void Start()
{
stateMachine = new FSM();
availableActions = new HashSet <GOAP.Action>();
currentActions = new Queue <GOAP.Action>();
planner = new GOAP.Planner();
FindDataProvider();
CreateIdleState();
CreateMoveToState();
CreatePerformActionState();
stateMachine.PushState(idleState);
LoadActions();
}
private void LateUpdate()
{
if (CurrentAction != null && CurrentAction.Running)
{
if (CurrentAction.Agent.hasPath && CurrentAction.Agent.remainingDistance < 1f)
{
Invoke("CompleteAction", CurrentAction.Duration);
_invoked = true;
}
return;
}
if (_planner == null || _actionQueue == null)
{
_planner = new Planner();
var sortedGoals = Goals.OrderByDescending(entry => entry.Value);
foreach (var goal in sortedGoals)
{
_actionQueue = _planner.Plan(Actions, goal.Key.SubGoals, null);
if (_actionQueue == null)
{
continue;
}
CurrentGoal = goal.Key;
break;
}
}
if (_actionQueue != null && _actionQueue.Count == 0)
{
if (CurrentGoal.Once)
{
Goals.Remove(CurrentGoal);
}
_planner = null;
}
if (_actionQueue != null && _actionQueue.Count > 0)
{
CurrentAction = _actionQueue.Dequeue();
if (CurrentAction.PrePerform())
{
// Find Target
if (CurrentAction.Target != null)
{
CurrentAction.Running = true;
CurrentAction.Agent.SetDestination(CurrentAction.Target.transform.position);
}
}
else
{
// Force a new plan!
_actionQueue = null;
}
}
}
// Update is called once per frame
public virtual void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distToTarget = Vector3.Distance(currentAction.vec3Destination, transform.position);
if (distToTarget < distanceToTargetThreshold)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new Planner();
var sortedGoals = from entry in goalsDic orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.subGoals, beliefs); // trying to create a plan for the most important goal
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goalsDic.Remove(currentGoal);
}
planner = null;
}
// sets our action and gets the target
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue(); // remove the action from the queue and make it the current action
if (currentAction.EnterAction())
{
if (currentAction.gameObjTarget == null && currentAction.targetTag != "") // Doesnt have a target but has a target tag
{
currentAction.gameObjTarget = GameObject.FindWithTag(currentAction.targetTag); // Set the target to what is tagged
}
if (currentAction.gameObjTarget != null) // if I have a target
{
currentAction.running = true;
currentAction.vec3Destination = currentAction.gameObjTarget.transform.position;
Transform dest = currentAction.gameObjTarget.transform.Find("Destination");
if (dest != null)
{
currentAction.vec3Destination = dest.position;
}
currentAction.navAgent.SetDestination(currentAction.vec3Destination);
}
}
else
{
actionQueue = null; // go get a new plan
}
}
}
