public override void Precalculations(IReGoapAgent goapAgent, ReGoapState goalState)
{
base.Precalculations(goapAgent, goalState);
var bankPosition = agent.GetMemory().GetWorldState().Get <Vector3>("nearestBankPosition");
preconditions.Clear();
effects.Clear();
preconditions.Set("isAtPosition", bankPosition);
effects.Set("isAtPosition", Vector3.zero);
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
preconditions.Set("hasResource" + resourceName, true);
effects.Set("collectedResource" + resourceName, true);
settings = new AddResourceToBankSettings
{
ResourceName = resourceName
};
break;
}
}
}
protected virtual string GetNeededResourceFromGoal(ReGoapState <string, object> goalState)
{
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("hasResource"))
{
return(pair.Key.Substring(11));
}
}
return(null);
}
public override ReGoapState GetEffects(ReGoapState goalState)
{
effects.Clear();
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
effects.Set("collectedResource" + resourceName, true);
break;
}
}
return(effects);
}
public override ReGoapState <string, object> GetEffects(ReGoapState <string, object> goalState, IReGoapAction <string, object> next = null)
{
effects.Clear();
effects.Set("isAtPosition", (Vector3?)Vector3.zero);
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
effects.Set("collectedResource" + resourceName, true);
break;
}
}
return(effects);
}
public override IReGoapActionSettings <string, object> GetSettings(IReGoapAgent <string, object> goapAgent, ReGoapState <string, object> goalState)
{
settings = null;
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
settings = new AddResourceToBankSettings
{
ResourceName = resourceName
};
break;
}
}
return(settings);
}
public override ReGoapState <string, object> GetPreconditions(ReGoapState <string, object> goalState, IReGoapAction <string, object> next = null)
{
var bankPosition = agent.GetMemory().GetWorldState().Get("nearestBankPosition") as Vector3?;
preconditions.Clear();
preconditions.Set("isAtPosition", bankPosition);
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
preconditions.Set("hasResource" + resourceName, true);
break;
}
}
return(preconditions);
}
public override ReGoapState GetPreconditions(ReGoapState goalState)
{
ReGoapState reGoapState = reGoapAgent.GetWorldState();
Vector3? bankPosition = reGoapState.Get("nearestBankPosition") as Vector3?;
preconditions.Clear();
preconditions.Set("isAtPosition", bankPosition);
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
preconditions.Set("hasResource" + resourceName, true);
break;
}
}
return(preconditions);
}
private float _CalculateH()
{
float h = 0;
foreach (var pr in goal.GetValues())
{
var pairValue = pr.Value;
if (pairValue.tp == StructValue.EValueType.Other)
{
++h;
}
else if (pairValue.tp == StructValue.EValueType.Arithmetic)
{
float goalValue = Convert.ToSingle(pairValue.v);
var defValue = StructValue.CopyCreate(ref pairValue, 0);
if (!pairValue.IsFulfilledBy(defValue))
{
h += Math.Abs(goalValue);
}
}
}
return(h);
}
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 UpdateGoapNodes(GameObject gameObj)
{
if (agent == null || !agent.IsActive() || agent.GetMemory() == null)
{
return;
}
if (nodes == null)
{
nodes = new List <ReGoapNodeEditor>();
}
nodes.Clear();
var width = 250f;
var height = 70f;
var nodePosition = Vector2.zero;
foreach (var goal in gameObj.GetComponents <IReGoapGoal>())
{
if (goal.GetGoalState() == null)
{
continue;
}
var text = string.Format("<b>GOAL</b> <i>{0}</i>\n", goal);
foreach (var keyValue in goal.GetGoalState().GetValues())
{
text += string.Format("<b>'{0}'</b> = <i>'{1}'</i>", keyValue.Key, keyValue.Value);
}
var style = nodeStyle;
if (agent.IsActive() && agent.GetCurrentGoal() == goal)
{
style = activeStyle;
}
DrawGenericNode(text, width, height, style, ref nodePosition);
}
nodePosition = new Vector2(0f, nodePosition.y + height + 10);
height = 66;
var maxHeight = height;
var worldState = agent.GetMemory().GetWorldState();
foreach (var action in agent.GetActionsSet())
{
var curHeight = height;
var text = string.Format("<b>POSS.ACTION</b> <i>{0}</i>\n", action.GetName());
text += "-<b>preconditions</b>-\n";
ReGoapState preconditionsDifferences = new ReGoapState();
var preconditions = action.GetPreconditions(null);
if (preconditions == null)
{
continue;
}
preconditions.MissingDifference(worldState, ref preconditionsDifferences);
foreach (var preconditionPair in preconditions.GetValues())
{
curHeight += 13;
var color = "#004d00";
if (preconditionsDifferences.GetValues().ContainsKey(preconditionPair.Key))
{
color = "#800000";
}
text += string.Format("<color={2}>'<b>{0}</b>' = '<i>{1}</i>'</color>\n", preconditionPair.Key, preconditionPair.Value, color);
}
text += "-<b>effects</b>-\n";
foreach (var effectPair in action.GetEffects(null).GetValues())
{
curHeight += 13;
text += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", effectPair.Key, effectPair.Value);
}
curHeight += 13;
var proceduralCheck = action.CheckProceduralCondition(agent, null);
text += string.Format("<color={0}>-<b>proceduralCondition</b>: {1}</color>\n", proceduralCheck ? "#004d00" : "#800000", proceduralCheck);
maxHeight = Mathf.Max(maxHeight, curHeight);
DrawGenericNode(text, width, curHeight, possibleActionStyle, ref nodePosition);
}
nodePosition.x = 0;
nodePosition.y += maxHeight + 10;
height = 40;
if (agent.GetCurrentGoal() != null)
{
foreach (var action in agent.GetStartingPlan().ToArray())
{
var style = actionNodeStyle;
if (action.Action.IsActive())
{
style = activeActionNodeStyle;
}
var text = string.Format("<b>ACTION</b> <i>{0}</i>\n", action.Action.GetName());
DrawGenericNode(text, width, height, style, ref nodePosition);
}
}
if (agent.GetMemory() != null)
{
nodePosition = new Vector2(0, nodePosition.y + height + 10);
width = 500;
height = 40;
var nodeText = "<b>WORLD STATE</b>\n";
foreach (var pair in agent.GetMemory().GetWorldState().GetValues())
{
nodeText += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", pair.Key, pair.Value);
height += 13;
}
DrawGenericNode(nodeText, width, height, worldStateStyle, ref nodePosition);
}
}
