public List <Action> UpdateAgent()
{
List <GOAPGoal> goalList = util.RunUtilityEngine();
if (goalList[0] != currentGoal)
{
currentGoal = goalList[0];
GOAPController.GC.EnqueueForPlanning(this);
ActionPlan.Clear();
//ActionPlan.AddRange(Planner.GetActionPlan(this, WorldState, AvailableActions, currentGoal));
}
if (ActionPlan != null)
{
if (ActionPlan.Count > 0)
{
if (ActionPlan[0].TestForFinished())
{
ActionPlan.RemoveAt(0);
}
return(ActionPlan[0].effects);
}
}
return(new List <Action>());
}
public List <GOAPAction> GetActionPlan(GOAPAgent Agent, List <GOAPState> WorldState, List <GOAPAction> AvailableActions, GOAPGoal goal)
{
List <GOAPAction> usable = new List <GOAPAction>();
for (int i = 0; i < AvailableActions.Count; ++i)
{
if (AvailableActions[i].CanRun(Agent))
{
usable.Add(AvailableActions[i]);
}
}
List <Node> leaves = new List <Node>();
Node startingNode = new Node(null, WorldState, 0, null);
bool ableToGetPlan = BuildGraph(startingNode, leaves, AvailableActions, goal);
if (!ableToGetPlan)
{
Debug.Log("Failed to get plan");
return(null);
}
Node cheapestAction = null;
foreach (Node leaf in leaves)
{
if (cheapestAction == null)
{
cheapestAction = leaf;
}
else
{
if (leaf.Cost < cheapestAction.Cost)
{
cheapestAction = leaf;
}
}
}
List <GOAPAction> results = new List <GOAPAction>();
Node temp = cheapestAction;
while (temp != null)
{
if (temp.Action != null)
{
results.Insert(0, temp.Action);
}
temp = temp.Parent;
}
return(results);
}
bool BuildGraph(Node parent, List <Node> leaves, List <GOAPAction> usableActions, GOAPGoal goal)
{
bool foundLeaf = false;
for (int i = 0; i < usableActions.Count; ++i)
{
if (StatesInGoal(usableActions[i].requiredStates, parent.State))
{
List <GOAPState> currentState = CreateNewState(parent.State, usableActions[i].satisfiesStates);
Node node = new Node(parent, currentState, parent.Cost + usableActions[i].Cost, usableActions[i]);
if (StatesInGoal(goal.Preconditions, currentState))
{
leaves.Add(node);
foundLeaf = true;
}
else
{
List <GOAPAction> subset = ActionSubset(usableActions, usableActions[i]);
bool found = BuildGraph(node, leaves, subset, goal);
if (found)
{
foundLeaf = true;
}
}
}
}
return(foundLeaf);
}