private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action)
{
expandList.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), newGoal);
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// since in backward search we relax the problem all preconditions are valid but are added to the current goal
var preconditions = action.GetPreconditions(newGoal, nextAction);
goal = newGoal + preconditions;
var effects = action.GetEffects(newGoal, nextAction);
state.AddFromState(effects);
g += action.GetCost(newGoal, nextAction);
// removing current action effects from goal, no need to do with to the whole state
// since the state is the sum of all the previous actions's effects.
goal.ReplaceWithMissingDifference(effects);
// this is needed every step to make sure that any precondition is not already satisfied
// by the world state
goal.ReplaceWithMissingDifference(planner.GetCurrentAgent().GetMemory().GetWorldState());
}
else
{
var diff = ReGoapState <T, W> .Instantiate();
newGoal.MissingDifference(state, ref diff);
goal = diff;
}
h = goal.Count;
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action)
{
expandList.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), newGoal);
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState <T, W> .Instantiate(newGoal);
var preconditions = action.GetPreconditions(goal, nextAction);
var effects = action.GetEffects(goal, nextAction);
// adding the action's effects to the current node's state
state.AddFromState(effects);
// addding the action's cost to the node's total cost
g += action.GetCost(goal, nextAction);
// 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(state);
}
else
{
var diff = ReGoapState <T, W> .Instantiate();
newGoal.MissingDifference(state, ref diff);
goal = diff;
}
h = goal.Count;
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action)
{
expandList.Clear();
tmpKeys.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), newGoal);
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState <T, W> .Instantiate();
var tmpGoal = ReGoapState <T, W> .Instantiate(newGoal);
var preconditions = action.GetPreconditions(tmpGoal, nextAction);
var effects = action.GetEffects(tmpGoal, nextAction);
// adding the action's effects to the current node's state
state.AddFromState(effects);
// addding the action's cost to the node's total cost
g += action.GetCost(tmpGoal, nextAction);
//// add all preconditions of the current action to the goal
//tmpGoal.AddFromState(preconditions);
//// removes from goal all the conditions that are now fulfilled in the node's state
//tmpGoal.ReplaceWithMissingDifference(state);
////goal.ReplaceWithMissingDifference(effects);
// collect all keys from goal & precondition, unique-ed
foreach (var pr in tmpGoal.GetValues())
{
var k = pr.Key;
if (!tmpKeys.Contains(k))
{
tmpKeys.Add(k);
}
}
foreach (var pr in preconditions.GetValues())
{
var k = pr.Key;
if (!tmpKeys.Contains(k))
{
tmpKeys.Add(k);
}
}
// process each keys
foreach (var k in tmpKeys)
{
StructValue goalValue, effectValue, precondValue, stateValue, protoValue;
tmpGoal.GetValues().TryGetValue(k, out goalValue);
effects.GetValues().TryGetValue(k, out effectValue);
preconditions.GetValues().TryGetValue(k, out precondValue);
state.GetValues().TryGetValue(k, out stateValue);
StructValue.EValueType valueType;
_GetValueType(ref goalValue, ref effectValue, ref precondValue, ref stateValue, out valueType, out protoValue);
if (valueType == StructValue.EValueType.Arithmetic)
{
//_EnsureArithStructValueInited(ref goalValue, ref protoValue);
_EnsureArithStructValueInited(ref effectValue, ref protoValue);
_EnsureArithStructValueInited(ref precondValue, ref protoValue);
_EnsureArithStructValueInited(ref stateValue, ref protoValue);
if (!goalValue.Inited)
{
goalValue = StructValue.CopyCreate(ref stateValue, -(Convert.ToSingle(stateValue.v) - Convert.ToSingle(effectValue.v)));
}
float fGoal = Convert.ToSingle(goalValue.v);
float fEffect = Convert.ToSingle(effectValue.v);
float fPrecond = Convert.ToSingle(precondValue.v);
float fState = Convert.ToSingle(stateValue.v);
float finalV = Math.Max(
fGoal - fEffect,
Math.Min(fPrecond, fPrecond - fState)
);
var sv = StructValue.CopyCreate(ref protoValue, finalV);
goal.SetStructValue(k, sv);
}
else if (valueType == StructValue.EValueType.Other)
{
//ReplaceWithMissingDifference
if (stateValue.Inited && goalValue.Inited && goalValue.IsFulfilledBy(stateValue))
{
goalValue.Invalidate();
}
// AddFromPrecond
// 1. if the precond is satisfied by the memory start state, then discard
// 2. else this newly added goal from precond, should not be removed due to fulfilled by curStateValue
if (precondValue.Inited)
{
bool preCondfulfilledByMem = false;
var startMemoryState = planner.GetCurrentAgent().GetMemory().GetWorldState();
StructValue startMemoryValue;
if (startMemoryState.GetValues().TryGetValue(k, out startMemoryValue))
{
if (startMemoryValue.Inited && precondValue.IsFulfilledBy(startMemoryValue))
{
preCondfulfilledByMem = true;
}
}
if (!preCondfulfilledByMem)
{
if (goalValue.Inited)
{
goalValue = goalValue.MergeWith(precondValue);
}
else
{
goalValue = precondValue;
}
}
}
if (goalValue.Inited)
{
goal.SetStructValue(k, goalValue);
}
}
else
{
UnityEngine.Debug.LogError("Unexpected StructValue type: " + valueType);
}
}// foreach (var k in tmpKeys)
tmpGoal.Recycle();
}
else
{
var diff = ReGoapState <T, W> .Instantiate();
newGoal.MissingDifference(state, ref diff);
goal = diff;
}
h = _CalculateH();
// f(node) = g(node) + h(node)
cost = g + h * planner.GetSettings().HeuristicMultiplier;
}
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);
}
}
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action, ReGoapState <T, W> settings)
{
expandList.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (settings != null)
{
this.actionSettings = settings.Clone();
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState <T, W> .Instantiate(newGoal);
GoapActionStackData <T, W> stackData;
stackData.currentState = state;
stackData.goalState = goal;
stackData.next = action;
stackData.agent = planner.GetCurrentAgent();
stackData.settings = actionSettings;
var preconditions = action.GetPreconditions(stackData);
var effects = action.GetEffects(stackData);
// addding the action's cost to the node's total cost
g += action.GetCost(stackData);
// adding the action's effects to the current node's state
state.AddFromState(effects);
// removes from goal all the conditions that are now fullfiled in the action's effects
goal.ReplaceWithMissingDifference(effects);
// add all preconditions of the current action to the goal
goal.AddFromState(preconditions);
}
else
{
goal = newGoal;
}
h = goal.Count;
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
// additionally calculate the goal without any world effect to understand if we are done
var diff = ReGoapState <T, W> .Instantiate();
goal.MissingDifference(planner.GetCurrentAgent().GetMemory().GetWorldState(), ref diff);
goalMergedWithWorld = diff;
}
