private List <GoapAction> FindUsableActions(List <KeyValuePair <string, object> > currentState,
List <GoapAction> exclude, KeyValuePair <string, object> goal, float cost)
{
List <GoapAction> newActions = new List <GoapAction>();
List <KeyValuePair <GoapAction, int> > actionPriority = new List <KeyValuePair <GoapAction, int> >();
int goalS = (int)goal.Value;
int invS = (int)currentState.Find(e => e.Key.Equals("In" + goal.Key.Substring(2))).Value;
int carS = (int)currentState.Find(e => e.Key.Equals("Ca" + goal.Key.Substring(2))).Value;
foreach (GoapAction a in actionList)
{
if (a.IsActionUsable(currentState))
{
List <KeyValuePair <string, object> > actionEffects = a.effects;
int potential = 0;
if (a.GetType().Name == "InventoryToCar")
{
potential += invS;
}
if (a.GetType().Name == "CarToInventory")
{
potential += goalS;
}
foreach (KeyValuePair <string, object> effect in actionEffects)
{
if (effect.Key.Substring(2).Equals(goal.Key.Substring(2)))
{
potential += (int)effect.Value * Mathf.Max(goalS - invS - carS, 0) + Mathf.Max(goalS - carS, 0);
isGoalActionVisited = true;
}
}
potential -= usedActionList.Contains(a) ? 2 : -1;
actionPriority.Add(new KeyValuePair <GoapAction, int>(a, potential));
Debug.Log(GoapAgent.Display(a) + ": " + potential);
}
}
actionPriority.Sort((a, b) => - 1 * a.Value.CompareTo(b.Value));//Desc
foreach (KeyValuePair <GoapAction, int> action in actionPriority)
{
GoapAction a = action.Key;
newActions.Add(a);
usedActionList.Add(a);
}
if (isGoalActionVisited)
{
usedActionList = new HashSet <GoapAction>();
isGoalActionVisited = false;
}
return(newActions);
}
public void PlanFound(KeyValuePair <string, object> goal, Queue <GoapAction> actions)
{
GameObject[] texts = GameObject.FindGameObjectsWithTag("plan_text");
for (int i = 0; i < texts.Length; i++)
{
GameObject.Destroy(texts[i]);
}
GameObject textObject = Instantiate(planTextPrefab, planPlane.transform) as GameObject;
textObject.GetComponent <Text>().text = "The Number " + planIndex.ToString() + " Plan.";
foreach (GoapAction a in actions)
{
textObject = Instantiate(planTextPrefab, planPlane.transform) as GameObject;
textObject.GetComponent <Text>().text = GoapAgent.Display(a);
}
planIndex++;
Debug.Log(GoapAgent.Display(actions.ToArray()));
}
private List <GoapNode> DoPlan(List <GoapNode> leaves, List <GoapAction> actions, List <KeyValuePair <string, object> > worldState, KeyValuePair <string, object> goal)
{
foreach (GoapAction a in actions)
{
actionList.Add(a);
a.DoReset();
}
Debug.Log("Start World:" + GoapAgent.Display(worldState));
List <GoapAction> usableActions = FindUsableActions(worldState, new List <GoapAction>(), goal, 0);
// build graph
GoapNode start = new GoapNode(null, 0, worldState, null);
bool success = BuildGOAP(start, leaves, usableActions, goal, 0);
if (!success)
{
return(new List <GoapNode>());
}
return(leaves);
}
public void PlanAborted(GoapAction aborter)
{
actionText.GetComponent <Text>().text = "Plan " + planIndex + " action " + GoapAgent.Display(aborter) + " Aborted.";
}
