public Node(Node parent, float cost, Dictionary <string, int> allStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new Dictionary <string, int>(allStates);
this.action = action;
}
private List <GAction> ActionSubset(List <GAction> actions, GAction removeMe)
{
List <GAction> subset = new List <GAction>();
foreach (GAction a in actions)
{
if (!a.Equals(removeMe))
{
subset.Add(a);
}
}
return(subset);
}
public Node(Node parent, float cost, Dictionary <string, int> allStates, Dictionary <string, int> beliefStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new Dictionary <string, int>(allStates);
foreach (KeyValuePair <string, int> p in beliefStates)
{
if (!this.state.ContainsKey(p.Key))
{
this.state.Add(p.Key, p.Value);
}
}
this.action = action;
}
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;
}
}
}
