private void FailCurrentGoal()
{
GoapLogger.LogWarning("BaseGoapAgent :: Goal Failed " + m_currentGoal.GetName());
if (m_currentGoal != null)
{
m_currentGoal.OnFailed();
m_currentGoal = null;
}
InterruptCurrentAction();
}
public IGoapGoal Plan(IGoapAgent agent)
{
m_agent = agent;
m_currentGoal = null;
List <IGoapGoal> possibleGoals = GetPossibleGoals(agent);
if (possibleGoals.Count == 0)
{
GoapLogger.LogWarning("[ReGoapPlanner] Agent does not have any Goals to perform. " + m_agent.GetName());
}
while (possibleGoals.Count > 0)
{
m_currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
if (CanFullfillWithActions(m_agent, m_currentGoal) == false)
{
//No actions can't handle this goal
GoapLogger.LogWarning("GoalPlanner :: No Actions to handle Goal (" + m_currentGoal.GetName() + ")");
m_currentGoal = null;
continue;
}
GoapState targetState = m_currentGoal.GetGoalState(agent);
GoapNode <GoapState> leaf = (GoapNode <GoapState>)m_aStar.Run(GoapNode <GoapState> .Instantiate(this, targetState, null, null), targetState);
if (leaf == null)
{
GoapLogger.LogWarning("GoapPlanner :: Pathfinding failed!");
m_currentGoal = null;
continue;
}
Queue <IGoapAction> actions = leaf.CalculatePath();
if (actions.Count == 0)
{
GoapLogger.LogWarning("GoapPlanner :: Calculating Path failed!");
m_currentGoal = null;
continue;
}
m_currentGoal.SetPlan(actions);
break;
}
if (m_currentGoal != null)
{
GoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", m_currentGoal, m_currentGoal.GetPlan().Count));
}
else
{
GoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(m_currentGoal);
}