private void CreateIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP planning
// get the world state and the goal we want to plan for
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
// Plan
Queue <GoapAction> plan = planner.plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.popState(); // switch to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("Failed Plan: " + goal);
dataProvider.PlanFailed(goal);
fsm.popState(); // switch back to IdleAction state
fsm.pushState(idleState);
}
};
}
private void createIdleState()
{
_idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, object> worldState = _dataProvider.GetWorldState();
Dictionary <Int64, Int64> resourceState = _dataProvider.GetResourceState();
Dictionary <string, object> goal = _dataProvider.CreateGoalState();
Dictionary <Int64, Int64> resourceGoal = _dataProvider.CreateResourceGoal();
loadActions();
// Plan
Queue <GoapAction> plan = _planner.Plan(this, _availableActions, worldState, resourceState, goal, resourceGoal);
if (plan != null)
{
// we have a plan, hooray!
_currentActions = plan;
_dataProvider.PlanFound(goal, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(_performActionState);
}
else
{
// ugh, we couldn't get a plan
// Console.WriteLine("<color=orange>Failed Plan:</color>" + PrettyPrint(goal));
_dataProvider.PlanFailed(goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(_idleState);
}
};
}
void CreateIdleState()
{
_idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
var worldState = _dataProvider.GetWorldState();
var goal = _dataProvider.CreateGoalState();
// Plan
Queue <GoapAction> plan = _planner.Plan(gameObject, _availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
_currentActions = plan;
_dataProvider.PlanFound(goal, plan);
fsm.PopState(); // move to PerformAction state
fsm.PushState(_performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log($"<color=orange>Failed Plan:</color>{PrettyPrint(goal)}");
_dataProvider.PlanFailed(goal);
fsm.PopState(); // move back to IdleAction state
fsm.PushState(_idleState);
}
};
}
private void IdleState()
{
idle = (fsm, gameObj) => {
List <KeyValuePair <string, object> > worldState = goapAgent.GetWorldState();
KeyValuePair <string, object> goal = goapAgent.GetSubGoals();
planner.Reset();
if (!goal.Equals(new KeyValuePair <string, object>()))
{
Queue <GoapAction> plan = planner.Plan(availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
goapAgent.PlanFound(goal, plan);
fsm.popState();
fsm.pushState(act);
}
else
{
goapAgent.PlanFailed(goal);
fsm.popState();
fsm.pushState(idle);
}
}
else
{
goapAgent.GameFinished();
}
};
}
private void createIdleState()
{
//this is a lambda expression nameless/anonymous delegate thingy of type FSM.FSMState
idleState = (fsm, gameObj) =>
{
//HashSet<KeyValuePair<string, object>> worldState = dataProvider.getWorldState();
//HashSet<KeyValuePair<string, object>> goal = dataProvider.createGoalState();
Profiler.BeginSample("Gathering and ordering goals by priority ");
List <Condition> originalState = dataProvider.GetWorldState();
List <Goal> goals = dataProvider.GetGoalState();
goals = OrderByPriority(goals);
//Debug.Log("WORLD STATE " + prettyPrint(originalState));
//Debug.Log("GOAL STATE " + prettyPrint(goals));
Profiler.EndSample();
Profiler.BeginSample("Begin Planning -- for loop through goals and calling planner");
Queue <GoapAction> plan = null;
foreach (Goal ourGoal in goals)
{ //this cycles through the goals by priority until it finds one that works with a plan
plan = planner_.Plan(ourGoal, availableActions_, originalState, this.gameObject);
if (plan != null)
{
//if you find a plan that works, break and continue on
//Debug.Log("<color=cyan>Plan found!:</color>" + prettyPrint(plan) + " for " + gameObj.name);
break;
}
else
{
}
}
Profiler.EndSample();
// planner_.Plan(goals, availableActions_, originalState, this.gameObject);
Profiler.BeginSample("Checking to see if plan is null/failed and returning to idle if so");
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goals, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
//Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goals) + " for " + gameObj.name);
dataProvider.PlanFailed(goals);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
Profiler.EndSample();
};
}
void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
dataProvider.PlanFailed(goal);
fsm.PopState();
fsm.PushState(idleState);
}
};
}
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 CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, object> worldState = dataProvider.GetWorldState();
KeyValuePair <string, object> goal = dataProvider.GetCurrentGoal();
// search enable Plan
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal, dataProvider);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState(); // move to PerformAction state
fsm.PushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("[" + this.name + "] " + "<color=orange>Plan failed:</color> " + PrettyPrint(goal) + " = NO PLAN");
dataProvider.PlanFailed(goal);
fsm.PopState(); // move back to IdleAction state
fsm.PushState(idleState);
}
};
}
//bool isPlanning = false;
//HashSet<KeyValuePair<string, object>> worldState;
//HashSet<KeyValuePair<string, object>> goal;
void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
dataProvider.PlanFailed(goal);
fsm.PopState();
fsm.PushState(idleState);
}
//if (!isPlanning)
//{
// worldState = dataProvider.GetWorldState();
// goal = dataProvider.CreateGoalState();
// planner.donePlanning = false;
// planner.finalPlan = null;
// StartCoroutine(planner.Plan(gameObject, availableActions, worldState, goal, this));
// isPlanning = true;
//}
//else
//{
// if (planner.donePlanning)
// {
// if (planner.finalPlan != null)
// {
// currentActions = planner.finalPlan;
// dataProvider.PlanFound(goal, planner.finalPlan);
// fsm.PopState();
// fsm.PushState(performActionState);
// }
// else
// {
// Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
// dataProvider.PlanFailed(goal);
// fsm.PopState();
// fsm.PushState(idleState);
// }
// isPlanning = false;
// }
//}
};
}
public IdleState(IGoap _goapData, StateMachine _controller, List <GoapAction> _availableActions, GoapPlanner _planner, GoapAgent _agent)
{
goapData = _goapData;
worldState = goapData.GetWorldState();
goal = goapData.GetGoalState();
controller = _controller;
planner = _planner;
agent = _agent;
availableActions = _availableActions;
}
public override void Update()
{
IGoap c = (IGoap)fsm.owner.controller;
Queue <GOAP_action> plan = fsm.goaplanner.MakePlan(c.GetGoalsState(), c.GetWorldState(), c.GetActions());
if (plan.Count > 0)
{
fsm.currentPlan = plan;
fsm.PushState(new PerformActionState(fsm));
}
}
/// <summary>
/// 创建空闲状态
/// </summary>
private void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
// GOAP planning
// GOAP计划
// get the world state and the goal we want to plan for
//获得世界状态和我们想要计划的目标
var worldState = dataProvider.GetWorldState();
//创建目标状态
var goals = dataProvider.CreateGoalState();
// search enable Plan
//搜索启用计划
Queue <GoapAction> plan = null;
KeyValuePair <string, bool> lastGoal = new KeyValuePair <string, bool>();
foreach (var goal in goals)
{
lastGoal = goal;
plan = planner.Plan(gameObject, availableActions, worldState, goal, dataProvider);
if (plan != null)
{
break;
}
}
if (plan != null)
{
// we have a plan, hooray!
//我们有个计划，万岁！
currentActions = plan;
dataProvider.PlanFound(lastGoal, plan);
//移动到“执行操作”状态
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
//呃，我们无法得到一个计划
Debug.Log("<color=orange>失败的计划:</color>" + PrettyPrint(goals));
dataProvider.PlanFailed(goals);
//返回空闲操作状态
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
/// <summary>
/// Implementation of <see cref="IAction"/> interface. Calls the Plan method of the <see cref="GoapPlanner"/>.
/// </summary>
public void Execute()
{
// get the world state and the goal we want to plan for
var worldState = _dataProvider.GetWorldState();
var goal = _dataProvider.CreateGoalState();
// Plan
var plan = _planner.Plan(_agent.gameObject, _agent.GetAvailableActions(), worldState, goal);
if (plan != null)// we have a plan, hooray!
{
_agent.SetCurrentActions(plan);
_dataProvider.PlanFound(goal, plan);
}
else// ugh, we couldn't get a plan
{
_dataProvider.PlanFailed(goal);
}
}
private void createIdleState()
{
idleState = (fsm, obj) => {
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
Queue <GoapAction> plan = planner.plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.popState();
fsm.pushState(performActionState);
}
else
{
dataProvider.PlanFailed(goal);
fsm.popState();
fsm.pushState(idleState);
}
};
}
// GOAP Planning State
public void IdleState()
{
State = AgentState.Planning;
// Get the world state and the goal we want to plan for
Dictionary <string, bool> worldState = agentImplementation.GetWorldState();
Dictionary <string, bool> goal = agentImplementation.GetGoalState(goalIndex);
// Clear previous plan ( actions )
currentPlan.Clear();
// Find new plan
currentPlan = planner.Plan(gameObject, availableActions, worldState, goal, goalIndex == 0 ? "Eliminate" : "Find Enemy");
if (HasActionPlan())
{
CurrentPlanTextual = Utilities.GetCollectionString(currentPlan.ToList());
goalIndex = 0;
// Plan Available - Change State
ChangeState(FSMKeys.PERFORM_STATE);
}
else
{
Debug.LogError("IdleState: Failed Plan | Goal Index:: " + goalIndex + "\n");
// Loop between goal index 0 and maximum number of goals
goalIndex = (int)Mathf.Repeat(++goalIndex, agentImplementation.GetGoalsCount());
// Plan Not Available - Loop State
ChangeState(FSMKeys.IDLE_STATE);
}
}
private void CreateIdleState()
{
_idleState = (fsm, gameObject) =>
{
Debug.Log("Making plan --");
// GOAP Planning -- What're you gonna do?!
// get world state and goal we want to plan for
var worldState = _dataProvider.GetWorldState();
var goal = _dataProvider.CreateGoalState();
// PLAN
Queue <GOAPAction> plan = _planner.Plan(gameObject, _availableActions, worldState, goal);
if (plan != null)
{
Debug.Log("-- plan made");
// plan created, success
_currentActions = plan;
_dataProvider.PlanFound(goal, plan);
_fsm.PopState();
_fsm.PushState(_performState);
}
else
{
Debug.Log("-- plan unable to be made");
// plan could not be created
_dataProvider.PlanFailed(goal);
_fsm.PopState();
_fsm.PushState(_idleState);
}
};
}
