public override IEnumerable DoAction(StateList world, StateList goal, GameObject actor)
{
// Find the nearest patrol point
int nextPatrolIdx = 0;
float closestPatrolDistance = Mathf.Infinity;
for (int i = 0; i < PatrolPositions.Length; ++i)
{
float sqDist = Vector3.Distance(actor.transform.position, PatrolPositions[i]);
if (sqDist < closestPatrolDistance)
{
closestPatrolDistance = sqDist;
nextPatrolIdx = i;
}
}
while (goal.GetState("IsPatrolling") != 0.0f)
{
// Walk to the next patrol point in order
Vector3 position = PatrolPositions[nextPatrolIdx];
actor.GetComponent <NavMeshAgent>().SetDestination(position);
yield return(new WaitUntil(() =>
goal.GetState("IsPatrolling") != 0.0f ||
actor.GetComponent <NavMeshAgent>().remainingDistance < 1.0f));
}
yield return(null);
}
public override float Heuristic(StateList world, StateList goal)
{
if (goal.GetState("IsPatrolling") != 0.0f)
{
return(PatrolWeight);
}
else
{
return(0.0f);
}
}