public void Init(IGoapPlanner planner, GoapState goalState, GoapNode <T> parent, IGoapAction action)
{
m_expandList.Clear();
m_planner = planner;
m_parent = parent;
m_action = action;
if (m_parent != null)
{
m_currentState = parent.GetState().Clone();
m_gCost = parent.GetCost();
}
else
{
m_currentState = m_planner.GetAgent().GetMemory().GetWorldState().Clone();
}
if (action != null)
{
m_gCost += action.GetCost();
GoapState preconditions = action.GetPreConditions(goalState);
m_targetState = goalState + preconditions;
GoapState effects = action.GetPostEffects(goalState);
m_currentState.AddFromState(effects);
//Did this action's effect fulfill any of the goals?
m_targetState.RemoveCompletedConditions(effects);
//Did the world fulfill any of the goals?
m_targetState.RemoveCompletedConditions(m_planner.GetAgent().GetMemory().GetWorldState());
}
else
{
var diff = GoapState.Instantiate();
goalState.CreateStateWithMissingDifferences(m_currentState, ref diff);
m_targetState = diff;
}
//Cost is equal to the amount of extra actions
m_hCost = m_targetState.Count;
}
public List <INode <GoapState> > GetNeighbours()
{
m_expandList.Clear();
IGoapAgent agent = m_planner.GetAgent();
List <IGoapAction> actions = agent.GetActions();
for (int i = actions.Count - 1; i >= 0; i--)
{
IGoapAction possibleAction = actions[i];
if (possibleAction == m_action)
{
continue;
}
if (GoapPlannerManager.s_Instance.GetPlanner().CanRunAction(agent, possibleAction) == false)
{
continue;
}
GoapState preConditions = possibleAction.GetContextPreConditions(m_targetState);
GoapState postEffects = possibleAction.GetContextPostEffects(m_targetState);
bool isValid = (postEffects.HasAny(m_targetState)) &&
(!m_targetState.HasAnyConflict(preConditions)) && (!m_targetState.HasAnyConflict(postEffects));
if (isValid)
{
GoapState targetState = m_targetState;
m_expandList.Add(Instantiate(m_planner, targetState, this, possibleAction));
}
}
return(m_expandList);
}
