public AIFSM(string name, EnemyController controller) : base(name, controller)
{
if (!controller)
{
// TODO: Add log
LogHalt("EnemyController object null!");
Halt();
}
#if UNITY_EDITOR
LogThis = true;
#endif
idleState = new IdleState(this, EAIState.IDLE, "STATE_IDLE", controller);
alertState = new AlertState(this, EAIState.ALERT, "STATE_ALERT", controller);
aggressiveState = new AggressiveState(this, EAIState.AGGRESSIVE, "STATE_AGGRESSIVE", controller);
idleState.AddTransition(new Tran_IdleToAlert(alertState, controller));
alertState.AddTransition(new Tran_AlertToAggressive(aggressiveState, controller));
alertState.AddTransition(new Tran_AlertToIdle(idleState, controller));
aggressiveState.AddTransition(new Tran_AggressiveToAlert(alertState, controller));
AddState(idleState);
AddState(alertState);
AddState(aggressiveState);
}
void Awake()
{
// state machine setup
CollisionNotifier collisionNotifier = transform.Find("Sphere").GetComponent <CollisionNotifier>();
stateMachine = new InputStateMachine();
NormalState normalState = new NormalState(this, wanderStrength, collisionNotifier);
stateMachine.AddState(normalState);
AggressiveState aggressiveState = new AggressiveState(this, wanderStrength, guidePointDistance, aggressiveTime, collisionNotifier);
stateMachine.AddState(aggressiveState);
stateMachine.ChangeToState <NormalState>();
// decision tree setup
treeRoot = new DecisionQuery <AIInput, Path>
{
Test = (ai) => ai.currentPath.CheckIfOnCriticalSection(ai.car.position),
Positive = new DecisionResult <AIInput, Path>(null),
Negative = new DecisionQuery <AIInput, Path>
{
Test = (ai) => ai.behaviour.boostCount < ai.minBoost,
Positive = new DecisionResult <AIInput, Path>(coinPath),
Negative = new DecisionQuery <AIInput, Path>
{
Test = (ai) => ai.otherCar.boostCount > ai.behaviour.boostCount,
Positive = new DecisionResult <AIInput, Path>(coinPath),
Negative = new DecisionResult <AIInput, Path>(fastPath)
}
}
};
}
