private void CreatePlanningState()
{
planningState = (fsm, gameObj) =>
{
Dictionary <string, object> worldState = worldDataProvider.GetWorldState();
Dictionary <string, object> goalState = worldDataProvider.CreateGoalState();
Queue <GAction> plan = planner.Plan(this, availableActions, worldState, goalState);
if (plan != null)
{
currentActions = plan;
worldDataProvider.PlanFound(goalState, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("Planning failed! Goal: " + goalState);
worldDataProvider.PlanFailed(goalState);
fsm.PopState();
fsm.PushState(planningState);
}
};
}
private void CreatePerformActionState()
{
performActionState = (fsm, gagent) =>
{
if (!HasActionPlan())
{
Debug.Log("Done with actions, planning new actions.");
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.ActionsFinished();
return;
}
GAction action = currentActions.Peek();
if (action.IsDone())
{
currentActions.Dequeue();
}
if (HasActionPlan())
{
action = currentActions.Peek();
bool success = action.Perform(gagent);
if (!success)
{
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.PlanAborted(action);
}
}
else
{
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.ActionsFinished();
}
};
}
