public Planner(PlanningTree root, GameObject agent, NavMeshAgent agentNav, WorldState ws)
{
this.root = root;
this.agent = agent;
this.agentNav = agentNav;
this.ws = ws;
}
private int runPlanFromNode(PlanningTree node)
{
// Debug.Log(node.task);
if (!preconditionsMet(node.task))
{
return(-1);
}
int result = -1;
if (node.children.Count == 0)
{
return(taskExecutor(node.task));
}
for (int i = 0; i < node.children.Count; i++)
{
result = runPlanFromNode(node.children[i]);
if (result == 1)
{
executing = false;
return(1);
}
}
return(result);
}
private void initializePlanningTree()
{
PlanningTree root = new PlanningTree(null, "BeAwesome");
root.addChild(new PlanningTree(root, "Teleport"));
root.addChild(new PlanningTree(root, "AvoidEnemy"));
root.addChild(new PlanningTree(root, "CollectItems"));
PlanningTree curNode = root.children[1];
curNode.addChild(new PlanningTree(curNode, "StayInPosition"));
curNode.addChild(new PlanningTree(curNode, "HideInAlcove"));
currentNode = root;
}
public void addChild(PlanningTree node)
{
children.Add(node);
}
public void addChildToPos(int childPos, PlanningTree node)
{
children.Insert(childPos, node);
}
public PlanningTree(PlanningTree parent, string task)
{
this.parent = parent;
this.task = task;
}