private void CreateMoveToState(GOAPComponent aic)
{
aic.moveToState = (fsm, gameObject) =>
{
//aic.AnnounceMoveToState();
GOAPAction action = aic.currentActions.Peek();
if (action.requiresInRange() && action.target == null)
{
fsm.popState();
fsm.popState();
fsm.pushState(aic.idleState);
return;
}
if (aic.IsAgentInRange(action))
{
fsm.popState();
}
else
{
if (aic.IsActionInterrupted(action))
{
fsm.popState();
fsm.pushState(aic.idleState);
}
aic.gameObject.GetComponent <NavMeshAgent>()?.SetDestination(action.target.transform.position);
}
};
}
private void createPerformActionState()
{
performActionState = (fsm, gameObj) => {
// Perform the action
if (!hasActionPlan())
{
// No actions to perform
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
return;
}
GOAPAction action = currentActions.Peek();
if (action.isDone())
{
// The action is done. We can remove it, onto the next one!
currentActions.Dequeue();
}
if (hasActionPlan())
{
// Perform the next action
action = currentActions.Peek();
bool inRange = action.requiresInRange() ? action.isInRange() : true;
if (inRange)
{
// We're in range, so perform the action
bool success = action.perform(gameObj);
if (!success)
{
// Action failed, we need to plan again
fsm.popState();
fsm.pushState(idleState);
dataProvider.planAborted(action);
}
}
else
{
// We need to move to our target first
// Let's make the AI move
fsm.pushState(moveToTargetState);
}
}
// If all fails, change back to idleState (planning stage)
else
{
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
}
};
}
private void CreatePerformActionState(GOAPComponent aic)
{
aic.performActionState = (fsm, obj) =>
{
//aic.AnnouncePerformActionState();
if (!aic.HasActionPlan())
{
fsm.popState();
fsm.pushState(aic.idleState);
aic.ActionsFinished();
return;
}
GOAPAction action = aic.currentActions.Peek();
if (action.isDone())
{
aic.currentActions.Dequeue();
}
if (aic.HasActionPlan())
{
action = aic.currentActions.Peek();
bool inRange = action.requiresInRange() ? action.isInRange() : true;
if (inRange)
{
bool success = action.perform(obj);
if (!success)
{
fsm.popState();
fsm.pushState(aic.idleState);
CreateIdleState(aic);
aic.PlanAborted(action);
}
}
else
{
fsm.pushState(aic.moveToState);
}
}
else
{
fsm.popState();
fsm.pushState(aic.idleState);
aic.ActionsFinished();
}
};
}
private void createPerformActionState()
{
performActionState = (fsm, obj) => {
if (!hasActionPlan())
{
fsm.popState();
fsm.pushState(idleState);
dataProvider.ActionsFinished();
return;
}
GOAPAction action = currentActions.Peek();
if (action.isDone())
{
currentActions.Dequeue();
}
if (hasActionPlan())
{
action = currentActions.Peek();
bool inRange = action.requiresInRange() ? action.isInRange() : true;
if (inRange)
{
bool success = action.perform(obj);
if (!success)
{
fsm.popState();
fsm.pushState(idleState);
createIdleState();
dataProvider.PlanAborted(action);
}
}
else
{
fsm.pushState(moveToState);
}
}
else
{
fsm.popState();
fsm.pushState(idleState);
dataProvider.ActionsFinished();
}
};
}
private void createMoveToState()
{
moveToState = (fsm, gameObject) => {
GOAPAction action = currentActions.Peek();
if (action.requiresInRange() && action.target == null)
{
fsm.popState();
fsm.popState();
fsm.pushState(idleState);
return;
}
if (dataProvider.IsAgentInRange(action))
{
fsm.popState();
}
};
}
private void createMoveToTargetState()
{
moveToTargetState = (fsm, gameObj) => {
// Moves AI towards target
GOAPAction action = currentActions.Peek();
// Action requires a target but has none. Go back to planning stage
if (action.requiresInRange() && action.rTarget == null)
{
fsm.popState(); // Clear moveToTargetState
fsm.popState(); // Clear performActionState
fsm.pushState(idleState);
return;
}
// If the moveAgent variable becomes true (which tells us if the AI reached the target), clear moveToTargetState
if (dataProvider.moveAgent(action))
{
fsm.popState();
}
};
}