void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distanceToTarget = Vector3.Distance(currentAction.target.transform.position, this.transform.position);
if (currentAction.agent.hasPath && distanceToTarget < 2.0f)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.plan(actions, sg.Key.sgoals, beliefs);
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.targetTag != null)
{
currentAction.running = true;
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
void LateUpdate()
{
if (mCurrentAction != null && mCurrentAction.Running)
{
mCurrentAction.Perform();
if (!mCurrentAction.Running)
{
mCurrentAction.PostPerform();
mCurrentAction = null;
}
else
{
return;
}
}
if (mPlanner == null || mActionQueue == null)
{
mPlanner = new GPlanner();
var sortedGoals = from entry in mGoals orderby entry.Value descending select entry;
foreach (KeyValuePair <GAgentSubGoal, int> sg in sortedGoals)
{
mActionQueue = mPlanner.Plan(mActions, sg.Key.SubGoals, Beliefs);
if (mActionQueue != null)
{
mCurrentGoal = sg.Key;
break;
}
}
}
if (mActionQueue != null && mActionQueue.Count == 0)
{
if (mCurrentGoal.Remove)
{
mGoals.Remove(mCurrentGoal);
}
mPlanner = null;
}
if (mActionQueue != null && mActionQueue.Count > 0)
{
GAction newAction = mActionQueue.Dequeue();
//if (newAction != currentAction)
// {
mCurrentAction = newAction;
if (!mCurrentAction.PrePerform())
{
mActionQueue = null;
}
// }
}
}
private void Start()
{
stateMachine = new GFSM();
availableActions = new HashSet <GAction>();
currentActions = new Queue <GAction>();
planner = new GPlanner();
FindDataProvider();
FindBlackBoard();
CreatePlanningState();
CreatePerformActionState();
stateMachine.PushState(planningState);
LoadActions();
}
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 = Vector3.Distance(destination, this.transform.position);
//Debug.Log(currentAction.agent.hasPath + " " + distanceToTarget);
// Check the agent has a goal and has reached that goal
if (distanceToTarget < 2f)//currentAction.agent.remainingDistance < 0.5f)
{
// Debug.Log("Distance to Goal: " + currentAction.agent.remainingDistance);
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)
{
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 != "")
{
// Activate the current action
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
// Activate the current action
currentAction.running = true;
// Pass in the office then look for its cube
destination = currentAction.target.transform.position;
Transform dest = currentAction.target.transform.Find("Destination");
// Check we got it
if (dest != null)
{
destination = dest.position;
}
// Pass Unities AI the destination for the agent
currentAction.agent.SetDestination(destination);
}
}
else
{
// Force a new plan
actionQueue = null;
}
}
}
void LateUpdate()
{
// there is an action running, check if it has finished
if (currentAction != null && currentAction.running)
{
// check if the agent has reached its destination
if (currentAction.agent.hasPath && currentAction.agent.remainingDistance < 1f)
{
Debug.Log(gameObject.name + " has completed the action: " + currentAction.actionName);
// run the complition of the action
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
// the agent has no plan create a new one
planner = new GPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.sgoals, null);
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null)
{
if (actionQueue.Count == 0)
{
// action queue is empty
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
else if (actionQueue.Count > 0)
{
// prepare the next action of the plan
currentAction = actionQueue.Dequeue();
Debug.Log(gameObject.name + " is preparing a new action: " + currentAction.actionName);
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
currentAction.running = true;
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
}
public void CancelAction()
{
Debug.Log("Action Cancelled");
currentAction = null;
planner = null;
}
void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distanceToTarget = Vector3.Distance(destination, this.transform.position);
if (distanceToTarget < 2f)//currentAction.agent.remainingDistance < 1f
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GPlanner();
//IOrderedEnumerable<KeyValuePair<SubGoal, int>> sortedGoals = from entry in goals orderby entry.Value descending select entry;
IOrderedEnumerable <KeyValuePair <SubGoal, int> > sortedGoals = goals.OrderByDescending(x => x.Value);
foreach (KeyValuePair <SubGoal, int> subGoal in sortedGoals)
{
actionQueue = planner.Plan(actions, subGoal.Key.sgoals, beliefs);
if (actionQueue != null)
{
currentGoal = subGoal.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindGameObjectWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
currentAction.running = true;
destination = currentAction.target.transform.position;
Transform dest = currentAction.target.transform.Find("Destination");
if (dest != null)
{
destination = dest.position;
}
currentAction.agent.SetDestination(destination);
}
}
else
{
actionQueue = null;//any action failed, re-plan
}
}
}
void LateUpdate()
{
if (CurrentAction != null && CurrentAction.Running)
{
float distanceToTarget = Vector3.Distance //Manual distance Buffer for accurate action transitions
(CurrentAction.Target.transform.position, this.transform.position);
if (CurrentAction.Agent.hasPath && distanceToTarget < 2f)
{ //&& CurrentAction.Agent.remainingDistance < 1f
if (!_invoked)
{
Invoke("CompleteAction", CurrentAction.Duration);
_invoked = true;
}
}
return;
}
if (_planner == null || _actionQue == null)
{
_planner = new GPlanner();
var sortedGoals = //Takes Goals and orders them based on the value (THIS IS RAD!)
from entry in Goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{//Takes most important goal and assigns a plan through the planner
_actionQue = _planner.Plan(Actions, sg.Key.SubGoals, Beliefs);
if (_actionQue != null)
{
_currentGoal = sg.Key;
break;
}
}
}
if (_actionQue != null && _actionQue.Count == 0)
{
if (_currentGoal.Remove)
{
Goals.Remove(_currentGoal);
}
_planner = null;
}
if (_actionQue != null && _actionQue.Count > 0)
{
CurrentAction = _actionQue.Dequeue();
if (CurrentAction.PrePerform())
{
if (CurrentAction.Target == null && CurrentAction.TargetTag != "")
{
CurrentAction.Target =
GameObject.FindWithTag(CurrentAction.TargetTag);
}
if (CurrentAction.Target != null)
{
CurrentAction.Running = true;
CurrentAction.Agent.SetDestination
(CurrentAction.Target.transform.position);
}
}
else
{
_actionQue = null; //Tries a new plan
}
}
}
