private void createIdleState()
{
idleState = (FiniteStateMachine, gameObj) =>
{
//Planning
//Gets world state
HashSet <KeyValuePair <string, object> > worldState = dataProvider.getWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.createGoalState();
//Plan
Queue <GOAPAction> plan = planner.plan(gameObject, actionsAvailable, worldState, goal);
if (plan != null)
{
//Already Have Plan
currentActions = plan;
dataProvider.planFound(goal, plan);
FiniteStateMachine.Pop(); //switch to PerformAction
FiniteStateMachine.Push(performActionState);
}
else
{
//No Plan
dataProvider.planFailed(goal);
FiniteStateMachine.Pop(); //switch to idle
FiniteStateMachine.Push(idleState);
}
};
}
/// <summary>
/// Create the idle state.
/// </summary>
private void CreateIdleState()
{
m_IdleState = (fsm, gameObject) =>
{
// Check the world state.
HashSet <KeyValuePair <string, object> > worldState = m_DataProvider.GetWorldState();
// Check the current goals.
HashSet <KeyValuePair <string, object> > goal = m_DataProvider.CreateWorldGoal();
// Create a plan to fulfill the agent's goal world state.
Queue <GOAPAction> plan = m_Planner.Plan(gameObject, m_AvaliableActions, worldState, goal);
// If a valid plan was created, begin enacting on that plan.
if (plan != null)
{
m_CurrentActions = plan;
m_DataProvider.PlanFound(goal, plan);
fsm.RemoveState();
fsm.AddState(m_PerformActionState);
}
// Else, no valid plan could be created, say plan failed and try again.
else
{
m_DataProvider.PlanFailed(goal);
fsm.RemoveState();
fsm.AddState(m_IdleState);
}
};
}
public void AddState (FSMState newState) {
foreach (FSMState state in _states) {
if (state == newState || state.name.Equals(newState.name)) {
return ;
}
}
_states.Add(newState);
}
private void createPerformActionState()
{
performActionState = (FiniteStateMachine, gameObj) =>
{
//performs action
if (!hasActionPlan())
{
//no actions
FiniteStateMachine.Pop();
FiniteStateMachine.Push(idleState);
dataProvider.actionsFinished();
return;
}
GOAPAction action = currentActions.Peek();
if (action.isDone())
{
//action done
currentActions.Dequeue();
}
if (hasActionPlan())
{
//perform next action
action = currentActions.Peek();
bool inRange = action.mustBeInRange() ? action.isInRange() : true;
if (inRange)
{
//in range
bool success = action.perform(gameObj);
if (!success)
{
//action failed
FiniteStateMachine.Pop();
FiniteStateMachine.Push(idleState);
dataProvider.planAborted(action);
}
}
else
{
//move there first
FiniteStateMachine.Push(moveState);
}
}
else
{
//no actions left
FiniteStateMachine.Pop();
FiniteStateMachine.Push(idleState);
dataProvider.actionsFinished();
}
};
}
/// <summary>
/// Create the perform action state.
/// </summary>
private void CreatePerformActionState()
{
m_PerformActionState = (fsm, gameObject) =>
{
// If the agent has no plan, go to the idle state and say we are doing nothing.
if (!HasActionPlan())
{
fsm.RemoveState();
fsm.AddState(m_IdleState);
m_DataProvider.ActionsFinished();
return;
}
GOAPAction action = m_CurrentActions.Peek();
if (action.IsDone())
{
m_CurrentActions.Dequeue();
}
// If the agent has a plan.
if (HasActionPlan())
{
action = m_CurrentActions.Peek();
// Check if in range of action.
bool inRange = action.RequiresInRange() ? action.IsInRange() : true;
// If we are in range for the action.
if (inRange)
{
// Check if the agent was able to perform the action.
bool success = action.Perform(gameObject);
// If not, abort plan and go back to idle.
if (!success)
{
fsm.RemoveState();
fsm.AddState(m_IdleState);
m_DataProvider.PlanAborted(action);
}
}
// If not in range, start moving towards target.
else
{
fsm.AddState(m_MoveToState);
}
}
};
}
public void ChangeState (string toState) {
FSMState stateToChange = null;
foreach (FSMState state in _states) {
if (state.name.Equals(toState)) {
stateToChange = state;
}
}
if (stateToChange != null) {
_currentState.Exit();
_currentState = stateToChange;
_currentState.Enter();
}
else {
Debug.LogError("Invalid State name: " + toState);
}
}
private void createMoveToState()
{
moveState = (FiniteStateMachine, gameObj) =>
{
//move gameobject
GOAPAction action = currentActions.Peek();
if (action.mustBeInRange() && action.target == null)
{
FiniteStateMachine.Pop(); //move
FiniteStateMachine.Pop(); //perform
FiniteStateMachine.Push(idleState);
return;
}
//agent moves itself
if (dataProvider.moveAgent(action))
{
FiniteStateMachine.Pop();
}
//if (movable == null)
//{
// FiniteStateMachine.Pop(); //move
// FiniteStateMachine.Pop(); //perform
// FiniteStateMachine.Push(idleState);
// return;
//}
//Variables
var thisEnemy = gameObj.GetComponent <Enemy>();
Rigidbody2D rb = gameObj.GetComponent <Rigidbody2D>();
rb.velocity = new Vector2(Mathf.MoveTowards(rb.velocity.x, Mathf.Sign(action.target.transform.position.x - rb.position.x) * thisEnemy.maxSpeed, thisEnemy.runForce * Time.deltaTime), rb.velocity.y);
if (gameObj.transform.position.Equals(action.target.transform.position.x))
{
//at target position
action.setInRange(true);
FiniteStateMachine.Pop();
}
};
}
/// <summary>
/// Create the move state.
/// </summary>
private void CreateMoveToState()
{
m_MoveToState = (fsm, gameObject) =>
{
GOAPAction action = m_CurrentActions.Peek();
// If the current actions requires us to be in range of a target but we couldn't find a target, go to the idle state.
if (action.RequiresInRange() && action.GetTarget() == null)
{
fsm.RemoveState();
fsm.RemoveState();
fsm.AddState(m_IdleState);
return;
}
// If the agent has reached the target of their current action, move to the next state.
if (m_DataProvider.MoveAgent(action))
{
fsm.RemoveState();
}
};
}
public void RemoveState(FSMState oldState)
{
_states.Remove(oldState);
}
public void RemoveState (FSMState oldState) {
_states.Remove (oldState);
}
public void SwitchState(FSMState toState)
{
SwitchState(toState.name);
}
public void Start(FSMState state)
{
Start(state.name);
}
public FSMTranslation(FSMState fromState, FSMState toState, System.Action translationCallBack)
{
this.fromState = fromState;
this.toState = toState;
this.translationCallBack = translationCallBack;
}
