private void _SetPlan()
{
// Set test plan
_actionPlanner.PopulatePlan(_planTest, _state, _goal);
// Check if test plan is not valid
if (_planTest.Outcome != EPlanningOutcome.Success || _planTest.Steps.Count == 0)
{
// Set test plan
_actionPlanner.PopulatePlan(_planTest, _actionDefault);
}
// Set plan
_actionStateMachine.Plan = _planTest;
// Get active plan
var planActive = _planActive;
// Set active plan
_planActive = _planTest;
// Set test plan
_planTest = planActive;
}
public Move(GameObject gameObject, IReadOnlyList <IDogActionMovement> actionsMovement, IDogActionDestination actionDestination)
{
// Set action planner
_actionPlanner = new ActionPlanner <Dog, IDogActionMovement>();
// Set action state machine
_actionStateMachine = new ActionStateMachine <Dog, IDogActionMovement, float>();
// Run through movement actions
for (int i = 0; i < actionsMovement.Count; i++)
{
// Create movement action
var actionMovement = actionsMovement[i].Create(gameObject, actionDestination);
// Add movement action
_actionPlanner.AddAction(actionMovement);
}
// Set destination action
_actionDestination = actionDestination;
// Get plan
_plan = _actionPlanner.GetPlan();
// Set plan
_actionPlanner.PopulatePlan(_plan, _actionPlanner.Actions[0]);
}