// Start is called before the first frame update
public virtual void Start()
{
Action[] acts = this.GetComponents <Action>();
foreach (Action a in acts)
{
actions.Add(a);
}
for (int i = 0; i < myGoals.Length; i++)
{
Goal g = myGoals[i];
SubGoal sg = new SubGoal(g.goal, g.value, g.shouldRemove);
goalsDic.Add(sg, g.priority);
}
}
public virtual void Start()
{
Action[] acts = GetComponents <Action>();
actions.Clear();
//sets the action name of each action to its actionName
foreach (Action a in acts)
{
actions.Add(a);
a.actionName = a.GetType().Name;
}
//add each goal to goals dictionary
for (int i = 0; i < myGoals.Length; i++)
{
Goals g = myGoals[i];
SubGoal sg = new SubGoal(g.goal, g.goalValue, g.shouldRemoveOnComplete);
goalsDictionary.Add(sg, g.priority);
}
}
void LateUpdate()
{
//if there's a current action and it is still running
if (currentAction != null && currentAction.IsActionActive)
{
// Check the agent has a goal and has reached that goal
if (currentAction.ConditionToExit())
{
CompleteAction();
return;
}
//if a current action is active run its update tick
if (currentAction.IsActionActive == true)
{
currentAction.OnTick();
}
//if not action is active find a new plan
else
{
planner = null;
}
return;
}
// Check we have a planner and an actionQueue
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
// Sort the goals in descending order and store them in sortedGoals
var sortedGoals = from entry in goalsDictionary orderby entry.Value descending select entry;
//look through each goal to find one that has an achievable plan
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.plan(actions, sg.Key.sGoals, agentPersonalState);
// If actionQueue is not = null then we must have a plan
if (actionQueue != null)
{
// Set the current goal
currentGoal = sg.Key;
break;
}
}
//clears action plan list and adds the new action plan from action queue in a list so we can view the plan in debugger.
actionPlan.Clear();
if (actionQueue != null)
{
foreach (var action in actionQueue)
{
actionPlan.Add(action);
}
}
}
// if we have a actionQueue but the count is == 0
if (actionQueue != null && actionQueue.Count == 0)
{
// Check if currentGoal is removable
if (currentGoal.remove)
{
// Remove it
goalsDictionary.Remove(currentGoal);
}
// Set planner = null so it will trigger a new one
planner = null;
}
// If there are still actions insie of actionQueue
if (actionQueue != null && actionQueue.Count > 0)
{
// Remove the top action of the queue and put it in currentAction
currentAction = actionQueue.Dequeue();
//call actions OnEnter function and check if it returns true or false.
if (currentAction.OnEnter())
{
// Activate the current action
currentAction.IsActionActive = true;
}
else
{
//empty action queue so we can find another plan.
actionQueue = null;
}
}
}
private void LateUpdate()
{
if (CurrentAction != null && CurrentAction.Running)
{
if (CurrentAction.Agent.hasPath && CurrentAction.Agent.remainingDistance < 1f)
{
Invoke("CompleteAction", CurrentAction.Duration);
_invoked = true;
}
return;
}
if (_planner == null || _actionQueue == null)
{
_planner = new Planner();
var sortedGoals = Goals.OrderByDescending(entry => entry.Value);
foreach (var goal in sortedGoals)
{
_actionQueue = _planner.Plan(Actions, goal.Key.SubGoals, null);
if (_actionQueue == null)
{
continue;
}
CurrentGoal = goal.Key;
break;
}
}
if (_actionQueue != null && _actionQueue.Count == 0)
{
if (CurrentGoal.Once)
{
Goals.Remove(CurrentGoal);
}
_planner = null;
}
if (_actionQueue != null && _actionQueue.Count > 0)
{
CurrentAction = _actionQueue.Dequeue();
if (CurrentAction.PrePerform())
{
// Find Target
if (CurrentAction.Target != null)
{
CurrentAction.Running = true;
CurrentAction.Agent.SetDestination(CurrentAction.Target.transform.position);
}
}
else
{
// Force a new plan!
_actionQueue = null;
}
}
}
private void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distanceToTarget = Vector3.Distance(currentAction.target.transform.position, this.transform.position);
if (currentAction.agent.hasPath && distanceToTarget < 2f)
{
if (!invoked)
{
Invoke(nameof(CompleteAction), currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.sgoals, beliefs);
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target == null)
{
Debug.Log("Idiot");
}
if (currentAction.target != null)
{
currentAction.running = true;
//Debug.Log($"Setting DESTINATION OF {this.name} TO {currentAction.target.name} ");
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
// Update is called once per frame
public virtual void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distToTarget = Vector3.Distance(currentAction.vec3Destination, transform.position);
if (distToTarget < distanceToTargetThreshold)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new Planner();
var sortedGoals = from entry in goalsDic orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.subGoals, beliefs); // trying to create a plan for the most important goal
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goalsDic.Remove(currentGoal);
}
planner = null;
}
// sets our action and gets the target
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue(); // remove the action from the queue and make it the current action
if (currentAction.EnterAction())
{
if (currentAction.gameObjTarget == null && currentAction.targetTag != "") // Doesnt have a target but has a target tag
{
currentAction.gameObjTarget = GameObject.FindWithTag(currentAction.targetTag); // Set the target to what is tagged
}
if (currentAction.gameObjTarget != null) // if I have a target
{
currentAction.running = true;
currentAction.vec3Destination = currentAction.gameObjTarget.transform.position;
Transform dest = currentAction.gameObjTarget.transform.Find("Destination");
if (dest != null)
{
currentAction.vec3Destination = dest.position;
}
currentAction.navAgent.SetDestination(currentAction.vec3Destination);
}
}
else
{
actionQueue = null; // go get a new plan
}
}
}