// keep only missing differences in values
public int ReplaceWithMissingDifference(GoapState <T, W> other, int stopAt = int.MaxValue, Func <KeyValuePair <T, W>, W, bool> predicate = null, bool test = false)
{
lock (values)
{
var count = 0;
var buffer = values;
values = values == bufferA ? bufferB : bufferA;
values.Clear();
foreach (var pair in buffer)
{
W otherValue;
other.values.TryGetValue(pair.Key, out otherValue);
if (!Equals(pair.Value, otherValue) && (predicate == null || predicate(pair, otherValue)))
{
count++;
values[pair.Key] = pair.Value;
if (count >= stopAt)
{
break;
}
}
}
return(count);
}
}
// write differences in "difference"
public int MissingDifference(GoapState <T, W> other, ref GoapState <T, W> difference, int stopAt = int.MaxValue, Func <KeyValuePair <T, W>, W, bool> predicate = null, bool test = false)
{
lock (values)
{
var count = 0;
foreach (var pair in values)
{
W otherValue;
other.values.TryGetValue(pair.Key, out otherValue);
if (!Equals(pair.Value, otherValue) && (predicate == null || predicate(pair, otherValue)))
{
count++;
if (difference != null)
{
difference.values[pair.Key] = pair.Value;
}
if (count >= stopAt)
{
break;
}
}
}
return(count);
}
}
public void AddFromState(GoapState <T, W> b)
{
lock (values) lock (b.values)
{
foreach (var pair in b.values)
{
values[pair.Key] = pair.Value;
}
}
}
private void Init(GoapState <T, W> old)
{
values.Clear();
if (old != null)
{
lock (old.values)
{
foreach (var pair in old.values)
{
values[pair.Key] = pair.Value;
}
}
}
}
public static GoapState <T, W> Instantiate(GoapState <T, W> old = null)
{
GoapState <T, W> state;
if (cachedStates == null)
{
cachedStates = new Stack <GoapState <T, W> >();
}
lock (cachedStates)
{
state = cachedStates.Count > 0 ? cachedStates.Pop() : new GoapState <T, W>();
}
state.Init(old);
return(state);
}
public bool HasAny(GoapState <T, W> other)
{
lock (values) lock (other.values)
{
foreach (var pair in other.values)
{
W thisValue;
values.TryGetValue(pair.Key, out thisValue);
if (Equals(thisValue, pair.Value))
{
return(true);
}
}
return(false);
}
}
public int MissingDifference(GoapState <T, W> other, int stopAt = int.MaxValue)
{
lock (values)
{
var count = 0;
foreach (var pair in values)
{
W otherValue;
other.values.TryGetValue(pair.Key, out otherValue);
if (!Equals(pair.Value, otherValue))
{
count++;
if (count >= stopAt)
{
break;
}
}
}
return(count);
}
}
public bool HasAnyConflict(GoapState <T, W> other) // used only in backward for now
{
lock (values) lock (other.values)
{
foreach (var pair in other.values)
{
var otherValue = pair.Value;
// not here, ignore this check
W thisValue;
if (!values.TryGetValue(pair.Key, out thisValue))
{
continue;
}
if (!Equals(otherValue, thisValue))
{
return(true);
}
}
return(false);
}
}
// this method is more relaxed than the other, also accepts conflits that are fixed by "changes"
public bool HasAnyConflict(GoapState <T, W> changes, GoapState <T, W> other)
{
lock (values) lock (other.values)
{
foreach (var pair in other.values)
{
var otherValue = pair.Value;
// not here, ignore this check
W thisValue;
if (!values.TryGetValue(pair.Key, out thisValue))
{
continue;
}
W effectValue;
changes.values.TryGetValue(pair.Key, out effectValue);
if (!Equals(otherValue, thisValue) && !Equals(effectValue, thisValue))
{
return(true);
}
}
return(false);
}
}
public IGoapGoal <T, W> Plan(IGoapAgent <T, W> agent, IGoapGoal <T, W> blacklistGoal = null, Queue <GoapActionState <T, W> > currentPlan = null, Action <IGoapGoal <T, W> > callback = null)
{
if (GoapLogger.Level == GoapLogger.DebugLevel.Full)
{
GoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
}
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
var currentState = agent.GetMemory().GetWorldState();
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
GoapActionStackData <T, W> stackData;
stackData.agent = goapAgent;
stackData.currentState = currentState;
stackData.goalState = goalState;
stackData.next = null;
stackData.settings = null;
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(stackData);
if (!action.CheckProceduralCondition(stackData))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = GoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(stackData), ref wantedGoalCheck);
}
// finally push the current world state
var current = wantedGoalCheck;
wantedGoalCheck = GoapState <T, W> .Instantiate();
current.MissingDifference(GetCurrentAgent().GetMemory().GetWorldState(), ref wantedGoalCheck);
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
goalState = goalState.Clone();
var leaf = (GoapNode <T, W>)astar.Run(
GoapNode <T, W> .Instantiate(this, goalState, null, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit, debugPlan: settings.DebugPlan);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
callback?.Invoke(currentGoal);
if (currentGoal != null)
{
GoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
if (GoapLogger.Level == GoapLogger.DebugLevel.Full)
{
int i = 0;
GoapActionStackData <T, W> stackData;
stackData.agent = agent;
stackData.currentState = currentState;
stackData.goalState = currentGoal.GetGoalState();
stackData.next = null;
foreach (var action in currentGoal.GetPlan())
{
stackData.settings = action.Settings;
GoapLogger.Log(string.Format("[ReGoapPlanner] {0}) {1}", i++, action.Action.ToString(stackData)));
}
}
}
else
{
GoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
