// Attempts to plan a set of actions to satisfy the requested GoapPlan instance.
public void Plan(GoapPlan plan, int attempt = 0)
{
var valid = false;
if (attempt >= _agent.Actions.Count)
{
return;
}
// Loop through each possible action
foreach (var action in _agent.Actions)
{
// Check if the current action is both executable and currently not in the queue.
if (!Executable(action) || _agent.ActionQueue.Contains(action))
{
continue;
}
Update(action);
//Add the action to the queue
_agent.ActionQueue.Enqueue(action);
valid = IsValid(plan);
if (valid)
{
break;
}
}
// If the current goal isn't satisfied yet try to plan it again using a simple recursive call.
// The state of the agent is changed after each iteration, therefore earlier actions could be useful now,
// hence the recursive call.
if (!valid)
{
Plan(plan, ++attempt);
}
}
//Determines whether the given plan is reached based on the state of the agent
private bool IsValid(GoapPlan plan)
{
return(plan.Plan.All(pair => _agent.AgentState[pair.Key] == pair.Value));
}
