public override void UpdateSensor()
{
Collider2D col = Physics2D.OverlapCircle(transform.position, SensorRange, foodLayer);
worldState.Set("foodInRange", col != null);
if (col)
{
worldState.Set("food", col.gameObject);
}
}
public void TestReGoapStateMissingDifference()
{
var state = new ReGoapState();
state.Set("var0", true);
state.Set("var1", "string");
state.Set("var2", 1);
var otherState = new ReGoapState();
otherState.Set("var1", "stringDifferent");
otherState.Set("var2", 1);
var differences = new ReGoapState();
var count = state.MissingDifference(otherState, ref differences);
Assert.That(count, Is.EqualTo(2));
Assert.That(differences.Get <bool>("var0"), Is.EqualTo(true));
Assert.That(differences.Get <string>("var1"), Is.EqualTo("string"));
Assert.That(differences.HasKey("var2"), Is.EqualTo(false));
}
public void TestReGoapStateAddOperator()
{
var state = new ReGoapState();
state.Set("var0", true);
state.Set("var1", "string");
state.Set("var2", 1);
var otherState = new ReGoapState();
otherState.Set("var2", "new2"); // 2nd one replaces the first
otherState.Set("var3", true);
otherState.Set("var4", 10.1f);
var sum = state + otherState;
Assert.That(state.Count + otherState.Count, Is.EqualTo(6));
Assert.That(sum.Count, Is.EqualTo(5)); // var2 on first is replaced by var2 on second
Assert.That(sum.Get <bool>("var0"), Is.EqualTo(true));
Assert.That(sum.Get <string>("var1"), Is.EqualTo("string"));
Assert.That(sum.Get <string>("var2"), Is.EqualTo("new2"));
Assert.That(sum.Get <bool>("var3"), Is.EqualTo(true));
Assert.That(sum.Get <float>("var4"), Is.EqualTo(10.1f));
}
public static ReGoapTestGoal GetCustomGoal(GameObject gameObject, string name, Dictionary <string, bool> goalState, int priority = 1)
{
var customGoal = gameObject.AddComponent <ReGoapTestGoal>();
customGoal.Name = name;
customGoal.SetPriority(priority);
customGoal.Init();
var goal = new ReGoapState();
foreach (var pair in goalState)
{
goal.Set(pair.Key, pair.Value);
}
customGoal.SetGoalState(goal);
return(customGoal);
}
public static ReGoapTestAction GetCustomAction(GameObject gameObject, string name, Dictionary <string, bool> preconditionsBools,
Dictionary <string, bool> effectsBools, int cost = 1)
{
var effects = new ReGoapState();
var preconditions = new ReGoapState();
var customAction = gameObject.AddComponent <ReGoapTestAction>();
customAction.Name = name;
customAction.Init();
foreach (var pair in effectsBools)
{
effects.Set(pair.Key, pair.Value);
}
customAction.SetEffects(effects);
foreach (var pair in preconditionsBools)
{
preconditions.Set(pair.Key, pair.Value);
}
customAction.SetPreconditions(preconditions);
customAction.Cost = cost;
return(customAction);
}
private static void _AddIntoReGoapState(ReGoapState <string, object> st, string key, object v)
{
if (key.StartsWith("Int"))
{
st.SetStructValue(key, StructValue.CreateIntArithmetic((int)v));
}
else if (key.StartsWith("Float"))
{
st.SetStructValue(key, StructValue.CreateFloatArithmetic((float)v));
}
else if (key.StartsWith("NInt"))
{
st.SetStructValue(key, StructValue.CreateIntArithmetic((int)v, neg: true));
}
else if (key.StartsWith("NFloat"))
{
st.SetStructValue(key, StructValue.CreateFloatArithmetic((float)v, neg: true));
}
else
{
st.Set(key, v);
}
}
public void TestDynamicAction()
{
var gameObject = new GameObject();
// settings these value to make sure that the planning chooses weaponA, since the pathing
// weaponA -> ammoA -> enemy is actually cheaper, even if weaponC is very close to the enemy
// without dynamic cost weaponC would always be chosen
// we also add weaponB and ammoB to show the reconcileStartPosition logic
// with this requirement in the goal and this action, we push as cost a goto to the player position
// this effectively makes the plan: weaponB -> ammoB -> enemy more expensive, without reconciling with the starting position this plan would have been the best.
var playerPosition = Vector2.zero;
var enemyPosition = new Vector2(0, 100);
var weaponAPosition = new Vector2(0, 50);
var ammoAPosition = new Vector2(0, 60);
var weaponBPosition = new Vector2(0, 115);
var ammoBPosition = new Vector2(0, 115);
var weaponCPosition = new Vector2(-5, 100);
var weaponRange = 20.0f;
ReGoapTestsHelper.GetCustomAction(gameObject, "ShootEnemy",
new Dictionary <string, object> {
{ "weaponReady", true }, { "isAt", enemyPosition }, { "inRange", weaponRange }
},
new Dictionary <string, object> {
{ "shootEnemy", true }
}, 100);
ReGoapTestsHelper.GetCustomAction(gameObject, "ReloadWeapon",
new Dictionary <string, object> {
{ "hasWeapon", true }, { "hasAmmo", true }
},
new Dictionary <string, object> {
{ "weaponReady", true }
}, 20);
#region getWeapon
var getWeapon = ReGoapTestsHelper.GetCustomAction(gameObject, "GetWeapon",
new Dictionary <string, object> {
},
new Dictionary <string, object> {
{ "hasWeapon", true }
}, 5);
getWeapon.CustomPreconditionsGetter = (ref ReGoapState <string, object> preconditions, GoapActionStackData <string, object> stackData) =>
{
preconditions.Clear();
if (stackData.settings.HasKey("weaponPosition"))
{
preconditions.Set("isAt", (Vector2)stackData.settings.Get("weaponPosition"));
}
};
getWeapon.CustomEffectsGetter = (ref ReGoapState <string, object> effects, GoapActionStackData <string, object> stackData) =>
{
effects.Clear();
if (stackData.settings.HasKey("weaponPosition"))
{
effects.Set("hasWeapon", true);
}
};
getWeapon.CustomSettingsGetter = (GoapActionStackData <string, object> stackData) =>
{
var results = new List <ReGoapState <string, object> >();
if (stackData.currentState.HasKey("weaponPositions") && stackData.currentState.HasKey("isAt"))
{
var currentPosition = (Vector2)stackData.currentState.Get("isAt");
foreach (var objectPosition in (List <Vector2>)stackData.currentState.Get("weaponPositions"))
{
ReGoapState <string, object> settings = ReGoapState <string, object> .Instantiate();
settings.Set("weaponPosition", objectPosition);
results.Add(settings);
}
}
return(results);
};
#endregion
#region getAmmo
var getAmmo = ReGoapTestsHelper.GetCustomAction(gameObject, "GetAmmo",
new Dictionary <string, object> {
},
new Dictionary <string, object> {
{ "hasAmmo", true }
}, 3);
getAmmo.CustomPreconditionsGetter = (ref ReGoapState <string, object> preconditions, GoapActionStackData <string, object> stackData) =>
{
preconditions.Clear();
if (stackData.settings.HasKey("ammoPosition"))
{
preconditions.Set("isAt", (Vector2)stackData.settings.Get("ammoPosition"));
}
};
getAmmo.CustomEffectsGetter = (ref ReGoapState <string, object> effects, GoapActionStackData <string, object> stackData) =>
{
effects.Clear();
if (stackData.settings.HasKey("ammoPosition"))
{
effects.Set("hasAmmo", true);
}
};
getAmmo.CustomSettingsGetter = (GoapActionStackData <string, object> stackData) =>
{
var results = new List <ReGoapState <string, object> >();
if (stackData.currentState.HasKey("ammoPositions") && stackData.currentState.HasKey("isAt"))
{
var currentPosition = (Vector2)stackData.currentState.Get("isAt");
foreach (var objectPosition in (List <Vector2>)stackData.currentState.Get("ammoPositions"))
{
ReGoapState <string, object> settings = ReGoapState <string, object> .Instantiate();
settings.Set("ammoPosition", objectPosition);
results.Add(settings);
}
}
return(results);
};
#endregion
#region dynamicGoTo
var dynamicGoTo = ReGoapTestsHelper.GetCustomAction(gameObject, "GoTo",
new Dictionary <string, object> {
},
new Dictionary <string, object> {
});
dynamicGoTo.CustomCostGetter = (ref float cost, GoapActionStackData <string, object> stackData) =>
{
// base value to avoid free action
cost = 1.0f;
var inRange = 0.0f;
if (stackData.settings.HasKey("inRange"))
{
inRange = (float)stackData.settings.Get("inRange");
}
if (stackData.settings.HasKey("isAt") && stackData.currentState.HasKey("isAt"))
{
var wantedPosition = (Vector2)stackData.settings.Get("isAt");
var currentPosition = (Vector2)stackData.currentState.Get("isAt");
cost = (wantedPosition - currentPosition).magnitude - inRange;
if (cost < 0)
{
cost = 0;
}
}
};
dynamicGoTo.CustomEffectsGetter = (ref ReGoapState <string, object> effects, GoapActionStackData <string, object> stackData) =>
{
effects.Clear();
if (stackData.settings.HasKey("isAt"))
{
var wantedPosition = (Vector2)stackData.settings.Get("isAt");
effects.Set("isAt", wantedPosition);
}
if (stackData.settings.HasKey("inRange"))
{
var inRange = (float)stackData.settings.Get("inRange");
effects.Set("inRange", inRange);
}
};
dynamicGoTo.CustomSettingsGetter = (GoapActionStackData <string, object> stackData) =>
{
var newSettings = ReGoapState <string, object> .Instantiate();
Vector2 wantedPosition = Vector2.zero;
float inRange = 0.0f;
if (stackData.goalState.HasKey("isAt"))
{
wantedPosition = (Vector2)stackData.goalState.Get("isAt");
}
if (stackData.goalState.HasKey("inRange"))
{
inRange = (float)stackData.goalState.Get("inRange");
}
newSettings.Set("isAt", wantedPosition);
newSettings.Set("inRange", inRange);
return(new List <ReGoapState <string, object> > {
newSettings
});
};
#endregion
#region reconcileStartPosition
var reconcileStartPosition = ReGoapTestsHelper.GetCustomAction(gameObject, "ReconcileStartPosition",
new Dictionary <string, object> {
},
new Dictionary <string, object> {
}, 1);
reconcileStartPosition.CustomPreconditionsGetter = (ref ReGoapState <string, object> preconditions, GoapActionStackData <string, object> stackData) =>
{
preconditions.Clear();
// this could be fetched from the world memory, in a custom action class
preconditions.Set("isAt", playerPosition);
};
reconcileStartPosition.CustomEffectsGetter = (ref ReGoapState <string, object> effects, GoapActionStackData <string, object> stackData) =>
{
effects.Clear();
// we want this action to work only if no other goal has to be archived
if (stackData.goalState.HasKey("reconcileStartPosition") && stackData.goalState.Count == 1)
{
effects.Set("reconcileStartPosition", true);
}
};
#endregion
var theGoal = ReGoapTestsHelper.GetCustomGoal(gameObject, "ShootEnemy",
new Dictionary <string, object> {
{ "shootEnemy", true }, { "reconcileStartPosition", true }
});
var memory = gameObject.AddComponent <ReGoapTestMemory>();
memory.Init();
memory.SetValue("enemyPosition", enemyPosition);
memory.SetValue("ammoPositions", new List <Vector2> {
ammoAPosition, ammoBPosition
});
memory.SetValue("weaponPositions", new List <Vector2> {
weaponAPosition, weaponBPosition, weaponCPosition
});
var agent = gameObject.AddComponent <ReGoapTestAgent>();
agent.Init();
var plan = GetPlanner(dynamicActions: true).Plan(agent, null, null, null);
}
public override void UpdateSensor()
{
worldState.Set("objectivePosition", lastKnownPlayerPosition.position != null ? lastKnownPlayerPosition.position : transform.position);
base.UpdateSensor();
}
