/// <summary>
/// Function for the move state of the FSM, tells the agent how to move to its target
/// </summary>
/// <param name="a_NextAction">Action to do after the agent arrives at the target</param>
/// <returns></returns>
public bool MoveAgentToAction(CS_GOAPAction a_NextAction)
{
GetComponent<CS_DebugText>().ChangeCurrentActionText(a_NextAction.m_sActionName);
float fDistance = Vector3.Distance(transform.position, a_NextAction.m_goTarget.transform.position);//Get distance to target
if (fDistance < m_fAggroDistance)//If it is in aggro range
{
GetComponent<NavMeshAgent>().isStopped = false;
GetComponent<NavMeshAgent>().SetDestination(a_NextAction.m_goTarget.transform.position);//Let the nav mesh do the work
Vector3 v3LookDirection = a_NextAction.m_goTarget.transform.position - transform.position;//Look at the target
v3LookDirection.y = 0;
Quaternion qRotation = Quaternion.LookRotation(v3LookDirection);
transform.rotation = Quaternion.Slerp(transform.rotation, qRotation, 0.005f);
}
if (m_bInterrupt)
{
GetComponent<CS_GOAPAgent>().GetDataProviderInterface().AbortPlan(a_NextAction);
AbortPlan(a_NextAction);
m_bInterrupt = false;
return true;
}
if (fDistance <= m_fArrivalDistance)//If I have arrived
{
a_NextAction.SetInRange(true);
return true;
}
else
{
return false;
}
}
public CS_GOAPAction m_Action; //The actual action
/// <summary>
/// Initializes a new instance of the <see cref="Node"/> class.
/// </summary>
/// <param name="a_nParentNode">The parent node.</param>
/// <param name="a_fCost">The cost.</param>
/// <param name="a_kvpState">State of a KVP.</param>
/// <param name="a_Action">The action.</param>
public Node(Node a_nParentNode, float a_fCost, HashSet <KeyValuePair <string, object> > a_kvpState, CS_GOAPAction a_Action)
{
m_nParentNode = a_nParentNode;
m_fCost = a_fCost;
m_kvpState = a_kvpState;
m_Action = a_Action;
}
/// <summary>
/// Creates the state to make the agent perform an action
/// </summary>
private void CreatePerformActionState()
{
PerformActionState = (a_fFinateStateMachine, a_goObject) =>
{
if (!HasActionPlan())
{
FinateStateMachine.PopStateStack();
FinateStateMachine.PushStateToStack(IdleState);
DataProviderInterface.AllActionsFinished();
return;
}
CS_GOAPAction Action = CurrentlyActiveActions.Peek();
if (Action.IsActionFinished())
{
CurrentlyActiveActions.Dequeue();
}
if (HasActionPlan())
{
Action = CurrentlyActiveActions.Peek();
bool bIsInRange = Action.NeedsToBeInRange() ? Action.IsAgentInRange() : true;
if (bIsInRange)
{
bool bActionPerformSuccess = Action.PerformAction(a_goObject);
if (!bActionPerformSuccess)
{
FinateStateMachine.PopStateStack();
FinateStateMachine.PushStateToStack(IdleState);
CreateIdleState();
DataProviderInterface.AbortPlan(Action);
}
}
else
{
FinateStateMachine.PushStateToStack(MovingState);
}
}
else
{
FinateStateMachine.PopStateStack();
FinateStateMachine.PushStateToStack(IdleState);
DataProviderInterface.AllActionsFinished();
}
};
}
/// <summary>
/// Creates the state to move the agent to its destination for the FSM
/// </summary>
private void CreateMovingState()
{
MovingState = (a_fFinateStateMachine, a_goObject) =>
{
CS_GOAPAction Action = CurrentlyActiveActions.Peek();
if (Action.NeedsToBeInRange() && Action.m_goTarget == null)
{
FinateStateMachine.PopStateStack();
FinateStateMachine.PopStateStack();
FinateStateMachine.PushStateToStack(IdleState);
return;
}
if (DataProviderInterface.MoveAgentToAction(Action))
{
FinateStateMachine.PopStateStack();
}
};
}
public void AbortPlan(CS_GOAPAction a_FailedAction)
{
GetComponent <CS_GOAPAgent>().GetDataProviderInterface().AllActionsFinished();
a_FailedAction.ResetGA();
a_FailedAction.ResetAction();
}
/// <summary>
/// Removes the action from the list of available actions.
/// </summary>
/// <param name="a_Action">an action.</param>
public void RemoveAvailableAction(CS_GOAPAction a_Action)
{
AvailableActions.Remove(a_Action);
}
/// <summary>
/// Adds the given action to the list of available actions.
/// </summary>
/// <param name="a_Action">an action.</param>
public void AddAvailableAction(CS_GOAPAction a_Action)
{
AvailableActions.Add(a_Action);
}
/// <summary>
/// Builds the branches from each action
/// </summary>
/// <param name="a_Actions">Usuable actions</param>
/// <param name="a_ExcludedAction">The action to exclude from this branch</param>
/// <returns></returns>
protected HashSet <CS_GOAPAction> ActionBranches(HashSet <CS_GOAPAction> a_Actions, CS_GOAPAction a_ExcludedAction)
{
HashSet <CS_GOAPAction> Branches = new HashSet <CS_GOAPAction>();
foreach (CS_GOAPAction Action in a_Actions)
{
if (!Action.Equals(a_ExcludedAction))
{
Branches.Add(Action);
}
}
return(Branches);
}
