private void PlayerSightSensor()
{
if (playerAround)
{
Vector3 direction = (player.transform.position - transform.position).normalized;
if (Physics.Raycast(transform.position, direction, out hitInfo, Mathf.Infinity, rayLayers))
{
if (hitInfo.collider.CompareTag("Player"))
{
worldState.AddStates(GOAP_States.PlayerInSite);
}
else
{
worldState.RemoveState(GOAP_States.PlayerInSite);
}
}
}
}
private void Plan()
{
for (int i = 0; i < goals.Count; i++)
{
if (goals[i].isValid(this))
{
goal = goals[i];
break;
}
}
if (worldState.CompareState(goal.goalStates) == 0)
{
return;
}
currentPlan.Clear();
Stack <SimulationStep> sim = new Stack <SimulationStep>();
GOAP_Action[] simPlan = new GOAP_Action[maxPlanDepth];
int minDepth = int.MaxValue;
sim.Push(new SimulationStep(new GOAP_StatesList(worldState), null, 0));
List <GOAP_States> targetStates = new List <GOAP_States>(goal.goalStates.states);
while (sim.Count != 0)
{
currentSimData = sim.Pop();
simPlan[currentSimData.depth] = currentSimData.action;
if (currentSimData.depth > minDepth)
{
continue;
}
if (currentSimData.worldState.CompareState(goal.goalStates) == 0 || currentSimData.depth >= maxPlanDepth)
{
if (currentSimData.depth < minDepth)
{
currentPlan.Clear();
for (int i = 0; i <= currentSimData.depth; i++)
{
if (simPlan[i] != null)
{
if (!currentPlan.Contains(simPlan[i]))
{
currentPlan.Enqueue(simPlan[i]);
}
}
}
minDepth = currentSimData.depth;
}
}
else
{
for (int i = 0; i < actions.Count; i++)
{
if (actions[i].isValid(this))
{
GOAP_StatesList newSimState = new GOAP_StatesList(currentSimData.worldState);
newSimState.AddStates(actions[i].resultStates);
sim.Push(new SimulationStep(newSimState, actions[i], (currentSimData.depth + 1)));
}
}
}
}
}
