public void Plan(GOAP_Goal Goal, GOAP_Agent Agent, System.Action <Queue <GOAP_ActionState>, GOAP_Goal> OnDone)
{
GOAP_State GoalState = Goal.Goal.RemoveConditions(Agent.Memory.State.Conditions); // remove already satisfied goals based on agent memory
if (IsAchievable(GoalState, Agent)) // first check wheter with the given actions the disired goal can be achived before forcing it with a*
{
GOAP_Searcher Searcher = new GOAP_Searcher(); // create new A* GOAP searches
Queue <GOAP_ActionState> NewPlan = Searcher.Solve <GOAP_ActionState>(
new GOAP_Graph(), // initialize new goap graph
(GOAP_GraphNode Node) => {
return(Node.ConnectionAction);
},
new GOAP_GraphNode(GoalState, Agent, null, null), // start state is the goal cause of backwards searching
new GOAP_GraphNode(Agent.Memory.State, Agent, null, null), // goal state is the current state cuase of backwards searching
false,
false, // include start in the que
500 // max 500 iterations before force exit
); // solve plan finding
if (NewPlan != null)
{
OnDone.Invoke(NewPlan, Goal); return;
} // created plan invoke
}
// could not find a plan
OnDone.Invoke(null, Goal);
}
// When done with planning
private void OnDonePlanning(Queue <GOAP_ActionState> Plan, GOAP_Goal Goal)
{
IsPlanning = false;
if (Plan != null && Plan.Count > 0 && Goal != null)
{
SetNewPlan(Plan, Goal);
return; // find a purpose
}
SetNewPlan(null, null);
}
// finds the most valid goal at the moment and creates a plan to complete it
private void CreateNewPlan()
{
if (_CurrentPlan != null && _CurrentPlan.Count > 0)
{
_CurrentPlan.Peek().Action.ExitAction(_CurrentPlan.Peek().GoalState);
}
List <GOAP_Goal> PriorGoals = PrioritizedGoals; // get current available goals sorted by priority
if (PriorGoals != null && PriorGoals.Count > 0) // there are available goals found
{
PlanGoal(PriorGoals[0]); // get first prior goal and plan it
}
else // no available goals are found
{
_CurrentGoal = null;
_CurrentPlan = null;
#if DEBUG
Debug.LogError("No available goals found in agent: " + this.gameObject.name);
#endif
NoAvailableGoals(); // run no available goals function
}
}
private void SetNewPlan(Queue <GOAP_ActionState> Plan, GOAP_Goal Goal)
{
_CurrentGoal = Goal; // set current goal
_CurrentPlan = Plan; // set current plan
OnEnterPlan();
}
// plan a new plan
private void PlanGoal(GOAP_Goal TargetGoal)
{
IsPlanning = true; // set isplanning to true cause the Planner is planning a plan
TargetGoal.PreCalculations(); // do pre calculations before calculating path to goal state
GOAP_Planner.I.Plan(TargetGoal, this, OnDonePlanning); // plan a new plan
}