public static IEnumerable <GOAPAction> RunGOAP(GOAPEntity entity, GOAPState from, IEnumerable <GOAPAction> actions, int watchdog = 6000)
{
int watchdogCount = 0;
var sequence = Algorithms.AStarNew <GOAPState>(
from,
current => entity.Satisfies(current),
(current, toCompare) => current.Equals(toCompare),
current => entity.Heuristics(current),
current =>
{
return(actions
.Where(a => a.Preconditions(current))
.Aggregate(
new FList <Tuple <GOAPState, float> >(),
(possibleList, a) =>
{
if (watchdogCount < watchdog)
{
var st = new GOAPState(current);
st.generatingAction = a;
a.Effects(current, st);
st.stepId = current.stepId + 1;
watchdogCount++;
return possibleList + Tuple.Create(st, a.Cost);
}
else
{
return possibleList;
}
}
));
}
);
if (sequence == null)
{
return(null);
}
Debug.Log("Watchdog: " + watchdogCount);
return(sequence.Skip(1).Select(x => { Debug.Log(x.Item1.generatingAction.Name); return x.Item1.generatingAction; }));
}
