public ReGoapNode(IGoapPlanner planner, ReGoapState newGoal, ReGoapNode parent, IReGoapAction action)
{
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), goal);
}
if (this.parent != null)
{
state = this.parent.GetState();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// backward search does NOT support negative preconditions
// 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 += 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.
var missingState = new ReGoapState();
goal.MissingDifference(effects, ref missingState);
goal = missingState;
// this is needed every step to make sure that any precondition is not already satisfied
// by the world state
var worldMissingState = new ReGoapState();
goal.MissingDifference(planner.GetCurrentAgent().GetMemory().GetWorldState(), ref worldMissingState);
goal = worldMissingState;
}
else
{
var diff = new ReGoapState();
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)
{
// 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;
}
public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (possibleAction == action)
{
continue;
}
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
!goal.HasAnyConflict(precond) && // no precondition is conflicting with the goal
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
var newGoal = goal;
expandList.Add(Instantiate(planner, newGoal, this, possibleAction));
}
}
return(expandList);
}
public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (effects.HasAnyGoodForGoal(state, goal) && // any effect is the current goal
!goal.HasAnyConflictPrecond(effects, precond) && // no precondition is conflicting with the goal (non-arithmetic)
!goal.HasAnyConflictEffect(effects) && //no effect is conflicting with goal (non-arithmetic)
!goal.IsNotHelpfulAtAll(effects, precond, state) && //(arithmetic)
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
var newGoal = goal;
var newNode = Instantiate(planner, newGoal, this, possibleAction);
expandList.Add(newNode);
Utilities.ReGoapLogger.Log(string.Format(" oooo Expanded node: action: {0}\n\t effect {1}\n\t precond {2}\n\t goal {3}", possibleAction.GetName(), effects, precond, newNode.GoalString));
}
else
{
Utilities.ReGoapLogger.Log(string.Format(" xxxx Expanded node: action: {0}\n\t effect {1}\n\t precond {2}", possibleAction.GetName(), effects, precond));
}
}
return(expandList);
}
public IEnumerator<ReGoapActionState> GetPossibleActionsEnumerator(){
#endif
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
foreach (var possibleAction in actions)
{
foreach (var settings in possibleAction.MultiPrecalculations(agent, goal)) {
var precond = possibleAction.GetPreconditions(goal, settings, action);
var effects = possibleAction.GetEffects(goal, settings, action);
if (effects.DoesFullfillGoal(goal) && // any effect is the current goal
!goal.HasConflict(precond, effects) &&
possibleAction.CheckProceduralCondition(agent, settings, goal, parent != null ? parent.action : null))
{
#if DEBUG
yield return new ReGoapActionState(possibleAction, settings) { preconditions = precond, effects = effects };
#else
yield return new ReGoapActionState( possibleAction, settings );
#endif
}
#if DEBUG
else if (includeInvalidAction)
{
if (!effects.DoesFullfillGoal(goal))
yield return new ReGoapActionState(possibleAction, settings) { isValid = false, reason = ReGoapActionState.InvalidReason.EFFECTS_DONT_HELP, preconditions = precond, effects = effects };
else if (goal.HasConflict(precond, effects))
yield return new ReGoapActionState(possibleAction, settings) { isValid = false, reason = ReGoapActionState.InvalidReason.CONFLICT, preconditions = precond, effects = effects };
else if (!possibleAction.CheckProceduralCondition(agent, settings, goal, parent != null ? parent.action : null))
yield return new ReGoapActionState(possibleAction, settings) { isValid = false, reason = ReGoapActionState.InvalidReason.PROCEDURAL_CONDITION, preconditions = precond, effects = effects };
}
}
#endif
}
}
public BGoapNode(IGoapPlanner planner, BGoapState parentGoal, BGoapNode parent, ReGoapActionState actionState)
{
this.planner = planner;
this.parent = parent;
if(actionState != null) {
this.action = actionState.Action;
this.actionSettings = actionState.Settings;
}
if (this.parent != null){
g = parent.GetPathCost();
}
var nextAction = parent == null ? null : parent.action;
if(action != null) {
//first step - subtract effects of action
var effects = action.GetEffects( parentGoal, actionSettings, nextAction );
try {
goal = parentGoal.Difference( effects, false ); //dont use defaults here, only subtract what really is in the effect
} catch(ArgumentException e) {
Debug.Log( e );
}
//then add preconditions to the current goal state
var preconditions = action.GetPreconditions( parentGoal, actionSettings, nextAction );
goal = goal.Union( preconditions );
g += action.GetCost( parentGoal, actionSettings, nextAction );
} else goal = parentGoal;
h = goal.Distance( planner.GetCurrentAgent().GetMemory().GetWorldState() );
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
protected virtual void FixedUpdate()
{
if ((planner != null) && !planner.IsPlanning() && Time.time > warnCooldown)
{
warnCooldown = Time.time + WarnDelay;
// check if this goal is not active but CAN be activated
if (((ReGoapGoal <T, W>)planner.GetCurrentGoal() != this) && IsGoalPossible())
{
planner.GetCurrentAgent().WarnPossibleGoal(this);
}
// if this goal is active but isn't anymore possible
if (((ReGoapGoal <T, W>)planner.GetCurrentGoal() == this) && !IsGoalPossible())
{
planner.GetCurrentAgent().WarnPossibleGoal(this);
}
}
}
public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
GoapActionStackData <T, W> stackData;
stackData.currentState = state;
stackData.goalState = goal;
stackData.next = action;
stackData.agent = agent;
stackData.settings = null;
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(stackData);
var settingsList = possibleAction.GetSettings(stackData);
foreach (var settings in settingsList)
{
stackData.settings = settings;
var precond = possibleAction.GetPreconditions(stackData);
var effects = possibleAction.GetEffects(stackData);
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects, precond) && // no precondition is conflicting with the goal or has conflict but the effects fulfils the goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
possibleAction.CheckProceduralCondition(stackData))
{
var newGoal = goal;
expandList.Add(Instantiate(planner, newGoal, this, possibleAction, settings));
}
}
}
return(expandList);
}
public IEnumerator <IReGoapAction> GetPossibleActionsEnumerator()
{
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = 0; index < actions.Count; index++)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (possibleAction == action)
{
continue;
}
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
!goal.HasAnyConflict(precond) && // no precondition is conflicting with the goal
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
yield return(possibleAction);
}
}
}
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(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;
}
