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);
}
