// Create possible previous goal (before this actionwas made)
public WorldGoal reverseApplyToWorldGoal(WorldGoal goal)
{
WorldGoal newGoal = new WorldGoal(goal); //this is deep copied, see c'tor
foreach (KeyValuePair <IStateful, Goal> agentGoal in goal)
{
GoapAgent currAgent = (GoapAgent)agentGoal.Key;
Goal currGoal = agentGoal.Value;
Goal updatedGoal = this.effects.reverseApplyEffectsToGoal(currGoal);
List <string> keys = new List <string> (updatedGoal.Keys);
foreach (string k in keys)
{
if (updatedGoal [k] == null)
{
updatedGoal.Remove(k);
}
}
if (newGoal.ContainsKey(currAgent))
{
newGoal [currAgent] = updatedGoal;
}
else
{
newGoal.Add(currAgent, updatedGoal);
}
// Add target preconditions to new goal
foreach (KeyValuePair <string, Condition> kvp in this.preconditions)
{
if (!newGoal [currAgent].ContainsKey(kvp.Key))
{
newGoal [currAgent].Add(kvp.Key, new Condition(kvp.Value.comparison, kvp.Value.value));
}
}
}
return(newGoal);
}
public bool isGoalCloser(WorldGoal currentGoal, WorldGoal possibleGoal)
{
bool res = false;
foreach (KeyValuePair <IStateful, Goal> agentGoal in possibleGoal)
{
Goal possible = agentGoal.Value;
// TODO: what if possible goal doesnt contain this person
if (!currentGoal.ContainsKey(agentGoal.Key))
{
continue;
}
else
{
Goal current = currentGoal [agentGoal.Key];
//go through parent node's conditions
foreach (KeyValuePair <string, Condition> kvp in current)
{
// If initial state without this parameter, irrelevant and continue
if (this.ContainsKey(kvp.Key))
{
// If child node doesnt contain this goal, it is satisfied!
if (!possible.ContainsKey(kvp.Key))
{
res = true;
}
// Else - check if child goal is closer to inital state
else
{
StateValue sv = this [kvp.Key];
Condition currCond = kvp.Value;
Condition possCond = possible [kvp.Key];
//if int check if new closer to wanted
if (sv.value.GetType() == typeof(int))
{
if (sv.CheckCondition(currCond) && sv.CheckCondition(possCond))
{
continue;
}
if (sv.CheckCondition(currCond) && !sv.CheckCondition(possCond))
{
return(false);
}
if (!sv.CheckCondition(currCond) && sv.CheckCondition(possCond))
{
res = true;
continue;
}
//now both conditions dont hold, check if possCond improves
//assume both goals have same compare type
switch (currCond.comparison)
{
case CompareType.Equal:
res = (Mathf.Abs((int)sv.value - (int)currCond.value)) < (Mathf.Abs((int)sv.value - (int)possCond.value));
break;
case CompareType.LessThan:
res = ((int)possCond.value - (int)sv.value) > ((int)currCond.value - (int)sv.value);
break;
case CompareType.LessThanOrEqual:
res = ((int)possCond.value - (int)sv.value) > ((int)currCond.value - (int)sv.value);
break;
case CompareType.MoreThan:
res = ((int)possCond.value - (int)sv.value) < ((int)currCond.value - (int)sv.value);
break;
case CompareType.MoreThanOrEqual:
res = ((int)possCond.value - (int)sv.value) < ((int)currCond.value - (int)sv.value);
break;
case CompareType.NotEqual:
res = (Mathf.Abs((int)sv.value - (int)currCond.value)) > (Mathf.Abs((int)sv.value - (int)possCond.value));
break;
}
//if bool check if new matches while old doesnt
}
else if (sv.value.GetType() == typeof(bool))
{
//assuming booleans will only get ModificationType.Set
res = (sv.value != currCond.value && sv.value == possCond.value);
}
//if new cond worse - return false
if (res == false)
{
//Debug.Log ("this Goal isnt any better! abort!");
return(false);
}
}
}
}
}
}
if (res == false)
{
//Debug.Log ("this Goal isnt any better! abort!");
}
else
{
//Debug.Log ("this Goal is better!");
}
return(res);
}
/// <summary>
/// A* forward search for a plan that satisfies the given goal.
/// </summary>
/// <returns>Returns null if a plan could not be found, or a list of the
/// actions that must be performed, in order.</returns>
public static Queue <GoapAction.WithContext> Plan(
GoapAgent agent,
List <GoapAction> availableActions,
WorldGoal goal)
{
var exploredNodes = new Dictionary <WorldState, Node> (WorldStateComparer.instance);
var closedSet = new HashSet <WorldState> (WorldStateComparer.instance);
var openSet = new FastPriorityQueue <Node> (MAX_FRINGE_NODES);
var currentNode = Node.pool.Borrow();
currentNode.Init(null, 0f, goal, null, null);
// currentNode.position = Vector2.zero;
currentNode.position = (agent as Component).transform.position;
openSet.Enqueue(currentNode, 0f);
int iterations = 0;
while (openSet.Count > 0 && iterations < MAX_FRINGE_NODES - 10)
{
iterations++;
currentNode = openSet.Dequeue();
//TODO: delete print
//Debug.Log ("current world goal: " + GoapAgent.PrettyPrint(currentNode.goal));
if (DoConditionsApply(currentNode.goal[agent], agent.GetState()))
{
DebugUtils.Log("Selected plan with cost: " + currentNode.Score);
var plan = UnwrapPlan(currentNode);
//DebugUtils.Log("the plan: " + GoapAgent.PrettyPrint(plan));
// Return all nodes.
Node.pool.ReturnAll();
// Check for leaks in the pools:
//DebugUtils.LogError("Nodes: " + Node.pool.Count);
//DebugUtils.LogError("WithContext: " + GoapAction.WithContext.pool.Count);
//DebugUtils.LogError("WorldState: " + WorldState.pool.Count);
return(plan);
}
foreach (GoapAction action in availableActions)
{
//TODO: delete print
//Debug.Log("considering " + action.name);
WorldGoal possibleChildGoal = action.reverseApplyToWorldGoal(currentNode.goal);
//Debug.Log ("new goal will be: " + GoapAgent.PrettyPrint(possibleChildGoal));
if (agent.GetState().isGoalCloser(currentNode.goal, possibleChildGoal))
{
List <IStateful> targets = action.GetAllTargets(agent);
// No targets, move to next action
if (targets.Count == 0)
{
continue;
}
float minCost = 99999f;
float tempCost = 0f;
IStateful closestTarget = null;
Vector2 newPosition = currentNode.position;
foreach (var target in targets)
{
//DebugUtils.Log ("targets...");
//TODO: check target preconds, make sure this works
if (goal.ContainsKey(target))
{
if (!DoConditionsApply(goal [target], target.GetPerceivedState()))
{
continue;
}
}
if (action.RequiresInRange())
{
tempCost = action.CalculateCost(currentNode.position, target);
if (tempCost < minCost)
{
minCost = tempCost;
closestTarget = target;
newPosition = (target as Component).transform.position;
DebugUtils.Log("minCost: " + minCost);
DebugUtils.Log("closestTarget: " + closestTarget);
}
//DebugUtils.Log ("calculating tempCost");
}
else
{
closestTarget = target;
tempCost = 9999;
DebugUtils.Log("+++ closestTarget: " + closestTarget);
break;
}
}
float cost = currentNode.runningCost + action.workDuration + tempCost;
Node newChiledNode = Node.pool.Borrow();
DebugUtils.Log("*** closestTarget: " + closestTarget);
newChiledNode.Init(currentNode, cost, possibleChildGoal, action, closestTarget);
newChiledNode.position = newPosition;
openSet.Enqueue(newChiledNode, newChiledNode.runningCost);
}
//TODO: delete 'else' scope
else
{
//DebugUtils.Log (action.name + " doesnt improve goal");
}
}
}
//TODO: return plan failed #yoel
return(null);
}