protected void PlanGenerated(GoalPlanPair <TKey, TValue> _goalPlanPair)
{
m_UnhandledSensorChanges = false;
m_LastPlanningTimeInSeconds = Time.realtimeSinceStartup;
if (_goalPlanPair.GoalInstance == null)
{
return;
}
OnBeforeNewPlan?.Invoke();
m_ActiveAction?.Cancel();
SetActiveGoal(_goalPlanPair.GoalInstance);
m_Plan = _goalPlanPair.PlanInstance;
m_IsPlanLocked = false;
m_IndexInPlan = 0;
if (!m_Plan.Empty())
{
m_ActiveAction = m_Plan.Pop();
}
else
{
m_ActiveAction = null;
}
OnNewPlan?.Invoke();
OnPlanProgressed?.Invoke();
}
private void OnActionCompleted()
{
if (m_Plan.Empty())
{
m_ActiveAction = null;
m_ActiveGoal = null;
m_IsPlanLocked = false;
}
else
{
m_ActiveAction = m_Plan.Pop();
}
OnPlanProgressed?.Invoke();
}
