private void GetAction(GoapNode parentNode, List <GoapNode> goapNodeList, List <GoapAction> goapActionList, GoapStatus goapStatus)
{
for (int i = 0; i < goapActionList.Count; ++i)
{
GoapAction goapAction = goapActionList[i];
GoapStatus preconditions = goapAction.GetPreconditions(); // 前置条件
GoapStatus effectsStatus = goapAction.GetEffect(); // 执行效果
if (!preconditions.IsContainIn(parentNode.CurrentStatus)) // 不满足前置条件
{
continue;
}
GoapStatus newStatus = parentNode.CurrentStatus.Clone();
newStatus.AddFromStatus(effectsStatus);
GoapNode goapNode = new GoapNode(parentNode, goapAction, newStatus, parentNode.Cost + goapAction.Cost);
if (goapStatus.IsAnyContainIn(newStatus))
{
goapNodeList.Add(goapNode);
continue;
}
List <GoapAction> actionList = Remove(goapActionList, i);
GetAction(goapNode, goapNodeList, actionList, goapStatus);
}
}
public Queue <GoapAction> Plan(List <GoapAction> goapActionList, GoapStatus worldStatus, GoapStatus goalStatus)
{
Queue <GoapAction> goapActionQueue = new Queue <GoapAction>();
List <GoapAction> validActionList = new List <GoapAction>();
for (int i = 0; i < goapActionList.Count; ++i)
{
GoapAction goapAction = goapActionList[i];
if (goapAction.CheckProceduralPrecondition())
{
validActionList.Add(goapAction);
}
}
List <GoapNode> goapNodeList = new List <GoapNode>();
GoapNode goapNode = new GoapNode(null, null, worldStatus, 0);
GetAction(goapNode, goapNodeList, validActionList, goalStatus);
if (goapNodeList.Count <= 0)
{
return(goapActionQueue);
}
GoapNode heighestNode = GetHighestNode(goapNodeList);
goapActionQueue = GetActionQueue(heighestNode);
return(goapActionQueue);
}
private GoapNode GetHighestNode(List <GoapNode> goapNodeList)
{
GoapNode priorityNode = null;
for (int i = 0; i < goapNodeList.Count; ++i)
{
if (priorityNode == null)
{
priorityNode = goapNodeList[i];
}
else if (priorityNode.Cost > goapNodeList[i].Cost)
{
priorityNode = goapNodeList[i];
}
}
return(priorityNode);
}
private Queue <GoapAction> GetActionQueue(GoapNode goapNode)
{
List <GoapAction> goapActionList = new List <GoapAction>();
while (goapNode != null && goapNode.GoapAction != null)
{
goapActionList.Add(goapNode.GoapAction);
goapNode = goapNode.ParentNode;
}
Queue <GoapAction> goapActionQueue = new Queue <GoapAction>();
for (int i = goapActionList.Count - 1; i >= 0; --i)
{
GoapAction goapAction = goapActionList[i];
goapActionQueue.Enqueue(goapAction);
}
return(goapActionQueue);
}
