Ejemplo n.º 1
0
        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>());
        }
Ejemplo n.º 2
0
        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);
        }
Ejemplo n.º 3
0
        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);
        }