void LateUpdate()
{
if (mCurrentAction != null && mCurrentAction.Running)
{
mCurrentAction.Perform();
if (!mCurrentAction.Running)
{
mCurrentAction.PostPerform();
mCurrentAction = null;
}
else
{
return;
}
}
if (mPlanner == null || mActionQueue == null)
{
mPlanner = new GPlanner();
var sortedGoals = from entry in mGoals orderby entry.Value descending select entry;
foreach (KeyValuePair <GAgentSubGoal, int> sg in sortedGoals)
{
mActionQueue = mPlanner.Plan(mActions, sg.Key.SubGoals, Beliefs);
if (mActionQueue != null)
{
mCurrentGoal = sg.Key;
break;
}
}
}
if (mActionQueue != null && mActionQueue.Count == 0)
{
if (mCurrentGoal.Remove)
{
mGoals.Remove(mCurrentGoal);
}
mPlanner = null;
}
if (mActionQueue != null && mActionQueue.Count > 0)
{
GAction newAction = mActionQueue.Dequeue();
//if (newAction != currentAction)
// {
mCurrentAction = newAction;
if (!mCurrentAction.PrePerform())
{
mActionQueue = null;
}
// }
}
}
private void CreatePerformActionState()
{
performActionState = (fsm, gagent) =>
{
if (!HasActionPlan())
{
Debug.Log("Done with actions, planning new actions.");
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.ActionsFinished();
return;
}
GAction action = currentActions.Peek();
if (action.IsDone())
{
currentActions.Dequeue();
}
if (HasActionPlan())
{
action = currentActions.Peek();
bool success = action.Perform(gagent);
if (!success)
{
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.PlanAborted(action);
}
}
else
{
fsm.PopState();
fsm.PushState(planningState);
worldDataProvider.ActionsFinished();
}
};
}