public Node(Node parent, float runningCost, HashSet <KeyValuePair <string, object> > state, AbstractGOAPAction action)
{
this.parent = parent;
this.runningCost = runningCost;
this.state = state;
this.action = action;
}
public bool moveAgent(AbstractGOAPAction nextAction)
{
if (path != null && path.Count > 0)
{
currentTargetNode = path[0];
if (Vector3.SqrMagnitude(transform.position - currentTargetNode.transform.position) <= 1.0f)
{
path.RemoveAt(0);
}
}
if (currentTargetNode != null)
{
transform.position = Vector3.MoveTowards(transform.position, new Vector3(currentTargetNode.transform.position.x, transform.position.y,
currentTargetNode.transform.position.z), Time.deltaTime * 2);
// Gets vector direction of movement, normalize and multiply it with speed after setting the y direction to
Vector3 posValue = currentTargetNode.transform.position - transform.position;
// Move towards goal
if (currentTargetNode != null && posValue.magnitude > minDist)
{
posValue.y = 0;
Vector3 newDir = Vector3.RotateTowards(transform.forward, posValue, 0.1f, 0.0f);
transform.rotation = Quaternion.LookRotation(newDir);
}
}
// Sends a raytrace to check if the enemy tank is in view
RaycastHit hit;
bool tankVisible = !Physics.Linecast(transform.position, EnemyTank.transform.position, out hit, ~(1 << gameObject.layer));
canSeeEnemy = tankVisible;
Debug.DrawLine(transform.position, EnemyTank.transform.position, Color.green);
Debug.DrawRay(barrelDirection.position, barrelDirection.forward * 100, Color.blue); // DEBUG
if (tankVisible || hit.collider.transform == EnemyTank.transform)
{
knownEnemyPosition = new Vector3(EnemyTank.transform.position.x, 0, EnemyTank.transform.position.z);
// check if barrel points towards target
RaycastHit barrelHit;
// Only shoots if the enemy is in sights from the turret
if (Physics.Linecast(transform.position, transform.position + barrelDirection.forward * 100, out barrelHit, (1 << gameObject.layer))) //|| barrelHit.collider.transform == EnemyTank.transform)
{
shoot.Fire();
}
}
// Points the turrent towards the last known position of the tank as long as one such position is known
if (knownEnemyPosition != null)
{
PointTurretAtTarget();
}
return true;
}
private void createPerformActionState()
{
performActionState = (fsm, obj) => {
if (!hasActionPlan())
{
//Go find new plan and tell the agent it is finished
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
return;
}
AbstractGOAPAction action = currentActions.Peek();
if (action.isDone())
{
//Take action out of action queue
currentActions.Dequeue();
}
if (hasActionPlan())
{
//Set action to the action on top of the queue
action = currentActions.Peek();
//Check if you need to be in range
bool inRange = action.requiresInRange() ? action.isInRange() : true;
if (inRange)
{
//Check if we could perfrom action if not go to idle state and find a new plan
bool success = action.perform(obj);
if (!success)
{
fsm.popState();
fsm.pushState(idleState);
//ABORT
dataProvider.planAborted(action);
}
}
else
{
fsm.pushState(moveToState);
}
}
else
{
//I don't have a plan and need to find one
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
}
};
}
private void createMoveToState()
{
moveToState = (fsm, gameObject) => {
AbstractGOAPAction action = currentActions.Peek();
if (action.requiresInRange() && action.target == null)
{
fsm.popState();
fsm.popState();
fsm.pushState(idleState);
return;
}
if (dataProvider.moveAgent(action))
{
fsm.popState();
}
};
}
//Create a subset of the actions excluding the removeMe one. Creates a new set.
protected HashSet <AbstractGOAPAction> actionSubset(HashSet <AbstractGOAPAction> actions, AbstractGOAPAction removeMe)
{
HashSet <AbstractGOAPAction> subset = new HashSet <AbstractGOAPAction>();
foreach (AbstractGOAPAction a in actions)
{
if (!a.Equals(removeMe))
{
subset.Add(a);
}
}
return(subset);
}
public void removeAction(AbstractGOAPAction action)
{
availableActions.Remove(action);
}
public void addAction(AbstractGOAPAction action)
{
availableActions.Add(action);
}
public void planAborted(AbstractGOAPAction aborter)
{
Debug.Log("Aborted current plan");
}
