/// <summary>
/// Crears all values.
/// </summary>
private void Clear()
{
this._parent = null;
this._runningCost = 0;
this._weight = 0;
this._state = null;
this._action = null;
}
/// <summary>
/// Reinitializes node with new values.
/// </summary>
public void Reinitialize(GOAPNode parent, float runningCost, float weight, Dictionary <string, bool> state,
GOAPAction action)
{
Clear();
this._parent = parent;
this._runningCost = runningCost;
this._weight = weight;
this._state = state;
this._action = action;
}
/// <summary>
/// Creates a subset of the actions excluding the actionToRemove. Creates a new set.
/// </summary>
/// <param name="actions">Usuable actions</param>
/// <param name="actionToRemove">Action to exclude from this branch</param>
private HashSet <GOAPAction> ActionSubset(HashSet <GOAPAction> actions, GOAPAction actionToRemove)
{
HashSet <GOAPAction> subset = GOAPPlannerHelper.GetFreeActionSet();
foreach (GOAPAction action in actions)
{
if (!action.Equals(actionToRemove))
{
subset.Add(action);
}
}
return(subset);
}
/// <summary>
/// Creates performActionState for the FSM. This state is used to make the AI Agent perform an action.
/// </summary>
private void CreatePerformActionState()
{
_performActionState = (fsm, obj) =>
{
if (!HasActionPlan())
{
_AIAgent.ActionsFinished();
fsm.ClearState();
fsm.PushState(_idleState);
return;
}
GOAPAction action = _currentActions.Peek();
if (action.IsDone())
{
// If action is done, remove it to perform the next one.
_currentActions.Dequeue();
}
if (HasActionPlan())
{
action = _currentActions.Peek();
bool inRange = action.RequiresInRange() ? action.IsInRange() : true;
if (inRange)
{
bool success = action.Perform(obj, _AIAgent.DataHolder);
if (!success)
{
_AIAgent.PlanAborted(action);
fsm.ClearState();
fsm.PushState(_idleState);
}
}
else
{
fsm.PushState(_moveToState);
}
}
else
{
_AIAgent.ActionsFinished();
fsm.ClearState();
fsm.PushState(_idleState);
}
};
}
/// <summary>
/// Reinitializes free node, turns it into used one and returns it. If there is not enough free nodes, creates a new one.
/// </summary>
public static GOAPNode GetFreeNode(GOAPNode parent, float runningCost, float weight, Dictionary <string, bool> state,
GOAPAction action)
{
GOAPNode free = null;
if (_freeNodes.Count <= 0)
{
free = new GOAPNode(parent, runningCost, weight, state, action);
}
else
{
free = _freeNodes.Pop();
free.Reinitialize(parent, runningCost, weight, state, action);
}
_usedNodes.Push(free);
return(free);
}
public bool MoveAgent(GOAPAction nextAction)
{
NavMeshAgent.SetDestination(nextAction._target.transform.position);
// Check if we've reached the destination
if (!NavMeshAgent.pathPending)
{
if (NavMeshAgent.remainingDistance <= NavMeshAgent.stoppingDistance)
{
if (!NavMeshAgent.hasPath || NavMeshAgent.velocity.sqrMagnitude == 0f)
{
nextAction.SetInRange(true);
return(true);
}
}
}
return(false);
}
/// <summary>
/// Creates moveToState for the FSM. This state is used to move the Ai Agent to its destination.
/// </summary>
private void CreateMoveToState()
{
_moveToState = (fsm, gameObject) =>
{
GOAPAction action = _currentActions.Peek();
if (action.RequiresInRange() && action._target == null)
{
fsm.ClearState();
fsm.PushState(_idleState);
return;
}
if (_AIAgent.MoveAgent(action))
{
fsm.PopState();
}
};
}
public void PlanAborted(GOAPAction aborter)
{
// For debugging.
}
/// <summary>
/// Constructor.
/// </summary>
public GOAPNode(GOAPNode parent, float runningCost, float weight, Dictionary <string, bool> state,
GOAPAction action)
{
_ID = MaxID++;
Reinitialize(parent, runningCost, weight, state, action);
}
public void AddAction(GOAPAction action)
{
_availableActions.Add(action);
}
public void RemoveAction(GOAPAction action)
{
_availableActions.Remove(action);
}
