public BottomLayerRunner(
IParentLayerRunner parent,
MonoBehaviour coroutineRunner,
IBlackboardComponent blackboard,
IPlannerDomain domain,
byte layerIndex,
float maxFScore,
RawBlackboardArrayWrapper plannerDatasets,
byte maxPlanLength)
{
Parent = parent;
_coroutineRunner = coroutineRunner;
_blackboard = blackboard;
_domain = domain;
_layerIndex = layerIndex;
_maxFScore = maxFScore;
_plannerDatasets = plannerDatasets;
_result.First = new PlannerResult(maxPlanLength, Allocator.Persistent)
{
Count = 0
};
_result.Second = new PlannerResult(maxPlanLength, Allocator.Persistent)
{
Count = 0
};
}
public TaskRunner(HiraComponentContainer target, IBlackboardComponent blackboard, IPlannerDomain domain, Action <bool> onPlanRunnerFinished)
{
_domain = domain;
_target = target;
_blackboard = blackboard;
_executionQueue = ExecutionQueue.Create();
_serviceRunner = ServiceRunner.Create();
_onPlanRunnerFinished = onPlanRunnerFinished;
}
private void Awake()
{
_planner = GetComponent <LayeredGoalOrientedActionPlanner>();
if (_planner.InitializationStatus != InitializationState.Active)
{
Debug.LogError("Planner not initialized.");
Destroy(this);
return;
}
_domain = _planner.Domain;
_intermediateGoals = new string[_domain.IntermediateLayerCount][];
_activeGoalsIndices = new byte[_domain.IntermediateLayerCount];
for (var i = 0; i < _activeGoalsIndices.Length; i++)
{
_activeGoalsIndices[i] = byte.MaxValue;
}
_planner.Debugger = this;
}
public TopLayerRunner(
MonoBehaviour coroutineRunner,
IBlackboardComponent blackboard,
IPlannerDomain domain,
RawBlackboardArrayWrapper plannerDatasets)
{
_coroutineRunner = coroutineRunner;
_blackboard = blackboard;
_domain = domain;
_plannerDatasets = plannerDatasets;
_result.First = new PlannerResult(1, Allocator.Persistent)
{
Count = 1, [0] = byte.MaxValue
};
_result.Second = new PlannerResult(1, Allocator.Persistent)
{
Count = 1, [0] = byte.MaxValue
};
}
private void OnDestroy()
{
_domain = null;
_planner = null;
}
