public BGoapNode(IGoapPlanner planner, BGoapState parentGoal, BGoapNode parent, ReGoapActionState actionState)
{
this.planner = planner;
this.parent = parent;
if(actionState != null) {
this.action = actionState.Action;
this.actionSettings = actionState.Settings;
}
if (this.parent != null){
g = parent.GetPathCost();
}
var nextAction = parent == null ? null : parent.action;
if(action != null) {
//first step - subtract effects of action
var effects = action.GetEffects( parentGoal, actionSettings, nextAction );
try {
goal = parentGoal.Difference( effects, false ); //dont use defaults here, only subtract what really is in the effect
} catch(ArgumentException e) {
Debug.Log( e );
}
//then add preconditions to the current goal state
var preconditions = action.GetPreconditions( parentGoal, actionSettings, nextAction );
goal = goal.Union( preconditions );
g += action.GetCost( parentGoal, actionSettings, nextAction );
} else goal = parentGoal;
h = goal.Distance( planner.GetCurrentAgent().GetMemory().GetWorldState() );
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
public override string ToString()
{
BGoapNode node = content as BGoapNode;
if (node.action != null)
{
return(node.GetPathCost() + "+" + node.GetHeuristicCost() + " " + node.action + "\n\n"
+ string.Join("\n", ((content as BGoapNode).GetState() as IEnumerable <KeyValuePair <IStateVarKey, object> >).Select(x => (x.Key.Name + ":" + x.Value)).ToArray()));
}
return(string.Join("\n", ((content as BGoapNode).GetState() as IEnumerable <KeyValuePair <IStateVarKey, object> >).Select(x => (x.Key.Name + ":" + x.Value)).ToArray()));
}
protected override IEnumerable <Node> GetChildren(Node node)
{
BGoapNode goapNode = (node as AStarDebugNode).content as BGoapNode;
if (childLists.ContainsKey(goapNode))
{
foreach (var BGoapNode in childLists.GetValues(goapNode, true))
{
yield return(new AStarDebugNode(BGoapNode, goal));
}
}
}
private void DrawNodesUsingGraphAPI(Rect canvas)
{
if (selectedRecording != null && selectedRecording != lastDisplayedRecording)
{
MultiValueDictionary <BGoapNode, BGoapNode> childNodes = new MultiValueDictionary <BGoapNode, BGoapNode>();
BGoapNode root = null;
foreach (INode <BGoapState> inode in selectedRecording.search)
{
if (inode.GetParent() != null)
{
childNodes.Add(inode.GetParent() as BGoapNode, inode as BGoapNode);
}
else
{
root = inode as BGoapNode;
}
}
graph = new AStarDebugGraph(childNodes, root, selectedRecording.goal);
graph.Refresh();
if (graph.IsEmpty())
{
ShowMessage("No graph data");
return;
}
if (layout == null)
{
layout = new ReingoldTilford(false);
}
layout.CalculateLayout(graph);
if (renderer == null)
{
renderer = new AStarDebugGraphRenderer();
}
renderer.Draw(layout, canvas, new GraphSettings()
{
maximumNodeSizeInPixels = 200, maximumNormalizedNodeSize = 1f, aspectRatio = 1.61f
}, fontSize, offset);
}
}
public AStarDebugGraph(MultiValueDictionary <BGoapNode, BGoapNode> childLists, BGoapNode root, BGoapState goal)
{
this.childLists = childLists;
this.root = root;
this.goal = goal;
}
