public void planFailed(HashSet <KeyValuePair <string, object> > failedGoal)
{
// Not handling this here since we are making sure our goals will always succeed.
// But normally you want to make sure the world state has changed before running
// the same goal again, or else it will just fail.
Debug.Log("<color=orange>Plan Failed</color> " + GoapAgent.prettyPrint(failedGoal));
}
public void GetPlanner()
{
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, bool> worldState = goapAgent.dataProvider.getWorldState();
Dictionary <string, bool> goal = goapAgent.dataProvider.createGoalState();
// Plan
Queue <GoapAction> executeActionQueue = goapPlanner.plan(goapAgent.gameObject, availableActions, worldState, goal);
if (executeActionQueue != null && executeActionQueue.Count > 0)
{
// we have a plan, hooray!
currentActions = executeActionQueue;
goapAgent.stateMachine.clearState();
goapAgent.stateMachine.pushState(FSMStateEnum.Perform);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + GoapAgent.prettyPrint(goal));
goapAgent.stateMachine.clearState();
goapAgent.stateMachine.pushState(FSMStateEnum.Idle);
}
}
public void planAborted(GoapAction aborter)
{
// An action bailed out of the plan. State has been reset to plan again.
// Take note of what happened and make sure if you run the same goal again
// that it can succeed.
Debug.Log("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
}
public void planFound(HashSet <KeyValuePair <string, object> > goal, Queue <Action> actions)
{
// write to the log the queue of actions found
Debug.Log("<color=green>Plan found</color> " + GoapAgent.prettyPrint(actions));
//set the text on the action display done here for static actions purposes
m_indicator.text = actions.Peek().GetType().ToString();
}
public void planFound(KeyValuePair <string, bool> goal, Queue <GoapAction> actions)
{
// Yay we found a plan for our goal
if (EnableLog)
{
Debug.Log("<color=green>Plan found</color> " + GoapAgent.prettyPrint(actions));
}
}
public void PlanAborted(GoapAction aborter)
{
// An action bailed out of the plan. State has been reset to plan again.
// Take note of what happened and make sure if you run the same goal again
// that it can succeed.
// Console.WriteLine("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
_actorTextOutput.Tell("Plan Aborted " + GoapAgent.prettyPrint(aborter));
}
public void planFound(HashSet <KeyValuePair <string, object> > goal, Queue <GoapAction> actions)
{
// Yay we found a plan for our goal
if (goalDebug)
{
Debug.Log("<color=green>Plan found</color> " + GoapAgent.prettyPrint(actions));
}
}
private void drawCurrentPlan(GoapAgent agent, Queue <GoapAction> actions)
{
GUIStyle style = new GUIStyle();
style.normal.textColor = Color.green;
Handles.BeginGUI();
GUILayout.Label("Current plan:\r\n" + GoapAgent.prettyPrint(actions) + "\r\n\r\n" +
"Currently in state: " + agent.CurrentFSMState + "\r\n\r\n", style);
Handles.EndGUI();
}
/**
* Returns true if at least one solution was found.
* The possible paths are stored in the leaves list. Each leaf has a
* 'runningCost' value where the lowest cost will be the best action
* sequence.
*/
private bool BuildGraph(Node_ parent, List <Node_> leaves, HashSet <GoapAction> usableActions, List <Goal> goals)
{
bool foundOne = false;
foreach (GoapAction action in usableActions)
{
//if the parent's state (world state) has the conditions for this action's preconditions, we can use it here
if (PreconditionsInWorldState(action, action._preconditions, parent.state))
{ //parent.state is the world's state in this instance
List <Condition> currentState = PopulateState(parent.state, action._effects);
Node_ node = new Node_(parent, parent.runningCost + action.cost, currentState, action);
if (GoalInState(goals, currentState))
{
//if the goal aligns with the state --
//I think this is the constantly changing thing to see if each step satisfies the last
leaves.Add(node);
foundOne = true;
}
else
{
HashSet <GoapAction> subset = actionSubset(usableActions, action); //taking all actions and the current action in this iteration . The current action needs to be removed because it didn't match the goal
bool found = BuildGraph(node, leaves, subset, goals); //this time we're redoing this whole thing while taking the useless action out of the equation, but why? What makes this action useless?
//(The goal isn't found in this one?)
if (found)
{
foundOne = true;
}
}
}
else
{
Debug.Log(action.ToString() + " Preconditions aren't in the world state");
GoapAgent.prettyPrint(action);
}
}
return(foundOne);
}
private void drawCurrentAction(GoapAgent agent, GoapAction action)
{
Handles.color = Color.green;
if (action.target != null)
{
GUIStyle style = new GUIStyle();
style.normal.textColor = Color.red;
Handles.BeginGUI();
GUILayout.Label("Current action: " + GoapAgent.prettyPrint(action) + '\n' +
"Current target: " + action.target.name + '\n' +
"Currently in range? " + action.isInRange, style);
Handles.EndGUI();
Handles.DrawLine(agent.transform.position, action.target.transform.position);
Handles.Label(action.target.transform.position + labelYOffset * Vector3.up, "Target", style);
style.normal.textColor = Color.green;
Handles.Label(agent.transform.position + labelYOffset * Vector3.up, "Distance to target: " +
(action.target.transform.position - agent.transform.position).magnitude, style);
}
}
private void loadActions()
{
availableActions = goapAgent.dataProvider.initAction(goapAgent.transform);
GoapAction[] actions = availableActions.ToArray();
Debug.Log("Found actions: " + GoapAgent.prettyPrint(actions));
}
public void planFound(Dictionary <string, bool> goal, Queue <GoapAction> actions)
{
// Yay we found a plan for our goal
Debug.Log("<color=green>Plan found</color> " + GoapAgent.prettyPrint(actions));
}
public void planAborted(GoapAction aborter)
{
Debug.Log("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
}
public void planAborted(Action aborter)
{
// log the action that made us fail
Debug.Log("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
}
public void planAborted(GoapAction aborter)
{
// An action failed and made the plan abort. State has been reset to plan again.
Debug.Log("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
}
public void planFound(Dictionary <string, object> goal, Queue <GoapAction> actions)
{
Debug.Log("<color=green>Plan found</color> " + GoapAgent.prettyPrint(actions));
}
//i//
/**
* Plan what sequence of actions can fulfill the goal.
* Returns null if a plan could not be found, or a list of the actions
* that must be performed, in order, to fulfill the goal.
*/
public Queue <GoapAction> Plan(GameObject agent, HashSet <GoapAction> availableActions, List <Condition> worldState, List <Goal> goal)
{
// reset the actions so we can start fresh with them
foreach (GoapAction a in availableActions)
{
a.doReset();
}
// check what actions can run using their checkProceduralPrecondition
HashSet <GoapAction> usableActions = new HashSet <GoapAction>();
foreach (GoapAction a in availableActions)
{
if (a.checkProceduralPrecondition(agent))
{
usableActions.Add(a);
}
else
{
Debug.Log(a.ToString() + " 's precondition check failed");
GoapAgent.prettyPrint(a);
}
}
// we now have all actions that can run, stored in usableActions
// build up the tree and record the leaf nodes that provide a solution to the goal.
List <Node_> leaves = new List <Node_>();
//build graph
Node_ start = new Node_(null, 0, worldState, null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
//Debug.log("No Plan");
return(null);
}
Node_ cheapest = null;
foreach (Node_ leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.runningCost < cheapest.runningCost)
{
cheapest = leaf;
}
}
}
//get its node and work back through the parents
List <GoapAction> result = new List <GoapAction>();
Node_ n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
//we now have this action list in correct order
Queue <GoapAction> queue = new Queue <GoapAction>();
foreach (GoapAction a in result)
{
queue.Enqueue(a);
}
//hooray we have a plan!
return(queue);
}
