private static List <Action> FindSolution(IGoap igoap, List <Action> actions, Goal goal, DebugPlanning debug)
{
// Create the closed/ open list and add the goal state to the latter
List <Node> closedList = new List <Node>();
List <Node> openList = new List <Node>();
openList.Add(new Node(null, null, goal.succes));
DebugText(debug, DebugPlanning.Everything, "Starting state is {0}.", ConditionsToText(goal.succes));
// As long as there are nodes in the open list, we continue
while (true)
{
Node p = GetCheapestNode(openList);
if (p.action != null)
{
DebugText(debug, DebugPlanning.Everything, "Picked open node with action {0} from the open list.", p.action.GetType());
}
// Look for each action if it gives the desired effects
foreach (Action action in actions)
{
Action a = action.OnClone();
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Trying to add action {0} to the current state. Calling action {0}'s OnActionSetup.", a.GetType());
a.OnActionSetup(igoap, p.state);
// Make sure the effects add to the state
if (MatchesState(a.effects, p.state))
{
// Make sure the action is actually viable
if (!a.isViable)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Action {0} could not be added because it's not viable.", a.GetType());
continue;
}
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Action {0} is viable, the state will now be altered with the effects and preconditions.", a.GetType());
// Add the actions preconditions
List <Condition> state = AddToState(p.state, a.preconditions);
DebugText(debug, DebugPlanning.Everything, "Current state after adding action {0}'s preconditions: {1}.", a.GetType(), ConditionsToText(state));
// Remove actions effects
state = RemoveFromState(state, a.effects);
DebugText(debug, DebugPlanning.Everything, "Current state after removing action {0}'s effects: {1}.", a.GetType(), ConditionsToText(state));
// Remove preconditions which our current state already fullfills
state = RemoveFromState(state, igoap.state);
DebugText(debug, DebugPlanning.Everything, "Current state after removing iGoap's state: {0}.", ConditionsToText(state));
// Create a new node
Node n = new Node(p, a, state);
// If the state hasn't changed, the action will be futile
if (MatchesState(n.state, p.state))
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Action {0} effects did not alter the state. Since this action is futile it will not be added.", a.GetType());
continue;
}
// See if we've reached the solution
if (n.state.Count == 0)
{
closedList.Add(n);
continue;
}
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Action {0} succesfully added to the open list. Current open list count: {1}.", a.GetType(), openList.Count);
// Otherwise we add it to the open list
openList.Add(n);
}
else
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Action {0} is not viable.", a.GetType());
}
}
// We're done with this node, so we remove it from the list
openList.Remove(p);
// Check to see if a solution has been found
if (openList.Count == 0 && closedList.Count != 0)
{
return(NodesToActions(GetCheapestNode(closedList)));
}
if (openList.Count == 0)
{
break;
}
}
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Ran out of viable path options for goal {0}.", goal.GetType());
return(null);
}
/// <summary>
/// Formulates a plan based on the given actions and goal
/// </summary>
/// <param name="actions">List of available actions</param>
/// <param name="goals">Available goal</param>
/// <param name="currentGoal">If a plan is found, this will be the current goal</param>
/// <returns>If a plan was found, a list of actions. Otherwise null</returns>
public static List <Action> FormulatePlan(IGoap igoap, List <Action> actions, Goal goal, out Goal currentGoal, DebugPlanning debug = DebugPlanning.None)
{
currentGoal = goal;
if (igoap == null || actions == null || actions.Count == 0 || goal == null)
{
if (igoap == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable iGoap was found.");
}
if (actions == null || actions.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable actions for iGoap were found.");
}
if (goal)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable goal for iGoap was found.");
}
}
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Formulating a plan for goal {0}.", goal.GetType());
goal.OnGoalSetup();
if (!goal.IsGoalRelevant())
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Goal {0} is not relevant.", goal.GetType());
return(null);
}
List <Action> plan = FindSolution(igoap, actions, goal, debug);
if (plan == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Couldn't find a plan for goal {0}, returning null.", goal.GetType());
}
else
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Found a plan for goal {0} and returning it.", goal.GetType());
}
return(plan);
}
public int GetGoalChange(Goal goal)
{
var name = goal.Name;
return(_goalChanges.ContainsKey(name) ? _goalChanges[name] : 0);
}
/// <summary>
/// Formulates a plan based on the given actions and goals
/// </summary>
/// <param name="actions">List of available actions</param>
/// <param name="goals">List of available goals, these will be sorted by priority</param>
/// <param name="currentGoal">If a plan is found, this will be the current goal</param>
/// <returns>If a plan was found, a list of actions. Otherwise null</returns>
public static List <Action> FormulatePlan(IGoap igoap, List <Action> actions, List <Goal> goals, out Goal currentGoal, DebugPlanning debug = DebugPlanning.None)
{
currentGoal = null;
if (igoap == null || actions == null || actions.Count == 0 || goals == null || goals.Count == 0)
{
if (igoap == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable iGoap was found.");
}
if (actions == null || actions.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable actions for iGoap were found.");
}
if (goals == null || goals.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable goals for iGoap were found.");
}
return(null);
}
foreach (Goal goal in goals.OrderByDescending(g => g.priority).ToList())
{
List <Action> plan = FormulatePlan(igoap, actions, goal, out currentGoal, debug);
if (plan != null)
{
return(plan);
}
}
return(null);
}
/// <summary>
/// IDA* iteration
/// </summary>
/// <param name="worldModel"></param>
/// <param name="goal"></param>
/// <param name="transpositionTable"></param>
/// <param name="maxDepth"></param>
/// <returns></returns>
static List <Action> doDepthFirst(WorldModel worldModel, Goal goal, TranspositionTable transpositionTable, int maxDepth)
{
//storage for models at each depth ans corresponding actions and their cost
WorldModel[] models = new WorldModel[maxDepth + 1];
Action[] actions = new Action[maxDepth];
float[] costs = new float[maxDepth];
//initialize
models[0] = worldModel.copy();
int curDepth = 0;
//keep track of minimal cutoff for optimization
int smallestCutoff = int.MaxValue;
//iterate until there's no more possibilities at depth 0
while (curDepth >= 0)
{
if (curDepth == 0)
{
smallestCutoff = int.MaxValue;
}
//check wether goal is reached
if (goal.isFulfilled(models[curDepth]))
{
List <Action> ret = new List <Action>();
for (int i = 0; i < actions.Length; ++i)
{
if (actions[i] == null)
{
break;
}
ret.Add(actions[i]);
}
return(ret); //return current plan
}
//if maximum depth is reached
if (curDepth >= maxDepth)
{ //continue in lower depth
--curDepth;
continue;
}
//calculate total cost of current plan
float cost = models[curDepth].estimateHeuristic(goal) + costs[curDepth];
//check if we need to prune based on cost
if (cost > cutoff)
{
//
if (cutoff < smallestCutoff)
{
smallestCutoff = cutoff;
}
//drop back
--curDepth;
continue;
}
//otherwise try the next action
Action nextAction = models[curDepth].nextAction();
if (nextAction != null)
{
//copy current model
models[curDepth + 1] = models[curDepth].copy();
//apply action
actions[curDepth] = nextAction;
models[curDepth + 1].applyAction(nextAction);
costs[curDepth + 1] = costs[curDepth] + nextAction.cost;
if (!transpositionTable.has(models[curDepth + 1]))
{
++curDepth;
transpositionTable.add(models[curDepth], curDepth - 1);
}
else
{
transpositionTable.add(models[curDepth + 1], curDepth);
}
}
else
{
--curDepth;
}
}
cutoff = smallestCutoff;
return(null);
}
