protected virtual void OnDonePlanning(IReGoapGoal <T, W> newGoal)
{
CurrentReGoapPlanWorker = 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();
}
public virtual void WarnGoalEnd(IReGoapGoal <T, W> goal)
{
if (goal != currentGoal)
{
ReGoapLogger.LogWarning(string.Format("[GoapAgent] Goal {0} warned for end but is not current goal.", goal));
return;
}
CalculateNewGoal();
}
public virtual void WarnActionFailure(IReGoapAction <T, W> thisAction)
{
if (currentActionState != null && thisAction != currentActionState.Action)
{
ReGoapLogger.LogWarning(string.Format("[GoapAgent] Action {0} warned for failure but is not current action.", thisAction));
return;
}
if (BlackListGoalOnFailure)
{
goalBlacklist[currentGoal] = Time.time + currentGoal.GetErrorDelay();
}
CalculateNewGoal(true);
}
// called in another thread
private void OnDonePlan(ReGoapPlannerThread <T, W> plannerThread, ReGoapPlanWork <T, W> work, IReGoapGoal <T, W> newGoal)
{
work.NewGoal = newGoal;
lock (doneWorks)
{
doneWorks.Add(work);
}
if (work.NewGoal != null && ReGoapLogger.Instance.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[GoapPlannerManager] Done calculating plan, actions list:");
var i = 0;
foreach (var action in work.NewGoal.GetPlan())
{
ReGoapLogger.Log(string.Format("{0}: {1}", i++, action.Action));
}
}
}
protected virtual void Awake()
{
ReGoapNode <T, W> .Warmup(NodeWarmupCount);
ReGoapState <T, W> .Warmup(StatesWarmupCount);
ReGoapLogger.Instance.Level = LogLevel;
if (Instance != null)
{
Destroy(this);
var errorString =
"[GoapPlannerManager] Trying to instantiate a new manager but there can be only one per scene.";
ReGoapLogger.LogError(errorString);
throw new UnityException(errorString);
}
Instance = this;
doneWorks = new List <ReGoapPlanWork <T, W> >();
ReGoapPlannerThread <T, W> .WorksQueue = new Queue <ReGoapPlanWork <T, W> >();
planners = new ReGoapPlannerThread <T, W> [ThreadsCount];
threads = new Thread[ThreadsCount];
if (MultiThread)
{
ReGoapLogger.Log(String.Format("[GoapPlannerManager] Running in multi-thread mode ({0} threads).", ThreadsCount));
for (int i = 0; i < ThreadsCount; i++)
{
planners[i] = new ReGoapPlannerThread <T, W>(PlannerSettings, OnDonePlan);
var thread = new Thread(planners[i].MainLoop);
thread.Start();
threads[i] = thread;
}
} // no threads run
else
{
ReGoapLogger.Log("[GoapPlannerManager] Running in single-thread mode.");
planners[0] = new ReGoapPlannerThread <T, W>(PlannerSettings, OnDonePlan);
}
}
