public GoapGoal GetGoalByID(int id)
{
IDataReader goalReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT goap_goals.* " +
"FROM goap_goals " +
"WHERE goap_goals.id = '" + id + "'");
while(goalReader.Read())
{
string goalName = goalReader.GetString(1);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
//query for conditions for each goal
IDataReader condReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT world_states.*, goal_conditions.* " +
"FROM goal_conditions INNER JOIN world_states " +
"ON goal_conditions.world_state_id = world_states.id AND goal_conditions.goal_id = '" + id + "'");
List<GoapWorldState> conditions = new List<GoapWorldState>();
while(condReader.Read())
{
GoapWorldState state = ParseWorldState(condReader);
conditions.Add(state);
}
condReader.Close();
condReader = null;
goal.GoalStates = conditions;
return goal;
}
return null;
}
private void AddGoal(GoapGoal goal)
{
if (_goals.Count < 5)
{
_goals.Add(goal);
}
}
public GoapGoal GetGoalByID(int id)
{
IDataReader goalReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT goap_goals.* " +
"FROM goap_goals " +
"WHERE goap_goals.id = '" + id + "'");
while (goalReader.Read())
{
string goalName = goalReader.GetString(1);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
//query for conditions for each goal
IDataReader condReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT world_states.*, goal_conditions.* " +
"FROM goal_conditions INNER JOIN world_states " +
"ON goal_conditions.world_state_id = world_states.id AND goal_conditions.goal_id = '" + id + "'");
List <GoapWorldState> conditions = new List <GoapWorldState>();
while (condReader.Read())
{
GoapWorldState state = ParseWorldState(condReader);
conditions.Add(state);
}
condReader.Close();
condReader = null;
goal.GoalStates = conditions;
return(goal);
}
return(null);
}
IEnumerator WaitAndCheckImportantEvent(float waitTime, float priority)
{
yield return(new WaitForSeconds(waitTime));
if (ControlType == AIControlType.Player)
{
yield return(0);
}
//when an important event happens, stop current action and reevaluate all the goals and pick the highest priority goal
//Debug.Log("Triggering important event " + _parentCharacter.name);
if (_currentAction != null)
{
if (_currentAction.AbortAction(priority))
{
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
else
{
_currentGoal = null;
FindAndExecuteAction();
}
}
public void OnGUI()
{
if (goalSet == null)
{
return;
}
GoapGoal newPickedGoal = null;
foreach (GoapGoal goal in goalSet)
{
GUILayout.BeginHorizontal();
GUILayout.Label(goal.Name, GUI.skin.label);
if (GUILayout.Button("Activate"))
{
newPickedGoal = goal;
}
GUILayout.EndHorizontal();
}
if (newPickedGoal != null)
{
foreach (GoapGoal goal in goalSet)
{
goal.enabled = (goal == newPickedGoal);
}
GameObject.FindObjectOfType <GoapAgent>().WarnGoalEnd(newPickedGoal);
}
}
public void ForceStopCurrentAction()
{
if (_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = null;
}
public override bool CheckActionCompletion()
{
if (!_readyForCompletion)
{
return(false);
}
if (ParentCharacter.MyAI.BlackBoard.GuardLevel == 0)
{
return(true);
}
if (ParentCharacter.MyAI.BlackBoard.TargetEnemy == null)
{
return(true);
}
Weapon currentWeapon = ParentCharacter.MyAI.WeaponSystem.GetCurrentWeapon();
//CsDebug.Inst.CharLog(ParentCharacter, "current weapon " + currentWeapon);
if (currentWeapon == null)
{
return(true);
}
//if top priority goal is follow, check if i'm too far from follow target or guard target
GoapGoal top = ParentCharacter.MyAI.GetDynamicGoal(0);
if (top != null && top.Name == "Follow target" && ParentCharacter.MyAI.BlackBoard.GuardLevel <= 0)
{
if (Vector3.Distance(ParentCharacter.transform.position, ParentCharacter.MyAI.BlackBoard.FollowTarget.transform.position) > 6)
{
return(true);
}
}
foreach (GoapWorldState state in Effects)
{
object result = ParentCharacter.MyAI.EvaluateWorldState(state);
CsDebug.Inst.CharLog(ParentCharacter, "Checking if state " + state.Name + " value is " + state.Value + " result: " + result);
if (!result.Equals(state.Value))
{
//CsDebug.Inst.CharLog(ParentCharacter, "result is not equal to effect");
return(false);
}
}
return(true);
}
public void Initialize()
{
_allCharacters = new List<Character>();
_humansInScene = new List<HumanCharacter>();
_mutantsInScene = new List<MutantCharacter>();
DynamicGoalGuard = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(6);
DynamicGoalGuard.Priority = 5;
DynamicGoalFollow = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(8);
DynamicGoalFollow.Priority = 5;
DynamicGoalPatrol = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(2);
DynamicGoalPatrol.Priority = 5;
}
/**
* Create a subset of the actions excluding the removeMe one. Creates a new set.
*/
private static HashSet <GoapGoal> ActionSubset(HashSet <GoapGoal> actions, GoapGoal removeMe)
{
HashSet <GoapGoal> subset = new HashSet <GoapGoal>();
foreach (GoapGoal a in actions)
{
if (!a.Equals(removeMe))
{
subset.Add(a);
}
}
return(subset);
}
public void Initialize(Character character)
{
_parentCharacter = character;
WorkingMemory = new WorkingMemory();
WorkingMemory.Initialize(_parentCharacter);
BlackBoard = new BlackBoard();
Sensor = new AISensor();
Sensor.Initialize(_parentCharacter);
TargetingSystem = new AITargeting();
TargetingSystem.Initialize(_parentCharacter);
WeaponSystem = new AIWeapon();
WeaponSystem.Initialize(_parentCharacter);
Planner = new GoapPlanner(this);
_goals = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterGoalSet(_parentCharacter.GoapID);
_actions = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterActionSet(_parentCharacter.GoapID);
_currentWorldStates = new List <GoapWorldState>();
_parentCharacter.MyEventHandler.OnCurrentActionComplete -= OnCurrentActionComplete;
_parentCharacter.MyEventHandler.OnCurrentActionComplete += OnCurrentActionComplete;
_parentCharacter.MyEventHandler.OnPerFrameTimer -= PerFrameUpdate;
_parentCharacter.MyEventHandler.OnPerFrameTimer += PerFrameUpdate;
//update parent character for each action
foreach (GoapAction action in _actions)
{
action.ParentCharacter = _parentCharacter;
}
//BlackBoard.PatrolLoc = new Vector3(63.9f, 0.3f, -13.3f);
//BlackBoard.PatrolRange = new Vector3(30, 10, 15);
if (ControlType != AIControlType.Player)
{
BlackBoard.GuardLevel = 1;
_parentCharacter.SendCommand(CharacterCommands.SetAlert);
}
_currentGoal = null;
_currentAction = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer += OnOneSecondTimer;
}
public void ClearDynamicGoal(int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Clearing top priority goal for " + _parentCharacter.name);
List <GoapGoal> goalsCopy = new List <GoapGoal>(_goals);
foreach (GoapGoal goal in goalsCopy)
{
if (goal.Priority == priority)
{
if (_currentGoal == goal)
{
_currentAction.StopAction();
}
_goals.Remove(goal);
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
}
public List <GoapGoal> GetCharacterGoalSet(int characterID)
{
IDataReader goalReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT goap_goals.*, character_goals.priority " +
"FROM goap_goals INNER JOIN character_goals " +
"ON goap_goals.id = character_goals.goal_id AND character_goals.character_id = '" + characterID + "'");
List <GoapGoal> goals = new List <GoapGoal>();
while (goalReader.Read())
{
int goalID = goalReader.GetInt32(0);
string goalName = goalReader.GetString(1);
int priority = goalReader.GetInt32(2);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
goal.Priority = priority;
//query for conditions for each goal
IDataReader condReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT world_states.*, goal_conditions.* " +
"FROM goal_conditions INNER JOIN world_states " +
"ON goal_conditions.world_state_id = world_states.id AND goal_conditions.goal_id = '" + goalID + "'");
List <GoapWorldState> conditions = new List <GoapWorldState>();
while (condReader.Read())
{
GoapWorldState state = ParseWorldState(condReader);
conditions.Add(state);
}
condReader.Close();
condReader = null;
goal.GoalStates = conditions;
goals.Add(goal);
}
goalReader.Close();
goalReader = null;
return(goals);
}
private bool EvaluateGoal(GoapGoal goal)
{
//check which goal's conditions are met
bool isGoalMet = true;
foreach (GoapWorldState state in goal.GoalStates)
{
object value = EvaluateWorldState(state);
CsDebug.Inst.CharLog(_parentCharacter, "Evaluating Goal; current value " + value + " target value " + state.Value);
if (!UnityEngine.Object.Equals(value, state.Value))
{
CsDebug.Inst.CharLog(_parentCharacter, "Evaluating goal result: values don't match");
//this goal isn't met!
isGoalMet = false;
return(isGoalMet);
}
}
return(isGoalMet);
}
private GoapGoal GetNextGoal()
{
GoapGoal result = null;
if (_currentGoal == null)
{
//get the highest priority goal
GoapGoal goal = _goals.OrderBy(p => p.Priority).FirstOrDefault();
result = goal;
}
else
{
//get the goal that's next highest than current goal
var intermediate = (from g in _goals where g.Priority >= _currentGoal.Priority && g != _currentGoal orderby g.Priority select g);
GoapGoal goal = intermediate.FirstOrDefault();
result = goal;
}
return(result);
}
public List<GoapGoal> GetCharacterGoalSet(int characterID)
{
IDataReader goalReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT goap_goals.*, character_goals.priority " +
"FROM goap_goals INNER JOIN character_goals " +
"ON goap_goals.id = character_goals.goal_id AND character_goals.character_id = '" + characterID + "'");
List<GoapGoal> goals = new List<GoapGoal>();
while(goalReader.Read())
{
int goalID = goalReader.GetInt32(0);
string goalName = goalReader.GetString(1);
int priority = goalReader.GetInt32(2);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
goal.Priority = priority;
//query for conditions for each goal
IDataReader condReader = GameManager.Inst.DBManager.RunAIQuery(
"SELECT world_states.*, goal_conditions.* " +
"FROM goal_conditions INNER JOIN world_states " +
"ON goal_conditions.world_state_id = world_states.id AND goal_conditions.goal_id = '" + goalID + "'");
List<GoapWorldState> conditions = new List<GoapWorldState>();
while(condReader.Read())
{
GoapWorldState state = ParseWorldState(condReader);
conditions.Add(state);
}
condReader.Close();
condReader = null;
goal.GoalStates = conditions;
goals.Add(goal);
}
goalReader.Close();
goalReader = null;
return goals;
}
public void GetNewPlan()
{
ClearPlan();
foreach (GoapAction action in AvailableActions)
{
action.ResetAction();
}
List <GoapGoal> orderedGoals = myUtilityEngine.RunUtilityEngine();
UpdateWorldState();
if (orderedGoals.Count > 0)
{
bool FoundGoalPath = false;
int i = 0;
while (FoundGoalPath == false)
{
CurrentGoal = orderedGoals[i];
ActionPlan = myPlanner.GoapPlan(this);
if (ActionPlan == null)
{
// no plan found.
++i;
if (i >= orderedGoals.Count)
{
// end the loop if no path can be found to any goal.
FoundGoalPath = true;
}
}
else
{
// plan found
GetNextAction();
FoundGoalPath = true;
}
}
}
}
public void Initialize()
{
GameObject playerObj = GameManager.Instantiate(Resources.Load("PlayerCharacter")) as GameObject;
SelectedMember = playerObj.GetComponent <HumanCharacter>();
//SelectedMember = GameObject.Find("PlayerCharacter").GetComponent<HumanCharacter>();
SelectedMember.Initialize();
//SelectedMember.MyNavAgent.enabled = true;
RefreshMarkerForMember(SelectedMember);
/*
* HumanCharacter member2 = GameObject.Find("HumanCharacter3").GetComponent<HumanCharacter>();
* member2.Initialize();
* RefreshMarkerForMember(member2);
*
*
* //for testing
* member2.MyAI.BlackBoard.FollowTarget = SelectedMember;
*/
Members.Add(SelectedMember);
//Members.Add(member2);
MemberGuardGoal = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(6);
MemberGuardGoal.Priority = 0;
MemberFollowGoal = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(8);
MemberFollowGoal.Priority = 0;
//initialize inventory and then load weapons to prefab
GameManager.Inst.ItemManager.LoadPartyInventory();
RefreshAllMemberWeight();
RefreshAllMemberArmors();
RefreshAllMemberWeapons();
}
public void OnDeath()
{
if (_currentAction != null)
{
_currentAction.AbortAction(1);
_currentAction = null;
}
_currentGoal = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer -= OnOneSecondTimer;
_parentCharacter.MyEventHandler.OnCurrentActionComplete -= OnCurrentActionComplete;
_parentCharacter.MyEventHandler.OnPerFrameTimer -= PerFrameUpdate;
TargetingSystem.OnDeath();
Sensor.OnDeath();
WorkingMemory.OnDeath();
if (Squad != null)
{
Squad.RemoveMember(_parentCharacter);
}
}
public void SetDynamicyGoal(GoapGoal newGoal, int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Setting top priority goal " + newGoal.Name + " for " + _parentCharacter.name);
List <GoapGoal> goalsCopy = new List <GoapGoal>(_goals);
foreach (GoapGoal goal in goalsCopy)
{
if (goal.Priority == priority)
{
_goals.Remove(goal);
}
}
_goals.Add(newGoal);
if (_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = newGoal;
FindAndExecuteAction();
}
public void SetDynamicyGoal(GoapGoal newGoal, int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Setting top priority goal " + newGoal.Name + " for " + _parentCharacter.name);
List<GoapGoal> goalsCopy = new List<GoapGoal>(_goals);
foreach(GoapGoal goal in goalsCopy)
{
if(goal.Priority == priority)
{
_goals.Remove(goal);
}
}
_goals.Add(newGoal);
if(_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = newGoal;
FindAndExecuteAction();
}
public GoalNode(GoapGoal goal, int depth, Node neighbour, FactSet dataSet, GUIStyle nodeStyle, GUIStyle activeStyle, GUIStyle blockedStyle) : base(null, depth, neighbour, dataSet, nodeStyle, activeStyle, blockedStyle)
{
this.goal = goal;
AddChilds(goal.childs);
}
private void RefreshCharactersTab()
{
IDataReader reader = RunQuery("SELECT characters.* FROM characters");
Dictionary<int, CharacterData> characters = new Dictionary<int, CharacterData>();
int i = 1;
while(reader.Read())
{
int c_id = reader.GetInt32(0);
string c_title = reader.GetString(1);
string c_first = reader.GetString(2);
string c_last = reader.GetString(3);
CharacterData data = new CharacterData();
data.ID = c_id;
data.Title = c_title;
data.FirstName = c_first;
data.LastName = c_last;
characters.Add(i, data);
i++;
}
string [] dropDownOptions = new string[characters.Count + 1];
dropDownOptions[0] = "None";
if(characters.Count > 0)
{
for(int index=1; index <= characters.Count; index++)
{
dropDownOptions[index] = characters[index].Title + ", " + characters[index].FirstName + " " + characters[index].LastName;
}
}
GUI.Label(new Rect(10, 40, 200, 20), "Characters:");
_tab3Char = EditorGUI.Popup(new Rect(10, 60, 250, 20), _tab3Char, dropDownOptions);
if(_tab3Char > 0)
{
//now we have the character ID, we make a list of character goals
IDataReader goalReader = RunQuery(
"SELECT goap_goals.*, character_goals.priority " +
"FROM goap_goals INNER JOIN character_goals " +
"ON goap_goals.id = character_goals.goal_id AND character_goals.character_id = '" + characters[_tab3Char].ID + "'");
List<GoapGoal> goals = new List<GoapGoal>();
while(goalReader.Read())
{
int goalID = goalReader.GetInt32(0);
string goalName = goalReader.GetString(1);
int priority = goalReader.GetInt32(2);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
goal.Priority = priority;
goals.Add(goal);
}
IDataReader allGoalsReader = RunQuery("SELECT goap_goals.* FROM goap_goals");
Dictionary<int, GoalData> allGoals = new Dictionary<int, GoalData>();
int goalIndex = 0;
while(allGoalsReader.Read())
{
int c_id = allGoalsReader.GetInt32(0);
string c_desc = allGoalsReader.GetString(1);
GoalData data = new GoalData();
data.ID = c_id;
data.Description = c_desc;
allGoals.Add(goalIndex, data);
goalIndex++;
}
GUI.Label(new Rect(10, 90, 150, 20), "Goals:");
int rectHeight = 110;
int heightStep = 20;
int gIndex = 0;
foreach(GoapGoal goal in goals)
{
int selectedName = 0;
int selectedPriority = 0;
string [] options = new string[allGoals.Count];
for(int index=0; index < allGoals.Count; index++)
{
options[index] = allGoals[index].Description;
if(goal.Name == allGoals[index].Description)
{
selectedName = index;
selectedPriority = goal.Priority;
}
}
int height = rectHeight + gIndex * heightStep;
int newSelectedName = EditorGUI.Popup(new Rect(10, height, 150, 20), selectedName, options);
GUI.Label(new Rect(170, height, 40, 20), "Priority");
int newSelectedPriority = EditorGUI.Popup(new Rect(220, height, 60, 20), selectedPriority, new string[]{"0", "1", "2", "3", "4", "5"});
bool toBeUpdated = false;
if(newSelectedName != selectedName || newSelectedPriority != selectedPriority)
{
toBeUpdated = true;
}
bool toBeDeleted = false;
if(GUI.Button(new Rect(290, height, 15, 15), "-"))
{
toBeDeleted = true;
}
if(toBeUpdated)
{
RunQuery("UPDATE character_goals SET goal_id = " + allGoals[newSelectedName].ID + ", priority = " + newSelectedPriority
+ " WHERE character_id = " + characters[_tab3Char].ID + " AND goal_id = " + allGoals[selectedName].ID);
}
if(toBeDeleted)
{
RunQuery("DELETE FROM character_goals WHERE goal_id = " + allGoals[newSelectedName].ID + " AND character_id = " + characters[_tab3Char].ID);
}
gIndex ++;
}
rectHeight = rectHeight + heightStep * goals.Count;
//a button to add new condition
if(GUI.Button(new Rect(290, rectHeight, 20, 20), "+"))
{
RunQuery("INSERT INTO character_goals (character_id, goal_id, priority) VALUES ("
+ characters[_tab3Char].ID + ", " + allGoals[0].ID + ", 0)");
}
//now we have the character ID, we make a list of character actions
IDataReader actionReader = RunQuery(
"SELECT goap_actions.* " +
"FROM goap_actions INNER JOIN character_actions " +
"ON goap_actions.id = character_actions.action_id AND character_actions.character_id = '" + characters[_tab3Char].ID + "'");
List<ActionData> actions = new List<ActionData>();
while(actionReader.Read())
{
int id = actionReader.GetInt32(0);
string className = actionReader.GetString(1);
string description = actionReader.GetString(2);
float cost = actionReader.GetFloat(3);
ActionData action = new ActionData();
action.ID = id;
action.ClassName = className;
action.Description = description;
action.DefaultCost = cost;
actions.Add(action);
}
IDataReader allActionsReader = RunQuery("SELECT goap_actions.* FROM goap_actions");
Dictionary<int, ActionData> allActions = new Dictionary<int, ActionData>();
int actionIndex = 0;
while(allActionsReader.Read())
{
int c_id = allActionsReader.GetInt32(0);
string c_desc = allActionsReader.GetString(2);
ActionData data = new ActionData();
data.ID = c_id;
data.Description = c_desc;
allActions.Add(actionIndex, data);
actionIndex++;
}
rectHeight = rectHeight + 30;
GUI.Label(new Rect(10, rectHeight, 150, 20), "Actions:");
rectHeight += 20;
int aIndex = 0;
foreach(ActionData action in actions)
{
int selectedName = 0;
string [] options = new string[allActions.Count];
for(int index=0; index < allActions.Count; index++)
{
options[index] = allActions[index].Description;
if(action.Description == allActions[index].Description)
{
selectedName = index;
}
}
int height = rectHeight + aIndex * heightStep;
int newSelectedName = EditorGUI.Popup(new Rect(10, height, 150, 20), selectedName, options);
bool toBeUpdated = false;
if(newSelectedName != selectedName)
{
toBeUpdated = true;
}
bool toBeDeleted = false;
if(GUI.Button(new Rect(290, height, 15, 15), "-"))
{
toBeDeleted = true;
}
if(toBeUpdated)
{
RunQuery("UPDATE character_actions SET action_id = " + allActions[newSelectedName].ID
+ " WHERE character_id = " + characters[_tab3Char].ID + " AND action_id = " + allActions[selectedName].ID);
}
if(toBeDeleted)
{
RunQuery("DELETE FROM character_actions WHERE action_id = " + allActions[newSelectedName].ID + " AND character_id = " + characters[_tab3Char].ID);
}
aIndex ++;
}
rectHeight = rectHeight + heightStep * actions.Count;
//a button to add new condition
if(GUI.Button(new Rect(290, rectHeight, 20, 20), "+"))
{
RunQuery("INSERT INTO character_actions (character_id, action_id) VALUES ("
+ characters[_tab3Char].ID + ", " + allActions[0].ID + ")");
}
}
}
public void SetGoapGoal(GoapGoal goapGoal)
{
this.goapGoal = goapGoal;
}
public void Initialize(Character character)
{
_parentCharacter = character;
WorkingMemory = new WorkingMemory();
WorkingMemory.Initialize(_parentCharacter);
BlackBoard = new BlackBoard();
Sensor = new AISensor();
Sensor.Initialize(_parentCharacter);
TargetingSystem = new AITargeting();
TargetingSystem.Initialize(_parentCharacter);
WeaponSystem = new AIWeapon();
WeaponSystem.Initialize(_parentCharacter);
Planner = new GoapPlanner(this);
_goals = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterGoalSet(_parentCharacter.GoapID);
_actions = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterActionSet(_parentCharacter.GoapID);
_currentWorldStates = new List<GoapWorldState>();
_parentCharacter.MyEventHandler.OnCurrentActionComplete += OnCurrentActionComplete;
_parentCharacter.MyEventHandler.OnPerFrameTimer += PerFrameUpdate;
//update parent character for each action
foreach(GoapAction action in _actions)
{
action.ParentCharacter = _parentCharacter;
}
//BlackBoard.PatrolLoc = new Vector3(63.9f, 0.3f, -13.3f);
//BlackBoard.PatrolRange = new Vector3(30, 10, 15);
if(ControlType != AIControlType.Player)
{
BlackBoard.GuardLevel = 1;
_parentCharacter.SendCommand(CharacterCommands.SetAlert);
}
_currentGoal = null;
_currentAction = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer += OnOneSecondTimer;
}
public Queue<GoapAction> GetActionQueue(GoapGoal myGoal, List<GoapAction> availableActions)
{
GoapStateGraphNode goal = new GoapStateGraphNode(myGoal.GoalStates, new List<GoapWorldState>());
goal.CostSinceStart = 0;
goal.HeuristicCost = GetHeuristic(goal);
goal.UnsatisfiedStates = myGoal.GoalStates;
List<GoapStateGraphNode> openNodes = new List<GoapStateGraphNode>();
openNodes.Add(goal);
List<GoapStateGraphNode> closedNodes = new List<GoapStateGraphNode>();
GoapStateGraphNode resultFirstNode = null;
_evaluatedStates = new List<GoapWorldState>();
//evaluate world states in goal conditions
foreach(GoapWorldState state in myGoal.GoalStates)
{
CheckWorldState(state);
}
while(openNodes.Count() > 0)
{
//starting from the graph goal node, for each world state look for a action that will satisfy it.
//when an action is found, create a new graph node, add action effect to satified states, and add action preconditions to unsatisfied states
//then sort all neighbors into a list ordered by cost+heuristic
//for each neighbor in the list, starting from the one with lowest cost+heuristic,
//find the lowest f_score node in open nodes
GoapStateGraphNode bestOpenNode = openNodes[0];
foreach(GoapStateGraphNode node in openNodes)
{
if(node.HeuristicCost < bestOpenNode.HeuristicCost)
{
bestOpenNode = node;
}
}
CsDebug.Inst.Log("======Evaluating best open node with cost " + bestOpenNode.CostSinceStart, CsDLevel.Debug, CsDComponent.AI);
if(bestOpenNode.CameFromAction != null)
{
CsDebug.Inst.Log("Came from Action " + bestOpenNode.CameFromAction.Name, CsDLevel.Debug, CsDComponent.AI);
}
//evaluate the current world state for states in current node
foreach(GoapWorldState s in bestOpenNode.UnsatisfiedStates)
{
CheckWorldState(s);
CsDebug.Inst.Log("Current Unsatisfied State: " + s.Name + s.Operator + s.Value, CsDLevel.Debug, CsDComponent.AI);
}
foreach(GoapWorldState s in bestOpenNode.SatisfiedStates)
{
CheckWorldState(s);
//CsDebug.Inst.Log("Current Satisfied State: " + s.Name + s.Operator + s.Value, CsDLevel.Debug, CsDComponent.AI);
}
//if all unsatisfied states can be solved by current world state then we have found a path
if(CompareWorldStatesContain(_parentAI.GetCurrentWorldState(), bestOpenNode.UnsatisfiedStates))
{
//search complete, found a path!
CsDebug.Inst.Log("Found best path!", CsDLevel.Info, CsDComponent.AI);
resultFirstNode = bestOpenNode;
break;
}
openNodes.Remove(bestOpenNode);
closedNodes.Add(bestOpenNode);
//find all neighbors
foreach(GoapAction action in availableActions)
{
CsDebug.Inst.Log("------Starting to evaluate action " + action.Name, CsDLevel.Debug, CsDComponent.AI);
List<GoapWorldState> usefulEffects = CompareWorldStatesContainAny(bestOpenNode.UnsatisfiedStates, action.Effects);
if(usefulEffects == null)
{
CsDebug.Inst.Log("Action has no useful effects!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
if(!_parentAI.CheckActionViable(action))
{
CsDebug.Inst.Log("Action has been failed before!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
if(!action.CheckContextPrecondition())
{
CsDebug.Inst.Log("Action is not viable!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
else if(usefulEffects.Count > 0)
{
CsDebug.Inst.Log("Found action " + action.Name + " that satisfies preconditions set containing " + bestOpenNode.UnsatisfiedStates.Count(), CsDLevel.Debug, CsDComponent.AI);
CsDebug.Inst.Log("Current best open node unsatisfied states contains " + bestOpenNode.UnsatisfiedStates[0].Name + "=" + bestOpenNode.UnsatisfiedStates[0].Value, CsDLevel.Trace, CsDComponent.AI);
//neighbor's effect is removed from neighbor unsatisfied list and added to the satisfied list
//any precondition that hasn't been resolved or listed is added to the neighbor's unsatisfied list
//this way we don't have any dupilicate states
List<GoapWorldState> neighborUnsatisfied = new List<GoapWorldState>(bestOpenNode.UnsatisfiedStates);
List<GoapWorldState> neighborSatisfied = new List<GoapWorldState>(bestOpenNode.SatisfiedStates);
bool isNoConflict = true;
foreach(GoapWorldState effect in usefulEffects)
{
RemoveStateFromSet(neighborUnsatisfied, effect);
isNoConflict = AddStateToSet(neighborSatisfied, effect);
if(!isNoConflict)
{
//CsDebug.Inst.Log("Found conflict when adding effect " + effect.Name + effect.Value + "to neighbor satisfied set", CsDLevel.Trace, CsDComponent.AI);
continue;
}
}
isNoConflict = true;
foreach(GoapWorldState condition in action.Preconditions)
{
//is this condition already in the neighborSatisfied list?
//is this condition already in the neighborUnsatisfied list?
//if both answer is no, add the new condition to neighborUnsatisfied list
bool isInSatisfied = CompareWorldStatesContain(neighborSatisfied, new List<GoapWorldState>{condition});
bool isInUnsatisfied = CompareWorldStatesContain(neighborUnsatisfied, new List<GoapWorldState>{condition});
if(!isInSatisfied && !isInUnsatisfied)
{
isNoConflict = AddStateToSet(neighborUnsatisfied, condition);
if(!isNoConflict)
{
//CsDebug.Inst.Log("Found conflict when adding condition " + condition.Name + condition.Value + "to neighbor UNsatisfied set", CsDLevel.Trace, CsDComponent.AI);
continue;
}
}
}
//CsDebug.Inst.Log("Successfully added preconditions for action " + action.Name, CsDLevel.Debug, CsDComponent.AI);
//now we check if the above neighbor unsatisfied+satisfied combination exists in any open or closed nodes
//if in closed nodes, we skip this neighbor. if in open nodes, we will calculate its heuristic cost
//if not in any set, create a new node
bool isInClosed = false;
foreach(GoapStateGraphNode node in closedNodes)
{
if(CompareWorldStatesEqual(node.UnsatisfiedStates, neighborUnsatisfied) && CompareWorldStatesEqual(node.SatisfiedStates, neighborSatisfied))
{
isInClosed = true;
}
}
if(isInClosed)
{
continue;
}
//CsDebug.Inst.Log("checking if node already exists in openNodes", CsDLevel.Debug, CsDComponent.AI);
GoapStateGraphNode openNode = null;
foreach(GoapStateGraphNode node in openNodes)
{
if(CompareWorldStatesEqual(node.UnsatisfiedStates, neighborUnsatisfied) && CompareWorldStatesEqual(node.SatisfiedStates, neighborSatisfied))
{
//CsDebug.Inst.Log("Node already exists", CsDLevel.Debug, CsDComponent.AI);
openNode = node;
}
}
float tentativeCost = bestOpenNode.CostSinceStart + action.Cost;
if(openNode != null)
{
//CsDebug.Inst.Log("Node exists, check its cost", CsDLevel.Debug, CsDComponent.AI);
if(tentativeCost >= openNode.CostSinceStart)
{
//CsDebug.Inst.Log("Invalid path!", CsDLevel.Debug, CsDComponent.AI);
//this is NOT a good path
continue;
}
}
else
{
//add a new node into openNodes
openNode = new GoapStateGraphNode(neighborUnsatisfied, neighborSatisfied);
CsDebug.Inst.Log("Adding a new neighbor node with " + neighborUnsatisfied.Count() + " unsatisfied conditions", CsDLevel.Debug, CsDComponent.AI);
openNodes.Add(openNode);
}
CsDebug.Inst.Log("~~~~~~~~~Found a valid path, assigning neighbor parameters" + action.Name, CsDLevel.Info, CsDComponent.AI);
openNode.CameFrom = bestOpenNode;
openNode.CameFromAction = action;
openNode.CostSinceStart = tentativeCost;
openNode.HeuristicCost = openNode.CostSinceStart + GetHeuristic(openNode);
}
}
}
if(resultFirstNode == null)
{
//CsDebug.Inst.Log("No path found! Exiting planner.", CsDLevel.Info, CsDComponent.AI);
return null;
}
Queue<GoapAction> actions = new Queue<GoapAction>();
GoapStateGraphNode currentNode = resultFirstNode;
//CsDebug.Inst.Log("Start enqueueing actions", CsDLevel.Debug, CsDComponent.AI);
while(currentNode.CameFrom != null)
{
//CsDebug.Inst.Log("Enqueueing action " + currentNode.CameFromAction.Name, CsDLevel.Info, CsDComponent.AI);
actions.Enqueue(currentNode.CameFromAction);
currentNode = currentNode.CameFrom;
}
return actions;
}
public GoapPlanManager(GoapGoal goapGoal)
{
this.goapGoal = goapGoal;
Init();
}
public void Initialize()
{
SelectedMember = GameObject.Find("HumanCharacter").GetComponent<HumanCharacter>();
SelectedMember.Initialize();
RefreshMarkerForMember(SelectedMember);
/*
HumanCharacter member2 = GameObject.Find("HumanCharacter3").GetComponent<HumanCharacter>();
member2.Initialize();
RefreshMarkerForMember(member2);
//for testing
member2.MyAI.BlackBoard.FollowTarget = SelectedMember;
*/
Members.Add(SelectedMember);
//Members.Add(member2);
MemberGuardGoal = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(6);
MemberGuardGoal.Priority = 0;
MemberFollowGoal = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(8);
MemberFollowGoal.Priority = 0;
//initialize inventory and then load weapons to prefab
GameManager.Inst.ItemManager.LoadPartyInventory();
RefreshAllMemberArmors();
RefreshAllMemberWeapons();
}
private void RefreshCharactersTab()
{
IDataReader reader = RunQuery("SELECT characters.* FROM characters");
Dictionary <int, CharacterData> characters = new Dictionary <int, CharacterData>();
int i = 1;
while (reader.Read())
{
int c_id = reader.GetInt32(0);
string c_title = reader.GetString(1);
string c_first = reader.GetString(2);
string c_last = reader.GetString(3);
CharacterData data = new CharacterData();
data.ID = c_id;
data.Title = c_title;
data.FirstName = c_first;
data.LastName = c_last;
characters.Add(i, data);
i++;
}
string [] dropDownOptions = new string[characters.Count + 1];
dropDownOptions[0] = "None";
if (characters.Count > 0)
{
for (int index = 1; index <= characters.Count; index++)
{
dropDownOptions[index] = characters[index].Title + ", " + characters[index].FirstName + " " + characters[index].LastName;
}
}
GUI.Label(new Rect(10, 40, 200, 20), "Characters:");
_tab3Char = EditorGUI.Popup(new Rect(10, 60, 250, 20), _tab3Char, dropDownOptions);
if (_tab3Char > 0)
{
//now we have the character ID, we make a list of character goals
IDataReader goalReader = RunQuery(
"SELECT goap_goals.*, character_goals.priority " +
"FROM goap_goals INNER JOIN character_goals " +
"ON goap_goals.id = character_goals.goal_id AND character_goals.character_id = '" + characters[_tab3Char].ID + "'");
List <GoapGoal> goals = new List <GoapGoal>();
while (goalReader.Read())
{
int goalID = goalReader.GetInt32(0);
string goalName = goalReader.GetString(1);
int priority = goalReader.GetInt32(2);
GoapGoal goal = new GoapGoal();
goal.Name = goalName;
goal.Priority = priority;
goals.Add(goal);
}
IDataReader allGoalsReader = RunQuery("SELECT goap_goals.* FROM goap_goals");
Dictionary <int, GoalData> allGoals = new Dictionary <int, GoalData>();
int goalIndex = 0;
while (allGoalsReader.Read())
{
int c_id = allGoalsReader.GetInt32(0);
string c_desc = allGoalsReader.GetString(1);
GoalData data = new GoalData();
data.ID = c_id;
data.Description = c_desc;
allGoals.Add(goalIndex, data);
goalIndex++;
}
GUI.Label(new Rect(10, 90, 150, 20), "Goals:");
int rectHeight = 110;
int heightStep = 20;
int gIndex = 0;
foreach (GoapGoal goal in goals)
{
int selectedName = 0;
int selectedPriority = 0;
string [] options = new string[allGoals.Count];
for (int index = 0; index < allGoals.Count; index++)
{
options[index] = allGoals[index].Description;
if (goal.Name == allGoals[index].Description)
{
selectedName = index;
selectedPriority = goal.Priority;
}
}
int height = rectHeight + gIndex * heightStep;
int newSelectedName = EditorGUI.Popup(new Rect(10, height, 150, 20), selectedName, options);
GUI.Label(new Rect(170, height, 40, 20), "Priority");
int newSelectedPriority = EditorGUI.Popup(new Rect(220, height, 60, 20), selectedPriority, new string[] { "0", "1", "2", "3", "4", "5" });
bool toBeUpdated = false;
if (newSelectedName != selectedName || newSelectedPriority != selectedPriority)
{
toBeUpdated = true;
}
bool toBeDeleted = false;
if (GUI.Button(new Rect(290, height, 15, 15), "-"))
{
toBeDeleted = true;
}
if (toBeUpdated)
{
RunQuery("UPDATE character_goals SET goal_id = " + allGoals[newSelectedName].ID + ", priority = " + newSelectedPriority
+ " WHERE character_id = " + characters[_tab3Char].ID + " AND goal_id = " + allGoals[selectedName].ID);
}
if (toBeDeleted)
{
RunQuery("DELETE FROM character_goals WHERE goal_id = " + allGoals[newSelectedName].ID + " AND character_id = " + characters[_tab3Char].ID);
}
gIndex++;
}
rectHeight = rectHeight + heightStep * goals.Count;
//a button to add new condition
if (GUI.Button(new Rect(290, rectHeight, 20, 20), "+"))
{
RunQuery("INSERT INTO character_goals (character_id, goal_id, priority) VALUES ("
+ characters[_tab3Char].ID + ", " + allGoals[0].ID + ", 0)");
}
//now we have the character ID, we make a list of character actions
IDataReader actionReader = RunQuery(
"SELECT goap_actions.* " +
"FROM goap_actions INNER JOIN character_actions " +
"ON goap_actions.id = character_actions.action_id AND character_actions.character_id = '" + characters[_tab3Char].ID + "'");
List <ActionData> actions = new List <ActionData>();
while (actionReader.Read())
{
int id = actionReader.GetInt32(0);
string className = actionReader.GetString(1);
string description = actionReader.GetString(2);
float cost = actionReader.GetFloat(3);
ActionData action = new ActionData();
action.ID = id;
action.ClassName = className;
action.Description = description;
action.DefaultCost = cost;
actions.Add(action);
}
IDataReader allActionsReader = RunQuery("SELECT goap_actions.* FROM goap_actions");
Dictionary <int, ActionData> allActions = new Dictionary <int, ActionData>();
int actionIndex = 0;
while (allActionsReader.Read())
{
int c_id = allActionsReader.GetInt32(0);
string c_desc = allActionsReader.GetString(2);
ActionData data = new ActionData();
data.ID = c_id;
data.Description = c_desc;
allActions.Add(actionIndex, data);
actionIndex++;
}
rectHeight = rectHeight + 30;
GUI.Label(new Rect(10, rectHeight, 150, 20), "Actions:");
rectHeight += 20;
int aIndex = 0;
foreach (ActionData action in actions)
{
int selectedName = 0;
string [] options = new string[allActions.Count];
for (int index = 0; index < allActions.Count; index++)
{
options[index] = allActions[index].Description;
if (action.Description == allActions[index].Description)
{
selectedName = index;
}
}
int height = rectHeight + aIndex * heightStep;
int newSelectedName = EditorGUI.Popup(new Rect(10, height, 150, 20), selectedName, options);
bool toBeUpdated = false;
if (newSelectedName != selectedName)
{
toBeUpdated = true;
}
bool toBeDeleted = false;
if (GUI.Button(new Rect(290, height, 15, 15), "-"))
{
toBeDeleted = true;
}
if (toBeUpdated)
{
RunQuery("UPDATE character_actions SET action_id = " + allActions[newSelectedName].ID
+ " WHERE character_id = " + characters[_tab3Char].ID + " AND action_id = " + allActions[selectedName].ID);
}
if (toBeDeleted)
{
RunQuery("DELETE FROM character_actions WHERE action_id = " + allActions[newSelectedName].ID + " AND character_id = " + characters[_tab3Char].ID);
}
aIndex++;
}
rectHeight = rectHeight + heightStep * actions.Count;
//a button to add new condition
if (GUI.Button(new Rect(290, rectHeight, 20, 20), "+"))
{
RunQuery("INSERT INTO character_actions (character_id, action_id) VALUES ("
+ characters[_tab3Char].ID + ", " + allActions[0].ID + ")");
}
}
}
private bool EvaluateGoal(GoapGoal goal)
{
//check which goal's conditions are met
bool isGoalMet = true;
foreach(GoapWorldState state in goal.GoalStates)
{
object value = EvaluateWorldState(state);
//CsDebug.Inst.CharLog(_parentCharacter, "Evaluating Goal; current value " + value + " target value " + state.Value);
if(!Object.Equals(value, state.Value))
{
//CsDebug.Inst.CharLog(_parentCharacter, "Evaluating goal result: values don't match");
//this goal isn't met!
isGoalMet = false;
return isGoalMet;
}
}
return isGoalMet;
}
public void OnDeath()
{
if(_currentAction != null)
{
_currentAction.AbortAction(1);
_currentAction = null;
}
_currentGoal = null;
_parentCharacter.MyEventHandler.OnOneSecondTimer -= OnOneSecondTimer;
TargetingSystem.OnDeath();
Sensor.OnDeath();
WorkingMemory.OnDeath();
}
IEnumerator WaitAndCheckImportantEvent(float waitTime, float priority)
{
yield return new WaitForSeconds(waitTime);
if(ControlType == AIControlType.Player)
{
return true;
}
//when an important event happens, stop current action and reevaluate all the goals and pick the highest priority goal
Debug.Log("Triggering important event " + _parentCharacter.name);
if(_currentAction != null)
{
if(_currentAction.AbortAction(priority))
{
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
else
{
_currentGoal = null;
FindAndExecuteAction();
}
}
private void FindAndExecuteAction()
{
//check if there is current goal and if the current goal is met
//if met, find next goal
//if not met, check if there's current action. if there is action leave it alone. if no action then calculate planner and execute first action
//if no current goal, get next goal
//Debug.Log("Start finding and executing action");
if(_currentGoal == null)
{
Debug.Log("no current goal, getting a new one");
_currentGoal = GetNextGoal();
Debug.Log("found new goal " + _currentGoal.Name);
_currentAction = null;
}
int counter = _goals.Count;
while(counter > 0 && _currentGoal != null)
{
//Debug.Log("Find&Execute: checking goal " + _currentGoal.Name);
bool needNextGoal = false;
if(_currentAction == null && _currentGoal != null)
{
if(!EvaluateGoal(_currentGoal))
{
//CsDebug.Inst.Log("current goal " + _currentGoal.Name + " is not met, running planner", CsDLevel.Info, CsDComponent.AI);
_actionQueue = Planner.GetActionQueue(_currentGoal, _actions);
if(_actionQueue != null && _actionQueue.Count > 0)
{
_currentAction = _actionQueue.Dequeue();
//Debug.Log("Found current action " + _currentAction.Name + " for goal " + _currentGoal.Name);
if(_currentAction.ExecuteAction())
{
//action executed successfully
return;
}
}
//failed to find action for current goal, get next goal
needNextGoal = true;
}
else
{
needNextGoal = true;
}
}
else
{
//there's action; leave it alone
return;
}
if(needNextGoal)
{
_currentGoal = GetNextGoal();
//Debug.Log("getting next goal; result: " + _currentGoal.Name);
_currentAction = null;
}
counter --;
}
}
private void FindAndExecuteAction()
{
//check if there is current goal and if the current goal is met
//if met, find next goal
//if not met, check if there's current action. if there is action leave it alone. if no action then calculate planner and execute first action
//if no current goal, get next goal
CsDebug.Inst.CharLog(_parentCharacter, "Start finding and executing action");
if (_currentGoal == null)
{
CsDebug.Inst.CharLog(_parentCharacter, "no current goal, getting a new one");
_currentGoal = GetNextGoal();
CsDebug.Inst.CharLog(_parentCharacter, "found new goal " + _currentGoal.Name);
_currentAction = null;
}
int counter = _goals.Count;
while (counter > 0 && _currentGoal != null)
{
CsDebug.Inst.CharLog(_parentCharacter, "Find&Execute: checking goal " + _currentGoal.Name);
bool needNextGoal = false;
if (_currentAction == null && _currentGoal != null)
{
if (!EvaluateGoal(_currentGoal))
{
CsDebug.Inst.CharLog(_parentCharacter, "current goal " + _currentGoal.Name + " is not met, running planner, character " + _parentCharacter.name);
_actionQueue = Planner.GetActionQueue(_currentGoal, _actions);
if (_actionQueue != null && _actionQueue.Count > 0)
{
_currentAction = _actionQueue.Dequeue();
CsDebug.Inst.CharLog(_parentCharacter, "Found current action " + _currentAction.Name + " for goal " + _currentGoal.Name);
if (_currentAction.ExecuteAction())
{
//action executed successfully
return;
}
}
//failed to find action for current goal, get next goal
CsDebug.Inst.CharLog(_parentCharacter, "Failed to find action for goal " + _currentGoal.Name);
needNextGoal = true;
}
else
{
CsDebug.Inst.CharLog(_parentCharacter, "Goal is already met: " + _currentGoal.Name);
needNextGoal = true;
}
}
else
{
//there's action; leave it alone
return;
}
if (needNextGoal)
{
_currentGoal = GetNextGoal();
_currentAction = null;
if (_currentGoal != null)
{
CsDebug.Inst.CharLog(_parentCharacter, "getting next goal; result: " + _currentGoal.Name);
}
else
{
CsDebug.Inst.CharLog(_parentCharacter, "getting next goal; result: null");
}
}
counter--;
}
}
public void ClearDynamicGoal(int priority)
{
//CsDebug.Inst.CharLog(_parentCharacter, "Clearing top priority goal for " + _parentCharacter.name);
List<GoapGoal> goalsCopy = new List<GoapGoal>(_goals);
foreach(GoapGoal goal in goalsCopy)
{
if(goal.Priority == priority)
{
if(_currentGoal == goal)
{
_currentAction.StopAction();
}
_goals.Remove(goal);
_currentAction = null;
_currentGoal = null;
FindAndExecuteAction();
}
}
}
/// <summary>
/// Formulates a plan from the given goal and current actor state.
/// </summary>
/// <returns>The plan.</returns>
/// <param name="_goal">Goal.</param>
/// <param name="_worldstate">Worldstate.</param>
private GoapPlan FormulatePlan (GoapGoal _goal, GoapWorldstate _worldstate)
{
GoapPlan newPlan = new GoapPlan();
newPlan.actionOrder = new List<GoapAction> ();
//according to the goal form an initial prerequisite of what we want to do
newPlan.goalBeingFulfilled = _goal;
string initPrereq = _goal.initPrerequisite;
//add the initial action onto the stack to start constructing the plan
foreach (GoapAction _action in actionPool)
{
if (_action.fulfillment == initPrereq)
{
newPlan.actionOrder.Insert (0, _action);
break;
}
}
List<string> prerequisites = newPlan.actionOrder[0].prerequisites;
newPlan.actionOrder = FulfillPrereqs (newPlan.actionOrder, prerequisites, _worldstate);
return newPlan;
}
public GoapActionHomeWork(GoapGoal goapGoal) : base(goapGoal)
{
cost = 40;
}
public void TakeTurn ()
{
worldState = UpdateWorldstate();
//sort the goal priorities for this turn.
GoapGoal tempGoal = SortGoals (worldState);
//if the goal has changed, or the sensors demand it, a new plan must be formulated
if (tempGoal != currentGoal || currentPlan == null)
{
currentGoal = tempGoal;
currentPlan = FormulatePlan(currentGoal, worldState);
}
//loop the plan execution until all
while (actor.actionPoints > 0)
{
//process and execute the plan, setting it to be the new plan
currentPlan = ExecutePlan (currentPlan, worldState);
}
return;
}
public void Initialize()
{
_allCharacters = new List <Character>();
_humansInScene = new List <HumanCharacter>();
_mutantsInScene = new List <MutantCharacter>();
_deadBodies = new Dictionary <Character, int>();
_fadeTimers = new Dictionary <Character, float>();
_allNavNodes = new List <NavNode>();
_navNodeBases = new List <NavNode>();
_navNodeMutants = new List <NavNode>();
DynamicGoalGuard = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(6);
DynamicGoalGuard.Priority = 5;
DynamicGoalFollow = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(8);
DynamicGoalFollow.Priority = 5;
DynamicGoalPatrol = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(2);
DynamicGoalPatrol.Priority = 5;
DynamicGoalExplore = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(12);
DynamicGoalExplore.Priority = 5;
DynamicGoalChill = GameManager.Inst.DBManager.DBHandlerAI.GetGoalByID(10);
DynamicGoalChill.Priority = 5;
GameObject [] navNodes = GameObject.FindGameObjectsWithTag("NavNode");
foreach (GameObject o in navNodes)
{
NavNode node = o.GetComponent <NavNode>();
_allNavNodes.Add(node);
if (node.Type == NavNodeType.Base)
{
_navNodeBases.Add(node);
}
else if (node.Type == NavNodeType.MutantHunt)
{
_navNodeMutants.Add(node);
}
}
if (_allFactions == null)
{
_allFactions = GameManager.Inst.DBManager.DBHandlerCharacter.LoadFactionData();
}
/*
* FactionData newFaction1 = new FactionData();
* newFaction1.Name = "Player";
* newFaction1.MemberModelIDs = new string[]{"Bandit"};
* newFaction1.FactionID = Faction.Player;
*
* FactionData newFaction2 = new FactionData();
* newFaction2.Name = "The Legionnaires";
* newFaction2.MemberModelIDs = new string[]{"Legionnaire1", "Legionnaire2", "Legionnaire3"};
* newFaction2.FactionID = Faction.Legionnaires;
*
* FactionData newFaction3 = new FactionData();
* newFaction3.Name = "Millitary";
* newFaction3.MemberModelIDs = new string[]{"Bandit"};
* newFaction3.FactionID = Faction.Military;
*
* FactionData newFaction4 = new FactionData();
* newFaction4.Name = "Mutants";
* newFaction4.MemberModelIDs = new string[]{"Mutant3", "Mutant4"};
* newFaction4.FactionID = Faction.Mutants;
*
* FactionData newFaction5 = new FactionData();
* newFaction5.Name = "Civilian";
* newFaction5.MemberModelIDs = new string[]{"Bandit"};
* newFaction5.FactionID = Faction.Civilian;
*
* FactionData newFaction6 = new FactionData();
* newFaction6.Name = "Bootleggers";
* newFaction6.MemberModelIDs = new string[]{"Bootlegger1", "Bootlegger2", "Bootlegger3", "Bootlegger4"};
* newFaction6.FactionID = Faction.Bootleggers;
*
* newFaction2.AddRelationshipEntry(Faction.Player, 0);
* newFaction2.AddRelationshipEntry(Faction.Mutants, 0);
*
* newFaction3.AddRelationshipEntry(Faction.Player, 0);
* newFaction3.AddRelationshipEntry(Faction.Mutants, 0);
*
* newFaction4.AddRelationshipEntry(Faction.Player, 0);
* newFaction4.AddRelationshipEntry(Faction.Legionnaires, 0);
* newFaction4.AddRelationshipEntry(Faction.Military, 0);
*
* newFaction5.AddRelationshipEntry(Faction.Player, 0.5f);
*
* newFaction6.AddRelationshipEntry(Faction.Player, 0.5f);
*
* _allFactions.Add(newFaction1.FactionID, newFaction1);
* _allFactions.Add(newFaction2.FactionID, newFaction2);
* _allFactions.Add(newFaction3.FactionID, newFaction3);
* _allFactions.Add(newFaction4.FactionID, newFaction4);
* _allFactions.Add(newFaction5.FactionID, newFaction5);
* _allFactions.Add(newFaction6.FactionID, newFaction6);
*/
_allHouseHolds = new Dictionary <string, Household>();
Household [] households = GameObject.FindObjectsOfType <Household>();
foreach (Household h in households)
{
_allHouseHolds.Add(h.name, h);
}
if (_allSquads == null)
{
_allSquads = new Dictionary <string, AISquad>();
LoadAISquads();
}
//initialize preset characters
GameObject [] characters = GameObject.FindGameObjectsWithTag("NPC");
//Debug.LogError("Number of NPC in scene " + characters.Length + " number of squads " + _allSquads.Count);
foreach (GameObject o in characters)
{
Character c = o.GetComponent <Character>();
if (c != null)
{
c.Initialize();
if (!string.IsNullOrEmpty(c.SquadID))
{
_allSquads[c.SquadID].AddMember(c);
//Debug.Log(c.SquadID + " now has members " + _allSquads[c.SquadID].Members.Count);
}
}
//load preset inventory
if (c.PresetInventory != null && c.PresetInventory.IsEnabled)
{
GameManager.Inst.ItemManager.LoadNPCInventory(c.Inventory, c.PresetInventory);
}
c.MyAI.WeaponSystem.LoadWeaponsFromInventory(false);
}
foreach (Household h in _allHouseHolds.Values)
{
//Debug.LogError("initializing household " + h.name);
h.Initialize();
}
//Debug.LogError("Number of NPC in NPC Manager " + _allCharacters.Count);
}
public void ForceStopCurrentAction()
{
if(_currentAction != null)
{
_currentAction.StopAction();
}
_currentAction = null;
_currentGoal = null;
}
private GoapGoal SortGoals (GoapWorldstate _worldState)
{
GoapGoal newGoal = new GoapGoal();
float highestWeight = float.MinValue,
testWeight;
for (int i = 0; i < goals.Count; i++)
{
testWeight = goals[i].calcWeight(worldState);
if (testWeight > highestWeight)
{
highestWeight = testWeight;
newGoal = goals[i];
}
}
return newGoal;
}
public Queue <GoapAction> GetActionQueue(GoapGoal myGoal, List <GoapAction> availableActions)
{
GoapStateGraphNode goal = new GoapStateGraphNode(myGoal.GoalStates, new List <GoapWorldState>());
goal.CostSinceStart = 0;
goal.HeuristicCost = GetHeuristic(goal);
goal.UnsatisfiedStates = myGoal.GoalStates;
List <GoapStateGraphNode> openNodes = new List <GoapStateGraphNode>();
openNodes.Add(goal);
List <GoapStateGraphNode> closedNodes = new List <GoapStateGraphNode>();
GoapStateGraphNode resultFirstNode = null;
_evaluatedStates = new List <GoapWorldState>();
//evaluate world states in goal conditions
foreach (GoapWorldState state in myGoal.GoalStates)
{
CheckWorldState(state);
}
//Debug.Log("starting goap planner while loop " + _parentAI.name);
while (openNodes.Count() > 0)
{
//starting from the graph goal node, for each world state look for a action that will satisfy it.
//when an action is found, create a new graph node, add action effect to satified states, and add action preconditions to unsatisfied states
//then sort all neighbors into a list ordered by cost+heuristic
//for each neighbor in the list, starting from the one with lowest cost+heuristic,
//find the lowest f_score node in open nodes
GoapStateGraphNode bestOpenNode = openNodes[0];
foreach (GoapStateGraphNode node in openNodes)
{
if (node.HeuristicCost < bestOpenNode.HeuristicCost)
{
bestOpenNode = node;
}
}
CsDebug.Inst.Log("======Evaluating best open node with cost " + bestOpenNode.CostSinceStart, CsDLevel.Debug, CsDComponent.AI);
if (bestOpenNode.CameFromAction != null)
{
CsDebug.Inst.Log("Came from Action " + bestOpenNode.CameFromAction.Name, CsDLevel.Debug, CsDComponent.AI);
}
//evaluate the current world state for states in current node
foreach (GoapWorldState s in bestOpenNode.UnsatisfiedStates)
{
CheckWorldState(s);
CsDebug.Inst.Log("Current Unsatisfied State: " + s.Name + s.Operator + s.Value, CsDLevel.Debug, CsDComponent.AI);
}
foreach (GoapWorldState s in bestOpenNode.SatisfiedStates)
{
CheckWorldState(s);
//CsDebug.Inst.Log("Current Satisfied State: " + s.Name + s.Operator + s.Value, CsDLevel.Debug, CsDComponent.AI);
}
//if all unsatisfied states can be solved by current world state then we have found a path
if (CompareWorldStatesContain(_parentAI.GetCurrentWorldState(), bestOpenNode.UnsatisfiedStates))
{
//search complete, found a path!
CsDebug.Inst.Log("Found best path!", CsDLevel.Info, CsDComponent.AI);
resultFirstNode = bestOpenNode;
break;
}
openNodes.Remove(bestOpenNode);
closedNodes.Add(bestOpenNode);
//find all neighbors
foreach (GoapAction action in availableActions)
{
CsDebug.Inst.Log("------Starting to evaluate action " + action.Name, CsDLevel.Debug, CsDComponent.AI);
List <GoapWorldState> usefulEffects = CompareWorldStatesContainAny(bestOpenNode.UnsatisfiedStates, action.Effects);
if (usefulEffects == null)
{
CsDebug.Inst.Log("Action has no useful effects!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
if (!_parentAI.CheckActionViable(action))
{
CsDebug.Inst.Log("Action has been failed before!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
if (!action.CheckContextPrecondition())
{
CsDebug.Inst.Log("Action is not viable!", CsDLevel.Debug, CsDComponent.AI);
//found conflict, or action is marked as not viable from previous attempts
continue;
}
else if (usefulEffects.Count > 0)
{
CsDebug.Inst.Log("Found action " + action.Name + " that satisfies preconditions set containing " + bestOpenNode.UnsatisfiedStates.Count(), CsDLevel.Debug, CsDComponent.AI);
CsDebug.Inst.Log("Current best open node unsatisfied states contains " + bestOpenNode.UnsatisfiedStates[0].Name + "=" + bestOpenNode.UnsatisfiedStates[0].Value, CsDLevel.Trace, CsDComponent.AI);
//neighbor's effect is removed from neighbor unsatisfied list and added to the satisfied list
//any precondition that hasn't been resolved or listed is added to the neighbor's unsatisfied list
//this way we don't have any dupilicate states
List <GoapWorldState> neighborUnsatisfied = new List <GoapWorldState>(bestOpenNode.UnsatisfiedStates);
List <GoapWorldState> neighborSatisfied = new List <GoapWorldState>(bestOpenNode.SatisfiedStates);
bool isNoConflict = true;
foreach (GoapWorldState effect in usefulEffects)
{
RemoveStateFromSet(neighborUnsatisfied, effect);
isNoConflict = AddStateToSet(neighborSatisfied, effect);
if (!isNoConflict)
{
//CsDebug.Inst.Log("Found conflict when adding effect " + effect.Name + effect.Value + "to neighbor satisfied set", CsDLevel.Trace, CsDComponent.AI);
continue;
}
}
isNoConflict = true;
foreach (GoapWorldState condition in action.Preconditions)
{
//is this condition already in the neighborSatisfied list?
//is this condition already in the neighborUnsatisfied list?
//if both answer is no, add the new condition to neighborUnsatisfied list
bool isInSatisfied = CompareWorldStatesContain(neighborSatisfied, new List <GoapWorldState> {
condition
});
bool isInUnsatisfied = CompareWorldStatesContain(neighborUnsatisfied, new List <GoapWorldState> {
condition
});
if (!isInSatisfied && !isInUnsatisfied)
{
isNoConflict = AddStateToSet(neighborUnsatisfied, condition);
if (!isNoConflict)
{
//CsDebug.Inst.Log("Found conflict when adding condition " + condition.Name + condition.Value + "to neighbor UNsatisfied set", CsDLevel.Trace, CsDComponent.AI);
continue;
}
}
}
//CsDebug.Inst.Log("Successfully added preconditions for action " + action.Name, CsDLevel.Debug, CsDComponent.AI);
//now we check if the above neighbor unsatisfied+satisfied combination exists in any open or closed nodes
//if in closed nodes, we skip this neighbor. if in open nodes, we will calculate its heuristic cost
//if not in any set, create a new node
bool isInClosed = false;
foreach (GoapStateGraphNode node in closedNodes)
{
if (CompareWorldStatesEqual(node.UnsatisfiedStates, neighborUnsatisfied) && CompareWorldStatesEqual(node.SatisfiedStates, neighborSatisfied))
{
isInClosed = true;
}
}
if (isInClosed)
{
continue;
}
//CsDebug.Inst.Log("checking if node already exists in openNodes", CsDLevel.Debug, CsDComponent.AI);
GoapStateGraphNode openNode = null;
foreach (GoapStateGraphNode node in openNodes)
{
if (CompareWorldStatesEqual(node.UnsatisfiedStates, neighborUnsatisfied) && CompareWorldStatesEqual(node.SatisfiedStates, neighborSatisfied))
{
//CsDebug.Inst.Log("Node already exists", CsDLevel.Debug, CsDComponent.AI);
openNode = node;
}
}
float tentativeCost = bestOpenNode.CostSinceStart + action.GetActionCost();
if (openNode != null)
{
//CsDebug.Inst.Log("Node exists, check its cost", CsDLevel.Debug, CsDComponent.AI);
if (tentativeCost >= openNode.CostSinceStart)
{
//CsDebug.Inst.Log("Invalid path!", CsDLevel.Debug, CsDComponent.AI);
//this is NOT a good path
continue;
}
}
else
{
//add a new node into openNodes
openNode = new GoapStateGraphNode(neighborUnsatisfied, neighborSatisfied);
CsDebug.Inst.Log("Adding a new neighbor node with " + neighborUnsatisfied.Count() + " unsatisfied conditions", CsDLevel.Debug, CsDComponent.AI);
openNodes.Add(openNode);
}
CsDebug.Inst.Log("~~~~~~~~~Found a valid path, assigning neighbor parameters" + action.Name, CsDLevel.Info, CsDComponent.AI);
openNode.CameFrom = bestOpenNode;
openNode.CameFromAction = action;
openNode.CostSinceStart = tentativeCost;
openNode.HeuristicCost = openNode.CostSinceStart + GetHeuristic(openNode);
}
}
}
if (resultFirstNode == null)
{
//CsDebug.Inst.Log("No path found! Exiting planner.", CsDLevel.Info, CsDComponent.AI);
return(null);
}
Queue <GoapAction> actions = new Queue <GoapAction>();
GoapStateGraphNode currentNode = resultFirstNode;
//CsDebug.Inst.Log("Start enqueueing actions", CsDLevel.Debug, CsDComponent.AI);
while (currentNode.CameFrom != null)
{
//CsDebug.Inst.Log("Enqueueing action " + currentNode.CameFromAction.Name, CsDLevel.Info, CsDComponent.AI);
//Debug.Log("Enqueueing action " + currentNode.CameFromAction.Name);
actions.Enqueue(currentNode.CameFromAction);
currentNode = currentNode.CameFrom;
}
return(actions);
}
public GoapActionEat(GoapGoal goapGoal) : base(goapGoal)
{
cost = 20;
}
public void Initialize(Character character)
{
_parentCharacter = character;
WorkingMemory = new WorkingMemory();
WorkingMemory.Initialize(_parentCharacter);
BlackBoard = new BlackBoard();
Sensor = new AISensor();
Sensor.Initialize(_parentCharacter);
TargetingSystem = new AITargeting();
TargetingSystem.Initialize(_parentCharacter);
WeaponSystem = new AIWeapon();
WeaponSystem.Initialize(_parentCharacter);
Planner = new GoapPlanner(this);
_goals = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterGoalSet(_parentCharacter.ID);
_actions = GameManager.Inst.DBManager.DBHandlerAI.GetCharacterActionSet(_parentCharacter.ID);
_currentWorldStates = new List<GoapWorldState>();
_parentCharacter.MyEventHandler.OnNewEnemyTargetFound += OnImportantEvent;
_parentCharacter.MyEventHandler.OnCurrentActionComplete += OnCurrentActionComplete;
//update parent character for each action
foreach(GoapAction action in _actions)
{
action.ParentCharacter = _parentCharacter;
}
BlackBoard.PatrolLoc = new Vector3(-15, 0, -15);
BlackBoard.PatrolRange = new Vector3(20, 10, 20);
BlackBoard.HasPatrolInfo = true;
if(ControlType != AIControlType.Player)
{
_currentGoal = null;
_currentAction = null;
FindAndExecuteAction();
}
}
public GoapActionReset(GoapGoal goapGoal) : base(goapGoal)
{
cost = 30;
}
//AI Events
public void OnImportantEvent()
{
//when an important event happens, stop current action and reevaluate all the goals and pick the highest priority goal
if(_currentAction != null)
{
_currentAction.StopAction();
_currentAction = null;
}
_currentGoal = null;
FindAndExecuteAction();
}
public GoapActionCook(GoapGoal goapGoal) : base(goapGoal)
{
cost = 10;
}
private void AddGoal(GoapGoal goal)
{
if(_goals.Count < 5)
{
_goals.Add(goal);
}
}
public GoapActionPlayBall(GoapGoal goapGoal) : base(goapGoal)
{
cost = 50;
}
private bool EvaluateGoal(GoapGoal goal)
{
//check which goal's conditions are met
bool isGoalMet = true;
foreach(GoapWorldState state in goal.GoalStates)
{
object value = EvaluateWorldState(state);
if(value != state.Value)
{
//this goal isn't met!
isGoalMet = false;
return isGoalMet;
}
}
return isGoalMet;
}
