public void planAborted (GoapAction aborter)
{
// An action bailed out of the plan. State has been reset to plan again.
// Take note of what happened and make sure if you run the same goal again
// that it can succeed.
Debug.Log ("<color=red>Plan Aborted</color> "+GoapAgent.prettyPrint(aborter));
}
public GoapStateGraphNode(List<GoapWorldState> unsatisfied, List<GoapWorldState> satisfied)
{
SatisfiedStates = satisfied;
UnsatisfiedStates = unsatisfied;
CostSinceStart = float.PositiveInfinity;
CameFrom = null;
CameFromAction = null;
}
/**
* Create a subset of the actions excluding the removeMe one. Creates a new set.
*/
private HashSet<GoapAction> actionSubset(HashSet<GoapAction> actions, GoapAction removeMe)
{
HashSet<GoapAction> subset = new HashSet<GoapAction> ();
foreach (GoapAction a in actions) {
if (!a.Equals(removeMe))
subset.Add(a);
}
return subset;
}
public static string prettyPrint(GoapAction[] actions)
{
String s = "";
foreach (GoapAction a in actions) {
s += a.GetType().Name;
s += ", ";
}
return s;
}
public bool moveAgent(GoapAction nextAction) {
// move towards the NextAction's target
float step = moveSpeed * Time.deltaTime;
gameObject.transform.position = Vector3.MoveTowards(gameObject.transform.position, nextAction.target.transform.position, step);
if (gameObject.transform.position.Equals(nextAction.target.transform.position) ) {
// we are at the target location, we are done
nextAction.setInRange(true);
return true;
} else
return false;
}
public bool moveAgent(GoapAction nextAction)
{
if (path!=null && currentWaypoint<path.vectorPath.Count){
// Debug.Log(this.gameObject);//+" "+ path.vectorPath[currentWaypoint] );
gameObject.transform.LookAt( path.vectorPath[currentWaypoint]);
gameObject.transform.position = Vector3.MoveTowards(gameObject.transform.position, path.vectorPath[currentWaypoint], moveSpeed*Time.deltaTime);
//Vector3 dir = (path.vectorPath[currentWaypoint]-transform.position).normalized;
//dir *= speed * Time.deltaTime;
//controller.SimpleMove (dir);
//Check if we are close enough to the next waypoint
//If we are, proceed to follow the next waypoint
if (Vector3.Distance (transform.position,path.vectorPath[currentWaypoint]) < nextWaypointDistance) {
currentWaypoint++;
// return;
}
}
if (path == null && !imcalculatingthepathnigger){
imcalculatingthepathnigger = true;
seeker.StartPath (transform.position, nextAction.target.transform.position, OnPathComplete);}
targetPosition=nextAction.target.transform.position;
// PathRequestManager.RequestPath(transform.position,nextAction.target.transform.position, OnPathFound);
// move towards the NextAction's target
// float step = moveSpeed * Time.deltaTime;
// gameObject.transform.position = Vector3.MoveTowards(gameObject.transform.position, nextAction.target.transform.position, step);
// Debug.Log ("target:"+nextAction.target.gameObject + " position: "+nextAction.target.transform.position+" and distant:" +Vector2.Distance(gameObject.transform.position, nextAction.target.transform.position));
//Debug.Log(Vector2.Distance(gameObject.transform.position, nextAction.target.transform.position));
if (Vector2.Distance(gameObject.transform.position, nextAction.target.transform.position) < 1f ) {
// Debug.Log ("ARRIVED");
path=null;
seeker.StartPath (transform.position, nextAction.target.transform.position, OnPathComplete);
currentWaypoint = 0;
imcalculatingthepathnigger = false;
// Debug.Log("walao");
// we are at the target location, we are done
nextAction.setInRange(true);
return true;
} else{
return false;}
// if (path == null) {
// //We have no path to move after yet
// return;
// }
// if (currentWaypoint >= path.vectorPath.Count) {
// Debug.Log ("End Of Path Reached");
// return;
// }
//Direction to the next waypoint
}
public bool CheckActionViable(GoapAction action)
{
//check if working memory's list of failed actions
WorkingMemoryFact fact = WorkingMemory.FindExistingFact(FactType.FailedAction, action.Name);
if(fact != null)
{
return false;
}
else
{
return true;
}
return true;
}
IEnumerator WaitAndExecuteNextAction(float waitTime)
{
yield return new WaitForSeconds(waitTime);
//Debug.Log("Triggering action complete " + _parentCharacter.name);
if(_actionQueue != null && _actionQueue.Count > 0)
{
_currentAction = _actionQueue.Dequeue();
//CsDebug.Inst.CharLog(_parentCharacter, "After action completion, dequeued new action " + _currentAction.Name);
if(_currentAction.ExecuteAction())
{
//action executed successfully
return true;
}
else
{
_currentAction = null;
FindAndExecuteAction();
}
}
else
{
//CsDebug.Inst.CharLog(_parentCharacter, "No more actions, evaluating goal");
//now there are no more actions; evaluate the goal again. if goal is reached, then find new goal; if goal has not reached, rerun planner
//CsDebug.Inst.CharLog(_parentCharacter, "After action completion, looking for new action " + _currentAction.Name);
_currentAction = null;
FindAndExecuteAction();
}
}
public void addAction(GoapAction a)
{
availableActions.Add(a);
}
IEnumerator WaitAndCheckImportantEvent(float waitTime, float priority)
{
yield return new WaitForSeconds(waitTime);
if(ControlType == AIControlType.Player)
{
return true;
}
//when an important event happens, stop current action and reevaluate all the goals and pick the highest priority goal
Debug.Log("Triggering important event " + _parentCharacter.name);
if(_currentAction != null)
{
if(_currentAction.AbortAction(priority))
{
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
else
{
_currentGoal = null;
FindAndExecuteAction();
}
}
public void OnCurrentActionComplete()
{
//Debug.Log("Action completed");
if(_actionQueue.Count > 0)
{
_currentAction = _actionQueue.Dequeue();
if(_currentAction.ExecuteAction())
{
//action executed successfully
return;
}
else
{
_currentAction = null;
FindAndExecuteAction();
}
}
else
{
//Debug.Log("No more actions, evaluating goal");
//now there are no more actions; evaluate the goal again. if goal is reached, then find new goal; if goal has not reached, rerun planner
_currentAction = null;
FindAndExecuteAction();
}
}
private void FindAndExecuteAction()
{
//check if there is current goal and if the current goal is met
//if met, find next goal
//if not met, check if there's current action. if there is action leave it alone. if no action then calculate planner and execute first action
//if no current goal, get next goal
//Debug.Log("Start finding and executing action");
if(_currentGoal == null)
{
Debug.Log("no current goal, getting a new one");
_currentGoal = GetNextGoal();
Debug.Log("found new goal " + _currentGoal.Name);
_currentAction = null;
}
int counter = _goals.Count;
while(counter > 0 && _currentGoal != null)
{
//Debug.Log("Find&Execute: checking goal " + _currentGoal.Name);
bool needNextGoal = false;
if(_currentAction == null && _currentGoal != null)
{
if(!EvaluateGoal(_currentGoal))
{
//CsDebug.Inst.Log("current goal " + _currentGoal.Name + " is not met, running planner", CsDLevel.Info, CsDComponent.AI);
_actionQueue = Planner.GetActionQueue(_currentGoal, _actions);
if(_actionQueue != null && _actionQueue.Count > 0)
{
_currentAction = _actionQueue.Dequeue();
//Debug.Log("Found current action " + _currentAction.Name + " for goal " + _currentGoal.Name);
if(_currentAction.ExecuteAction())
{
//action executed successfully
return;
}
}
//failed to find action for current goal, get next goal
needNextGoal = true;
}
else
{
needNextGoal = true;
}
}
else
{
//there's action; leave it alone
return;
}
if(needNextGoal)
{
_currentGoal = GetNextGoal();
//Debug.Log("getting next goal; result: " + _currentGoal.Name);
_currentAction = null;
}
counter --;
}
}
public GoapPathEdge(GoapAction action)
{
Action = action;
}
public void planAborted(GoapAction aborter)
{
throw new System.NotImplementedException();
}
public void removeAction(GoapAction action) {
availableActions.Remove (action);
}
public Node(Node parent, float runningCost, HashSet<KeyValuePair<string,object>> state, GoapAction action) {
this.parent = parent;
this.runningCost = runningCost;
this.state = state;
this.action = action;
}
public static string prettyPrint(GoapAction action) {
String s = ""+action.GetType().Name;
return s;
}
public void addAction(GoapAction a) {
availableActions.Add (a);
}
public Node(Node parent, float runningCost, HashSet <KeyValuePair <string, object> > state, GoapAction action)
{
this.parent = parent;
this.runningCost = runningCost;
this.state = state;
this.action = action;
}
public void PlanAborted(GoapAction abortedAction)
{
}
public void removeAction(GoapAction action)
{
availableActions.Remove(action);
}
public void OnOneSecondTimer()
{
//check if there is current goal. if there is none then get one
if(ControlType != AIControlType.Player && _currentGoal == null)
{
_currentAction = null;
FindAndExecuteAction();
}
}
public bool moveAgent(GoapAction nextAction)
{
throw new System.NotImplementedException();
}
public void OnDeath()
{
if(_currentAction != null)
{
_currentAction.AbortAction(1);
_currentAction = null;
}
_currentGoal = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer -= OnOneSecondTimer;
TargetingSystem.OnDeath();
Sensor.OnDeath();
WorkingMemory.OnDeath();
}
public void planAborted(GoapAction aborter)
{
Debug.Log("<color=red>Plan Aborted</color> " + GoapAgent.prettyPrint(aborter));
}
public WorkingMemoryFact FindFailedActionFact(GoapAction action, object target)
{
foreach(WorkingMemoryFact f in Facts)
{
if(f.FactType == FactType.FailedAction && Object.Equals(f.Target, target) && f.PastAction == action.Name)
{
return f;
}
}
return null;
}
public void ForceStopCurrentAction()
{
if(_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = null;
}
public void Initialize(Character character)
{
_parentCharacter = character;
WorkingMemory = new WorkingMemory();
WorkingMemory.Initialize(_parentCharacter);
BlackBoard = new BlackBoard();
Sensor = new AISensor();
Sensor.Initialize(_parentCharacter);
TargetingSystem = new AITargeting();
TargetingSystem.Initialize(_parentCharacter);
WeaponSystem = new AIWeapon();
WeaponSystem.Initialize(_parentCharacter);
Planner = new GoapPlanner(this);
_goals = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterGoalSet(_parentCharacter.ID);
_actions = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterActionSet(_parentCharacter.ID);
_currentWorldStates = new List<GoapWorldState>();
_parentCharacter.MyEventHandler.OnNewEnemyTargetFound += OnImportantEvent;
_parentCharacter.MyEventHandler.OnCurrentActionComplete += OnCurrentActionComplete;
//update parent character for each action
foreach(GoapAction action in _actions)
{
action.ParentCharacter = _parentCharacter;
}
BlackBoard.PatrolLoc = new Vector3(-15, 0, -15);
BlackBoard.PatrolRange = new Vector3(20, 10, 20);
BlackBoard.HasPatrolInfo = true;
if(ControlType != AIControlType.Player)
{
_currentGoal = null;
_currentAction = null;
FindAndExecuteAction();
}
}
public bool CheckActionViable(GoapAction action)
{
//check if working memory's list of failed actions
WorkingMemoryFact fact = WorkingMemory.FindExistingFact(FactType.FailedAction, action.Name);
if(fact != null)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Determined action " + action.Name + " as not viable");
return false;
}
else
{
return true;
}
return true;
}
//AI Events
public void OnImportantEvent()
{
//when an important event happens, stop current action and reevaluate all the goals and pick the highest priority goal
if(_currentAction != null)
{
_currentAction.StopAction();
_currentAction = null;
}
_currentGoal = null;
FindAndExecuteAction();
}
public void Initialize(Character character)
{
_parentCharacter = character;
WorkingMemory = new WorkingMemory();
WorkingMemory.Initialize(_parentCharacter);
BlackBoard = new BlackBoard();
Sensor = new AISensor();
Sensor.Initialize(_parentCharacter);
TargetingSystem = new AITargeting();
TargetingSystem.Initialize(_parentCharacter);
WeaponSystem = new AIWeapon();
WeaponSystem.Initialize(_parentCharacter);
Planner = new GoapPlanner(this);
_goals = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterGoalSet(_parentCharacter.GoapID);
_actions = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterActionSet(_parentCharacter.GoapID);
_currentWorldStates = new List<GoapWorldState>();
_parentCharacter.MyEventHandler.OnCurrentActionComplete += OnCurrentActionComplete;
_parentCharacter.MyEventHandler.OnPerFrameTimer += PerFrameUpdate;
//update parent character for each action
foreach(GoapAction action in _actions)
{
action.ParentCharacter = _parentCharacter;
}
//BlackBoard.PatrolLoc = new Vector3(63.9f, 0.3f, -13.3f);
//BlackBoard.PatrolRange = new Vector3(30, 10, 15);
if(ControlType != AIControlType.Player)
{
BlackBoard.GuardLevel = 1;
_parentCharacter.SendCommand(CharacterCommands.SetAlert);
}
_currentGoal = null;
_currentAction = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer += OnOneSecondTimer;
}
public void SetDynamicyGoal(GoapGoal newGoal, int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Setting top priority goal " + newGoal.Name + " for " + _parentCharacter.name);
List<GoapGoal> goalsCopy = new List<GoapGoal>(_goals);
foreach(GoapGoal goal in goalsCopy)
{
if(goal.Priority == priority)
{
_goals.Remove(goal);
}
}
_goals.Add(newGoal);
if(_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = newGoal;
FindAndExecuteAction();
}
public static string prettyPrint(GoapAction action)
{
string s = "" + action.GetType().Name;
return(s);
}
public void ClearDynamicGoal(int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Clearing top priority goal for " + _parentCharacter.name);
List<GoapGoal> goalsCopy = new List<GoapGoal>(_goals);
foreach(GoapGoal goal in goalsCopy)
{
if(goal.Priority == priority)
{
if(_currentGoal == goal)
{
_currentAction.StopAction();
}
_goals.Remove(goal);
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
}
public void ProcessMessage(string message)
{
Debug.Log("Json Message: " + message);
GoapResposeObject obj = JsonConvert.DeserializeObject <GoapResposeObject>(message);
Debug.Log(obj.ID);
// enqueue the action list
Queue <GoapAction> queue = new Queue <GoapAction>();
List <GoapAction> temp = new List <GoapAction>();
Debug.Log(obj.solutionList.Count);
foreach (var a in obj.solutionList)
{
GoapAction tempAction;
switch (a.type)
{
case "ChopFirewoodAction":
tempAction = new ChopFirewoodAction();
break;
case "ChopTreeAction":
tempAction = new ChopTreeAction();
break;
case "DropOffFirewoodAction":
tempAction = new DropOffFirewoodAction();
break;
case "DropOffLogsAction":
tempAction = new DropOffLogsAction();
break;
case "DropOffOreAction":
tempAction = new DropOffOreAction();
break;
case "DropOffToolsAction":
tempAction = new DropOffToolsAction();
break;
case "ForgeToolAction":
tempAction = new ForgeToolAction();
break;
case "MineOreAction":
tempAction = new MineOreAction();
break;
case "PickUpLogsAction":
tempAction = new PickUpLogsAction();
break;
case "PickUpOreAction":
tempAction = new PickUpOreAction();
break;
case "PickUpToolAction":
tempAction = new PickUpToolAction();
break;
default:
tempAction = new GoapAction();
break;
}
foreach (var subList in a.preconditions)
{
if (subList[1] == "true")
{
tempAction.addPrecondition(subList[0], true);
}
else
{
tempAction.addPrecondition(subList[0], false);
}
}
foreach (var subList in a.effects)
{
if (subList[1] == "true")
{
tempAction.addEffect(subList[0], true);
Debug.Log("Effect key" + subList[0]);
}
else
{
tempAction.addEffect(subList[0], false);
}
}
tempAction.cost = a.cost;
//Debug.Log(a.targetID);
for (int i = 0; i < targets.Count; i++)
{
if (targetsID[i] == a.targetID)
{
tempAction.targetID = a.targetID;
//Debug.Log("Match");
}
}
//tempAction.checkProceduralPrecondition()
temp.Add(tempAction);
queue.Enqueue(tempAction);
}
foreach (var item in agents)
{
if (item.ID == obj.ID)
{
item.hasPlan = true;
item.plan = queue;
Debug.Log("Set plan");
}
}
}
