// Acting.
private protected override void OnAct(out GoalStatus goalStatus)
{
var owner = Owner;
var context = Context;
if (owner is null || context is null)
{
goalStatus = GoalStatus.Active;
return;
}
// Check if destination is reached.
var currentPosition = owner.Body.Position;
if ((currentPosition - Goal.Destination).magnitude <= Goal.AdmissibleDistance)
{
goalStatus = GoalStatus.Achieved;
return;
}
// Choose motion ability.
var abilityCollection = owner.AbilityCollection;
IMotionAbilityPresentation chosenAbility = null;
foreach (var motionAbility in abilityCollection.Motions)
{
if (chosenAbility == null || motionAbility.MovementPerSecond > chosenAbility.MovementPerSecond)
{
chosenAbility = motionAbility;
}
}
// Check if unit is in motion.
IMotionConditionPresentation currentCondition = owner.Condition as IMotionConditionPresentation;
// Check if destination node is reached.
var currentNode = context.UnitSystem[owner];
var destinationNode = Positions.WorldToNode(Goal.Destination);
if (currentNode == destinationNode)
{
// Use motion ability if condition doesn't agree with plan.
if (currentCondition != null && (currentCondition.Destination - Goal.Destination).magnitude <= Goal.AdmissibleDistance)
{
goalStatus = GoalStatus.Active;
return;
}
if (chosenAbility == null)
{
goalStatus = GoalStatus.Failed;
return;
}
var abilityUsage = new MotionUsageAction(chosenAbility, Goal.Destination);
owner.PlanAction(abilityUsage);
goalStatus = GoalStatus.Active;
return;
}
else
{
// Plan path.
if (plannedPath == null)
{
var path = context.Layout.TryFindShortestPath(currentNode, destinationNode);
if (path == null)
{
goalStatus = GoalStatus.Failed;
return;
}
plannedPath = new Stack <Vector2Int>(path);
}
// Check if next path node is reached.
var nextNode = plannedPath.Peek();
if (currentNode == nextNode)
{
plannedPath.Pop();
nextNode = plannedPath.Peek();
}
// Use motion ability if condition doesn't agree with plan.
var nextPosition = Positions.NodeToWorld(nextNode, context.Map[nextNode].Height);
if (currentCondition != null && (currentCondition.Destination - nextPosition).magnitude <= 0.1f)
{
goalStatus = GoalStatus.Active;
return;
}
if (chosenAbility == null)
{
goalStatus = GoalStatus.Failed;
return;
}
var abilityUsage = new MotionUsageAction(chosenAbility, nextPosition);
owner.PlanAction(abilityUsage);
goalStatus = GoalStatus.Active;
return;
}
}
