/**
* Creates an a-star node
* @param the id of the new node
* @return a new a-star node
*/
public override AStarNode CreateANode(short id)
{
AStarGOAPNode newNode = new AStarGOAPNode();
newNode.NodeID = id;
return(newNode);
}
public override bool IsAStarFinished(AStarNode currNode)
{
/**
* A Star is finished if we can go from the AI agents current state
* and by applying the actions in reverse arrive at the goal
*/
//A Star can be finished if the node being input is NULL
if (currNode == null)
{
return(true);
}
AStarGOAPNode node = (AStarGOAPNode)(currNode);
if (IsPlanValid(node))
{
return(true);
}
return(false);
}
/********************************************
* GETTERS/SETTERS
********************************************/
public override float GetHeuristicDistance(AgentHuman ai, AStarNode aStarNode, bool firstRun)
{
//If we are on the first run then we know that we have no node so we need to setup the first node
AStarGOAPNode node = (AStarGOAPNode)aStarNode;
if (firstRun)
{
//Copy the WS satisfaction conditions to the nodes goal state
node.GoalState.Reset();
Goal.SetWSSatisfactionForPlanning(node.GoalState);
Goal.ChangeCurrentWSForPlanning(node.CurrentState);
}
else
{
//Now we know that the node being checked is an action.
//We need to get the action and apply it
GOAPAction action = Map.GetAction(aStarNode.NodeID);
//if(action.ValidateWSPreconditions(node.CurrentState,node.GoalState))
{
//if(action.ValidateWSEffects(ai,&node.CurrentState,&node.GoalState))
{
//action.AddInvalidPreconditionsToGoal(ai,&node.CurrentState,&node.GoalState);
//action.ApplyWSEffects(ai,&node.CurrentState,&node.GoalState);
action.SolvePlanWSVariable(node.CurrentState, node.GoalState);
action.SetPlanWSPreconditions(node.GoalState);
}
}
}
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance1 : goal" + node.GoalState.ToString());
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance1 : current" + node.CurrentState.ToString());
MergeStates(ai, node.CurrentState, node.GoalState);
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance2 : goal" + node.GoalState.ToString());
// if (Owner.debugGOAP) Debug.Log("GetHeuristicDistance2 : current" + node.CurrentState.ToString());
return(node.GoalState.GetNumWorldStateDifferences(node.CurrentState));
}
public override float GetActualCost(AStarNode nodeOne, AStarNode nodeTwo)
{
/**
* When getting the actual cost we must first copy over the states from one node to another
* Then we can get the actual costs for the action and return them
*/
AStarGOAPNode pNodeOne = (AStarGOAPNode)nodeOne;
AStarGOAPNode pNodeTwo = (AStarGOAPNode)nodeTwo;
pNodeTwo.CurrentState.CopyWorldState(pNodeOne.CurrentState);
pNodeTwo.GoalState.CopyWorldState(pNodeOne.GoalState);
//Now try and get the action for the second node. If it exists return the cost
GOAPAction action = Map.GetAction(nodeTwo.NodeID);
if (action != null)
{
return(action.Cost);
}
//Something went wrong, return a high value
return(float.MaxValue);
}
public override int GetNumAStarNeighbours(AStarNode aStarNode)
{
if (aStarNode == null) //If the node is invalid then there's no neighbours
{
return(0);
}
//New search about to occur, clear the previous neighbour records
m_Neighbours.Clear();
/**
* Go through each world state property and test if it is in the goal and current state
* If it isn't then we look through the actionEffects table and see if the actions for this effect can solve the goal state
*/
AStarGOAPNode node = (AStarGOAPNode)aStarNode;
WorldStateProp currProp;
WorldStateProp goalProp;
GOAPAction action;
for (E_PropKey i = 0; i < E_PropKey.Count; i++)
{
// First test if the effect isn't in both the goal and the current state
if (!(node.CurrentState.IsWSPropertySet(i) && node.GoalState.IsWSPropertySet(i)))
{
continue; //If not skip this effect
}
/**
* Now test if the two world state properties are the same
* If not we continue
*/
currProp = node.CurrentState.GetWSProperty(i);
goalProp = node.GoalState.GetWSProperty(i);
if (currProp != null && goalProp != null)
{
if (!(currProp == goalProp))
{
for (int j = 0; j < m_EffectsTable[(int)i].Count; j++)
{
action = m_EffectsTable[(int)i][j];
//Are the context preconditions valid?
if (!action.ValidateContextPreconditions(node.CurrentState, true))
{
continue;
}
// UnityEngine.Debug.Log(action.ToString() + " adding to sousedi");
m_Neighbours.Add(action);
}
}
}
}
//Sort the returned neighbour actions by precedence
PrecedenceComparer c = new PrecedenceComparer();
m_Neighbours.Sort(c);
return(m_Neighbours.Count);
}
public bool IsPlanValid(AStarGOAPNode currentNode)
{
/*if (Owner.debugGOAP)
* {
* if (Map.GetAction(currentNode.NodeID) != null)
* Debug.Log("IsPlanValid : GOAL");
* else
* Debug.Log("IsPlanValid node id :" + currentNode.NodeID);
*
* int ii = 0;
* AStarNode a = currentNode;
* while (Map.GetAction(a.NodeID) != null)
* {
* Debug.Log(ii + ". " + Map.GetAction(a.NodeID).ToString());
* a = a.Parent;
* ii++;
* }
* }*/
//if (Owner.debugGOAP) Debug.Log("WS diference :" + currentNode.GoalState.GetNumWorldStateDifferences(currentNode.CurrentState));
// if (Owner.debugGOAP) Debug.Log("WS : goal " + currentNode.GoalState.ToString());
//if (Owner.debugGOAP) Debug.Log("WS : current " + currentNode.CurrentState.ToString());
if (currentNode.GoalState.GetNumWorldStateDifferences(currentNode.CurrentState) == 0)
{
WorldState tempState = new WorldState();
//tempState.CopyWorldState(Ai.WorldState);
tempState.CopyWorldState(currentNode.GoalState);
// if (Owner.debugGOAP) Debug.Log(tempState.ToString());
AStarGOAPNode currNode = currentNode;
GOAPAction parentNode;
// int i = 0;
while (currNode.NodeID != -1)
{
parentNode = Map.GetAction(currNode.NodeID);
/*if (Owner.debugGOAP) Debug.Log("Validating" + i + ". "+ parentNode.ToString());
* i++;
*
* //Get out if the current world state is validated by the current node
* if (!parentNode.ValidateWSEffects(tempState, null))
* {
* if (Owner.debugGOAP)
* {
* Debug.Log("FAILED: ValidateWSEffects return false");
* Debug.Log(parentNode.ToString() + " " + parentNode.WorldEffects.ToString());
* Debug.Log(tempState.ToString());
*
* }
* return false;
* }*/
/**
* Now that the action's preconditions have been reversed,
* the preconditions of the action must be satisfied
*/
if (!parentNode.ValidateWSPreconditions(tempState, null))
{
// if (Owner.debugGOAP) Debug.Log("FAILED: ValidateWSPreconditions return false");
return(false);
}
/**
* The context preconditions must also be satisfied
*/
if (!parentNode.ValidateContextPreconditions(tempState, true))
{
// if (Owner.debugGOAP) Debug.Log("FAILED: ValidateContextPreconditions return false");
return(false);
}
/**
* Apply the preconditions to the temporate world state
*/
parentNode.ApplyWSEffects(tempState, null);
//Get the next node in the list of nodes
currNode = (AStarGOAPNode)currNode.Parent;
}
//Have applied all the actions in reverse,is the temp state now equal to the agents current state???
if (Goal.IsWSSatisfiedForPlanning(tempState))
{
// if (Owner.debugGOAP) Debug.Log("TRUE :");
return(true);
}
}
// Debug.Log("FAILED");
return(false);
}
public bool IsPlanValid(AStarGOAPNode currentNode)
{
//if (Owner.debugGOAP) Debug.Log("IsPlanValid :" + currentNode.NodeID);
//if (Owner.debugGOAP) Debug.Log("IsPlanValid :" + currentNode.GoalState.GetNumWorldStateDifferences(currentNode.CurrentState));
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : goal" + currentNode.GoalState.ToString());
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : current" + currentNode.CurrentState.ToString());
if (currentNode.GoalState.GetNumWorldStateDifferences(currentNode.CurrentState) == 0)
{
WorldState tempState = new WorldState();
//tempState.CopyWorldState(Ai.WorldState);
tempState.CopyWorldState(currentNode.GoalState);
// if (Owner.debugGOAP) Debug.Log(tempState.ToString());
AStarGOAPNode currNode = currentNode;
GOAPAction parentNode;
while (currNode.NodeID != -1)
{
parentNode = Map.GetAction(currNode.NodeID);
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : " + parentNode.ToString());
//Get out if the current world state is validated by the current node
if (!parentNode.ValidateWSEffects(tempState, null))
{
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : ValidateWSEffects return false, so failed");
return(false);
}
/**
* Now that the action's preconditions have been reversed,
* the preconditions of the action must be satisfied
*/
if (!parentNode.ValidateWSPreconditions(tempState, null))
{
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : ValidateWSPreconditions return false, so failed");
return(false);
}
/**
* The context preconditions must also be satisfied
*/
if (!parentNode.ValidateContextPreconditions(Owner))
{
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : ValidateContextPreconditions return false, so failed");
return(false);
}
/**
* Apply the preconditions to the temporate world state
*/
parentNode.ApplyWSEffects(tempState, null);
//Get the next node in the list of nodes
currNode = (AStarGOAPNode)currNode.Parent;
}
//Have applied all the actions in reverse,is the temp state now equal to the agents current state???
if (Goal.IsWSSatisfiedForPlanning(tempState))
{
//if (Owner.debugGOAP) Debug.Log("IsPlanValid : IsWSSatisfied return true, so its true");
return(true);
}
}
//Debug.Log("IsPlanValid : failed");
return(false);
}
