/// <summary>
/// compare the fed worldstate to a newly generated one, if they have different enemy data, replan.
/// </summary>
/// <param name="_worldState">World state.</param>
public override bool Sense(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
bool changeSensed = false;
GoapWorldstate oldState = _worldState,
newState = new GoapWorldstate();
//generate a new worldstate
newState.generateWorldState(core.actor);
//if the enemy data is different, the enemies have changed and a new plan should be forged
if (CompareEnemyData(oldState.enemyData, newState.enemyData))
{
//drop the current target enemy
core.actor.targetEnemy = null;
changeSensed = true;
}
//push the new worldstate into the core
core.setWorldState(newState);
//return the verdict
return changeSensed;
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
//target a visible enemy
//if there is only one enemy visible, target it
if (_worldState.enemyData.Count == 1)
{
core.actor.targetEnemy = _worldState.enemyData[0].enemy;
}
else //if there are more, choose the closest
{
ActorBase closest = null;
float closestDistance = float.PositiveInfinity;
foreach (EnemyPosition _enemyData in _worldState.enemyData)
{
float testDistance = Vector3.Distance(core.actor.transform.position, _enemyData.enemy.transform.position);
if (testDistance < closestDistance)
{
closest = _enemyData.enemy;
closestDistance = testDistance;
}
}
core.actor.targetEnemy = closest;
}
return true;
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
GameObject goalNode = null;
//if the path has not already been made
if (_currentPlan.plannedPath.Value == null || _currentPlan.plannedPath.Key != actionName)
{
KeyValuePair<string, List<GameObject>> tempPath = new KeyValuePair<string, List<GameObject>>(actionName, _currentPlan.plannedPath.Value);
_currentPlan.plannedPath = tempPath;
TruncOct enemyTroct= core.actor.targetEnemy.currentTrOct.GetComponent<TruncOct>();
List<TruncOct> inLineTrocts = new List<TruncOct>();
//List all trocts leading from enemy location
//loop through all faces of the troct
for (int i = 0; i < enemyTroct.Faces.Count; i++)
{
//if the current face has no connection, continue to the next face.
if (enemyTroct.connections[i] != TruncOct.connectionState.Connected)
{
continue;
}
else //else it it connected and should be pushed as far as it can go outwards
{
//get the next troct
TruncOct newTroct = _worldState.topology[enemyTroct.connectionObjects[i]].GetComponent<TruncOct>();
List<TruncOct> direction = new List<TruncOct>();
direction.Add(newTroct);
inLineTrocts.AddRange (TroctsInDirection(direction, i, newTroct, _worldState));
}
}
//find the closest one that is avaliable
float closestDistance = float.MaxValue;
TruncOct closestTroct;
for (int i = 0; i < inLineTrocts.Count; i++)
{
float tempDist = Vector3.Distance(core.actor.currentTrOct.transform.position, inLineTrocts[i].transform.position);
if (tempDist < closestDistance)
{
closestDistance = tempDist;
closestTroct = inLineTrocts[i];
goalNode = closestTroct.gameObject;
}
}
//now plot a route to A* pathfind to
_currentPlan.plotRoute(core.actor, core.actor.currentTrOct, goalNode);
}
//try to follow the A* path
return ProceedAlongPath(_currentPlan);
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
//if we have 2 action points left, heal otherwise remove last action points and continue
if (!core.actor.TryToRepair())
{
core.actor.actionPoints = 0;
return false;
}
return true;
}
//does this action need to be done.
public override bool Test(GoapWorldstate _worldState)
{
//if there is not a target enemy
if (core.actor.targetEnemy == null)
{
//the we need to target one
return true;
}
//there is already a target
return false;
}
public override float calcWeight (GoapWorldstate _actorWorldState)
{
float totalWeight = 1 - (core.actor.health / 100f);
//if not at full health and there are no visible enemies, it may as well heal
if (core.actor.health != core.actor.maxHealth && _actorWorldState.enemyData.Count == 0)
{
baseWeight = 1f;
}
return totalWeight;
}
//does this action need to be done.
public override bool Test(GoapWorldstate _worldState)
{
GoapWorldstate worldState = core.getworldState ();
//if enemies are in this actor's worldstate, they dont need to find enemies.
if (worldState.enemyData.Count != 0)
{
return false;
}
else //else this does need to be done and enemies need to be found.
{
return true;
}
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
GameObject goalNode = null;
//if there is not currently a path, plot a course towards a random undiscovered area
if (_currentPlan.plannedPath.Value == null)
{
//compile a list of all trocts concealed by the fow
List<GameObject> undiscoveredTrocts = new List<GameObject>();
foreach (GameObject _trOctObj in _worldState.topology)
{
if (_trOctObj.GetComponent<TruncOct>().inFow)
{
undiscoveredTrocts.Add(_trOctObj);
}
}
//find the one with the largest combined distance from all allies
float biggestDistance = 0f;
GameObject furthestTroct;
for (int i = 0; i < undiscoveredTrocts.Count; i++)
{
float totalDistance = 0f;
for (int j = 0; j < _worldState.allies.Count; j++)
{
totalDistance += Vector3.Distance(undiscoveredTrocts[i].transform.position, _worldState.allies[j].currentTrOct.transform.position);
}
if (totalDistance > biggestDistance)
{
furthestTroct = undiscoveredTrocts[i];
biggestDistance = totalDistance;
//this will be the goal TrOct
goalNode = furthestTroct;
}
}
//plot a route using the central A* plotter through the current plan
_currentPlan.plotRoute(core.actor, core.actor.currentTrOct, goalNode);
}
// attempt to follow the path that was either preexisting or was just generated
return ProceedAlongPath(_currentPlan);
}
private List<TruncOct> TroctsInDirection(List<TruncOct> _troctsInLine, int _facing, TruncOct _rootTroct, GoapWorldstate _worldState)
{
//see if the facing is connected
if (_rootTroct.connections[_facing] != TruncOct.connectionState.Connected)
{
return _troctsInLine;
}
else //there is a connection
{
TruncOct newTroct = _worldState.topology[_rootTroct.connectionObjects[_facing]].GetComponent<TruncOct>();
_troctsInLine.Add(newTroct);
_troctsInLine = (TroctsInDirection(_troctsInLine, _facing, newTroct, _worldState));
}
return _troctsInLine;
}
//does this action need to be done?
public override bool Test(GoapWorldstate _worldState)
{
//are we currently facing the enemy already?
if (!core.actor.targetEnemy)
{
return true;
}
//get the enemy's troct
TruncOct enemyTroct = core.actor.targetEnemy.currentTrOct.GetComponent<TruncOct>();
//if the direction towards an enemy is the same as the direction of facing
if ((enemyTroct.transform.position - core.actor.currentTrOct.transform.position).normalized == core.actor.transform.forward)
{
float distance = Vector3.Distance(enemyTroct.transform.position , core.actor.currentTrOct.transform.position);
for (int j = 0; j < _worldState.allies.Count; j++)
{
TruncOct allyTroct = _worldState.allies[j].currentTrOct.GetComponent<TruncOct>();
//check there are no allies in the way.
//is the ally in the same direction as the enemy but closer?
if (((allyTroct.transform.position - core.actor.currentTrOct.transform.position).normalized == core.actor.transform.forward) &&
Vector3.Distance(allyTroct.transform.position , core.actor.currentTrOct.transform.position) < distance)
{
//an ally is in the way, move to a different position
return true;
}
else
{
//no allies in the way and enemy a head
return false;
}
}
}
//if here is reached there are no enemies within current sight.
return true;
}
/// <summary>
/// If the actor is facing the next troct on the path and the path is obstructed and the current actor has action points left, replan
/// </summary>
/// <param name="_worldState">World state.</param>
public override bool Sense(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
//make a copy of the current path
List<GameObject> path = _currentPlan.plannedPath.Value;
//if the path is empty or we are at the end of the path, return false as no replanning has to be done as a result of the sensed state
if (_currentPlan.plannedPath.Value == null)
{
return false;
}
else
{
if (_currentPlan.plannedPath.Value [0] == core.actor.currentTrOct)
{
_currentPlan.plannedPath.Value.RemoveAt (0);
}
}
//find the next GO on the currentPath
GameObject targetTroct = path[0];
Vector3 towardsTarget = (targetTroct.transform.position - core.actor.currentTrOct.transform.position).normalized;
//is this actor facing the troct?
if (towardsTarget == core.actor.transform.forward)
{
//is the target troct occupied?
if (targetTroct.GetComponent<TruncOct>().containedActor != null)
{
//if so, replan
return true;
}
}
return false;
}
public void TakeTurn ()
{
worldState = UpdateWorldstate();
//sort the goal priorities for this turn.
GoapGoal tempGoal = SortGoals (worldState);
//if the goal has changed, or the sensors demand it, a new plan must be formulated
if (tempGoal != currentGoal || currentPlan == null)
{
currentGoal = tempGoal;
currentPlan = FormulatePlan(currentGoal, worldState);
}
//loop the plan execution until all
while (actor.actionPoints > 0)
{
//process and execute the plan, setting it to be the new plan
currentPlan = ExecutePlan (currentPlan, worldState);
}
return;
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
//SHOOT FORWARDS
return core.actor.Shootforwards();
}
public void setWorldState(GoapWorldstate _worldState)
{
worldState = _worldState;
}
/// <summary>
/// Updates the worldstate.
/// </summary>
/// <returns>The new worldstate.</returns>
private GoapWorldstate UpdateWorldstate ()
{
GoapWorldstate newWorldState = new GoapWorldstate();
newWorldState.generateWorldState (actor);
return newWorldState;
}
private GoapGoal SortGoals (GoapWorldstate _worldState)
{
GoapGoal newGoal = new GoapGoal();
float highestWeight = float.MinValue,
testWeight;
for (int i = 0; i < goals.Count; i++)
{
testWeight = goals[i].calcWeight(worldState);
if (testWeight > highestWeight)
{
highestWeight = testWeight;
newGoal = goals[i];
}
}
return newGoal;
}
public override float calcWeight (GoapWorldstate _actorWorldState)
{
float totalWeight = baseWeight;
return totalWeight;
}
/// <summary>
/// Formulates a plan from the given goal and current actor state.
/// </summary>
/// <returns>The plan.</returns>
/// <param name="_goal">Goal.</param>
/// <param name="_worldstate">Worldstate.</param>
private GoapPlan FormulatePlan (GoapGoal _goal, GoapWorldstate _worldstate)
{
GoapPlan newPlan = new GoapPlan();
newPlan.actionOrder = new List<GoapAction> ();
//according to the goal form an initial prerequisite of what we want to do
newPlan.goalBeingFulfilled = _goal;
string initPrereq = _goal.initPrerequisite;
//add the initial action onto the stack to start constructing the plan
foreach (GoapAction _action in actionPool)
{
if (_action.fulfillment == initPrereq)
{
newPlan.actionOrder.Insert (0, _action);
break;
}
}
List<string> prerequisites = newPlan.actionOrder[0].prerequisites;
newPlan.actionOrder = FulfillPrereqs (newPlan.actionOrder, prerequisites, _worldstate);
return newPlan;
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
return false;
}
calls; //the base function that is used to change the worldstate public abstract bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState);
//does this action need to be done.
public override bool Test(GoapWorldstate _worldState)
{
TruncOct currentTroct = core.actor.currentTrOct.GetComponent<TruncOct>();
//are we already in line with the target?
if (!core.actor.targetEnemy)
{
return true;
}
//do any enemy directions line up with the current troct faces?
TruncOct enemyTroct = core.actor.targetEnemy.currentTrOct.GetComponent<TruncOct>();
foreach (Vector3 _facing in currentTroct.Faces)
{
if ((enemyTroct.transform.position - currentTroct.transform.position).normalized == _facing.normalized)
{
//they line up and so we do not need to line up a shot
return false;
}
}
return true;
}
public override bool Action(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
//try to rotate towards the target enemy
return core.actor.TryRotate(core.actor.targetEnemy.transform);
}
//does this action need to be done.
public override bool Test(GoapWorldstate _worldState)
{
return false;
}
private List<GoapAction> FulfillPrereqs (List<GoapAction> _currentActionList, List<string> _currentPrerequisites, GoapWorldstate _worldstate)
{
foreach (string _prereq in _currentPrerequisites)
{
//find the item to fulfill the current prereq
foreach (GoapAction _action in actionPool)
{
if (_action.fulfillment == _prereq)
{
//if the action does not need to be done, no more need to be added, so just return the actionlist as is
if (!_action.Test (_worldstate))
{
return _currentActionList;
}
else
{
_currentActionList.Insert (0, _action);
List<string> prereqs = _action.prerequisites;
_currentActionList = FulfillPrereqs (_currentActionList, prereqs, _worldstate);
}
}
}
}
return _currentActionList;
}
public abstract bool Sense(GoapPlan _currentPlan, GoapWorldstate _worldState);
//does this action need to be done.
public override bool Test(GoapWorldstate _worldState)
{
//this is the end action so it always need to be attempted.
return true;
}
/// <summary>
/// Calculates the total weight of this goal.
/// </summary>
/// <returns>The weight.</returns>
/// <param name="_actorWorldState">Actor world state.</param>
public virtual float calcWeight (GoapWorldstate _actorWorldState) {return 0f;}
private GoapPlan ExecutePlan(GoapPlan _currentPlan, GoapWorldstate _worldState)
{
bool actionSuccess = true;
int currentPlanAction = 0;
//try to carry out the plan until an action attempt fails (or sensors interrupt)
while (actor.actionPoints > 0)
{
//test all actions up to the current int value for retroactive analysis
for (int i = 0; i < currentPlanAction; i++)
{
if (_currentPlan.actionOrder[i].Test(_worldState))
{
currentPlanAction = i;
break;
}
}
//if the action on the top of the stack needs to be done
if (_currentPlan.actionOrder[currentPlanAction].Test (_worldState))
{
//run sensors
GoapPlan tempPlan = CheckSensors(_currentPlan, _worldState);
//if the plans differ
if (!ComparePlans(_currentPlan, tempPlan))
{
return tempPlan;
}
//try to carry it out and have it set the result of actionSuccess depending on a success or failure
actionSuccess = _currentPlan.actionOrder[currentPlanAction].Action(_currentPlan, _worldState);
if (actionSuccess) //if an action was successfully done,check if it will need to be continued (with a new worldstate)
{
_worldState.generateWorldState (actor);
//if the action no longer needs to be done, pop it from the stack
if (!_currentPlan.actionOrder[currentPlanAction].Test (_worldState))
{
currentPlanAction ++;
}
tempPlan = CheckSensors (_currentPlan, getworldState ()); //call sensors as a precaution
if (!ComparePlans(_currentPlan, tempPlan))
{
return tempPlan;
}
}
}
else//move to the next operation in the plan the plan, as it doesnt need to be carried out
{
currentPlanAction++;
}
}
//return the plan now that it has been processed and attempted
return _currentPlan;
}
public abstract bool Test(GoapWorldstate _worldState);
/// <summary>
/// Calls the sensors one at a time in order to see if the plan needs changing in accordance to worldstate changes
/// </summary>
/// <returns>The altered goal if the sensors call for a replan</returns>
/// <param name="">.</param>
private GoapPlan CheckSensors (GoapPlan _currentPlan, GoapWorldstate _worldState)
{
foreach (GoapSensor _sensor in sensors)
{
//if a replan is needed according to the current sensor
if (_sensor.Sense(_currentPlan, _worldState))
{
//resort goals, and from this formulate a new plan
return FormulatePlan(SortGoals(_worldState), _worldState);
}
}
//if all is fine, return the plan back as it was, it is fine.
return _currentPlan;
}
