public Queue <ReGoapNode> Plan(ReGoapAgent agent)
{
Queue <ReGoapNode> result = new Queue <ReGoapNode>();
ReGoapGoal currentGoal = null;
List <ReGoapGoal> possibleGoals = new List <ReGoapGoal>();
foreach (var goal in agent.GetGoalsSet())
{
possibleGoals.Add(goal);
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
for (int i = 0; i < possibleGoals.Count; ++i)
{
currentGoal = possibleGoals[i];
ReGoapState goalState = currentGoal.GetGoalState();
ReGoapNode reGoapNode = new ReGoapNode(agent, goalState, null, null);
ReGoapNode leaf = nodeManager.Run(reGoapNode);
if (leaf == null)
{
currentGoal = null;
continue;
}
result = leaf.CalculatePath();
if (result.Count == 0)
{
currentGoal = null;
continue;
}
break;
}
return(result);
}
private void Init(ReGoapAgent agent, ReGoapState newGoalState, ReGoapNode parent, ReGoapAction action)
{
expandList.Clear();
ReGoapState goal = null;
this.reGoapAgent = agent;
this.parentNode = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(newGoalState);
}
if (parentNode != null)
{
agentReGoapState = parentNode.GetState().Clone();
g = parentNode.GetPathCost();
}
else
{
ReGoapState reGoapState = agent.GetWorldState();
agentReGoapState = reGoapState.Clone();
}
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState.Instantiate(newGoalState);
var preconditions = action.GetPreconditions(goal);
var effects = action.GetEffects(goal);
// adding the action's effects to the current node's state
agentReGoapState.AddFromState(effects);
// addding the action's cost to the node's total cost
g += action.GetCost();
// add all preconditions of the current action to the goal
goal.AddFromState(preconditions);
// removes from goal all the conditions that are now fullfiled in the node's state
goal.ReplaceWithMissingDifference(agentReGoapState);
}
else
{
goal = newGoalState.MissingDifference(agentReGoapState);
}
h = goal.Count;
cost = g + h;
//Expand(goal);
expandList.Clear();
List <ReGoapAction> actionsList = reGoapAgent.GetActionsSet();
for (var index = actionsList.Count - 1; index >= 0; index--)
{
ReGoapAction possibleAction = actionsList[index];
if (!possibleAction.CheckProceduralCondition()) // 执行条件不满足排除掉
{
continue;
}
ReGoapState precond = possibleAction.GetPreconditions(goal);
ReGoapState effects = possibleAction.GetEffects(goal);
if (!ReGoapState.HasAny(effects, goal)) // any effect is the current goal
{
continue;
}
if (!ReGoapState.HasAnyConflict(precond, goal))
{
ReGoapNode reGoapNode = new ReGoapNode(reGoapAgent, goal, this, possibleAction);
expandList.Add(reGoapNode);
}
}
}
public ReGoapNode(ReGoapAgent agent, ReGoapState newGoalState, ReGoapNode parent, ReGoapAction action)
{
Init(agent, newGoalState, parent, action);
}
