protected virtual void PushAction()
{
if (interruptOnNextTransistion)
{
CalculateNewGoal();
return;
}
var plan = currentGoal.GetPlan();
if (plan.Count == 0)
{
if (currentActionState != null)
{
currentActionState.Action.Exit(currentActionState.Action);
}
currentActionState = null;
CalculateNewGoal();
}
else
{
var previous = currentActionState;
currentActionState = plan.Dequeue();
IReGoapAction next = null;
if (plan.Count > 0)
{
next = plan.Peek().Action;
}
if (previous != null)
{
previous.Action.Exit(currentActionState.Action);
}
StartCoroutine(currentActionState.Action.Run(previous != null ? previous.Action : null, next, currentActionState.Settings, currentGoal.GetGoalState(), WarnActionEnd, WarnActionFailure));
}
}
protected virtual void OnDonePlanning(IReGoapGoal newGoal)
{
currentPlanWorker = null;
if (newGoal == null)
{
if (currentGoal == null)
{
ReGoapLogger.LogWarning("GoapAgent " + this + " could not find a plan.");
}
return;
}
if (currentActionState != null)
{
currentActionState.Action.Exit(null);
}
currentActionState = null;
currentGoal = newGoal;
var plan = currentGoal.GetPlan();
startingPlan = plan.ToList();
ClearPlanValues();
foreach (var actionState in startingPlan)
{
actionState.Action.PostPlanCalculations(this);
}
currentGoal.Run(WarnGoalEnd);
PushAction();
}
protected virtual void OnDonePlanning(IReGoapGoal <T, W> newGoal)
{
startedPlanning = false;
currentReGoapPlanWorker = default(ReGoapPlanWork <T, W>);
if (newGoal == null)
{
if (currentGoal == null)
{
ReGoapLogger.LogWarning("GoapAgent " + this + " could not find a plan.");
}
return;
}
if (currentActionState != null)
{
currentActionState.Action.Exit(null);
}
currentActionState = null;
currentGoal = newGoal;
if (startingPlan != null)
{
for (int i = 0; i < startingPlan.Count; i++)
{
startingPlan[i].Action.PlanExit(i > 0 ? startingPlan[i - 1].Action : null, i + 1 < startingPlan.Count ? startingPlan[i + 1].Action : null, startingPlan[i].Settings, currentGoal.GetGoalState());
}
}
startingPlan = currentGoal.GetPlan().ToList();
ClearPlanValues();
for (int i = 0; i < startingPlan.Count; i++)
{
startingPlan[i].Action.PlanEnter(i > 0 ? startingPlan[i - 1].Action : null, i + 1 < startingPlan.Count ? startingPlan[i + 1].Action : null, startingPlan[i].Settings, currentGoal.GetGoalState());
}
currentGoal.Run(WarnGoalEnd);
PushAction();
}
public BGoapNode(IGoapPlanner planner, BGoapState parentGoal, BGoapNode parent, ReGoapActionState actionState)
{
this.planner = planner;
this.parent = parent;
if(actionState != null) {
this.action = actionState.Action;
this.actionSettings = actionState.Settings;
}
if (this.parent != null){
g = parent.GetPathCost();
}
var nextAction = parent == null ? null : parent.action;
if(action != null) {
//first step - subtract effects of action
var effects = action.GetEffects( parentGoal, actionSettings, nextAction );
try {
goal = parentGoal.Difference( effects, false ); //dont use defaults here, only subtract what really is in the effect
} catch(ArgumentException e) {
Debug.Log( e );
}
//then add preconditions to the current goal state
var preconditions = action.GetPreconditions( parentGoal, actionSettings, nextAction );
goal = goal.Union( preconditions );
g += action.GetCost( parentGoal, actionSettings, nextAction );
} else goal = parentGoal;
h = goal.Distance( planner.GetCurrentAgent().GetMemory().GetWorldState() );
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
protected virtual void OnDisable()
{
if (currentActionState != null)
{
currentActionState.Action.Exit(null);
currentActionState = null;
currentGoal = null;
}
}
protected virtual void TryWarnActionFailure(ReGoapActionState actionState)
{
if (actionState.Action.IsInterruptable())
{
WarnActionFailure(actionState.Action);
}
else
{
actionState.Action.AskForInterruption(actionState.Settings);
}
}
