public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
var lastId = -1;
Vector3 goalPos = Vector3.Zero;
Agent.Blackboard.SetData <bool>("NoPath", false);
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
if (WaitingOnResponse && Debugger.Switches.DrawPaths)
{
Drawer3D.DrawLine(Creature.AI.Position, goalPos, Color.Blue, 0.25f);
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = Creature.Manager.World.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!Target.IsValid && Type != PlanType.Edge)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
var voxUnder = VoxelHelpers.FindValidVoxelNear(chunks, Agent.Position);
if (!voxUnder.IsValid)
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Invalid request"), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = Agent.PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent,
HeuristicWeight = Weights[Timeouts]
};
lastId = aspr.ID;
aspr.GoalRegion = GetGoal();
goalPos = GetGoal().GetVoxel().GetBoundingBox().Center();
Agent.PlanSubscriber.Clear();
if (!Agent.PlanSubscriber.SendRequest(aspr, aspr.ID))
{
yield return(Status.Fail);
yield break;
}
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
Timeouts++;
}
else
{
Status statusResult = Status.Running;
while (Agent.PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
if (!Agent.PlanSubscriber.Responses.TryDequeue(out response))
{
yield return(Status.Running);
continue;
}
LastResult = response.Result;
if (response.Success && response.Request.ID == lastId)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else if (response.Request.ID != lastId && response.Path != null && response.Path.Count > 0)
{
var goal = GetGoal();
bool obeysGoal = goal == null ? false : (response.Success && (goal.IsInGoalRegion(response.Path.Last().DestinationVoxel)));
if (Debugger.Switches.DrawPaths)
{
if (obeysGoal)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Using Old Path", response.Result), Creature.Physics, -10, 1);
}
else
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Old Path Dropped", response.Result), Creature.Physics, -10, 1);
}
}
if (obeysGoal)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else
{
continue;
}
}
else if (response.Result == AStarPlanner.PlanResultCode.Invalid || response.Result == AStarPlanner.PlanResultCode.NoSolution ||
response.Result == AStarPlanner.PlanResultCode.Cancelled || response.Result == AStarPlanner.PlanResultCode.Invalid)
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Path: {0}", response.Result), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
statusResult = Status.Fail;
yield return(Status.Fail);
}
else if (Timeouts <= MaxTimeouts)
{
Timeouts++;
yield return(Status.Running);
}
else
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Max timeouts reached", response.Result), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
yield return(Status.Fail);
break;
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = Creature.Manager.World.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!Target.IsValid && Type != PlanType.Edge)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
var voxUnder = new VoxelHandle(chunks.ChunkData,
GlobalVoxelCoordinate.FromVector3(Agent.Position));
if (!voxUnder.IsValid)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = Agent.PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent,
HeuristicWeight = Weights[Timeouts]
};
aspr.GoalRegion = GetGoal();
if (!Agent.PlanSubscriber.SendRequest(aspr))
{
yield return(Status.Fail);
yield break;
}
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
Timeouts++;
}
else
{
//if (Target.IsValid && Creature.AI.DrawAIPlan)
// Drawer3D.DrawLine(Creature.AI.Position, Target.WorldPosition, Color.Blue, 0.25f);
Status statusResult = Status.Running;
while (Agent.PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
if (!Agent.PlanSubscriber.Responses.TryDequeue(out response))
{
yield return(Status.Running);
continue;
}
LastResult = response.Result;
if (response.Success)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else if (response.Result == AStarPlanner.PlanResultCode.Invalid || response.Result == AStarPlanner.PlanResultCode.NoSolution ||
response.Result == AStarPlanner.PlanResultCode.Cancelled || response.Result == AStarPlanner.PlanResultCode.Invalid)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
yield return(Status.Fail);
}
else if (Timeouts <= MaxTimeouts)
{
Timeouts++;
yield return(Status.Running);
}
else
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
