private TreeDecision <IGOAPReadOnlyAction> BuildPlansToAction(IGOAPReadOnlyAction action)
{
var tree = new TreeDecision <IGOAPReadOnlyAction>();
tree.AddToRoot(action);
var needConditions = new List <KeyValuePair <string, GOAPState> >();
foreach (var condition in action.Preconditions)
{
if (!_context.Contains(condition))
{
needConditions.Add(condition);
}
}
if (needConditions.Count == 0)
{
return(tree);
}
foreach (var condition in needConditions)
{
TreeDecision <IGOAPReadOnlyAction> conditionTree = BuildPlansToGoal(condition);
if (conditionTree == null)
{
return(null);
}
tree.AddToLeafs(conditionTree);
}
return(tree);
}
private TreeDecision <IGOAPReadOnlyAction> BuildPlansToGoal(KeyValuePair <string, GOAPState> goal)
{
var tree = new TreeDecision <IGOAPReadOnlyAction>();
List <IGOAPReadOnlyAction> needActions;
if (!GOAPActionsManager.Instance.TryGetActionsWithEffect(goal, out needActions))
{
return(null);
}
for (int i = 0; i < needActions.Count; i++)
{
var actionTree = BuildPlansToAction(needActions[i]);
if (actionTree != null)
{
tree.AddToRoot(actionTree);
}
}
if (tree.IsEmpty)
{
return(null);
}
return(tree);
}
private List <IGOAPReadOnlyAction> GetSingleBestPlan(TreeDecision <IGOAPReadOnlyAction> plans)
{
var bestPlans = GetAllBestPlans(plans);
if (bestPlans.Count == 0)
{
return(null);
}
return(bestPlans.GetRandomElement());
}
internal bool TryBuildPlans(KeyValuePair <string, GOAPState> goal, out TreeDecision <IGOAPReadOnlyAction> plans)
{
plans = BuildPlansToGoal(goal);
if (plans == null || plans.IsEmpty)
{
return(false);
}
else
{
return(true);
}
}
private List <List <IGOAPReadOnlyAction> > GetAllBestPlans(TreeDecision <IGOAPReadOnlyAction> plans)
{
var bestCost = _comparer.BadCost;
var currentPlan = new List <IGOAPReadOnlyAction>();
var bestPlans = new List <List <IGOAPReadOnlyAction> >();
foreach (var child in plans.Root.Children)
{
Iterate(_comparer.ZeroCost, child);
}
void Iterate(IGOAPCost previusCost, TreeElement <IGOAPReadOnlyAction> element)
{
var newCost = previusCost.GetSumWith(element.Content.Cost);
currentPlan.Add(element.Content);
if (!element.HasChildren)
{
int value = _comparer.Compare(bestCost, newCost);
if (value <= 0)
{
if (value < 0)
{
bestCost = newCost;
bestPlans = new List <List <IGOAPReadOnlyAction> >();
}
bestPlans.Add(new List <IGOAPReadOnlyAction>(currentPlan.Where(x => !x.IsConnector)));
}
currentPlan.RemoveAt(currentPlan.Count - 1);
return;
}
foreach (var child in element.Children)
{
Iterate(newCost, child);
}
while (currentPlan[currentPlan.Count - 1] != element.Content)
{
currentPlan.RemoveAt(currentPlan.Count - 1);
}
currentPlan.RemoveAt(currentPlan.Count - 1);
}
return(bestPlans);
}
public bool TryGetPlan(KeyValuePair <string, GOAPState> goal, out List <GOAPAction> plan)
{
var plans = new TreeDecision <GOAPAction>();
plan = null;
if (!_builder.TryBuildPlans(goal, out plans))
{
return(false);
}
plan = GetBestPlan(plans);
return(true);
}
private List <GOAPAction> GetBestPlan(TreeDecision <GOAPAction> plans)
{
var bestCost = _comparer.BadCost;
var bestPlan = new List <GOAPAction>();
var stack = new Stack <GOAPAction>();
foreach (var child in plans.Root.Children)
{
Iterate(_comparer.ZeroCost, child);
}
void Iterate(IGOAPCost previusCost, TreeElement <GOAPAction> element)
{
var newCost = previusCost.GetSumWith(element.Content.Cost);
stack.Push(element.Content);
if (!element.HasChildren)
{
int value = _comparer.Compare(bestCost, newCost);
if (value < 0 || (value == 0 && BaseMath.Probability(0.5f)))
{
bestCost = newCost;
bestPlan = stack.Where(x => !x.IsConnector).ToList();
}
return;
}
foreach (var child in element.Children)
{
Iterate(newCost, child);
}
while (stack.Pop() != element.Content)
{
;
}
}
return(bestPlan);
}
private List <List <IGOAPReadOnlyAction> > GetAllPlans(TreeDecision <IGOAPReadOnlyAction> plans)
{
var currentPlan = new List <IGOAPReadOnlyAction>();
var allPlans = new List <List <IGOAPReadOnlyAction> >();
foreach (var child in plans.Root.Children)
{
Iterate(child);
}
void Iterate(TreeElement <IGOAPReadOnlyAction> element)
{
currentPlan.Add(element.Content);
if (!element.HasChildren)
{
allPlans.Add(new List <IGOAPReadOnlyAction>(currentPlan));
currentPlan.RemoveAt(currentPlan.Count - 1);
return;
}
foreach (var child in element.Children)
{
Iterate(child);
}
while (currentPlan[currentPlan.Count - 1] != element.Content)
{
currentPlan.RemoveAt(currentPlan.Count - 1);
}
currentPlan.RemoveAt(currentPlan.Count - 1);
}
return(allPlans);
}
