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;
}
public Queue <GoapAction> Plan(GoapAgent agent, List <GoapAction> availableActions, Dictionary <string, object> worldState, Dictionary <string, object> goal)
{
foreach (GoapAction action in availableActions)
{
action.ForceReset();
}
List <GoapAction> usableActions = new List <GoapAction>();
foreach (GoapAction act in availableActions)
{
if (act.CheckPrecondition(agent.agent))
{
usableActions.Add(act);
}
}
List <Node> leaves = new List <Node>();
// build graph
Node start = new Node(null, 0, worldState, null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
// oh no, we didn't get a plan
Debug.Log("NO PLAN");
return(null);
}
// get the cheapest leaf
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.runningCost < cheapest.runningCost)
{
cheapest = leaf;
}
}
}
// get its node and work back through the parents
List <GoapAction> result = new List <GoapAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action); // insert the action in the front
}
n = n.parent;
}
// we now have this action list in correct order
Queue <GoapAction> queue = new Queue <GoapAction>();
foreach (GoapAction a in result)
{
queue.Enqueue(a);
}
// hooray we have a plan!
return(queue);
}
