/// <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;
}
/// <summary>
/// Updates the worldstate.
/// </summary>
/// <returns>The new worldstate.</returns>
private GoapWorldstate UpdateWorldstate ()
{
GoapWorldstate newWorldState = new GoapWorldstate();
newWorldState.generateWorldState (actor);
return newWorldState;
}
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;
}
