protected override void NextState()
{
GoToNextState();
//if i am not done running check if we need to be close to our target
if (!IsDone())
{
I_GoapAction sm = (I_GoapAction)GetCurrentState();
bool inrange = sm.RequiresInRange();
if (inrange)
{
Vector3 target = sm.GetTargetPosition();
m_NavAgent.SetTarget(target);
currentState = State.GOTO_ACTION;
Debug.Log("GOTO ACTION");
}
else
{
EnterNextState();
currentState = State.EXECTUE_ACTION;
}
}
else
{
currentState = State.NONE;
}
}
private static void ExecuteGoapRequest(GoapRequest _request)
{
//I_GoapAgent _agent, HashSet< string > _worldState, HashSet<string> _goalState, I_GoapActionSet _actionSet
//Check is there an action which can just run on the current worldstate without building a tree?
//sort by number of effects
List <I_GoapAction> actions = new List <I_GoapAction>(_request.actions);
///////TODO!!! Sort by number of preconditions
//this is returned
List <I_GoapAction> acitonSequence = new List <I_GoapAction>();
//check if one action can just satisfy
/*for (int i = 0; i < actions.Count; i++)
* {
* actions[i].ResetConditionCache();
* if (actions[i].GetPreConditions().IsSubsetOf(_worldState) && actions[i].IsProceduralConditionValid(_agent))
* {
* HashSet<string> newWorldState = new HashSet<string>();
* newWorldState.UnionWith(_worldState);
* newWorldState.UnionWith(actions[i].GetPostEffects());
*
* if (_goalState.IsSubsetOf(newWorldState))
* {
* acitonSequence.Add(actions[i]);
* return acitonSequence;
* }
*
* }
* }*/
List <GoapNode> leaves = new List <GoapNode>(); //leaves are the solutions
GoapNode rootNode = new GoapNode(null, null, _request.worldState, 0);
for (int i = 0; i < actions.Count; i++)
{
if (actions[i] == null)
{
Debug.LogError("One of the ations is null!");
}
actions[i].ResetConditionCache();
}
bool success = BuildTree(_request, rootNode, leaves, actions, _request.goalState);
if (success)
{
Debug.Log("Found solution");
}
//return goap actions with cheapest cost
float smallestCost = float.MaxValue;
int index = -1;
// Debug.Log("found leaves: " + leaves.Count);
for (int i = 0; i < leaves.Count; i++)
{
//Debug.Log("cost: " + leaves[i].runningCost);
if (smallestCost > leaves[i].runningCost)
{
index = i;
smallestCost = leaves[i].runningCost;
}
}
Debug.Log("Found Solutions: " + leaves.Count);
if (leaves.Count > 0)
{
GoapNode currentNode = leaves[index];
while (currentNode != null)
{
if (currentNode.GetValue() != null)
{
I_GoapAction action = (I_GoapAction)currentNode.GetValue().Clone();
action.ActionHasBeenPicked();
acitonSequence.Insert(0, action);
}
currentNode = (GoapNode)currentNode.parent;
}
}
//callback -> should be executed on the main thread if this is ever threaded!
_request.callback?.Invoke(acitonSequence);
}
