void Start()
{
traits = GetComponent <Traits>();
agent = GetComponent <NavMeshAgent>();
stats = GetComponent <status>();
sightings = GetComponentInChildren <InSight>();
}
override protected void Start()
{
root = new Sequence();
seqDeath = new Sequence();
seqChase = new Sequence();
seqAttack = new Sequence();
selMove = new Selector();
selChase = new Selector();
patrol = new Patrol(this);
isDead = new IsDead(this);
death = new Death(this);
inSight = new InSight(this);
chase = new Chase(this);
isDamaged = new IsDamaged(this);
inAttackRange = new InAttackRange(this);
attack = new Attack(this);
base.Start();
Init();
StartCoroutine("BehaviorProcess");
}
public List <T> Run(T start, Satisfies satisfies, GetNeighbours getNeighbours, GetCost getcost, Heuristic heuristic, InSight inSight, int watchDong = 500)
{
Dictionary <T, float> cost = new Dictionary <T, float>();
Dictionary <T, T> parents = new Dictionary <T, T>();
PriorityQueue <T> pending = new PriorityQueue <T>();
HashSet <T> visited = new HashSet <T>();
pending.Enqueue(start, 0);
cost.Add(start, 0);
while (!pending.IsEmpty)
{
T current = pending.Dequeue();
watchDong--;
if (watchDong <= 0)
{
return(new List <T>());
}
if (satisfies(current))
{
return(ConstructPath(current, parents));
}
visited.Add(current);
List <T> neighbours = getNeighbours(current);
for (int i = 0; i < neighbours.Count; i++)
{
T node = neighbours[i];
if (visited.Contains(node))
{
continue;
}
T currParent;
if (parents.ContainsKey(current) && inSight(parents[current], node))
{
currParent = parents[current];
}
else
{
currParent = current;
}
float nodeCost = getcost(currParent, node);
float totalCost = cost[currParent] + nodeCost;
if (cost.ContainsKey(node) && cost[node] < totalCost)
{
continue;
}
cost[node] = totalCost;
parents[node] = currParent;
pending.Enqueue(node, totalCost + heuristic(node));
}
}
return(new List <T>());
}
