public override IEnumerable <Status> Run()
{
while (true)
{
Creature.AI.Blackboard.Erase(PathName);
Agent.Blackboard.SetData <bool>("NoPath", false);
PlanAct planAct = new PlanAct(Creature.AI, PathName, VoxelName, PlanType)
{
Radius = Radius, MaxTimeouts = MaxTimeouts
};
planAct.Initialize();
bool planSucceeded = false;
while (true)
{
Act.Status planStatus = planAct.Tick();
if (planStatus == Status.Fail)
{
yield return(Act.Status.Running);
break;
}
else if (planStatus == Status.Running)
{
yield return(Act.Status.Running);
}
else if (planStatus == Status.Success)
{
planSucceeded = true;
break;
}
yield return(Act.Status.Running);
}
if (!planSucceeded && planAct.LastResult == AStarPlanner.PlanResultCode.MaxExpansionsReached)
{
yield return(Act.Status.Running);
Creature.CurrentCharacterMode = CharacterMode.Idle;
Creature.Physics.Velocity = Vector3.Zero;
Timer planTimeout = new Timer(MathFunctions.Rand(30.0f, 120.0f), false, Timer.TimerMode.Real);
List <VoxelHandle> exploredVoxels = new List <VoxelHandle>();
Color debugColor = new Color(MathFunctions.RandVector3Cube() + Vector3.One * 0.5f);
float debugScale = MathFunctions.Rand() * 0.5f + 0.5f;
while (!planTimeout.HasTriggered)
{
// In this case, try to follow a greedy path toward the entity instead of just failing.
var greedyPath = planAct.ComputeGreedyFallback(20, exploredVoxels);
var goal = planAct.GetGoal();
Creature.AI.Blackboard.SetData("GreedyPath", greedyPath);
var greedyPathFollow = new FollowPathAct(Creature.AI, "GreedyPath")
{
//BlendEnd = true,
//BlendStart = false
};
greedyPathFollow.Initialize();
foreach (var currStatus in greedyPathFollow.Run())
{
if (Debugger.Switches.DrawPaths)
{
foreach (var voxel in exploredVoxels)
{
Drawer3D.DrawBox(voxel.GetBoundingBox().Expand(-debugScale), debugColor, 0.05f, false);
}
}
if (!exploredVoxels.Contains(Agent.Physics.CurrentVoxel))
{
exploredVoxels.Add(Agent.Physics.CurrentVoxel);
}
if (Debugger.Switches.DrawPaths)
{
Drawer3D.DrawLine(Agent.Position, goal.GetVoxel().WorldPosition, debugColor, 0.1f);
}
if (goal.IsInGoalRegion(Agent.Physics.CurrentVoxel))
{
yield return(Act.Status.Success);
yield break;
}
yield return(Act.Status.Running);
}
planTimeout.Update(DwarfTime.LastTime);
}
continue;
}
else if (!planSucceeded)
{
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Act.Status.Fail);
yield break;
}
yield return(Act.Status.Success);
yield break;
}
}
public IEnumerable <Act.Status> GreedyFallbackBehavior(Creature agent)
{
var edgeGoal = new EdgeGoalRegion();
while (true)
{
DieTimer.Update(DwarfTime.LastTime);
if (DieTimer.HasTriggered)
{
foreach (var status in Die(agent))
{
continue;
}
yield break;
}
var creatureVoxel = agent.Physics.CurrentVoxel;
List <MoveAction> path = new List <MoveAction>();
var storage = new MoveActionTempStorage();
for (int i = 0; i < 10; i++)
{
if (edgeGoal.IsInGoalRegion(creatureVoxel))
{
foreach (var status in Die(agent))
{
continue;
}
yield return(Act.Status.Success);
yield break;
}
var actions = agent.AI.Movement.GetMoveActions(new MoveState {
Voxel = creatureVoxel
}, new List <GameComponent>(), storage);
float minCost = float.MaxValue;
var minAction = new MoveAction();
bool hasMinAction = false;
foreach (var action in actions)
{
var vox = action.DestinationVoxel;
float cost = edgeGoal.Heuristic(vox) * 10 + MathFunctions.Rand(0.0f, 0.1f) + agent.AI.Movement.Cost(action.MoveType);
if (cost < minCost)
{
minAction = action;
minCost = cost;
hasMinAction = true;
}
}
if (hasMinAction)
{
path.Add(minAction);
creatureVoxel = minAction.DestinationVoxel;
}
else
{
foreach (var status in Die(agent))
{
continue;
}
yield return(Act.Status.Success);
yield break;
}
}
if (path.Count == 0)
{
foreach (var status in Die(agent))
{
continue;
}
yield return(Act.Status.Success);
yield break;
}
agent.AI.Blackboard.SetData("GreedyPath", path);
var pathAct = new FollowPathAct(agent.AI, "GreedyPath");
pathAct.Initialize();
foreach (Act.Status status in pathAct.Run())
{
yield return(Act.Status.Running);
}
yield return(Act.Status.Running);
}
}
public IEnumerable <Status> TrackMovingTarget()
{
int maxFailures = 10;
int currentFailures = 0;
while (true)
{
Creature.AI.Blackboard.Erase("EntityVoxel");
Act.Status status = SetTargetVoxelFromEntityAct.SetTarget("EntityVoxel", EntityName, Creature);
Body entity = Agent.Blackboard.GetData <Body>(EntityName);
if (entity == null || entity.IsDead)
{
yield return(Status.Success);
yield break;
}
if (status != Status.Success)
{
yield return(Act.Status.Running);
}
Creature.AI.Blackboard.Erase("PathToEntity");
PlanAct planAct = new PlanAct(Creature.AI, "PathToEntity", "EntityVoxel", PlanType)
{
Radius = Radius
};
planAct.Initialize();
bool planSucceeded = false;
while (true)
{
Act.Status planStatus = planAct.Tick();
if (planStatus == Status.Fail)
{
yield return(Act.Status.Running);
break;
}
else if (planStatus == Status.Running)
{
yield return(Act.Status.Running);
}
else if (planStatus == Status.Success)
{
planSucceeded = true;
break;
}
}
if (!planSucceeded)
{
currentFailures++;
yield return(Act.Status.Running);
Creature.CurrentCharacterMode = Creature.CharacterMode.Idle;
Creature.Physics.Velocity = Vector3.Zero;
if (currentFailures > maxFailures)
{
yield return(Act.Status.Fail);
yield break;
}
continue;
}
FollowPathAct followPath = new FollowPathAct(Creature.AI, "PathToEntity");
followPath.Initialize();
while (true)
{
if (PlanType == PlanAct.PlanType.Radius && (Creature.Physics.Position - entity.Position).Length() < Radius)
{
yield return(Act.Status.Success);
}
Act.Status pathStatus = followPath.Tick();
if (pathStatus == Status.Fail)
{
break;
}
else if (pathStatus == Status.Running)
{
yield return(Act.Status.Running);
List <Creature.MoveAction> path = Agent.Blackboard.GetData <List <Creature.MoveAction> >("PathToEntity");
if (path.Count > 0 && (path.Last().Voxel.Position - entity.LocalTransform.Translation).Length() > 4)
{
break;
}
if (MovingTarget && (Creature.Physics.Position - entity.Position).Length() < 2)
{
yield return(Status.Success);
yield break;
}
continue;
}
else if (pathStatus == Status.Success)
{
yield return(Act.Status.Success);
yield break;
}
}
yield return(Act.Status.Running);
}
}
public IEnumerable <Status> TrackMovingTarget()
{
while (true)
{
// This is to support the case of going from one entity to another.
if (_entity != null)
{
Entity = _entity;
}
Creature.AI.Blackboard.Erase("EntityVoxel");
Act.Status status = SetTargetVoxelFromEntityAct.SetTarget("EntityVoxel", EntityName, Creature);
GameComponent entity = Agent.Blackboard.GetData <GameComponent>(EntityName);
if (entity == null || entity.IsDead)
{
yield return(Status.Success);
yield break;
}
if (status != Status.Success)
{
yield return(Act.Status.Running);
}
List <MoveAction> existingPath =
Creature.AI.Blackboard.GetData <List <MoveAction> >("PathToEntity");
Creature.AI.Blackboard.Erase("PathToEntity");
PlanWithGreedyFallbackAct planAct = new PlanWithGreedyFallbackAct()
{
Agent = Creature.AI,
PathName = "PathToEntity", VoxelName = "EntityVoxel", PlanType = PlanType, Radius = Radius, MaxTimeouts = 1
};
planAct.Initialize();
bool planSucceeded = false;
while (true)
{
Act.Status planStatus = planAct.Tick();
LastTickedChild = planAct;
if (planStatus == Status.Fail)
{
yield return(Act.Status.Running);
break;
}
else if (planStatus == Status.Running)
{
yield return(Act.Status.Running);
}
else if (planStatus == Status.Success)
{
planSucceeded = true;
break;
}
}
if (!planSucceeded)
{
Agent.SetTaskFailureReason("Failed to reach entity. Path planning failed.");
yield return(Act.Status.Fail);
yield break;
}
FollowPathAct followPath = new FollowPathAct(Creature.AI, "PathToEntity")
{
//BlendEnd = true,
//BlendStart = existingPath == null
};
followPath.Initialize();
while (true)
{
if (PlanType == PlanAct.PlanType.Radius && (Creature.Physics.Position - entity.Position).Length() < Radius)
{
yield return(Act.Status.Success);
}
Act.Status pathStatus = followPath.Tick();
LastTickedChild = followPath;
if (pathStatus == Status.Fail)
{
break;
}
else if (pathStatus == Status.Running)
{
yield return(Act.Status.Running);
List <MoveAction> path = Agent.Blackboard.GetData <List <MoveAction> >("PathToEntity");
if (path == null || path.Count == 0)
{
Agent.SetTaskFailureReason("Failed to find path to entity.");
yield return(Act.Status.Fail);
yield break;
}
var under = VoxelHelpers.FindFirstVoxelBelowIncludingWater(new VoxelHandle(entity.World.ChunkManager, GlobalVoxelCoordinate.FromVector3(entity.Position)));
bool targetMoved = under == VoxelHandle.InvalidHandle || (path.Last().DestinationVoxel.WorldPosition - under.WorldPosition).Length() > Math.Max(Radius, 2) * 2;
if (MovingTarget && (path.Count > 0 && targetMoved))
{
break;
}
if (MovingTarget && (Creature.Physics.Position - entity.Position).Length() < 2)
{
yield return(Status.Success);
yield break;
}
continue;
}
else if (pathStatus == Status.Success)
{
yield return(Act.Status.Success);
yield break;
}
}
yield return(Act.Status.Running);
}
}
public IEnumerable <Status> TrackMovingTarget()
{
while (true)
{
// This is to support the case of going from one entity to another.
if (_entity != null)
{
Entity = _entity;
}
Creature.AI.Blackboard.Erase("EntityVoxel");
Act.Status status = SetTargetVoxelFromEntityAct.SetTarget("EntityVoxel", EntityName, Creature);
Body entity = Agent.Blackboard.GetData <Body>(EntityName);
if (entity == null || entity.IsDead)
{
yield return(Status.Success);
yield break;
}
if (status != Status.Success)
{
yield return(Act.Status.Running);
}
List <MoveAction> existingPath =
Creature.AI.Blackboard.GetData <List <MoveAction> >("PathToEntity");
Creature.AI.Blackboard.Erase("PathToEntity");
PlanWithGreedyFallbackAct planAct = new PlanWithGreedyFallbackAct()
{
Agent = Creature.AI,
PathName = "PathToEntity", VoxelName = "EntityVoxel", PlanType = PlanType, Radius = Radius, MaxTimeouts = 1
};
planAct.Initialize();
bool planSucceeded = false;
while (true)
{
Act.Status planStatus = planAct.Tick();
LastTickedChild = planAct;
if (planStatus == Status.Fail)
{
yield return(Act.Status.Running);
break;
}
else if (planStatus == Status.Running)
{
yield return(Act.Status.Running);
}
else if (planStatus == Status.Success)
{
planSucceeded = true;
break;
}
}
if (!planSucceeded)
{
Agent.SetMessage("Failed to reach entity. Path planning failed.");
yield return(Act.Status.Fail);
yield break;
}
FollowPathAct followPath = new FollowPathAct(Creature.AI, "PathToEntity")
{
BlendEnd = true,
BlendStart = existingPath == null
};
followPath.Initialize();
while (true)
{
if (PlanType == PlanAct.PlanType.Radius && (Creature.Physics.Position - entity.Position).Length() < Radius)
{
yield return(Act.Status.Success);
}
Act.Status pathStatus = followPath.Tick();
LastTickedChild = followPath;
if (pathStatus == Status.Fail)
{
break;
}
else if (pathStatus == Status.Running)
{
yield return(Act.Status.Running);
List <MoveAction> path = Agent.Blackboard.GetData <List <MoveAction> >("PathToEntity");
if (path == null || path.Count == 0)
{
Agent.SetMessage("Failed to find path to entity.");
yield return(Act.Status.Fail);
yield break;
}
bool targetMoved = (path.Last().DestinationVoxel.WorldPosition - entity.LocalTransform.Translation).Length() > Math.Max(Radius, 2) * 2;
if (MovingTarget && (path.Count > 0 && targetMoved))
{
break;
}
if (MovingTarget && (Creature.Physics.Position - entity.Position).Length() < 2)
{
yield return(Status.Success);
yield break;
}
continue;
}
else if (pathStatus == Status.Success)
{
yield return(Act.Status.Success);
yield break;
}
}
yield return(Act.Status.Running);
}
}