public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done,
Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
model.movementSpeed = 10f;
if (model.Target != null)
{
doneCallback(this);
}
else
{
failCallback(this);
}
}
public bool IsGoal(ReGoapState <T, W> goal)
{
return(goalMergedWithWorld.Count <= 0);
}
public override void Run(IReGoapAction previous, IReGoapAction next, IReGoapActionSettings settings, ReGoapState goalState, Action <IReGoapAction> done, Action <IReGoapAction> fail)
{
base.Run(previous, next, settings, goalState, done, fail);
this.settings = (AddResourceToBankSettings)settings;
var bank = agent.GetMemory().GetWorldState().Get <Bank>("nearestBank");
if (bank.AddResource(resourcesBag, ((AddResourceToBankSettings)settings).ResourceName))
{
done(this);
}
else
{
fail(this);
}
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, IReGoapActionSettings <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
this.settings = (AddResourceToBankSettings)settings;
var bank = agent.GetMemory().GetWorldState().Get("nearestBank") as Bank;
if (bank != null && bank.AddResource(resourcesBag, ((AddResourceToBankSettings)settings).ResourceName))
{
done(this);
}
else
{
fail(this);
}
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
// do your own game logic here
if (GetComponent <BuilderMemory>().remainingBlocks <= 0)
{
agent.GetMemory().GetWorldState().Set("BlockAvailable", false);
failCallback(this);
}
else
{
GetComponent <BuilderMemory>().remainingBlocks--;
doneCallback(this); // this will tell the ReGoapAgent that the action is successfully done and go ahead in the action plan
}
}
public override void Run(IReGoapAction previous, IReGoapAction next, IReGoapActionSettings settings, ReGoapState goalState, Action <IReGoapAction> done, Action <IReGoapAction> fail)
{
base.Run(previous, next, settings, goalState, done, fail);
SetNeededResources(settings);
if (resource == null || resource.GetCapacity() < ResourcePerAction)
{
failCallback(this);
}
else
{
gatherCooldown = Time.time + TimeToGather;
}
}
public IReGoapGoal <T, W> Plan(IReGoapAgent <T, W> agent, IReGoapGoal <T, W> blacklistGoal = null, Queue <ReGoapActionState <T, W> > currentPlan = null, Action <IReGoapGoal <T, W> > callback = null)
{
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
}
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
var currentState = agent.GetMemory().GetWorldState();
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
GoapActionStackData <T, W> stackData;
stackData.agent = goapAgent;
stackData.currentState = currentState;
stackData.goalState = goalState;
stackData.next = null;
stackData.settings = null;
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(stackData);
if (!action.CheckProceduralCondition(stackData))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(stackData), ref wantedGoalCheck);
}
// finally push the current world state
var current = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
current.MissingDifference(GetCurrentAgent().GetMemory().GetWorldState(), ref wantedGoalCheck);
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
goalState = goalState.Clone();
var leaf = (ReGoapNode <T, W>)astar.Run(
ReGoapNode <T, W> .Instantiate(this, goalState, null, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
int i = 0;
GoapActionStackData <T, W> stackData;
stackData.agent = agent;
stackData.currentState = currentState;
stackData.goalState = currentGoal.GetGoalState();
stackData.next = null;
foreach (var action in currentGoal.GetPlan())
{
stackData.settings = action.Settings;
ReGoapLogger.Log(string.Format("[ReGoapPlanner] {0}) {1}", i++, action.Action.ToString(stackData)));
}
}
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public override ReGoapState <string, object> GetPreconditions(ReGoapState <string, object> goalState, IReGoapAction <string, object> next = null)
{
preconditions.Set("isAtPosition", agent.GetMemory().GetWorldState().Get("nearestWorkstationPosition") as Vector3?);
return(preconditions);
}
protected virtual void Awake()
{
reGoapState = ReGoapState.Instantiate();
}
public void SetPreconditions(ReGoapState <string, object> preconditions)
{
this.preconditions = preconditions;
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done,
Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
Debug.Log("Find a Tree");
transform.position = treePos.position;
StartCoroutine(WaitASec());
}
public void SetEffects(ReGoapState <string, object> effects)
{
this.effects = effects;
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done,
Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
print("grass");
doneCallback(this);
}
protected virtual void Awake()
{
goal = new ReGoapState();
}
public virtual bool CheckProceduralCondition(IReGoapAgent goapAgent, ReGoapState goalState, IReGoapAction next = null)
{
return(true);
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
var thisSettings = settings;
resourcePosition = (Vector3)thisSettings.Get("ResourcePosition");
resource = (IResource)thisSettings.Get("Resource");
if (resource == null || resource.GetCapacity() < ResourcePerAction)
{
failCallback(this);
}
else
{
gatherCooldown = Time.time + TimeToGather;
}
}
public override bool CheckProceduralCondition(IReGoapAgent goapAgent, ReGoapState goalState, IReGoapAction next = null)
{
return(base.CheckProceduralCondition(goapAgent, goalState) && bag != null);
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
var workstation = settings.Get("workstation") as Workstation;
if (workstation != null && workstation.CraftResource(resourcesBag, recipe))
{
ReGoapLogger.Log("[CraftRecipeAction] crafted recipe " + recipe.GetCraftedResource());
done(this);
}
else
{
fail(this);
}
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
Vector3 inRangePosition = lastKnownPlayerPosition.position * .5f;
blackboard.currentTarget = lastKnownPlayerPosition.position;
if (blackboard.targetReachedStatus)
{
//Debug.Log("Chase success");
done(this);
}
fail(this);
}
public virtual void Precalculations(IReGoapAgent goapAgent, ReGoapState goalState)
{
agent = goapAgent;
}
public override IReGoapActionSettings <string, object> GetSettings(IReGoapAgent <string, object> goapAgent, ReGoapState <string, object> goalState)
{
settings = null;
foreach (var pair in goalState.GetValues())
{
if (pair.Key.StartsWith("collectedResource"))
{
var resourceName = pair.Key.Substring(17);
settings = new AddResourceToBankSettings
{
ResourceName = resourceName
};
break;
}
}
return(settings);
}
public virtual IReGoapActionSettings GetSettings(IReGoapAgent goapAgent, ReGoapState goalState)
{
return(settings);
}
public virtual ReGoapState <T, W> InstantiateNewState()
{
return(ReGoapState <T, W> .Instantiate());
}
public virtual ReGoapState GetPreconditions(ReGoapState goalState, IReGoapAction next = null)
{
return(preconditions);
}
public static ReGoapNode <T, W> Instantiate(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action, ReGoapState <T, W> actionSettings)
{
ReGoapNode <T, W> node;
if (cachedNodes == null)
{
cachedNodes = new Stack <ReGoapNode <T, W> >();
}
lock (cachedNodes)
{
node = cachedNodes.Count > 0 ? cachedNodes.Pop() : new ReGoapNode <T, W>();
}
node.Init(planner, newGoal, parent, action, actionSettings);
return(node);
}
public virtual ReGoapState GetEffects(ReGoapState goalState, IReGoapAction next = null)
{
return(effects);
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action, ReGoapState <T, W> settings)
{
expandList.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (settings != null)
{
this.actionSettings = settings.Clone();
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// create a new instance of the goal based on the paren't goal
Goal = ReGoapState <T, W> .Instantiate(newGoal);
GoapActionStackData <T, W> stackData;
stackData.currentState = state;
stackData.goalState = Goal;
stackData.next = action;
stackData.agent = planner.GetCurrentAgent();
stackData.settings = actionSettings;
Preconditions = action.GetPreconditions(stackData);
Effects = action.GetEffects(stackData);
// addding the action's cost to the node's total cost
g += action.GetCost(stackData);
// adding the action's effects to the current node's state
state.AddFromState(Effects);
// removes from goal all the conditions that are now fullfiled in the action's effects
Goal.ReplaceWithMissingDifference(Effects);
// add all preconditions of the current action to the goal
Goal.AddFromState(Preconditions);
}
else
{
Goal = newGoal;
}
h = Goal.Count;
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
// additionally calculate the goal without any world effect to understand if we are done
var diff = ReGoapState <T, W> .Instantiate();
Goal.MissingDifference(planner.GetCurrentAgent().GetMemory().GetWorldState(), ref diff);
goalMergedWithWorld = diff;
}
public virtual float GetCost(ReGoapState goalState, IReGoapAction next = null)
{
return(Cost);
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
// do your own game logic here
Debug.Log("BLOCK PLACED");
// when done, in this function or outside this function, call the done or fail callback, automatically saved to doneCallback and failCallback by ReGoapAction
doneCallback(this); // this will tell the ReGoapAgent that the action is successfully done and go ahead in the action plan
// if the action has failed then run failCallback(this), the ReGoapAgent will automatically invalidate the whole plan and ask the ReGoapPlannerManager to create a new plan
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, ReGoapState <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done,
Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
spinner.movementSpeed = 0f;
Health health = spinner.Target.GetComponent <Health>();
while (health.Amount != 0)
{
health.Change(-damageOverTime * Time.deltaTime, this.gameObject);
doneCallback(this);
}
health.OnDeathEvent += SpawnSoul;
}