/// <summary>
/// Determine whether goals have changed or plans have failed, and
/// replan if necessary. Then execute the plan.
/// </summary>
internal void update()
{
bool differencesFlag =
!Goal.areSame(previousGoal_, AI_.CurrentGoal_);
if (AI_.CurrentGoal_ != null &&
(differencesFlag || currentPlan_.Count == 0 || HasFailed_))
{
cleanupPlan(currentPlan_);
HasFailed_ = false;
IndividualPlanner planner = new IndividualPlanner(actions_);
planner.execute(getInitialState(), AI_.CurrentGoal_.getNode());
currentPlan_ = planner.getResult();
if (currentPlan_ != null && currentPlan_.Count > 0)
{
reservePlan(currentPlan_);
currentPlan_[0].initialize();
}
else
{
HasFailed_ = true;
}
}
previousGoal_ = AI_.CurrentGoal_;
executePlan();
if (HasFailed_)
{
AI_.CurrentGoal_.HasFailed_ = true;
}
}
/// <summary>
/// Add a goal for the agent to consider.
/// </summary>
/// <param name="goal">Goal to be considered.</param>
internal void addGoal(Goal goal)
{
goals_.Add(goal);
}
/// <summary>
/// Determine whether two goals are identical.
/// </summary>
/// <param name="lhs">First goal.</param>
/// <param name="rhs">Second goal.</param>
/// <returns>True if the two goals might accomplish the same end state, false otherwise.</returns>
internal static bool areSame(Goal lhs, Goal rhs)
{
if (lhs == null && rhs == null) return true;
if (lhs == null || rhs == null) return false;
return (lhs.handle_ == rhs.handle_) && testNodeEquality(lhs.node_, rhs.node_);
}
