private void CreateIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP Planning
Dictionary <string, object> worldState = agent.WorldState();
Dictionary <string, object> goal = agent.CreateGoalState();
Queue <GoapAction> plan = GoapPlanner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentPlan = plan;
agent.PlanFound(goal, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("<color=orange>Failed Plan:</color>" + goal);
agent.PlanFailed(goal);
fsm.PopState();
fsm.PushState(idleState);
}
};
}
private void IdleState()
{
idle = (fsm, gameObj) => {
List <KeyValuePair <string, object> > worldState = goapAgent.GetWorldState();
KeyValuePair <string, object> goal = goapAgent.GetSubGoals();
planner.Reset();
if (!goal.Equals(new KeyValuePair <string, object>()))
{
Queue <GoapAction> plan = planner.Plan(availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
goapAgent.PlanFound(goal, plan);
fsm.popState();
fsm.pushState(act);
}
else
{
goapAgent.PlanFailed(goal);
fsm.popState();
fsm.pushState(idle);
}
}
else
{
goapAgent.GameFinished();
}
};
}
void CreateIdleState()
{
_idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
var worldState = _dataProvider.GetWorldState();
var goal = _dataProvider.CreateGoalState();
// Plan
Queue <GoapAction> plan = _planner.Plan(gameObject, _availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
_currentActions = plan;
_dataProvider.PlanFound(goal, plan);
fsm.PopState(); // move to PerformAction state
fsm.PushState(_performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log($"<color=orange>Failed Plan:</color>{PrettyPrint(goal)}");
_dataProvider.PlanFailed(goal);
fsm.PopState(); // move back to IdleAction state
fsm.PushState(_idleState);
}
};
}
void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
dataProvider.PlanFailed(goal);
fsm.PopState();
fsm.PushState(idleState);
}
};
}
private void CreateIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP planning
// get the world state and the goal we want to plan for
HashSet <KeyValuePair <string, object> > worldState = dataProvider.getWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.createGoalState();
// Plan
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.planFound(goal, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + PrettyPrint(goal));
dataProvider.planFailed(goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
private void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, object> worldState = dataProvider.GetWorldState();
KeyValuePair <string, object> goal = dataProvider.GetCurrentGoal();
// search enable Plan
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal, dataProvider);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState(); // move to PerformAction state
fsm.PushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("[" + this.name + "] " + "<color=orange>Plan failed:</color> " + PrettyPrint(goal) + " = NO PLAN");
dataProvider.PlanFailed(goal);
fsm.PopState(); // move back to IdleAction state
fsm.PushState(idleState);
}
};
}
private void CreateIdleState()
{
m_IdleState = (fsm) => {
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, object> worldState = m_DataProvider.GetWorldState();
Dictionary <string, object> goal = m_DataProvider.CreateGoalState();
// Plan
Queue <GoapAction> plan = planner.Plan(m_AvailableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
m_CurrentActions = plan;
m_DataProvider.PlanFound(goal, plan);
fsm.PopState(); // move to PerformAction state
fsm.PushState(m_PerformActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + PrettyPrint(goal));
m_DataProvider.PlanFailed(goal);
fsm.PopState(); // move back to IdleAction state
fsm.PushState(m_IdleState);
}
};
}
private void CreateIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP planning
// get the world state and the goal we want to plan for
HashSet <KeyValuePair <string, object> > worldState = enemyTypeDataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = enemyTypeDataProvider.CreateGoalState();
// Plan
Stack <GoapAction> plan = planner.Plan(worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
enemyTypeDataProvider.PlanFound(goal, plan);
fsm.PopState(); // switch to PerformAction state
fsm.PushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("Failed Plan: " + goal);
enemyTypeDataProvider.PlanFailed(goal);
fsm.PopState(); // switch back to IdleAction state
fsm.PushState(idleState);
}
};
}
//bool isPlanning = false;
//HashSet<KeyValuePair<string, object>> worldState;
//HashSet<KeyValuePair<string, object>> goal;
void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
HashSet <KeyValuePair <string, object> > worldState = dataProvider.GetWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.CreateGoalState();
Queue <GoapAction> plan = planner.Plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
dataProvider.PlanFound(goal, plan);
fsm.PopState();
fsm.PushState(performActionState);
}
else
{
Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
dataProvider.PlanFailed(goal);
fsm.PopState();
fsm.PushState(idleState);
}
//if (!isPlanning)
//{
// worldState = dataProvider.GetWorldState();
// goal = dataProvider.CreateGoalState();
// planner.donePlanning = false;
// planner.finalPlan = null;
// StartCoroutine(planner.Plan(gameObject, availableActions, worldState, goal, this));
// isPlanning = true;
//}
//else
//{
// if (planner.donePlanning)
// {
// if (planner.finalPlan != null)
// {
// currentActions = planner.finalPlan;
// dataProvider.PlanFound(goal, planner.finalPlan);
// fsm.PopState();
// fsm.PushState(performActionState);
// }
// else
// {
// Debug.Log("<color=orange>Failed Plan</color>" + PrettyPrint(goal));
// dataProvider.PlanFailed(goal);
// fsm.PopState();
// fsm.PushState(idleState);
// }
// isPlanning = false;
// }
//}
};
}
/// <summary>
/// 创建空闲状态
/// </summary>
private void CreateIdleState()
{
idleState = (fsm, gameObj) =>
{
// GOAP planning
// GOAP计划
// get the world state and the goal we want to plan for
//获得世界状态和我们想要计划的目标
var worldState = dataProvider.GetWorldState();
//创建目标状态
var goals = dataProvider.CreateGoalState();
// search enable Plan
//搜索启用计划
Queue <GoapAction> plan = null;
KeyValuePair <string, bool> lastGoal = new KeyValuePair <string, bool>();
foreach (var goal in goals)
{
lastGoal = goal;
plan = planner.Plan(gameObject, availableActions, worldState, goal, dataProvider);
if (plan != null)
{
break;
}
}
if (plan != null)
{
// we have a plan, hooray!
//我们有个计划，万岁！
currentActions = plan;
dataProvider.PlanFound(lastGoal, plan);
//移动到“执行操作”状态
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
//呃，我们无法得到一个计划
Debug.Log("<color=orange>失败的计划:</color>" + PrettyPrint(goals));
dataProvider.PlanFailed(goals);
//返回空闲操作状态
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
/// <summary>
/// Implementation of <see cref="IAction"/> interface. Calls the Plan method of the <see cref="GoapPlanner"/>.
/// </summary>
public void Execute()
{
// get the world state and the goal we want to plan for
var worldState = _dataProvider.GetWorldState();
var goal = _dataProvider.CreateGoalState();
// Plan
var plan = _planner.Plan(_agent.gameObject, _agent.GetAvailableActions(), worldState, goal);
if (plan != null)// we have a plan, hooray!
{
_agent.SetCurrentActions(plan);
_dataProvider.PlanFound(goal, plan);
}
else// ugh, we couldn't get a plan
{
_dataProvider.PlanFailed(goal);
}
}
public void Plan()
{
Goal selectedGoal = GoalPool.GoalsFor(NpcType.MERCENARY).OrderBy(goal => goal.priority).ToList().FirstOrDefault();
List <GoapAction> plan = planner.Plan(ActionPool.ActionsFor, this.blackboard.worldState, selectedGoal.goalState).Where(action => action != null).ToList();
StringBuilder sb = new StringBuilder("Planning finished. Path length: " + plan.Count + ", Path is: \n");
foreach (GoapAction action in plan)
{
sb.Append(action.ToString() + "\n");
}
sb.Append("\n");
Debug.Log(sb.ToString());
plan.Reverse();
this.planExecutor.AddNewPlan(new Stack <GoapAction>(plan));
}
public void Update()
{
foreach (var sensor in sensors)
{
sensor.Run(this);
}
if (!busy && !planning)
{
planning = true;
plannerTask = new Task(() => planner.Plan(this));
plannerTask.Start();
}
else if (!planning)
{
ExecutePlan();
}
else
{
Debug.Log("planning");
currentAction = "Planning...";
}
}
// GOAP Planning State
public void IdleState()
{
State = AgentState.Planning;
// Get the world state and the goal we want to plan for
Dictionary <string, bool> worldState = agentImplementation.GetWorldState();
Dictionary <string, bool> goal = agentImplementation.GetGoalState(goalIndex);
// Clear previous plan ( actions )
currentPlan.Clear();
// Find new plan
currentPlan = planner.Plan(gameObject, availableActions, worldState, goal, goalIndex == 0 ? "Eliminate" : "Find Enemy");
if (HasActionPlan())
{
CurrentPlanTextual = Utilities.GetCollectionString(currentPlan.ToList());
goalIndex = 0;
// Plan Available - Change State
ChangeState(FSMKeys.PERFORM_STATE);
}
else
{
Debug.LogError("IdleState: Failed Plan | Goal Index:: " + goalIndex + "\n");
// Loop between goal index 0 and maximum number of goals
goalIndex = (int)Mathf.Repeat(++goalIndex, agentImplementation.GetGoalsCount());
// Plan Not Available - Loop State
ChangeState(FSMKeys.IDLE_STATE);
}
}
