public void RemoveClosed(GOAPNode node)
{
if (this.numClosed > 0)
{
this.closed[this.lastFoundClosed] = this.closed[this.numClosed - 1];
}
this.numClosed--;
}
public void RemoveOpened(GOAPNode node)
{
if (this.numOpened > 0)
{
this.opened[this.lastFoundOpened] = this.opened[this.numOpened - 1];
}
this.numOpened--;
}
public GOAPNode FindClosed(GOAPNode node)
{
for (var i = 0; i < this.numClosed; i++)
{
long care = node.WorldState.DontCare ^ -1L;
if ((node.WorldState.Values & care) == (this.closed[i].WorldState.Values & care))
{
this.lastFoundClosed = i;
return(this.closed[i]);
}
}
return(null);
}
/// <summary>
/// internal function to reconstruct the plan by tracing from last node to initial node
/// </summary>
/// <returns>The plan.</returns>
private static Stack <GOAPAction> ReconstructPlan(GOAPNode goalNode, List <GOAPNode> selectedNodes)
{
var totalActionsInPlan = goalNode.Depth - 1;
var plan = new Stack <GOAPAction>(totalActionsInPlan);
var curnode = goalNode;
for (var i = 0; i <= totalActionsInPlan - 1; i++)
{
// optionally add the node to the List if we have been passed one
selectedNodes?.Add(curnode.Clone());
plan.Push(curnode.Action);
curnode = curnode.Parent;
}
// our nodes went from the goal back to the start so reverse them
selectedNodes?.Reverse();
return(plan);
}
internal List<GOAPNode> GetPossibleTransitions( WorldState fr )
{
var result = new List<GOAPNode>();
for( var i = 0; i < this.viableActions.Count; ++i )
{
// see if precondition is met
var pre = this.preConditions[i];
var care = ( pre.DontCare ^ -1L );
bool met = ( ( pre.Values & care ) == ( fr.Values & care ) );
if( met )
{
var node = new GOAPNode
{
Action = this.viableActions[i],
CostSoFar = this.viableActions[i].Cost,
WorldState = this.ApplyPostConditions(this, i, fr)
};
result.Add( node );
}
}
return result;
}
/* from: http://theory.stanford.edu/~amitp/GameProgramming/ImplementationNotes.html
* OPEN = priority queue containing START
* CLOSED = empty set
* while lowest rank in OPEN is not the GOAL:
* current = remove lowest rank item from OPEN
* add current to CLOSED
* for neighbors of current:
* cost = g(current) + movementcost(current, neighbor)
* if neighbor in OPEN and cost less than g(neighbor):
* remove neighbor from OPEN, because new path is better
* if neighbor in CLOSED and cost less than g(neighbor): **
* remove neighbor from CLOSED
* if neighbor not in OPEN and neighbor not in CLOSED:
* set g(neighbor) to cost
* add neighbor to OPEN
* set priority queue rank to g(neighbor) + h(neighbor)
* set neighbor's parent to current
*/
/// <summary>
/// Make a plan of actions that will reach desired world state
/// </summary>
/// <param name="ap">Ap.</param>
/// <param name="start">Start.</param>
/// <param name="goal">Goal.</param>
/// <param name="selectedNodes">Storage.</param>
public static Stack <GOAPAction> Plan(ActionPlanner ap, WorldState start, WorldState goal, List <GOAPNode> selectedNodes = null)
{
Storage.Clear();
var currentNode = new GOAPNode();
currentNode.WorldState = start;
currentNode.ParentWorldState = start;
currentNode.CostSoFar = 0; // g
currentNode.HeuristicCost = CalculateHeuristic(start, goal); // h
currentNode.CostSoFarAndHeuristicCost = currentNode.CostSoFar + currentNode.HeuristicCost; // f
currentNode.Depth = 1;
Storage.AddToOpenList(currentNode);
while (true)
{
// nothing left open so we failed to find a path
if (!Storage.HasOpened())
{
Storage.Clear();
return(null);
}
currentNode = Storage.RemoveCheapestOpenNode();
Storage.AddToClosedList(currentNode);
// all done. we reached our goal
if (goal.Equals(currentNode.WorldState))
{
var plan = ReconstructPlan(currentNode, selectedNodes);
Storage.Clear();
return(plan);
}
var neighbors = ap.GetPossibleTransitions(currentNode.WorldState);
for (var i = 0; i < neighbors.Count; i++)
{
var cur = neighbors[i];
var opened = Storage.FindOpened(cur);
var closed = Storage.FindClosed(cur);
var cost = currentNode.CostSoFar + cur.CostSoFar;
// if neighbor in OPEN and cost less than g(neighbor):
if (opened != null && cost < opened.CostSoFar)
{
// remove neighbor from OPEN, because new path is better
Storage.RemoveOpened(opened);
opened = null;
}
// if neighbor in CLOSED and cost less than g(neighbor):
if (closed != null && cost < closed.CostSoFar)
{
// remove neighbor from CLOSED
Storage.RemoveClosed(closed);
}
// if neighbor not in OPEN and neighbor not in CLOSED:
if (opened == null && closed == null)
{
var nb = new GOAPNode
{
WorldState = cur.WorldState,
CostSoFar = cost,
HeuristicCost = CalculateHeuristic(cur.WorldState, goal),
Action = cur.Action,
ParentWorldState = currentNode.WorldState,
Parent = currentNode,
Depth = currentNode.Depth + 1
};
nb.CostSoFarAndHeuristicCost = nb.CostSoFar + nb.HeuristicCost;
Storage.AddToOpenList(nb);
}
}
}
}
public void AddToOpenList(GOAPNode node)
{
this.opened[this.numOpened++] = node;
}
public bool IsClosed(GOAPNode node)
{
return(Array.IndexOf(this.closed, node) > -1);
}
public bool IsOpen(GOAPNode node)
{
return(Array.IndexOf(this.opened, node) > -1);
}
public void AddToClosedList(GOAPNode node)
{
this.closed[this.numClosed++] = node;
}
