// pursues the completion of the current goal and plan
private void PursuePlan()
{
if (PursueCurrentPlan) // there is a plan and a goal to pursue
{
if (!CheckGoalValidation())
{
return;
} // if validation is not true stop here dont update
_CurrentPlan.Peek().Action.UpdateAction(_CurrentPlan.Peek().GoalState); // update
if (_CurrentPlan.Peek().Action.IsDone(_CurrentPlan.Peek().GoalState)) // if action is done or actions can not be
{
GOAP_ActionState DequeAction = _CurrentPlan.Dequeue();
DequeAction.Action.ExitAction(_CurrentGoal.Goal); // exit action
bool EnterPlan = OnEnterPlan(); // call on enter of current plan
if (!EnterPlan)
{
SetNewPlan(null, null);
} // set empty plan
}
}
else // there is no goal and plan to pursue
{
#if DEBUG
Debug.LogError("Trying to pursue a plan but there isnt any: " + this.gameObject.name + ". Create a new goal and plan. CurrentGoal: " + _CurrentGoal);
#endif
}
}
public GOAP_GraphNode(GOAP_State Left, GOAP_Agent Agent, GOAP_GraphNode Parent, GOAP_Action ConnectionAction, List <KeyValuePair <string, GOAP_State.PriorityValue> > LeftPreConditions = default(List <KeyValuePair <string, GOAP_State.PriorityValue> >))
{
this._Agent = Agent; // the agent of which to take its actions
this._LeftConditions = new GOAP_State(Left); // the goal state represents the state you want to achieve using the actions of the agent.
this._Parent = Parent; // the parents effect is used to meet the preconditions of this node. If parent is equal to null that means its the beginning point of the search.
this._LeftPreConditions = LeftPreConditions;
// temp
float G = 0;
if (Parent != null && ConnectionAction != null)
{
G = ConnectionAction.Cost; // set new cost
_LeftConditions.RemoveConditions(ConnectionAction.Effects.Conditions); // remove effects from left state
_LeftConditions += ConnectionAction.PreConditions; // add the pre conditions of the connection action
_State = Parent.State + ConnectionAction.Effects; // the new state is the state of the parrent with the connection action effects applied
if (Parent.ConnectionAction != null && Parent.ConnectionAction.Action != null)
{
_State.ReplaceGenData(Parent.ConnectionAction.Action.PreConditions); // replace pre conditions gen data
}
}
else
{
_State = Agent.Memory.State; // if parent is equal to null. It means this is the start node. The state of the start node is always the memory of the agent.
}
this._ConnectionAction = new GOAP_ActionState(ConnectionAction, new GOAP_State(this._State)); // the connection action is the action used to get from the parent state to this state.
_H = _LeftConditions.Count; // the heuristic is the count of conditions left to solve
_Cost = G + _H;
}