private void Start()
{
// 1. Create the AI planner.
// -------------------------
var planner = new AntAIPlanner();
// Load scenario for planner.
A.Assert(scenario == null, "Scenario not selected!");
planner.LoadScenario(scenario);
// 2. Create world state.
// ----------------------
var worldState = new AntAICondition();
worldState.BeginUpdate(planner);
worldState.Set("Is Cargo Delivered", false);
worldState.Set("See Cargo", false);
worldState.Set("Has Cargo", false);
worldState.Set("See Base", false);
worldState.Set("Near Base", false);
worldState.EndUpdate();
// 3. Build plan.
// --------------
var plan = new AntAIPlan();
planner.MakePlan(ref plan, worldState, planner.GetDefaultGoal());
// Output plan.
Debug.Log("<b>Plan:</b>");
for (int i = 0; i < plan.Count; i++)
{
Debug.Log((i + 1) + ". " + plan[i]);
}
// 4. Change world state and rebuild plan.
// ---------------------------------------
worldState.BeginUpdate(planner);
worldState.Set("Has Cargo", true);
worldState.EndUpdate();
planner.MakePlan(ref plan, worldState, planner.FindGoal("Delivery"));
// Output plan.
Debug.Log("<b>Plan:</b>");
for (int i = 0; i < plan.Count; i++)
{
Debug.Log((i + 1) + ". " + plan[i]);
}
}
/// <summary>
/// This method will be called automaticaly each time when AntAIAgent decide to update the plan.
/// You should attach this script to the same object where is AntAIAgent.
/// </summary>
public void CollectConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// 1. Classic setup of the World Conditions for planner.
// -------------------------------------------------------
// aWorldState.BeginUpdate(aAgent.planner);
// {
// aWorldState.Set("Is Cargo Delivered", false);
// aWorldState.Set("See Cargo", IsSeeCargo());
// aWorldState.Set("Has Cargo", _control.HasCargo);
// aWorldState.Set("See Base", IsSeeBase());
// aWorldState.Set("Near Base", IsNearBase());
// }
// aWorldState.EndUpdate();
// 2. Optimized setup of the World Conditions for the planner.
// -----------------------------------------------------------
aWorldState.BeginUpdate(aAgent.planner);
{
aWorldState.Set(DeliveryBot.IsCargoDelivered, false);
aWorldState.Set(DeliveryBot.SeeCargo, IsSeeCargo());
aWorldState.Set(DeliveryBot.HasCargo, _control.HasCargo);
aWorldState.Set(DeliveryBot.SeeBase, IsSeeBase());
aWorldState.Set(DeliveryBot.NearBase, IsNearBase());
}
aWorldState.EndUpdate();
// HINT: When you have finished the AI Scenario, just export all conditions
// as enum and use it to set conditions from the code.
}