// Constructor
public Node(Node parent, float cost, Dictionary <string, int> allStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new Dictionary <string, int>(allStates);
this.action = action;
}
//remove and action from a list of actions
private List <GAction> ActionSubset(List <GAction> actions, GAction removeMe)
{
List <GAction> subset = new List <GAction>();
foreach (GAction a in actions)
{
if (!a.Equals(removeMe))
{
subset.Add(a);
}
}
return(subset);
}
// Overloaded Constructor
public Node(Node parent, float cost, Dictionary <string, int> allStates, Dictionary <string, int> beliefStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new Dictionary <string, int>(allStates);
//as well as the world states add the agents beliefs as states that can be
//used to match preconditions
foreach (KeyValuePair <string, int> b in beliefStates)
{
if (!this.state.ContainsKey(b.Key))
{
this.state.Add(b.Key, b.Value);
}
}
this.action = action;
}
void LateUpdate()
{
//if there's a current action and it is still running
if (currentAction != null && currentAction.running)
{
// Find the distance to the target
float distanceToTarget = Vector2.Distance(destination, this.transform.position);
// Check the agent has a goal and has reached that goal
if (distanceToTarget < distanceForComplete) // currentAction.agent.remainingDistance < 1.0f)
///
{
if (isAgentStop)
{
currentAction.agent.isStopped = true;
}
///
if (!invoked)
{
//if the action movement is complete wait
//a certain duration for it to be completed
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
// Check we have a planner and an actionQueue
if (planner == null || actionQueue == null)
{
// If planner is null then create a new one
planner = new GPlanner();
// Sort the goals in descending order and store them in sortedGoals
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
//look through each goal to find one that has an achievable plan
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.plan(actions, sg.Key.sGoals, beliefs);
// If actionQueue is not = null then we must have a plan
if (actionQueue != null)
{
// Set the current goal
currentGoal = sg.Key;
break;
}
}
}
// Have we an actionQueue
if (actionQueue != null && actionQueue.Count == 0)
{
// Check if currentGoal is removable
if (currentGoal.remove)
{
// Remove it
goals.Remove(currentGoal);
}
// Set planner = null so it will trigger a new one
planner = null;
}
// Do we still have actions
if (actionQueue != null && actionQueue.Count > 0)
{
// Remove the top action of the queue and put it in currentAction
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
// Get our current object
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
// Activate the current action
currentAction.running = true;
//print(currentAction.target);
// InvokeRepeating("GoToTarget",0f,0.5f);
currentAction.agent.isStopped = false;
// // Pass Unities AI the destination for the agent
destination = (Vector2)currentAction.target.transform.position;
Transform isDestExist = currentAction.target.transform.Find("Destination");
if (isDestExist)
{
destination = (Vector2)isDestExist.position;
}
currentAction.agent.SetDestination(new Vector2(destination.x, destination.y));
}
}
else
{
// Force a new plan
actionQueue = null;
}
}
}
