public void InitialiseFSM(string startingState, FSMLoader load, AIMotorActions aiM, AIConditionChecker aiC, Transform parentT)
{
loader = load;
activeState = loader.GetState(startingState);
motorActions = aiM;
conditionChecker = aiC;
parentTransform = parentT;
fsmCounter = new FSMCounter();
fsmCounter.timer = 0f;
fsmCounter.frames = 0;
if (activeState.GetAction() == Action.RUN_SUB_FSM)
{
SpawnFSMStartingWithState(activeState.GetStartingSubstate());
}
}
public bool TestCondition(Condition condition, float param, FSMCounter counter)
{
switch (condition)
{
case Condition.TIMER:
{
if (counter.timer > param)
{
return(true);
}
break;
}
case Condition.FRAMES:
{
if (counter.frames >= (Mathf.CeilToInt(param)))
{
return(true);
}
break;
}
case Condition.TARGET_IN_RADIUS:
{
if (Vector3.Magnitude(goals.GetTargetPosition() - parentTransform.position) < param)
{
return(true);
}
break;
}
case Condition.TARGET_OUTSIDE_RADIUS:
{
if (Vector3.Magnitude(goals.GetTargetPosition() - parentTransform.position) > param)
{
return(true);
}
break;
}
case Condition.TARGET_IN_LOS:
{
if (raycastSensors.IsGameobjectInLOS(goals.GetTargetObject()))
{
return(true);
}
break;
}
case Condition.TARGET_IN_OCTANT_BELOW:
{
FindTargetOctant();
if (horOctant == 0f && vertOctant < 0)
{
return(true);
}
break;
}
case Condition.TARGET_IN_OCTANT_ABOVE:
{
FindTargetOctant();
if (horOctant == 0f && vertOctant > 0)
{
return(true);
}
break;
}
case Condition.TARGET_IN_HORIZONTAL_OCTANTS:
{
FindTargetOctant();
if (horOctant != 0f && vertOctant == 0)
{
return(true);
}
break;
}
case Condition.TARGET_IN_FRONT_OCTANT:
{
FindTargetOctant();
if (horOctant == goals.GetForwardDirection() && vertOctant == 0)
{
return(true);
}
break;
}
case Condition.TARGET_IN_FRONT_HORIZONTAL:
{
FindTargetDistances();
if (Mathf.Sign(horDistance) == Mathf.Sign(goals.GetForwardDirection()))
{
if (Mathf.Abs(vertDistance) < verticalSpottingHeight)
{
return(true);
}
}
break;
}
case Condition.CLIFF_LEFT:
{
if (raycastSensors.GetLeftCliff())
{
return(true);
}
break;
}
case Condition.CLIFF_RIGHT:
{
if (raycastSensors.GetRightCliff())
{
return(true);
}
break;
}
case Condition.CLIFF_FORWARD:
{
if (contactSensor.GetContactState() != ContactState.AIRBORNE) //Don't look for cliffs if already airborne...
{
if (goals.GetForwardDirection() == 1)
{
if (raycastSensors.GetRightCliff())
{
return(true);
}
}
else
{
if (raycastSensors.GetLeftCliff())
{
return(true);
}
}
}
break;
}
case Condition.ALWAYS:
{
return(true);
break;
}
}
return(false);
}
