//---------------------------------------------------------------------------
#region Private Member Data
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Accessors and Mutators
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public void TransferBlock(Vector3i?origin, Vector3i?destination)
{
if (origin.HasValue && destination.HasValue)
{
OCMap map = OCMap.Instance; //(OCMap)GameObject.FindSceneObjectsOfType(typeof(OCMap)).FirstOrDefault();
OCGoalController[] goalControllers = (OCGoalController[])GameObject.FindObjectsOfType(typeof(OCGoalController));
foreach (Transform battery in map.BatteriesSceneObject.transform)
{
if (VectorUtil.AreVectorsEqual(battery.position, new Vector3((float)origin.Value.x, (float)origin.Value.y, (float)origin.Value.z)))
{
battery.position = new Vector3((float)destination.Value.x, (float)destination.Value.y, (float)destination.Value.z);
}
}
OCBlockData block = map.GetBlock(origin.Value);
map.SetBlockAndRecompute(block, destination.Value);
map.SetBlockAndRecompute(OCBlockData.CreateInstance <OCBlockData>().Init(null, origin.Value), origin.Value);
foreach (OCGoalController goalController in goalControllers)
{
if (goalController.GoalBlockType == block.block)
{
goalController.FindGoalBlockPositionInChunks(map.GetChunks());
}
}
}
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public void SetBlockAndRecompute(OCBlockData block, Vector3i pos)
{
//MethodInfo info = this.GetType().GetMember("SetBlockAndRecompute")[0] as MethodInfo;
// TODO [BLOCKED]: uncomment when aspect stuff is in place?
// object[] attributes = info.GetCustomAttributes(typeof(OCLogAspect), true);
// OCLogAspect asp = null;
//
// if(attributes != null)
// asp = attributes[0] as OCLogAspect;
//
// if(asp == null)
// Debug.Log("No OCLog Aspect...");
//
// asp.OnEntry(null);
OCBlockData oldBlock = GetBlock(pos);
SetBlock(block, pos);
// Convert the global coordinate of the block to the chunk coordinates.
Vector3i chunkPos = OCChunk.ToChunkPosition(pos);
UpdateChunkLimits(chunkPos);
// Convert the global coordinate of the block to the coordinate within the chunk.
Vector3i localPos = OCChunk.ToLocalPosition(pos);
SetDirty(chunkPos);
// If on the lower boundary of a chunk...set the neighbouring chunk to dirty too.
if (localPos.x == 0)
{
SetDirty(chunkPos - Vector3i.right);
}
if (localPos.y == 0)
{
SetDirty(chunkPos - Vector3i.up);
}
if (localPos.z == 0)
{
SetDirty(chunkPos - Vector3i.forward);
}
// If on the upper boundary of a chunk...set the neighbouring chunk to dirty too.
if (localPos.x == OCChunk.SIZE_X - 1)
{
SetDirty(chunkPos + Vector3i.right);
}
if (localPos.y == OCChunk.SIZE_Y - 1)
{
SetDirty(chunkPos + Vector3i.up);
}
if (localPos.z == OCChunk.SIZE_Z - 1)
{
SetDirty(chunkPos + Vector3i.forward);
}
OpenCog.Map.Lighting.OCSunLightComputer.RecomputeLightAtPosition(this, pos);
OpenCog.Map.Lighting.OCLightComputer.RecomputeLightAtPosition(this, pos);
UpdateMeshColliderAfterBlockChange();
// TODO [BLOCKED]: uncomment when aspect stuff is in place?
// asp.OnExit(null);
OpenCog.Embodiment.OCPerceptionCollector perceptionCollector = OpenCog.Embodiment.OCPerceptionCollector.Instance;
List <GameObject> batteries = GameObject.FindGameObjectsWithTag("OCBattery").ToList();
GameObject battery = batteries.Where(b => VectorUtil.AreVectorsEqual(b.transform.position, new Vector3((float)pos.x, (float)pos.y, (float)pos.z))).FirstOrDefault();
List <GameObject> hearths = GameObject.FindGameObjectsWithTag("OCHearth").ToList();
GameObject hearth = hearths.Where(h => VectorUtil.AreVectorsEqual(h.transform.position, new Vector3((float)pos.x, (float)pos.y, (float)pos.z))).FirstOrDefault();
if (block.IsEmpty() && !oldBlock.IsEmpty())
{
UnityEngine.Debug.Log(OCLogSymbol.RUNNING + "OCMap.SetBlockAndRecompute(): Null block type sent; destroying block.");
if (perceptionCollector != null && oldBlock.block.GetName() != "Battery")
{
perceptionCollector.NotifyBlockRemoved(pos);
}
// I'm going to take a gamble here...since NotifyBatteryRemoved only does its work when it finds a battery at this location...it should be ok...
if (perceptionCollector != null && oldBlock.block.GetName() == "Battery")
{
perceptionCollector.NotifyBatteryRemoved(pos);
}
if (battery != default(GameObject) && battery != null)
{
GameObject.DestroyImmediate(battery);
}
if (hearth != default(GameObject) && hearth != null)
{
GameObject.DestroyImmediate(hearth);
}
}
else
{
UnityEngine.Debug.Log(OCLogSymbol.RUNNING + "OCMap.SetBlockAndRecompute(): Block type sent; creating block.");
// Moved notify down...to AFTER the point where it is actually created...
}
if (block.block != null && block.block.GetName() == "Battery" && (battery == default(GameObject) || battery == null))
{
GameObject batteryPrefab = OCMap.Instance.BatteryPrefab;
if (batteryPrefab == null)
{
UnityEngine.Debug.LogWarning(OCLogSymbol.WARN + "OCBuilder.Update(), batteryPrefab == null");
}
else
{
GameObject newBattery = (GameObject)GameObject.Instantiate(batteryPrefab);
newBattery.transform.position = pos;
newBattery.name = "Battery";
newBattery.transform.parent = OCMap.Instance.BatteriesSceneObject.transform;
if (perceptionCollector != null)
{
perceptionCollector.NotifyBatteryAdded(pos);
}
}
}
if (block.block != null && block.block.GetName() == "Hearth" && (hearth == default(GameObject) || hearth == null))
{
GameObject hearthPrefab = OCMap.Instance.HearthPrefab;
if (hearthPrefab == null)
{
UnityEngine.Debug.LogWarning(OCLogSymbol.WARN + "OCBuilder::Update, hearthPrefab == null");
}
else
{
GameObject newHearth = (GameObject)GameObject.Instantiate(hearthPrefab);
newHearth.transform.position = pos;
newHearth.name = "Hearth";
newHearth.transform.parent = OCMap.Instance.HearthsSceneObject.transform;
if (perceptionCollector != null)
{
perceptionCollector.NotifyBlockAdded(pos);
}
}
}
}
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if (_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
else if (_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = OCScriptableObject.CreateInstance <OCActionPlanStep>();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair <string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
step.Arguments.ActionName = keyValuePair.Key;
_step = step;
}
BehaveResult result = _step.Behaviour.Tick();
// if((_step.Behaviour.Name == _TreeTypeDictionary[TreeType.Character_IdleShow].Name) && result == BehaveResult.Success)
// {
// //iTween itween = _step.Arguments.Source.GetComponent<iTween>();
// iTween.Stop(_step.Arguments.Source);
// }
if (result != BehaveResult.Running)
{
OCAction.OCActionArgs args = _step.Arguments;
// if((_step.Behaviour.Name != _TreeTypeDictionary[_TreeType].Name)
// || ((_step.Behaviour.Name == _TreeTypeDictionary[_TreeType].Name)
// && (GameObject.Find("EndPointStub").transform.position != Vector3.zero)))
{
// if we have a goal...
if (_step.Arguments.EndTarget != null)
{
if (_step.Arguments.EndTarget.transform.position != Vector3.zero)
{
_PlanSucceeded &= result == BehaveResult.Success;
}
Vector3 startPosition = _step.Arguments.StartTarget.transform.position;
Vector3 endPosition = _step.Arguments.EndTarget.transform.position;
Vector3 sourcePosition = _step.Arguments.Source.transform.position;
sourcePosition.y = sourcePosition.y - 0.5f;
Vector3 startToEnd = endPosition - startPosition;
Vector3 sourceToEnd = endPosition - sourcePosition;
float startToEndManDist = Math.Abs(endPosition.x - startPosition.x) + Math.Abs(endPosition.y - startPosition.y) + Math.Abs(endPosition.z - startPosition.z);
float sourceToEndManDist = Math.Abs(endPosition.x - sourcePosition.x) + Math.Abs(endPosition.y - sourcePosition.y) + Math.Abs(endPosition.z - sourcePosition.z);
if (_step.Behaviour.Name == "Character.Move" || _step.Arguments.ActionName == "walk" || _step.Arguments.ActionName == "jump_toward")
{
// don't use euclideon distance
//_PlanSucceeded |= sourceToEnd.sqrMagnitude < startToEnd.sqrMagnitude;
// use manhattan distance
//_PlanSucceeded = sourceToEndManDist <= startToEndManDist;
if (VectorUtil.AreVectorsEqual(sourcePosition, endPosition))
{
_PlanSucceeded = true;
}
else
{
_PlanSucceeded = false;
}
}
if (_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = (endPosition == Vector3.zero || _step.Arguments.EndTarget == null);
}
if (_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = OCAction.IsEndTargetCloseForward(null, _step.Arguments);
}
// if(_step.Arguments.ActionName == "grab")
// {
// _PlanSucceeded = endPosition != startPosition && endPosition != null;
// }
if (_step.Arguments.ActionPlanID != null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries))
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
if (_step.Behaviour.Name != "Character.IdleShow" && !_step.Behaviour.Name.Contains("Behaviour"))
{
Debug.LogWarning("In OCActionController.UpdateAI, Result: " + (_PlanSucceeded ? "Success" : "Failure") + " for Action: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : (_step.Arguments.ActionName + " & Sequence: " + _step.Arguments.SequenceID)));
}
}
else if (_step.Arguments.ActionPlanID == null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries) && OCConnectorSingleton.Instance.IsEstablished)
{
OCConnectorSingleton.Instance.HandleOtherAgentActionResult(_step, _PlanSucceeded);
}
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
_step.Behaviour.Reset();
// if we failed, retry last step
if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries > _step.Retry)
{
_ActionPlanQueue.AddFirst(_step);
_step.Retry += 1;
}
else if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries <= _step.Retry)
{
_ActionPlanQueue.Clear();
_step = null;
}
else if (_step.Arguments.EndTarget)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
if (_ActionPlanQueue.Count == 0)
{
if (_LastPlanID != null)
{
// if(result == BehaveResult.Failure)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
OCConnectorSingleton.Instance.SendActionPlanStatus(_LastPlanID, _PlanSucceeded);
if (_step != null && _step.Arguments.EndTarget != null)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
_LastPlanID = null;
}
_step = null;
}
else if (_LastPlanID != null)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
if (_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
}
else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
}
}
}