public static bool IsEndTargetBelowClimbAngle(OCAction action, OCActionArgs args)
{
Vector3 sourcePos = args.Source.transform.position;
Vector3 endTargetPos = args.EndTarget.transform.position;
float angle = Vector3.Angle(endTargetPos - sourcePos, Vector3.up);
return(angle > 45.0f);
}
public static bool IsEndTargetCloseUp(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceUp = args.Source.gameObject.transform.up;
Vector3 distance = targetPosition - sourcePosition;
float projection = Vector3.Dot(distance, sourceUp);
return(projection >= 0.5f && projection < 2.5f);
}
public static bool IsLocalAnimating(OCAction action, OCActionArgs args)
{
bool isAnimating = false;
foreach (OCAnimationEffect afx in action._AnimationEffects)
{
isAnimating |= afx.Target.animation.IsPlaying(afx.StateName);
}
return(isAnimating);
}
public static bool IsLocalAnimatingAnythingElse(OCAction action, OCActionArgs args)
{
bool isAnimatingAnythingElse = false;
foreach (OCAnimationEffect afx in action._AnimationEffects)
{
isAnimatingAnythingElse |= afx.IsPlayingButNotThis;
}
return(isAnimatingAnythingElse);
}
public static bool IsEndTargetFarForward(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceForward = args.Source.gameObject.transform.forward;
Vector3 distance = targetPosition - sourcePosition;
float projection = Vector3.Dot(distance, sourceForward);
return(projection >= 3.5f);
}
public static bool IsEndTargetMoreRight(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceRight = args.Source.gameObject.transform.right;
Vector3 sourceLeft = -args.Source.gameObject.transform.right;
Vector3 sourceForward = args.Source.gameObject.transform.forward;
Vector3 sourceGoal = targetPosition - sourcePosition;
float projectionLeft = Vector3.Dot(sourceGoal, sourceLeft);
float projectionRight = Vector3.Dot(sourceGoal, sourceRight);
float projectionForward = Vector3.Dot(sourceGoal, sourceForward);
return(projectionRight > (projectionLeft) && projectionRight > projectionForward);
}
public static bool IsPathOpenForSourceForwardBlockSolid(OCAction action, OCActionArgs args)
{
OCMap map = (OCMap)GameObject.FindObjectOfType(typeof(OCMap));
CharacterController charController =
args.Source.GetComponent <CharacterController>();
return
(map.IsPathOpen
(args.Source.transform
, charController.height
, OCMap.PathDirection.ForwardBlockSolid
)
);
}
public static bool IsEndTargetAhead(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceUp = args.Source.transform.up;
Vector3 sourceForward = args.Source.transform.forward;
Vector3 sourceRight = args.Source.transform.right;
Vector3 distance = targetPosition - sourcePosition;
float projUp = Vector3.Dot(distance, sourceUp);
float projForward = Vector3.Dot(distance, sourceForward);
float projRight = Vector3.Dot(distance, sourceRight);
return(Math.Abs(projUp) < 0.5f && projForward >= 0.5f && Math.Abs(projRight) < 0.5f);
}
public static bool IsEndTargetFarForward(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceForward = args.Source.gameObject.transform.forward;
Vector3 distance = targetPosition - sourcePosition;
float projection = Vector3.Dot(distance, sourceForward);
return projection >= 3.5f;
}
public static bool IsEndTargetAdjacentBelow(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
sourcePosition = sourcePosition - args.Source.gameObject.transform.up;
Vector3 distance = targetPosition - sourcePosition;
return distance.sqrMagnitude <= (1.4f + float.Epsilon);
}
public static bool IsSourceNotIdlingAnimation(OCAction action, OCActionArgs args)
{
return(IsSourceIdlingAnimation(action, args));
}
public static bool IsNotAnimatingAnything(OCAction action, OCActionArgs args)
{
return(!args.Source.animation.isPlaying);
}
public static bool IsSourceOnlyIdling(OCAction action, OCActionArgs args)
{
return action._ActionController.RunningActions.Where(s => s != "StandIdleShow").Count() == 0;
}
public static bool IsSourceNotAnimatingOrRunningAction(OCAction action, OCActionArgs args)
{
return IsSourceNotAnimating(action, args) || IsSourceRunningAction(action, args);
}
public static bool IsEndTargetMoreRight(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceRight = args.Source.gameObject.transform.right;
Vector3 sourceLeft = -args.Source.gameObject.transform.right;
Vector3 sourceForward = args.Source.gameObject.transform.forward;
Vector3 sourceGoal = targetPosition - sourcePosition;
float projectionLeft = Vector3.Dot(sourceGoal, sourceLeft);
float projectionRight = Vector3.Dot(sourceGoal, sourceRight);
float projectionForward = Vector3.Dot(sourceGoal, sourceForward);
return projectionRight > (projectionLeft);// && projectionRight > projectionForward;
}
public static bool IsEndTargetNotCloseUp(OCAction action, OCActionArgs args)
{
return(!IsEndTargetCloseUp(action, args));
}
public static bool IsSourceAnimating(OCAction action, OCActionArgs args)
{
iTween itween = args.Source.GetComponent <iTween>();
return(itween != null && itween.isRunning);
}
public static bool IsEndTargetNotFarForward(OCAction action, OCActionArgs args)
{
return(!IsEndTargetFarForward(action, args));
}
public static bool IsSourceNotAnimating(OCAction action, OCActionArgs args)
{
return(!IsSourceAnimating(action, args));
}
public static bool IsSourceIdlingAnimation(OCAction action, OCActionArgs args)
{
return(!args.Source.animation.isPlaying || args.Source.animation.IsPlaying("idle"));
}
public static bool IsEndTargetCloseUp(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceUp = args.Source.gameObject.transform.up;
Vector3 distance = targetPosition - sourcePosition;
float projection = Vector3.Dot(distance, sourceUp);
return projection >= 0.5f && projection < 2.5f;
}
public static bool IsEndTargetNotAhead(OCAction action, OCActionArgs args)
{
return(!IsEndTargetAhead(action, args));
}
public static bool IsEndTargetAhead(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceUp = args.Source.transform.up;
Vector3 sourceForward = args.Source.transform.forward;
Vector3 sourceRight = args.Source.transform.right;
Vector3 distance = targetPosition - sourcePosition;
float projUp = Vector3.Dot(distance, sourceUp);
float projForward = Vector3.Dot(distance, sourceForward);
float projRight = Vector3.Dot(distance, sourceRight);
return Math.Abs(projUp) < 0.5f && projForward >= 0.5f && Math.Abs(projRight) < 0.5f;
}
public static bool IsSourceAnimating(OCAction action, OCActionArgs args)
{
iTween itween = args.Source.GetComponent<iTween>();
return itween != null && itween.isRunning;
}
public static bool IsSourceRunningAction(OCAction action, OCActionArgs args)
{
return action._ActionController.RunningActions.Count > 0 && action._ActionController.RunningActions.Contains(action.FullName);
}
public static bool IsSourceAngry(OCAction action, OCActionArgs args)
{
OCPhysiologicalModel model = GameObject.FindGameObjectWithTag("OCAGI").GetComponent<OCPhysiologicalModel>();
return model.Energy < 0.9;
}
public static bool DoesSourceNeedToTellEndTarget(OCAction action, OCActionArgs args)
{
return UnityEngine.Random.Range(0,100) > 75 && !action._ActionController.RunningActions.Contains("StandIdleTell");
}
public static bool IsSourceNotIdlingAnimation(OCAction action, OCActionArgs args)
{
return IsSourceIdlingAnimation(action, args);
}
public static bool IsSourceRunningOtherActionsIgnoreIdle(OCAction action, OCActionArgs args)
{
return action._ActionController.RunningActions.Where(s => s != action.FullName && s != "StandIdleShow").Count() > 0;
}
public static bool IsPathOpenForSourceForwardBlockSolid(OCAction action, OCActionArgs args)
{
OCMap map = OCMap.Instance;
CharacterController charController =
args.Source.GetComponent<CharacterController>();
return
map.IsPathOpen
( args.Source.transform
, charController.height
, OCMap.PathDirection.ForwardBlockSolid
, default(Vector3i)
)
;
}
public static bool IsNotAnimatingAnything(OCAction action, OCActionArgs args)
{
return !args.Source.animation.isPlaying;
}
public static bool IsNoEndTargetOrNotAnimating(OCAction action, OCActionArgs args)
{
return(IsSourceNotAnimating(action, args) || IsNoEndTarget(action, args));
}
public static bool IsSourceNotAnimating(OCAction action, OCActionArgs args)
{
return !IsSourceAnimating(action, args);
}
public static bool IsEndTarget(OCAction action, OCActionArgs args)
{
return(args.EndTarget.transform.position != Vector3.zero);
}
public static bool IsNoEndTargetOrNotAnimating(OCAction action, OCActionArgs args)
{
return IsSourceNotAnimating(action, args) || IsNoEndTarget(action, args);
}
public static bool IsSourceRunningAction(OCAction action, OCActionArgs args)
{
return(action._ActionController.RunningActions.Count > 0 && action._ActionController.RunningActions.Contains(action.FullName));
}
public static bool IsSourceIdlingAnimation(OCAction action, OCActionArgs args)
{
return !args.Source.animation.isPlaying || args.Source.animation.IsPlaying("idle");
}
public static bool IsSourceNotRunningAction(OCAction action, OCActionArgs args)
{
return(!IsSourceRunningAction(action, args));
}
public static bool IsPathOpenForSourceAdjacentBlockSolid(OCAction action, OCActionArgs args)
{
OCMap map = OCMap.Instance;
CharacterController charController =
args.Source.GetComponent<CharacterController>();
return
map.IsPathOpen
( args.Source.transform
, charController.height
, OCMap.PathDirection.AdjacentBlockSolid
, VectorUtil.Vector3ToVector3i(args.EndTarget.transform.position)
)
;
}
public static bool IsSourceNotAnimatingOrRunningAction(OCAction action, OCActionArgs args)
{
return(IsSourceNotAnimating(action, args) || IsSourceRunningAction(action, args));
}
public static bool IsEndTargetRight(OCAction action, OCActionArgs args)
{
Vector3 sourcePosition = args.Source.gameObject.transform.position;
Vector3 targetPosition = args.EndTarget.gameObject.transform.position;
Vector3 sourceRight = args.Source.gameObject.transform.right;
Vector3 distance = targetPosition - sourcePosition;
float projection = Vector3.Dot(distance, sourceRight);
return projection >= 0.5f;
}
public static bool IsSourceIdling(OCAction action, OCActionArgs args)
{
return(action._ActionController.RunningActions.Contains("StandIdleShow"));
}
public static bool IsEndTargetNotFarForward(OCAction action, OCActionArgs args)
{
return !IsEndTargetFarForward(action, args);
}
public static bool DoesSourceNeedToTellEndTarget(OCAction action, OCActionArgs args)
{
return(UnityEngine.Random.Range(0, 100) > 75 && !action._ActionController.RunningActions.Contains("StandIdleTell"));
}
public static bool IsEndTargetNotCloseUp(OCAction action, OCActionArgs args)
{
return !IsEndTargetCloseUp(action, args);
}
public static bool IsSourceRunningOtherActions(OCAction action, OCActionArgs args)
{
return(action._ActionController.RunningActions.Where(s => s != action.FullName).Count() > 0);
}
public static bool IsEndTargetNotAhead(OCAction action, OCActionArgs args)
{
return !IsEndTargetAhead(action, args);
}
public static bool IsSourceOnlyIdling(OCAction action, OCActionArgs args)
{
return(action._ActionController.RunningActions.Where(s => s != "StandIdleShow").Count() == 0);
}
public static bool IsEndTarget(OCAction action, OCActionArgs args)
{
return args.EndTarget.transform.position != Vector3.zero;
}
public static bool IsSourceNotOnlyIdling(OCAction action, OCActionArgs args)
{
return(!IsSourceOnlyIdling(action, args));
}
public static bool IsSourceNotRunningAction(OCAction action, OCActionArgs args)
{
return !IsSourceRunningAction(action, args);
}
public static bool IsSourceRunningOtherActionsIgnoreIdle(OCAction action, OCActionArgs args)
{
return(action._ActionController.RunningActions.Where(s => s != action.FullName && s != "StandIdleShow").Count() > 0);
}
public static bool IsSourceIdling(OCAction action, OCActionArgs args)
{
return action._ActionController.RunningActions.Contains("StandIdleShow");
}
public static bool IsSourceNotRunningOtherActionsIgnoreIdle(OCAction action, OCActionArgs args)
{
return(!IsSourceRunningOtherActionsIgnoreIdle(action, args));
}
public static bool IsSourceRunningOtherActions(OCAction action, OCActionArgs args)
{
return action._ActionController.RunningActions.Where(s => s != action.FullName).Count() > 0;
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Private Member Functions
//---------------------------------------------------------------------------
private ActionStatus Execute()
{
ActionStatus retVal = ActionStatus.NONE;
// Checks if all Preconditions are true.
if (ShouldStart)
{
return(StartAction()); //retVal = StartAction();
}
// Checks if all Invariants are true.
if (ShouldContinue && retVal == ActionStatus.NONE)
{
return(ContinueAction()); //retVal = ContinueAction();
}
// Checks if all Postconditions are true.
if (ShouldEnd && retVal == ActionStatus.NONE)
{
return(EndAction()); //retVal = EndAction();
}
// if(Descriptors.Contains("Idle") && _EndTarget.transform.position != Vector3.zero && retVal == ActionStatus.NONE)
// {
// return ActionStatus.FAILURE;
// }
// else if(retVal != ActionStatus.NONE)
// return retVal;
OCActionArgs args = null;
if (_ActionController.Step != null)
{
args = _ActionController.Step.Arguments;
}
if (!_blockOnFail)
{
if (IsSourceRunningAction(this, null))
{
Debug.Log(" -- Action Failed, but will not block: " + FullName);
// if(args.ActionPlanID != null)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
}
return(ActionStatus.SUCCESS);
}
else if (args == null || args.ActionPlanID == null)
{
if (IsSourceRunningAction(this, null))
{
Debug.LogWarning(" -- Action Failed: " + FullName);
}
return(ActionStatus.FAILURE);
}
// else if(IsSourceNotRunningAction(this, null))
// {
// if(_ActionController.Step.Behaviour.Name == "Character.Move" || args.ActionName == "walk" || args.ActionName == "jump_toward")
// {
// Vector3 endTargetPos = args.EndTarget.transform.position;
// Vector3 sourceTargetPos = args.Source.transform.position;
//
// sourceTargetPos.y -= 0.5f;
//
// if(args.EndTarget.transform.position == Vector3.zero || endTargetPos == sourceTargetPos)
// {
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
// return ActionStatus.SUCCESS;
// }
// }
//
// if(_ActionController.Step.Behaviour.Name == "Character.TurnAndDestroy" || args.ActionName == "grab" || args.ActionName == "eat")
// {
// if(args.EndTarget.transform.position == Vector3.zero)
// {
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
// return ActionStatus.SUCCESS;
// }
// }
//
// return ActionStatus.FAILURE;
// }
return(ActionStatus.FAILURE);
}
public static bool IsSourceNotOnlyIdling(OCAction action, OCActionArgs args)
{
return !IsSourceOnlyIdling(action, args);
}
private ActionStatus EndAction()
{
//OCLogger.Debugging("Ending the " + FullName + " Action.");
OCActionArgs args = null;
if (_ActionController.Step != null)
{
args = _ActionController.Step.Arguments;
}
if (_blockOnFail && _blockOnRunning)
{
_ActionController.RunningActions.Remove(FullName);
}
// End animation effects
// foreach(OCAnimationEffect afx in _AnimationEffects)
// {
// afx.Stop();
// }
foreach (OCDestroyBlockEffect dbfx in _DestroyBlockEffects)
{
Vector3i forward = VectorUtil.Vector3ToVector3i(_Source.transform.position + _Source.transform.forward);
Vector3i forwardUp = VectorUtil.Vector3ToVector3i(_Source.transform.position + _Source.transform.forward + _Source.transform.up);
Vector3i forwardUp2x = VectorUtil.Vector3ToVector3i(_Source.transform.position + _Source.transform.forward + 2 * _Source.transform.up);
OCBlockData forwardBlock = _Map.GetBlock(forward);
OCBlockData forwardUpBlock = _Map.GetBlock(forwardUp);
OCBlockData forwardUp2xBlock = _Map.GetBlock(forwardUp2x);
dbfx.DestroyBlock(forward);
dbfx.DestroyBlock(forwardUp);
dbfx.DestroyBlock(forwardUp2x);
args.EndTarget.transform.position = Vector3.zero;
args.StartTarget.transform.position = Vector3.zero;
// This is just some example code for you Lake, that you can use to give energy to the robot after consuming a battery.
if ((forwardBlock.block != null && forwardBlock.block.GetName() == "Battery") || (forwardUpBlock.block != null && forwardUpBlock.block.GetName() == "Battery") || (forwardUp2xBlock.block != null && forwardUp2xBlock.block.GetName() == "Battery"))
{
UnityEngine.GameObject[] agiArray = UnityEngine.GameObject.FindGameObjectsWithTag("OCAGI");
for (int iAGI = 0; iAGI < agiArray.Length; iAGI++)
{
UnityEngine.GameObject agiObject = agiArray[iAGI];
//args.EndTarget = agiObject;
OCPhysiologicalModel agiPhysModel = agiObject.GetComponent <OCPhysiologicalModel>();
OCPhysiologicalEffect batteryEatEffect = new OCPhysiologicalEffect(OCPhysiologicalEffect.CostLevel.NONE);
batteryEatEffect.EnergyIncrease = 0.2f;
agiPhysModel.ProcessPhysiologicalEffect(batteryEatEffect);
break;
}
}
}
//@TODO: Fix this hack...
if (Descriptors.Contains("Jump") || Descriptors.Contains("Climb") || Descriptors.Contains("Fall"))
{
OCCharacterMotor motor = _Source.GetComponent <OCCharacterMotor>();
motor.enabled = true;
}
if (!Descriptors.Contains("Idle"))
{
Debug.LogWarning("Ending Action: " + FullName);
}
// if(args.ActionPlanID != null)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
return(ActionStatus.SUCCESS);
}
public static bool IsSourceNotRunningOtherActionsIgnoreIdle(OCAction action, OCActionArgs args)
{
return !IsSourceRunningOtherActionsIgnoreIdle(action, args);
}
public static bool IsLocalNotAnimatingAnythingElse(OCAction action, OCActionArgs args)
{
return !IsLocalAnimatingAnythingElse(action, args);
}
