private void GetAction(GoapNode parentNode, List <GoapNode> goapNodeList, List <GoapAction> goapActionList, GoapStatus goapStatus)
{
for (int i = 0; i < goapActionList.Count; ++i)
{
GoapAction goapAction = goapActionList[i];
GoapStatus preconditions = goapAction.GetPreconditions(); // 前置条件
GoapStatus effectsStatus = goapAction.GetEffect(); // 执行效果
if (!preconditions.IsContainIn(parentNode.CurrentStatus)) // 不满足前置条件
{
continue;
}
GoapStatus newStatus = parentNode.CurrentStatus.Clone();
newStatus.AddFromStatus(effectsStatus);
GoapNode goapNode = new GoapNode(parentNode, goapAction, newStatus, parentNode.Cost + goapAction.Cost);
if (goapStatus.IsAnyContainIn(newStatus))
{
goapNodeList.Add(goapNode);
continue;
}
List <GoapAction> actionList = Remove(goapActionList, i);
GetAction(goapNode, goapNodeList, actionList, goapStatus);
}
}
public Queue <GoapAction> Plan(List <GoapAction> goapActionList, GoapStatus worldStatus, GoapStatus goalStatus)
{
Queue <GoapAction> goapActionQueue = new Queue <GoapAction>();
List <GoapAction> validActionList = new List <GoapAction>();
for (int i = 0; i < goapActionList.Count; ++i)
{
GoapAction goapAction = goapActionList[i];
if (goapAction.CheckProceduralPrecondition())
{
validActionList.Add(goapAction);
}
}
List <GoapNode> goapNodeList = new List <GoapNode>();
GoapNode goapNode = new GoapNode(null, null, worldStatus, 0);
GetAction(goapNode, goapNodeList, validActionList, goalStatus);
if (goapNodeList.Count <= 0)
{
return(goapActionQueue);
}
GoapNode heighestNode = GetHighestNode(goapNodeList);
goapActionQueue = GetActionQueue(heighestNode);
return(goapActionQueue);
}
/// <summary>
/// 将 a 的值 加到自身
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public void AddFromStatus(GoapStatus a)
{
foreach (var pair in a.Status())
{
AddState(pair.Key, pair.Value);
}
}
// Use this for initialization
protected virtual void Start()
{
worldStats = new GoapStatus();
goalStatus = new GoapStatus();
SetActions();
}
public GoapStatus Clone()
{
GoapStatus goapStatus = new GoapStatus();
foreach (var pair in statusDic)
{
goapStatus.AddState(pair.Key, pair.Value);
}
return(goapStatus);
}
/// <summary>
/// 将 a 和 自己 key 相同且值也相同的元素移除
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public void RemoveFromStatus(GoapStatus a)
{
foreach (var pair in a.Status())
{
object value = null;
if (statusDic.TryGetValue(pair.Key, out value))
{
if (Equals(pair.Value, value))
{
RemoveState(pair.Key);
}
}
}
}
/// <summary>
/// 有任何一个值包含在 a 中
/// </summary>
/// <param name="a"></param>
/// <returns></returns>
public bool IsAnyContainIn(GoapStatus a)
{
Dictionary <GoapCondition, object> aStatusDic = a.Status();
foreach (var pair in aStatusDic)
{
object aValue = null;
if (aStatusDic.TryGetValue(pair.Key, out aValue))
{
if (Equals(pair.Value, aValue))
{
return(true);
}
}
}
return(false);
}
/// <summary>
/// 包含于 a
/// </summary>
/// <param name="a"></param>
/// <returns></returns>
public bool IsContainIn(GoapStatus a)
{
Dictionary <GoapCondition, object> aStatusDic = a.Status();
bool isContentIn = true;
foreach (var pair in statusDic)
{
object aValue = null;
if (aStatusDic.TryGetValue(pair.Key, out aValue))
{
if (Equals(pair.Value, aValue))
{
continue;
}
}
isContentIn = false;
break;
}
return(isContentIn);
}
public virtual void InitStatus()
{
preconditionsStatus = new GoapStatus();
effectsStatus = new GoapStatus();
}
