public void SingleActionToGoal()
{
GameObject testGameObject = new GameObject();
Agent <string, bool> agent = testGameObject.AddComponent <StringBoolAgent>();
SortableGoal <string, bool> goal = new SortableGoal <string, bool> {
{ "TargetIsDead", true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <string, bool> {
{ "TargetIsDead", false }
});
agent.AddAction(new ExecutableAction <string, bool>(_label: "Attack",
_preconditions: null,
_effects: new WorldStateModifier <string, bool> {
{ "TargetIsDead", true }
},
_baseUtility: 5.0f));
GoalPlanPair <string, bool> generatedGoalPlanPair = m_StringBoolPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 1);
Assert.AreEqual("Attack", generatedGoalPlanPair.PlanInstance.Peek().GetLabel());
}
protected void PlanGenerated(GoalPlanPair <TKey, TValue> _goalPlanPair)
{
m_UnhandledSensorChanges = false;
m_LastPlanningTimeInSeconds = Time.realtimeSinceStartup;
if (_goalPlanPair.GoalInstance == null)
{
return;
}
OnBeforeNewPlan?.Invoke();
m_ActiveAction?.Cancel();
SetActiveGoal(_goalPlanPair.GoalInstance);
m_Plan = _goalPlanPair.PlanInstance;
m_IsPlanLocked = false;
m_IndexInPlan = 0;
if (!m_Plan.Empty())
{
m_ActiveAction = m_Plan.Pop();
}
else
{
m_ActiveAction = null;
}
OnNewPlan?.Invoke();
OnPlanProgressed?.Invoke();
}
public void MultipleLinearActionsToGoalWithBetterOption()
{
GameObject testGameObject = new GameObject();
Agent <string, bool> agent = testGameObject.AddComponent <StringBoolAgent>();
SortableGoal <string, bool> goal = new SortableGoal <string, bool> {
{ "TargetIsDead", true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <string, bool> {
{ "TargetIsDead", false }
});
agent.AddAction(new ExecutableAction <string, bool>(_label: "Attack",
_preconditions: new WorldStateModifier <string, bool> {
{ "WeaponIsLoaded", true }
},
_effects: new WorldStateModifier <string, bool> {
{ "TargetIsDead", true }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, bool>(_label: "Load Weapon",
_preconditions: new WorldStateModifier <string, bool> {
{ "WeaponIsArmed", true }
},
_effects: new WorldStateModifier <string, bool> {
{ "WeaponIsLoaded", true }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, bool>(_label: "Quick Reload Weapon",
_preconditions: new WorldStateModifier <string, bool> {
{ "WeaponIsArmed", true }
},
_effects: new WorldStateModifier <string, bool> {
{ "WeaponIsLoaded", true }
},
_baseUtility: 10.0f));
agent.AddAction(new ExecutableAction <string, bool>(_label: "Draw Weapon",
_preconditions: null,
_effects: new WorldStateModifier <string, bool> {
{ "WeaponIsArmed", true }
},
_baseUtility: 5.0f));
GoalPlanPair <string, bool> generatedGoalPlanPair = m_StringBoolPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 3);
Assert.AreEqual("Draw Weapon", generatedGoalPlanPair.PlanInstance.Pop().GetLabel());
Assert.AreEqual("Quick Reload Weapon", generatedGoalPlanPair.PlanInstance.Pop().GetLabel());
Assert.AreEqual("Attack", generatedGoalPlanPair.PlanInstance.Pop().GetLabel());
}
public void WorldStateAlreadyFulfilsGoal()
{
GameObject testGameObject = new GameObject();
Agent <string, bool> agent = testGameObject.AddComponent <StringBoolAgent>();
SortableGoal <string, bool> goal = new SortableGoal <string, bool> {
{ "TargetIsDead", true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <string, bool> {
{ "TargetIsDead", true }
});
GoalPlanPair <string, bool> generatedGoalPlanPair = m_StringBoolPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 0);
Assert.True(agent.GetWorkingMemory().Equals(goal));
}
public void GoToMushroomTest()
{
GameObject testGameObject = new GameObject();
Agent <string, bool> agent = testGameObject.AddComponent <StringBoolAgent>();
SortableGoal <string, bool> goal = new SortableGoal <string, bool> {
{ "AtTargetPosition", true }, { "TargetIsMushroom", true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <string, bool> {
});
agent.AddAction(new ExecutableAction <string, bool>(_label: "LookForMushroom",
_preconditions: new WorldStateModifier <string, bool> {
},
_effects: new WorldStateModifier <string, bool> {
{ "HasTargetPosition", true }, { "AtTargetPosition", false }, { "TargetIsMushroom", true }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, bool>(_label: "MoveToPosition",
_preconditions: new WorldStateModifier <string, bool> {
{ "HasTargetPosition", true }, { "AtTargetPosition", false }
},
_effects: new WorldStateModifier <string, bool> {
{ "HasTargetPosition", false }, { "AtTargetPosition", true }
},
_baseUtility: 5.0f));
GoalPlanPair <string, bool> generatedGoalPlanPair = m_StringBoolPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 2);
Assert.AreEqual("LookForMushroom", generatedGoalPlanPair.PlanInstance.Pop().GetLabel());
Assert.AreEqual("MoveToPosition", generatedGoalPlanPair.PlanInstance.Pop().GetLabel());
}
public void MushroomGathererStringObjectPerformance()
{
GameObject testGameObject = new GameObject();
Agent <string, object> agent = testGameObject.AddComponent <StringObjectAgent>();
SortableGoal <string, object> goal = new SortableGoal <string, object> {
{ "HasEnoughMushrooms", true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <string, object> {
});
agent.AddAction(new ExecutableAction <string, object>(_label: "LookForMushroom",
_preconditions: new WorldStateModifier <string, object> {
},
_effects: new WorldStateModifier <string, object> {
{ "HasTargetPosition", true }, { "AtTargetPosition", false }, { "TargetIs", "Mushroom" }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "PickupMushroom",
_preconditions: new WorldStateModifier <string, object> {
{ "AtTargetPosition", true }, { "TargetIs", "Mushroom" }
},
_effects: new WorldStateModifier <string, object> {
{ "CarriesMushroom", true }, { "HasTargetPosition", true }, { "AtTargetPosition", false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "MoveToPosition",
_preconditions: new WorldStateModifier <string, object> {
{ "HasTargetPosition", true }, { "AtTargetPosition", false }
},
_effects: new WorldStateModifier <string, object> {
{ "HasTargetPosition", false }, { "AtTargetPosition", true }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "DropOffMushroomAtHome",
_preconditions: new WorldStateModifier <string, object> {
{ "CarriesMushroom", true }, { "AtTargetPosition", true }
},
_effects: new WorldStateModifier <string, object> {
{ "AtTargetPosition", false }, { "HasEnoughMushrooms", true }, { "CarriesMushroom", false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "LookForFish",
_preconditions: new WorldStateModifier <string, object> {
},
_effects: new WorldStateModifier <string, object> {
{ "HasTargetPosition", true }, { "AtTargetPosition", false }, { "TargetIs", "Fish" }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "PickupFish",
_preconditions: new WorldStateModifier <string, object> {
{ "AtTargetPosition", true }, { "TargetIs", "Fish" }
},
_effects: new WorldStateModifier <string, object> {
{ "CarriesFish", true }, { "HasTargetPosition", true }, { "AtTargetPosition", false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <string, object>(_label: "DropOffFishAtHome",
_preconditions: new WorldStateModifier <string, object> {
{ "CarriesFish", true }, { "AtTargetPosition", true }
},
_effects: new WorldStateModifier <string, object> {
{ "AtTargetPosition", false }, { "HasEnoughFish", true }, { "CarriesFish", false }
},
_baseUtility: 5.0f));
GoalPlanPair <string, object> generatedGoalPlanPair = m_StringObjectPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 5);
}
public void MushroomGathererEnumObjectPerformance()
{
GameObject testGameObject = new GameObject();
Agent <GathererKeys, object> agent = testGameObject.AddComponent <EnumObjectAgent>();
SortableGoal <GathererKeys, object> goal = new SortableGoal <GathererKeys, object> {
{ GathererKeys.HAS_ENOUGH_MUSHROOMS, true }
};
goal.Priority = 1;
agent.AddGoal(goal);
agent.SetWorkingMemory(new WorldState <GathererKeys, object> {
});
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "LookForMushroom",
_preconditions: new WorldStateModifier <GathererKeys, object> {
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.HAS_TARGET_POSITION, true }, { GathererKeys.AT_TARGET_POSITION, false }, { GathererKeys.TARGET_IS, "Mushroom" }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "PickupMushroom",
_preconditions: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.AT_TARGET_POSITION, true }, { GathererKeys.TARGET_IS, "Mushroom" }
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.CARRIES_MUSHROOM, true }, { GathererKeys.HAS_TARGET_POSITION, true }, { GathererKeys.AT_TARGET_POSITION, false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "MoveToPosition",
_preconditions: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.HAS_TARGET_POSITION, true }, { GathererKeys.AT_TARGET_POSITION, false }
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.HAS_TARGET_POSITION, false }, { GathererKeys.AT_TARGET_POSITION, true }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "DropOffMushroomAtHome",
_preconditions: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.CARRIES_MUSHROOM, true }, { GathererKeys.AT_TARGET_POSITION, true }
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.AT_TARGET_POSITION, false }, { GathererKeys.HAS_ENOUGH_MUSHROOMS, true }, { GathererKeys.CARRIES_MUSHROOM, false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "LookForFish",
_preconditions: new WorldStateModifier <GathererKeys, object> {
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.HAS_TARGET_POSITION, true }, { GathererKeys.AT_TARGET_POSITION, false }, { GathererKeys.TARGET_IS, "Fish" }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "PickupFish",
_preconditions: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.AT_TARGET_POSITION, true }, { GathererKeys.TARGET_IS, "Fish" }
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.CARRIES_FISH, true }, { GathererKeys.HAS_TARGET_POSITION, true }, { GathererKeys.AT_TARGET_POSITION, false }
},
_baseUtility: 5.0f));
agent.AddAction(new ExecutableAction <GathererKeys, object>(_label: "DropOffFishAtHome",
_preconditions: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.CARRIES_FISH, true }, { GathererKeys.AT_TARGET_POSITION, true }
},
_effects: new WorldStateModifier <GathererKeys, object> {
{ GathererKeys.AT_TARGET_POSITION, false }, { GathererKeys.HAS_ENOUGH_FISH, true }, { GathererKeys.CARRIES_FISH, false }
},
_baseUtility: 5.0f));
GoalPlanPair <GathererKeys, object> generatedGoalPlanPair = m_EnumObjectPlanner.GenerateGoalPlanPairForAgent(agent);
Assert.True(generatedGoalPlanPair.PlanInstance.Count == 5);
}