Added fail condition for GOAPPlanner. Added Awareness.GetNearest.

toastisme · Apr 2, 2022 · 6d59a51 · 6d59a51
1 parent 8a6868b
commit 6d59a51
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Showing 4 changed files with 69 additions and 15 deletions.
diff --git a/Assets/Runtime/Actions/PickupWood.cs b/Assets/Runtime/Actions/PickupWood.cs
@@ -8,15 +8,15 @@ namespace GOAP{
 public class PickUpWood : GOAPAction
 {
     Movement movement;
-    Vision vision;
-    GameObject targetWood;
+    Awareness awareness;
+    Detectable targetWood;
 
     public override float GetCost(){
         return 0.0f;
     }
     public override void Setup(ref WorldState worldState){
         movement = GetComponent<Movement>();
-        vision = GetComponent<Vision>();
+        awareness = GetComponent<Awareness>();
         this.worldState = worldState;
         requiredState = new WorldState();
         requiredState.boolKeys["WoodNearby"] = true;
@@ -26,22 +26,28 @@ public override void Setup(ref WorldState worldState){
 
     public override void OnActivated()
     {
-        //targetWood = vision.GetNearest(objectTag:"Wood");
-        movement.GoTo(targetWood);
-    }
+        targetWood = awareness.GetNearest("Wood");
+        if (targetWood != null){
+            movement.GoTo(targetWood);
+        }
 
-
+    }
 
     public override void OnTick(){
-        /*
-        if (targetWood == null){
-            targetWood = vision.GetNearest(objectTag:"Wood");
+        if (CanRun()){
+            if (targetWood == null){
+                targetWood = awareness.GetNearest("Wood");
+                if (targetWood == null)
+                {
+                    StopAction();
+                    return;
+                }
+            } 
             movement.GoTo(targetWood);
-        } 
-        if (movement.AtTarget()){
-            worldState.boolKeys["HoldingWood"] = true;
+            if (movement.AtTarget()){
+                worldState.boolKeys["HoldingWood"] = true;
+            }
         }
-        */
     }
 }
 }
diff --git a/Assets/Runtime/Awareness.cs b/Assets/Runtime/Awareness.cs
@@ -39,6 +39,30 @@ public Dictionary<Detectable,NearbyObject> nearbyObjects {
 
     Dictionary<string, int> nearbyObjectCounts = new Dictionary<string, int>();
 
+    public Detectable GetNearest(string name){
+        if (!(nearbyObjectCounts.ContainsKey(name)) || nearbyObjectCounts[name] >=0){
+            return null;
+        }
+        int totalCount = nearbyObjectCounts[name];
+        int count = 0;
+        Detectable nearest;
+        float minDistance = -1f;
+        foreach(var obj in nearbyObjects){
+            if (obj.Key.name == name){
+                float distance = (obj.Key.transform.position - transform.position).sqrMagnitude;
+                if (minDistance < 0 || distance < minDistance){
+                    nearest = obj.Key;
+                    minDistance = distance;
+                    count++;
+                    if (count == totalCount){
+                        return nearest;
+                    } 
+                }
+            }
+        }
+        return null;
+    }
+
     public void SetWorldState(ref WorldState worldState){
         this.worldState = worldState;
     }

diff --git a/Assets/Runtime/GOAPPlanner.cs b/Assets/Runtime/GOAPPlanner.cs
@@ -92,12 +92,22 @@ void OnTickGoals(){
     }
 
     void OnTickActivePlan(){
-        if (!(activeGoal != null && activePlan != null)){return;}
+
+        // Nothing to run
+        if (!(activeGoal != null && activePlan != null)){ return; }
+
+        // Plan no longer viable
+        if (!(activePlan[activeActionIdx].CanRun())){ OnFailActivePlan(); }
+
         activePlan[activeActionIdx].OnTick();
+
         if (activePlan[activeActionIdx].outputState.IsSubset(worldState)){
+            // Action complete
             activePlan[activeActionIdx].OnDeactivated();
             activeActionIdx++;
+
             if (activeActionIdx < activePlan.Count){
+                // Start new action
                 activePlan[activeActionIdx].OnActivated();
             }
             else{
@@ -111,7 +121,12 @@ void OnCompleteActivePlan(){
         activeGoal.OnDeactivated();
         activeGoal = null;
         activePlan = null;
+    }
 
+    void OnFailActivePlan(){
+        activeGoal.OnDeactivated();
+        activeGoal = null;
+        activePlan = null;
     }
 
     void GetHighestPriorityGoal(out Goal chosenGoal, out List<GOAPAction> chosenPlan){

diff --git a/Assets/Runtime/Movement.cs b/Assets/Runtime/Movement.cs
@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.AI;
+using Sensors;
 
 [RequireComponent(typeof(NavMeshAgent))]
 public class Movement : MonoBehaviour
@@ -42,6 +43,14 @@ public void GoTo(GameObject target, float speed){
         GoTo(target:target.transform.position, speed:speed);
     }
 
+    public void GoTo(Detectable target){
+        GoTo(target.transform.position);
+    }
+
+    public void GoTo(Detectable target, float speed){
+        GoTo(target:target.transform.position, speed:speed);
+    }
+
     public bool AtTarget(){
         return nav.remainingDistance < nav.stoppingDistance;
     }