private void createPerformActionState()
{
performActionState = (fsm, gameObj) =>
{
// perform the action
if (!hasActionPlan())
{
// no actions to perform
Debug.Log("<color=red>Done actions</color>");
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
return;
}
var action = currentActions.Peek();
if (action.isDone())
{
// the action is done. Remove it so we can perform the next one
currentActions.Dequeue();
}
if (hasActionPlan())
{
// perform the next action
action = currentActions.Peek();
var inRange = action.requiresInRange() ? action.isInRange() : true;
if (inRange)
{
// we are in range, so perform the action
var success = action.perform(gameObj, dataProvider.GetBlackBoard());
if (!success)
{
// action failed, we need to plan again
fsm.popState();
fsm.pushState(idleState);
dataProvider.planAborted(action);
}
}
else
{
// we need to move there first
// push moveTo state
fsm.pushState(moveToState);
}
}
else
{
// no actions left, move to Plan state
fsm.popState();
fsm.pushState(idleState);
dataProvider.actionsFinished();
}
};
}
/**
* Plan what sequence of actions can fulfill the goal.
* Returns null if a plan could not be found, or a list of the actions
* that must be performed, in order, to fulfill the goal.
* 计划可以实现目标的行动顺序。
* 如果找不到计划，或者操作列表，则返回null
* 必须按顺序执行才能实现目标。
*/
///<summary>
///计划
///</summary>
public Queue <GoapAction> Plan(GameObject agent,
HashSet <GoapAction> availableActions,
Dictionary <string, bool> worldState,
KeyValuePair <string, bool> goal,
IGoap goap)
{
// reset the actions so we can start fresh with them
//重置动作，以便我们可以重新开始
foreach (var a in availableActions)
{
a.doReset();
}
// check what actions can run using their checkProceduralPrecondition
//使用检查程序前置条件检查可以运行的操作
var usableActions = NodeManager.GetFreeActionSet();
foreach (var a in availableActions)
{
if (a.CheckProceduralPrecondition(agent, goap.GetBlackBoard()))
{
usableActions.Add(a);
}
}
// we now have all actions that can run, stored in usableActions
//我们现在拥有可以运行的所有操作，存储在usefulActions中
// build up the tree and record the leaf nodes that provide a solution to the goal.
//构建树并记录提供目标解决方案的节点。
var leaves = new List <GoapNode>();
// build graph
//构建图表
var start = NodeManager.GetFreeNode(null, 0, 0, worldState, null);
//构建图
var success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
// oh no, we didn't get a plan
//不，我们没有得到一个计划
// Debug.Log("NO PLAN");
return(null);
}
// get the cheapest leaf
//得到最便宜的节点
GoapNode cheapest = null;
foreach (var leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.BetterThen(cheapest))
{
cheapest = leaf;
}
}
}
// get its node and work back through the parents
//获取其节点并通过父节点返回
var result = new List <GoapAction>();
var n = cheapest;
while (n != null)
{
if (n.action != null)
{
//在前面插入动作
result.Insert(0, n.action); // insert the action in the front
}
n = n.parent;
}
NodeManager.Release();
// we now have this action list in correct order
//我们现在按正确的顺序拥有此操作列表
var queue = new Queue <GoapAction>();
foreach (var a in result)
{
queue.Enqueue(a);
}
// hooray we have a plan!
//万岁，我们有一个计划！
return(queue);
}
/**
* Plan what sequence of actions can fulfill the goal.
* Returns null if a plan could not be found, or a list of the actions
* that must be performed, in order, to fulfill the goal.
*/
public Queue <GoapAction> plan(GameObject agent,
HashSet <GoapAction> availableActions,
Dictionary <string, bool> worldState,
KeyValuePair <string, bool> goal,
IGoap goap)
{
// reset the actions so we can start fresh with them
foreach (var a in availableActions)
{
a.doReset();
}
// check what actions can run using their checkProceduralPrecondition
var usableActions = NodeManager.GetFreeActionSet();
foreach (var a in availableActions)
{
if (a.checkProceduralPrecondition(agent, goap.GetBlackBoard()))
{
usableActions.Add(a);
}
}
// we now have all actions that can run, stored in usableActions
// build up the tree and record the leaf nodes that provide a solution to the goal.
var leaves = new List <GoapNode>();
// build graph
var start = NodeManager.GetFreeNode(null, 0, 0, worldState, null);
var success = buildGraph(start, leaves, usableActions, goal);
if (!success)
{
// oh no, we didn't get a plan
// Debug.Log("NO PLAN");
return(null);
}
// get the cheapest leaf
GoapNode cheapest = null;
foreach (var leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.BetterThen(cheapest))
{
cheapest = leaf;
}
}
}
// get its node and work back through the parents
var result = new List <GoapAction>();
var n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action); // insert the action in the front
}
n = n.parent;
}
NodeManager.Release();
// we now have this action list in correct order
var queue = new Queue <GoapAction>();
foreach (var a in result)
{
queue.Enqueue(a);
}
// hooray we have a plan!
return(queue);
}
/// <summary>
/// 创建执行操作状态
/// </summary>
private void CreatePerformActionState()
{
performActionState = (fsm, gameObj) =>
{
// perform the action
//执行动作
if (!HasActionPlan())
{
// no actions to perform
//没有要执行的操作
Debug.Log("<color=red>Done actions</color>");
fsm.popState();
fsm.pushState(idleState);
dataProvider.ActionsFinished();
return;
}
var action = currentActions.Peek();
if (action.IsDone())
{
// the action is done. Remove it so we can perform the next one
//动作完成 删除它，以便我们可以执行下一个
currentActions.Dequeue();
}
if (HasActionPlan())
{
// perform the next action
//执行下一个操作
action = currentActions.Peek();
var inRange = action.RequiresInRange() ? action.IsInRange() : true;
if (inRange)
{
// we are in range, so perform the action
//我们在范围内，所以执行操作
var success = action.Perform(gameObj, dataProvider.GetBlackBoard());
if (!success)
{
// action failed, we need to plan again
//操作失败，我们需要再次计划
fsm.popState();
fsm.pushState(idleState);
dataProvider.PlanAborted(action);
}
}
else
{
// we need to move there first
// push moveTo state
//我们需要先移动到那里
//推动移动到状态
fsm.pushState(moveToState);
}
}
else
{
// no actions left, move to Plan state
//没有动作，转移到计划状态
fsm.popState();
fsm.pushState(idleState);
dataProvider.ActionsFinished();
}
};
}
