public virtual void LateUpdate()
{
if (CurrentAction != null && CurrentAction.Running)
{
if (CurrentAction.ShouldAbort())
{
AbortPlan();
return;
}
else
{
Profiler.BeginSample("Agent.Run");
var actionStatus = CurrentAction.Perform();
CurrentAction.OnPerform?.Invoke();
if (actionStatus == EActionStatus.Failed)
{
AbortPlan();
}
if (actionStatus == EActionStatus.Success)
{
CurrentAction.PostPerform();
CurrentAction.OnPostPerform?.Invoke();
CurrentAction.Running = false;
}
Profiler.EndSample();
}
Profiler.BeginSample("Agent.CanAbortPlan");
if (PlannerSettings.CanAbortPlans && CurrentAction.CanAbort() && Time.time - _planStartTime > PlannerSettings.PlanRate)
{
AbortPlan();
}
Profiler.EndSample();
return;
}
if (_replan || ActionQueue == null)
{
foreach (var goal in _orderedGoals)
{
Profiler.BeginSample("Agent.Plan");
ActionQueue = Planner.Plan(this, goal.Key, World.Instance.StateMap, Actions, States.GetStates(), false);
_planStartTime = Time.time;
Profiler.EndSample();
if (ActionQueue == null)
{
continue;
}
CurrentGoal = goal;
_replan = false;
StoredActionQueue.Clear();
foreach (var action in ActionQueue)
{
StoredActionQueue.Enqueue(action);
}
break;
}
}
// Goal reached!
if (ActionQueue != null && ActionQueue.Count == 0)
{
if (CurrentGoal.Once)
{
Goals.Remove(CurrentGoal);
_orderedGoals.Remove(CurrentGoal);
}
_replan = true;
}
// Try do Action
Profiler.BeginSample("Agent.PrePerform");
if (ActionQueue != null && ActionQueue.Count > 0)
{
CurrentAction = ActionQueue.Dequeue();
if (CurrentAction.PrePerform())
{
if (CurrentAction.TrackStopWatch)
{
CurrentAction.Stopwatch.Restart();
}
else
{
CurrentAction.Stopwatch.Reset();
}
CurrentAction.Running = true;
CurrentAction.OnPrePerform?.Invoke();
}
else
{
AbortPlan();
}
}
Profiler.EndSample();
}
