public void Get(out RawBlackboardDecoratorsArray precondition, out RawBlackboardScoreCalculatorsArray costCalculator, out RawBlackboardEffectorsArray effect, out byte index)
{
var current = new RawAction(_current);
_current += current.Size;
index = _currentIndex++;
current.Break(out precondition, out costCalculator, out effect);
}
public void Execute()
{
var previousLayerResult = _previousLayerResult.ResultType;
// if parent planner is uninitialized then mark self as failed
if (previousLayerResult == PlannerResultType.Uninitialized)
{
Debug.LogError("Planner was run with the parent result still being uninitialized.");
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
return;
}
// if parent planner failed, no point in calculating anything
if (previousLayerResult == PlannerResultType.Failure)
{
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
return;
}
_goal = _targets[_previousLayerResult[_previousLayerResult.CurrentIndex]];
if (previousLayerResult == PlannerResultType.Unchanged && CurrentPlanIsStillValid())
{
_output.Container.CopyFrom(_currentPlan.Container);
_output.ResultType = PlannerResultType.Unchanged;
return;
}
float threshold = _goal.CalculateHeuristic(_datasets[0]);
float score;
while ((score = PerformHeuristicEstimatedSearch(1, 0, threshold)) > 0 && score <= _maxFScore)
{
threshold = score;
}
_datasets = new RawBlackboardArray();
if (score > _maxFScore)
{
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
}
}