protected virtual bool CanDoNow(GoapAgent agent, IStateful target)
{
var worldState = WorldState.pool.Borrow();
worldState.Clear();
worldState[agent] = agent.GetState();
worldState[target] = target.GetState();
var conditions = GetDependentPreconditions(agent, target);
bool result = GoapPlanner.DoConditionsApplyToWorld(conditions, worldState);
WorldState.pool.Return(worldState);
return(result);
}
private void IdleState(FSM fsm, GameObject gameObj)
{
// GOAP planning.
// Get the goal we want to plan for.
var goal = CreateGoalState();
// Plan.
var plan = GoapPlanner.Plan(this, availableActions, goal);
if (plan != null)
{
// We have a plan, hooray!
// Clear old plan.
while (currentActions.Count > 0)
{
var context = currentActions.Dequeue();
GoapAction.WithContext.pool.Return(context);
}
currentActions = plan;
PlanFound(goal, plan);
#if DEBUG_PLAN
currentPlan.Clear();
foreach (var action in currentActions)
{
currentPlan.Add(action.actionData.name + " " + (action.target as Component).name);
}
#endif
// Move to PerformAction state.
fsm.PopState();
fsm.PushState(PerformActionState);
}
else
{
// Couldn't get a plan.
Debug.Log("<color=orange>Failed Plan:</color>" + PrettyPrint(goal));
PlanFailed(goal);
// Move back to IdleAction state.
fsm.PopState();
fsm.PushState(IdleState);
}
}
private void IdleState(FSM fsm)
{
// GOAP planning.
// Get the goal we want to plan for.
var goal = CreateGoalState();
// Plan.
var plan = regressiveSearch ? GoapRegressiveSearchPlanner.Plan(this, goal) : GoapPlanner.Plan(this, goal);
if (plan != null)
{
// We have a plan, hooray!
// Clear old plan.
while (currentActions.Count > 0)
{
var context = currentActions.Dequeue();
context.ReturnSelf();
}
currentActions = plan;
PlanFound(goal, plan);
#if DEBUG_PLAN
currentPlan.Clear();
foreach (GoapAction.WithContext action in currentActions)
{
string targetName = "";
if (action.target != null && action.target.ToString() != "Null" && action.target.ToString() != "null")
{
targetName = (action.target as Component).name;
}
currentPlan.Add(action.actionData.name + " " + targetName);
}
#endif
// Move to PerformAction state.
fsm.PopState();
fsm.PushState(PerformActionState);
}
else
{
// Couldn't get a plan.
Debug.Log("<color=orange>Failed Plan:</color>" + goal);
PlanFailed(goal);
// Move back to IdleAction state.
fsm.PopState();
fsm.PushState(IdleState);
}
}