;
//look through each goal to find one that has an achievable plan
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.plan(actions, sg.Key.sGoals, agentPersonalState);
// If actionQueue is not = null then we must have a plan
if (actionQueue != null)
{
// Set the current goal
currentGoal = sg.Key;
break;
}
}
//clears action plan list and adds the new action plan from action queue in a list so we can view the plan in debugger.
actionPlan.Clear();
if (actionQueue != null)
{
foreach (var action in actionQueue)
{
actionPlan.Add(action);
}
}
}
// if we have a actionQueue but the count is == 0
if (actionQueue != null && actionQueue.Count == 0)
{
// Check if currentGoal is removable
if (currentGoal.remove)
{
// Remove it
goalsDictionary.Remove(currentGoal);
}
// Set planner = null so it will trigger a new one
planner = null;
}
// If there are still actions insie of actionQueue
if (actionQueue != null && actionQueue.Count > 0)
{
// Remove the top action of the queue and put it in currentAction
currentAction = actionQueue.Dequeue();
//call actions OnEnter function and check if it returns true or false.
if (currentAction.OnEnter())
{
// Activate the current action
currentAction.IsActionActive = true;
}
else
{
//empty action queue so we can find another plan.
actionQueue = null;
}
}
}
private void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distanceToTarget = Vector3.Distance(currentAction.target.transform.position, this.transform.position);
if (currentAction.agent.hasPath && distanceToTarget < 2f)
{
if (!invoked)
{
Invoke(nameof(CompleteAction), currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.sgoals, beliefs);
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target == null)
{
Debug.Log("Idiot");
}
if (currentAction.target != null)
{
currentAction.running = true;
//Debug.Log($"Setting DESTINATION OF {this.name} TO {currentAction.target.name} ");
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
