// Update is called once per frame
void Update()
{
if (dead == false)
{
if (currentAction == null || currentAction.runAction(this))
{
if (currentPlan.Count != 0)
{
currentAction = currentPlan.Dequeue();
}
else
{
currentAction = null;
}
}
if (lookAtPlayer)
{
transform.LookAt(new Vector3(player.transform.position.x, transform.position.y, player.transform.position.z));
}
if (lastHealedHealth - currentHealth >= 2500 && !worldState.states.Contains("lowHealth")) //Check whether its time to go to heal position
{
damageTaken = 0;
lastHealedHealth = currentHealth;
selectedGoal = 2;
worldState.states.Clear();
worldState.states.Add("lowHealth");
Plan();
}
if (currentHealth <= 0)
{
if (dead == false)
{
anim.SetTrigger("Death");
currentAction = null;
currentPlan.Clear();
dead = true;
}
}
}
}
public void Plan()
{
currentAction = null;
currentPlan.Clear();
Stack <StatesCollection> simWorldState = new Stack <StatesCollection>();
Stack <ActionGoap> simActions = new Stack <ActionGoap>();
Stack <int> simDepths = new Stack <int>();
ActionGoap[] simPlan = new ActionGoap[planDepth];
int minDepth = int.MaxValue;
simWorldState.Push(new StatesCollection(worldState));
simDepths.Push(0);
simActions.Push(null);
while (simWorldState.Count != 0)
{
StatesCollection cSimState = simWorldState.Pop();
int cDepth = simDepths.Pop();
ActionGoap cSimActions = simActions.Pop();
simPlan[cDepth] = cSimActions;
if (cDepth > minDepth) // Bigger than previous plan thus inefficient
{
continue;
}
if (cSimState.CompareStates(goals[selectedGoal].desiredStates) == 0 || cDepth >= planDepth)
{
if (cDepth < minDepth)
{
minDepth = cDepth;
currentPlan.Clear();
for (int i = 0; i < simPlan.Length; i++)
{
if (simPlan[i] != null)
{
currentPlan.Enqueue(simPlan[i]);
}
}
}
}
else
{
for (int i = 0; i < actions.Count; i++)
{
if (cSimState.CompareStates(actions[i].requiredStates) == 0 && cSimState.CompareStates(actions[i].outcomeStates) > 0) // has to be possible and has to cause something
{
StatesCollection newState = new StatesCollection(cSimState);
newState.AddStates(actions[i].outcomeStates);
simWorldState.Push(newState);
simActions.Push(actions[i]);
simDepths.Push(cDepth + 1);
}
}
}
}
}
