/**
* Gets the most relevant goal at the moment
*
* GOAPGoal GetMostRelevantGoal(bool recalculate)
* {
* GOAPGoal maxGoal = null;
* float highestRelevancy = 0.0f;
* float currentTime = Time.timeSinceLevelLoad;
* float nextEvalTime;
*
* float goalRelevance = 0.0f;
* for (int i = 0; i < m_GoalSet.Count; i++)
* { //First check for timing checks?!
* //Don't recalculate the goal relevancy if not asked to do so
*
* if (recalculate)
* {
* nextEvalTime = m_GoalSet[i].NextEvaluationTime;
*
* if (currentTime < nextEvalTime)
* { //clear relevancy , we dont want to select these goals
* m_GoalSet[i].ClearGoalRelevancy();
* }
* else if (!m_GoalSet[i].GetReEvalOnSatisfication() && m_GoalSet[i].IsWSSatisfied(Ai.GetWorldState()))
* {
* m_GoalSet[i].ClearGoalRelevancy();
* }
* else
* {// recalculate goal relevancy !!!!
* m_GoalSet[i].CalculateGoalRelevancy();
* //m_GoalSet[i].SetNewEvaluationTime();
* //set new timing check time?!
*
* }
* }
* // check all goal relevancy
* goalRelevance = m_GoalSet[i].GoalRelevancy;
* if (goalRelevance > highestRelevancy)
* {
* highestRelevancy = goalRelevance;
* maxGoal = m_GoalSet[i];
* }
*
* }
* return maxGoal;
* }*/
/**
* Builds a new plan for this agent
* @param the agent to build the plan for
* @return true if the plan builds successfully, false otherwise
*/
public GOAPPlan BuildPlan(GOAPGoal goal)
{
if (goal == null)
{
return(null);
}
//if (Owner.debugGOAP) Debug.Log(Time.timeSinceLevelLoad + " " + goal.ToString() + " - build plan");
//initialize shit
Map.Initialise(Owner);
Goal.Initialise(Owner, Map, goal);
Storage.ResetStorage(Map);
AStar.End = -1;
AStar.RunAStar(Owner);
AStarNode currNode = AStar.CurrentNode;
if (currNode == null || currNode.NodeID == -1)
{
Debug.LogError(Time.timeSinceLevelLoad + " " + goal.ToString() + " - FAILED , no node ");
return(null); //Building of plan failed
}
GOAPPlan plan = new GOAPPlan(); //create a new plan
GOAPAction action;
/**
* We need to push each new plan step onto the list of steps until we reach the last action
* Which is going to be the goal node and of no use
*/
//if (Owner.debugGOAP) Debug.Log(Time.timeSinceLevelLoad + " " + goal.ToString() + " current node id :" + currNode.NodeID);
while (currNode.NodeID != -1)
{
action = Map.GetAction(currNode.NodeID);
if (action == null) //If we tried to cast an node to an action that can't be done, quit out
{
Debug.LogError(Time.timeSinceLevelLoad + " " + goal.ToString() + ": canot find action (" + currNode.NodeID + ")");
return(null);
}
plan.PushBack(action);
currNode = currNode.Parent;
}
//Finally tell the ai what its plan is
if (plan.IsDone())
{
Debug.LogError(Time.timeSinceLevelLoad + " " + goal.ToString() + ": plan is already done !!! (" + plan.CurrentStepIndex + "," + plan.NumberOfSteps + ")");
return(null);
}
return(plan);
}
/********************************************
* GETTERS/SETTERS
********************************************/
public override float GetHeuristicDistance(AgentHuman ai, AStarNode aStarNode, bool firstRun)
{
//If we are on the first run then we know that we have no node so we need to setup the first node
AStarGOAPNode node = (AStarGOAPNode)aStarNode;
if (firstRun)
{
//Copy the WS satisfaction conditions to the nodes goal state
node.GoalState.Reset();
Goal.SetWSSatisfactionForPlanning(node.GoalState);
Goal.ChangeCurrentWSForPlanning(node.CurrentState);
}
else
{
//Now we know that the node being checked is an action.
//We need to get the action and apply it
GOAPAction action = Map.GetAction(aStarNode.NodeID);
//if(action.ValidateWSPreconditions(node.CurrentState,node.GoalState))
{
//if(action.ValidateWSEffects(ai,&node.CurrentState,&node.GoalState))
{
//action.AddInvalidPreconditionsToGoal(ai,&node.CurrentState,&node.GoalState);
//action.ApplyWSEffects(ai,&node.CurrentState,&node.GoalState);
action.SolvePlanWSVariable(node.CurrentState, node.GoalState);
action.SetPlanWSPreconditions(node.GoalState);
}
}
}
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance1 : goal" + node.GoalState.ToString());
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance1 : current" + node.CurrentState.ToString());
MergeStates(ai, node.CurrentState, node.GoalState);
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance2 : goal" + node.GoalState.ToString());
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance2 : current" + node.CurrentState.ToString());
return(node.GoalState.GetNumWorldStateDifferences(node.CurrentState));
}