void ChangeState(State newState)
{
switch (currentState)
{
case State.INITIAL:
break;
case State.ENTER:
RouterExecutor.Exit();
RouterExecutor.target = null;
RouterExecutor.enabled = false;
break;
case State.MAKE_POO:
break;
case State.EXIT:
RouterExecutor.Exit();
RouterExecutor.target = null;
RouterExecutor.enabled = false;
break;
}
switch (newState)
{
case State.INITIAL:
break;
case State.ENTER:
RouterExecutor.ReEnter();
RouterExecutor.target = GOTarjet;
RouterExecutor.enabled = true;
break;
case State.MAKE_POO:
break;
case State.EXIT:
RouterExecutor.ReEnter();
RouterExecutor.target = GOTarjet;
RouterExecutor.enabled = true;
break;
}
currentState = newState;
}
void ChangeState(State newState)
{
//EXIT STATE LOGIC
switch (currentState)
{
case State.WANDER:
fsm_Wander.Exit();
fsm_Wander.enabled = false;
break;
case State.SEED:
fsm_Seed.Exit();
fsm_Seed.enabled = false;
break;
case State.GO_TO_ENERGY_POINT:
fsm_RouteExec.Exit();
fsm_RouteExec.enabled = false;
energyPoint = null;
break;
case State.RECHARGE:
break;
}
//ENTER STATE LOGIC
switch (newState)
{
case State.WANDER:
fsm_Wander.enabled = true;
fsm_Wander.ReEnter();
break;
case State.SEED:
fsm_Seed.enabled = true;
fsm_Seed.ReEnter();
break;
case State.GO_TO_ENERGY_POINT:
myBlackBoard.memory.Clear();
FindNearestRechargePoint(); //FIND THE NEAREST CHARGE POINT
fsm_RouteExec.ReEnter();
fsm_RouteExec.target = energyPoint;
fsm_RouteExec.enabled = true; //ENABLE ROUTEEXECUTOR_FSM
break;
case State.RECHARGE:
break;
}
currentState = newState;
}
void ChangeState(State newState)
{
//Exit
switch (currentState)
{
case State.INITIAL:
break;
case State.NORAMAL:
FSMMOuse.Exit();
FSMMOuse.enabled = false;
break;
case State.FLEE:
RouterExecutor.Exit();
RouterExecutor.target = null;
RouterExecutor.enabled = false;
break;
}
//enter
switch (newState)
{
case State.INITIAL:
break;
case State.NORAMAL:
FSMMOuse.ReEnter();
FSMMOuse.enabled = true;
break;
case State.FLEE:
RouterExecutor.ReEnter();
RouterExecutor.target = OBTarget;
RouterExecutor.enabled = true;
mySpriteRenderer.color = Color.green;
break;
}
currentState = newState;
}
void Update()
{
switch (currentState)
{
case State.INITIAL:
ChangeState(State.PIVOT_STATE);
break;
case State.SEED_POO:
GameObject otherPoo;
otherPoo = SensingUtils.FindInstanceWithinRadius(gameObject, "POO", myBlackBoard.farPooDetectionRadius);
if (otherPoo != null && !otherPoo.Equals(targetedPoo))
{
if (DistanceFromMe(otherPoo) < DistanceFromMe(targetedPoo))
{
targetedPoo = otherPoo;
fsm_RouteExec.Exit();
fsm_RouteExec.ReEnter();
fsm_RouteExec.target = otherPoo;
}
}
if (targetedPoo != null && CheckIfDustInCloseRange() || CheckIfDustInLargeRange())
{
/*GameObject dustOnTheWay;
* dustOnTheWay = SensingUtils.FindInstanceWithinRadius(gameObject, "DUST", myBlackBoard.closeDustDetectionRadius);
* if (dustOnTheWay != null)
* {
* if (!CheckIfDustIsInMemory(dustOnTheWay))
* {
* myBlackBoard.AddToMemory(dustOnTheWay);
* }
* }*/
if (CheckIfDustInCloseRange())
{
myBlackBoard.AddToMemory(targetedDust);
targetedDust = null;
}
if (CheckIfDustInLargeRange())
{
myBlackBoard.AddToMemory(targetedDust);
targetedDust = null;
}
}
if (targetedPoo != null && DistanceFromMe(targetedPoo) < myBlackBoard.pooReachedRadius)
{
CleanUp(targetedPoo);
ChangeState(State.PIVOT_STATE);
break;
}
break;
case State.PIVOT_STATE:
if (CheckIfPooInCloseRange() || CheckIfPooInLargeRange())
{
ChangeState(State.SEED_POO);
break;
}
else if (myBlackBoard.memory.Count > 0)
{
ChangeState(State.SEED_DUST_IN_MEMORY);
break;
}
else if (CheckIfDustInCloseRange())
{
ChangeState(State.SEED_DUST);
break;
}
else if (CheckIfDustInLargeRange())
{
ChangeState(State.SEED_DUST);
break;
}
else
{
}
break;
case State.SEED_DUST:
if (CheckIfPooInCloseRange() || CheckIfPooInLargeRange() && DistanceFromMe(targetedDust) > myBlackBoard.dustReachedRadius)
{
targetedDust = null;
ChangeState(State.SEED_POO);
break;
}
GameObject otherDust;
otherDust = SensingUtils.FindInstanceWithinRadius(gameObject, "DUST", myBlackBoard.closeDustDetectionRadius);
if (otherDust != null && !otherDust.Equals(targetedDust))
{
if (DistanceFromMe(otherDust) < DistanceFromMe(targetedDust))
{
targetedDust = otherDust;
fsm_RouteExec.Exit();
fsm_RouteExec.ReEnter();
fsm_RouteExec.target = otherDust;
}
}
if (targetedDust != null && DistanceFromMe(targetedDust) < myBlackBoard.dustReachedRadius)
{
CleanUp(targetedDust);
ChangeState(State.PIVOT_STATE);
break;
}
break;
case State.SEED_DUST_IN_MEMORY:
if (nearestDust != null && DistanceFromMe(nearestDust) < myBlackBoard.dustReachedRadius)
{
RemoveDustFromMemory(nearestDust);
CleanUp(nearestDust);
if (myBlackBoard.memory.Count > 0)
{
ChangeState(State.SEED_DUST_IN_MEMORY);
break;
}
else
{
ChangeState(State.PIVOT_STATE);
break;
}
}
break;
}
}