private void LateUpdate()
{
if (currentAction != null && currentAction.isActionRunning)
{
//float distanceToTarget = Vector3.Distance(currentAction.target.transform.position, this.transform.position);
if (currentAction.navAgent.hasPath && currentAction.navAgent.remainingDistance < 2.0f)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GOAPPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;//sort goals in order of priority
foreach (KeyValuePair <Goal, int> sgoal in sortedGoals)
{
actionQueue = planner.plan(actions, sgoal.Key.subGoals, beliefs);
if (actionQueue != null)
{
currentGoal = sgoal.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.FindGameObjectWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
currentAction.isActionRunning = true;
currentAction.navAgent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
if (currentAction.agent.hasPath && currentAction.agent.remainingDistance < 1f)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GOAPPlanner();
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, null);
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.running = true;
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
