protected virtual IEnumerator Navigate(Vector3 destination, Item item = null)
{
var srcWp = Navigation.instance.NearestTo(transform.position, ownerType);
var dstWp = Navigation.instance.NearestTo(destination, ownerType);
_gizmoRealTarget = dstWp;
MapNode reachedDst = srcWp;
if (srcWp != dstWp)
{
var path = _gizmoPath = AStarNormal <MapNode> .Run(
srcWp
, dstWp
, (mapNodeA, mapNodeB) => Vector3.Distance(mapNodeA.position, mapNodeB.position)
, mapNode => mapNode == dstWp
, mapNode =>
mapNode.adjacent
.Select(a => new AStarNormal <MapNode> .Arc(a, Vector3.Distance(a.position, mapNode.position)))
);
if (path != null)
{
foreach (var next in path.Select(w => FloorPos(w.position)))
{
while ((next - FloorPos(this)).sqrMagnitude >= 0.05f)
{
_vel = (next - FloorPos(this)).normalized;
yield return(null);
}
}
}
reachedDst = path.Last();
}
if (reachedDst == dstWp)
{
_vel = (FloorPos(destination) - FloorPos(this)).normalized;
yield return(new WaitUntil(() => (FloorPos(destination) - FloorPos(this)).sqrMagnitude < (item ? item.radius : 1f)));
}
_vel = Vector3.zero;
OnReachDestination(this, reachedDst, reachedDst == dstWp);
OnReachDestinationWithItem(this, item);
}
public bool Reachable(Vector3 from, Vector3 to, List <Tuple <Vector3, Vector3> > debugRayList, string owner)
{
var srcWp = NearestTo(from, owner);
var dstWp = NearestTo(to, owner);
MapNode mapNode = srcWp;
if (srcWp != dstWp)
{
var path = AStarNormal <MapNode> .Run(
srcWp
, dstWp
, (wa, wb) => Vector3.Distance(wa.position, wb.position)
, w => w == dstWp
, w =>
w.adjacent
.Select(a => new AStarNormal <MapNode> .Arc(a, Vector3.Distance(a.position, w.position)))
);
if (path == null)
{
return(false);
}
mapNode = path.Last();
}
// Debug.Log("Reachable from " + wp.name);
if (debugRayList != null)
{
debugRayList.Add(Tuple.Create(mapNode.position, to));
}
var delta = (to - mapNode.position);
var distance = delta.magnitude;
return(!Physics.Raycast(mapNode.position, delta / distance, distance, LayerMask.GetMask(new [] { "Blocking" })));
}
public static IEnumerable <GOAPAction> GoapRun(GOAPState from, GOAPState to, IEnumerable <GOAPAction> actions, bool aggressive_heuristic)
{
int watchdog = 300;
var seq = AStarNormal <GOAPState> .Run(
from,
to,
(curr, goal) => {
if (aggressive_heuristic)
{
return(curr.AgressiveHeuristic(goal.worldSpace));
}
else
{
return(curr.PassiveHeuristic(goal.worldSpace));
}
},
curr =>
{
if (aggressive_heuristic)
{
return(curr.AgressiveComparison(to.worldSpace));
}
else
{
return(curr.PassiveComparison(to.worldSpace));
}
},
/*to.boolValues.All(kv => kv.In(curr.boolValues))&&
* to.intValues.All(i => i.In(curr.intValues)) &&
* to.floatValues.All(i => i.In(curr.floatValues)) &&
* to.stringValues.All(i => i.In(curr.stringValues)) ,*/
curr =>
{
if (watchdog == 0)
{
return(Enumerable.Empty <AStarNormal <GOAPState> .Arc>());
}
else
{
watchdog--;
}
//return actions.Where(action => action.preconditionsBool.All(kv => kv.In(curr.boolValues)) &&
// action.preconditionsInt.All(k=> k.In(curr.intValues)))
return(actions.Where(action => action.preConditions.All(f => f(curr.worldSpace) == true))
.Aggregate(new FList <AStarNormal <GOAPState> .Arc>(), (possibleList, action) =>
{
var newState = new GOAPState(curr);
// newState.boolValues.UpdateWith(action.effectsBool);
// newState.intValues.UpdateWith(action.effectsInt);
action.effects.ForEach((f) =>
{
f(newState.worldSpace);
});
newState.generatingAction = action;
newState.step = curr.step + 1;
return possibleList + new AStarNormal <GOAPState> .Arc(newState, action.cost);
}));
});
if (seq == null)
{
Debug.Log("Imposible planear");
return(null);
}
foreach (var act in seq.Skip(1))
{
Debug.Log(act);
}
Debug.Log("WATCHDOG " + watchdog);
return(seq.Skip(1).Select(x => x.generatingAction));
}
