private void BuildPlanHandler()
{
// Create planner.
var planner = new AntAIPlanner();
// planner.DebugMode = true;
planner.LoadScenario(_scenario);
// Create current world state and set current conditions.
var current = new AntAICondition();
current.BeginUpdate(planner);
for (int i = 0, n = _worldState.list.Length; i < n; i++)
{
current.Set(_scenario.conditions.GetName(_worldState.list[i].id), _worldState.list[i].value);
}
current.EndUpdate();
// Create our goal world state.
AntAIScenarioGoal defaultGoal = null;
for (int i = 0, n = _scenario.goals.Length; i < n; i++)
{
if (_scenario.goals[i].isDefault)
{
defaultGoal = _scenario.goals[i];
break;
}
}
A.Assert(defaultGoal == null, "Default goal not found!");
if (defaultGoal == null)
{
return;
}
// Copy conditions from the scenario goal to the goal conditions.
var goal = new AntAICondition();
goal.BeginUpdate(planner);
for (int i = 0, n = defaultGoal.conditions.Length; i < n; i++)
{
goal.Set(_scenario.conditions.GetName(defaultGoal.conditions[i].id), defaultGoal.conditions[i].value);
}
goal.EndUpdate();
// Create and build the plan.
var plan = new AntAIPlan();
planner.MakePlan(ref plan, current, goal);
// Call event when plan is ready.
if (EventBuildPlan != null)
{
EventBuildPlan(this, plan, planner);
}
}
public AntAICondition defaultGoal; // Цель по умолчанию.
public AntAIAgent()
{
sense = null;
currentState = null;
defaultState = null;
worldState = new AntAICondition();
planner = new AntAIPlanner();
currentPlan = new AntAIPlan();
currentGoal = null;
}
private void ReconstructPlan(ref AntAIPlan aPlan, List <AntAINode> aClosed, AntAINode aGoal)
{
aPlan.Reset();
int index;
AntAINode current = aGoal;
while (current != null && current.parent != null)
{
aPlan.Insert(current.action);
index = FindEqual(aClosed, current.parent);
current = (index == -1) ? aClosed[0] : aClosed[index];
}
}
private void OnPlanUpdated(AntAIPlan aPlan)
{
float v = 0.0f;
_currentPlan = aPlan;
UpdatePlan(_totalDrag + _planNodesPosition, out v);
UpdateBlackboardNode();
if (_blackboardNode != null)
{
var p = _totalDrag + _planNodesPosition;
p.y += v;
_blackboardNode.rect.position = p;
}
}
/// <summary>
/// Builds the plan.
/// </summary>
/// <param name="aPlan">Reference to the result Plan.</param>
/// <param name="aCurrent">Current World State.</param>
/// <param name="aGoal">Goal World State that we want reach.</param>
public void MakePlan(ref AntAIPlan aPlan, AntAICondition aCurrent, AntAICondition aGoal)
{
#if UNITY_EDITOR
DebugConditions = aCurrent.Clone();
#endif
var opened = new List <AntAINode>();
var closed = new List <AntAINode>();
opened.Add(new AntAINode
{
world = aCurrent,
parent = null,
cost = 0,
heuristic = aCurrent.Heuristic(aGoal),
sum = aCurrent.Heuristic(aGoal),
action = string.Empty
});
AntAINode current = opened[0];
while (opened.Count > 0)
{
// Find lowest rank.
current = opened[0];
for (int i = 1, n = opened.Count; i < n; i++)
{
if (opened[i].sum < current.sum)
{
current = opened[i];
}
}
opened.Remove(current);
if (current.world.Match(aGoal))
{
// Plan is found!
ReconstructPlan(ref aPlan, closed, current);
aPlan.isSuccess = true;
if (EventPlanUpdated != null)
{
EventPlanUpdated(aPlan);
}
return;
}
closed.Add(current);
// Get neighbors.
List <AntAIAction> neighbors = GetPossibleTransitions(current.world);
AntAICondition neighbor;
int openedIndex = -1;
int closedIndex = -1;
int cost = -1;
for (int i = 0, n = neighbors.Count; i < n; i++)
{
cost = current.cost + neighbors[i].cost;
neighbor = current.world.Clone();
neighbor.Act(neighbors[i].post);
openedIndex = FindEqual(opened, neighbor);
closedIndex = FindEqual(closed, neighbor);
if (openedIndex > -1 && cost < opened[openedIndex].cost)
{
opened.RemoveAt(openedIndex);
openedIndex = -1;
}
if (closedIndex > -1 && cost < closed[closedIndex].cost)
{
closed.RemoveAt(closedIndex);
closedIndex = -1;
}
if (openedIndex == -1 && closedIndex == -1)
{
opened.Add(new AntAINode
{
world = neighbor,
cost = cost,
heuristic = neighbor.Heuristic(aGoal),
sum = cost + neighbor.Heuristic(aGoal),
action = neighbors[i].name,
parent = current.world
});
}
}
}
// Failed plan.
ReconstructPlan(ref aPlan, closed, current);
aPlan.isSuccess = false;
if (EventPlanUpdated != null)
{
EventPlanUpdated(aPlan);
}
}
