/// <summary>
/// Initiate a new plan
/// </summary>
/// <param name="agent">Agent that is planning</param>
/// <param name="goal">Agent's goal</param>
/// <param name="currentWorldState">Agent's current worldstate</param>
/// <param name="availableActions">Agent's available actions</param>
/// <returns></returns>
public static Queue <GOAP_Action> Plan(GOAP_Agent agent, List_GOAP_Worldstate goal, List_GOAP_Worldstate currentWorldState, List <string> availableActions)
{
plannerLog = "<color=#0000cc> <b>PLANNING</b>: " + agent.Character.characterData.characterName + "</color>\n";
//Search for a valid plan
Node startNode = WhileBuild(goal, availableActions, currentWorldState, agent);
plannerLog += "\n";
//Return null if you couldn't find a plan!
if (startNode == null)
{
plannerLog += "<color=#cc0000>Couldn't find actions fulfilling " + agent.Character.characterData.characterName + "s goal.</color>\n";
Debug.Log(plannerLog);
return(null);
}
//Also return null, if the startnode is the goalNode
if (startNode.action == null && agent.activeQuest == null)
{
plannerLog += "Plan has already been fulfilled.\n";
Debug.Log(plannerLog);
return(null);
}
plannerLog += "<color=#00cc00>" + agent.Character.characterData.characterName + "found plan:</color>\n";
//Otherwise return the queue
return(MakeQueue(startNode, agent));
}
public QuestData(GOAP_Agent owner)
{
this.owner = owner;
requiredStates = new List_GOAP_Worldstate();
providedStates = new List_GOAP_Worldstate();
reward = 0;
}
public Node(Node parent, List_GOAP_Worldstate required, GOAP_Action action, float estimatedPathCost)
{
this.parent = parent;
this.estimatedPathCost = estimatedPathCost;
this.required = required;
this.action = action;
}
public VariationData()
{
RequiredWorldstates = new List_GOAP_Worldstate();
SatisfyWorldstates = new List_GOAP_Worldstate();
workCost = 1f;
range = 1f;
benefitingSkill = Skills.None;
}
public VariationData(List_GOAP_Worldstate required, List_GOAP_Worldstate satisfy, float workCost = 1, float range = 1, Skills benefitingSkill = Skills.None)
{
RequiredWorldstates = required;
SatisfyWorldstates = satisfy;
this.workCost = workCost;
this.range = range;
this.benefitingSkill = benefitingSkill;
}
/// <summary>
/// Checks if the goal worldstate is already satisfied within the current worldstate
/// </summary>
/// <param name="currentWorldState"></param>
/// <param name="goalWorldState"></param>
/// <returns></returns>
public static bool IsGoalSatisfied(List_GOAP_Worldstate currentWorldState, GOAP_Worldstate goalWorldState)
{
//First, check if we have not already reached the goal, by checking it against our currentWorldstate
if (!currentWorldState.ContainsExactly(goalWorldState))
{
return(false);
}
return(true);
}
public GOAP_Quest(GOAP_Agent agent, List_GOAP_Worldstate required, List_GOAP_Worldstate provided)
{
id = count++;
questData = new QuestData
{
owner = agent,
requiredStates = new List_GOAP_Worldstate(required),
providedStates = new List_GOAP_Worldstate(provided)
};
}
public bool IsSatisfiedInCurrentWorldstate(List_GOAP_Worldstate worldstates)
{
for (int i = 0; i < worldstates.Count; i++)
{
if (!currentWorldstates.ContainsExactly(worldstates[i]))
{
return(false);
}
}
return(true);
}
/// <summary>
/// Generates a Node containing a PostQuest action from the activeNodes required worldstates
/// </summary>
/// <param name="activeNode"></param>
/// <param name="planningWorldState"></param>
/// <param name="agent"></param>
/// <returns></returns>
private static Node GenerateQuestNode(Node activeNode, List_GOAP_Worldstate planningWorldState, GOAP_Agent agent)
{
List_GOAP_Worldstate newRequired = new List_GOAP_Worldstate();
Action_PostQuest action = new Action_PostQuest();
foreach (GOAP_Worldstate state in activeNode.required)
{
//Debug.Log("Adding state " + state.ToString() + " to quest");
action.AddQuestWorldstate(state);
}
float estimatedQuestCost = action.ActionCost * activeNode.required.Count * heuristicFactor;
return(new Node(activeNode, newRequired, action, estimatedQuestCost + activeNode.estimatedPathCost));
}
/// <summary>
/// Combines current and goal worldstate
/// </summary>
/// <param name="currentWorldState"></param>
/// <param name="goalWorldState"></param>
/// <returns></returns>
private static Node GetGoalNode(List_GOAP_Worldstate currentWorldState, List_GOAP_Worldstate goalWorldState)
{
List_GOAP_Worldstate newRequired = new List_GOAP_Worldstate(goalWorldState);
plannerLog += "Found Goal:\n";
for (int state = 0; state < goalWorldState.Count; state++)
{
plannerLog += goalWorldState[state].ToString() + "\n";
if (currentWorldState.ContainsExactly(goalWorldState[state]))
{
newRequired.Remove(goalWorldState[state]);
}
}
plannerLog += "\n";
return(new Node(null, newRequired, null, 0));
}
public GOAP_Agent(GOAP_Character character, IGOAP_AgentView view)
{
this.character = character;
View = view;
checkedCharacterGoals = new List_GOAP_Worldstate();
currentActions = new Queue <GOAP_Action>();
currentWorldstates = new List_GOAP_Worldstate();
checkedQuestIds = new List <int>();
postedQuestIDs = new List <int>();
completedQuestIDs = new List <int>();
questPlans = new Dictionary <int, Queue <GOAP_Action> >();
activeGoal = new List_GOAP_Worldstate();
planMemory = new List <PlanInfo>();
timeSincePlanned = Random.Range(0, planningWaitTimer);
}
/// <summary>
/// This is a deepCopy constructor
/// </summary>
/// <param name="list"></param>
public List_GOAP_Worldstate(List_GOAP_Worldstate list) : this(list.ToArray())
{
}
/// <summary>
/// Tries to apply the action onto the activeNode to see if it results in a valid neighbor
/// </summary>
/// <param name="activeNode"></param>
/// <param name="action"></param>
/// <param name="planningWorldState">worldstate at the current stage of planning</param>
/// <param name="agent">currently planning agent</param>
/// <returns></returns>
private static List <Node> GetValidNeighborNodeVariations(Node activeNode, GOAP_Action action, List_GOAP_Worldstate planningWorldState, GOAP_Agent agent)
{
if (action == null)
{
return(null);
}
List <Node> nodes = new List <Node>();
if (action.HasVariations())
{
for (int i = 0; i < action.variations.Count; i++)
{
if (action.variations[i] != null)
{
nodes.Add(GetValidNeighborNode(activeNode, action.GetVariation(i), planningWorldState, agent));
}
}
}
else
{
nodes.Add(GetValidNeighborNode(activeNode, action, planningWorldState, agent));
}
return(nodes);
}
protected void Init()
{
RequiredWorldstates = new List_GOAP_Worldstate();
SatisfyWorldstates = new List_GOAP_Worldstate();
variations = new List <VariationData>();
}
private static Node GetValidNeighborNode(Node activeNode, GOAP_Action action, List_GOAP_Worldstate planningWorldState, GOAP_Agent agent)
{
bool isUsefulAction = false;
List_GOAP_Worldstate newRequired = new List_GOAP_Worldstate(activeNode.required);
//Actions need to fulfill at least one required Worldstate to result in a valid neighbor
foreach (GOAP_Worldstate state in activeNode.required)
{
if (action.SatisfyWorldstates.ContainsExactly(state))
{
if (state.key == WorldStateKey.bWasFieldTended && state.value == 0)
{
Debug.LogError(action.SatisfyWorldstates.ToString());
}
newRequired.Remove(state);
isUsefulAction = true;
}
}
//if this action does not help the plan, return null
if (!isUsefulAction)
{
return(null);
}
//If the actions proceduralConditions are not met, we can't perform it anyways
//if (!action.CheckProceduralConditions(agent)) return null;
//add the actions own required worldstates to the Node
foreach (GOAP_Worldstate state in action.RequiredWorldstates)
{
if (!planningWorldState.ContainsExactly(state))
{
//If the state is an observable one and the agent does not have any memory of it, they just assume that it is in their favor
if (state.IsObservableState && !agent.currentWorldstates.ContainsKey(state))
{
Debug.Log("<color=#cc00cc>" + agent.Character.characterData.characterName + "</color> assumes state:" + state.ToString());
agent.ChangeCurrentWorldState(state);
}
else
{
newRequired.Add(state);
}
}
}
//Apply skillmodification onto the neighbor if it is valid
float skillModifier = 1f;
if (action.BenefitingSkill != Skills.None)
{
GOAP_Skill skill = agent.Character.characterData.skills.Find(x => x.id == action.BenefitingSkill);
if (skill != null)
{
//If the character is actually skilled in this action, adjust the skillmodifier
skillModifier /= skill.level;
}
else
{
//If the character is not skilled in this action, the skillmodifier is set to 5. This only comes into play, when global knowledge planning is used.
skillModifier = 1f;
}
}
//Change the skillmodifier on the action
action.ApplySkillModifier(skillModifier);
return(new Node(activeNode, newRequired, action, newRequired.Count * heuristicFactor + action.ActionCost + activeNode.estimatedPathCost));
}
public void Init()
{
requiredStates = new List_GOAP_Worldstate();
providedStates = new List_GOAP_Worldstate();
}
/// <summary>
/// Perform an A*-search to find a valid plan
/// </summary>
/// <param name="goal">Agent's goal</param>
/// <param name="availableActions">Agent's available actions</param>
/// <param name="currentWorldState">Agent's current worldstate</param>
/// <param name="agent">Agent that wants a plan</param>
/// <returns>the starting node, if one was found, else null</returns>
private static Node WhileBuild(List_GOAP_Worldstate goal, List <string> availableActions, List_GOAP_Worldstate currentWorldState, GOAP_Agent agent)
{
//Pick the latest planInfo
PlanInfo planInfo = agent.planMemory[agent.planMemory.Count - 1];
int currentNodeID = 0;
Node current = null;
List <Node> openSet = new List <Node>();
//Get a Node for the goal
Node goalNode = GetGoalNode(currentWorldState, goal);
goalNode.id = currentNodeID;
planInfo.AddNode(goalNode.id, -1, goalNode.required.ToString(), "None", 0f);
//If the goal is already fulfilled, return the goal
if (goalNode.required.Count == 0)
{
plannerLog += "Goal was already fulfilled\n";
return(goalNode);
}
plannerLog += "Starting reverse planning: \n\n";
//Add the goal as first node
openSet.Add(goalNode);
int graphDepth = 0;
//Reverse A*
while (openSet.Count > 0)
{
if (graphDepth >= 20)
{
Debug.LogError("Plan must be recursive and has exceeded 20 iterations");
break;
}
//Sort the open set by pathcosts and pick the best node
openSet.Sort();
string last = "";
if (current != null)
{
last = current.ToString();
}
current = openSet[0];
//Debug Log to visualize the process
string openSetString = "";
for (int i = 0; i < openSet.Count; i++)
{
openSetString += "\n" + makeIndent(graphDepth) + "- " + openSet[i].ToString();
}
if (writePlannerLog)
{
plannerLog += "\n" + makeIndent(graphDepth) + "Planning at depth" + graphDepth;
plannerLog += "\n" + makeIndent(graphDepth) + "Current: " + last;
plannerLog += "\n" + makeIndent(graphDepth) + "<color=#CCCC00>OpenSet(" + openSet.Count + "): </color>";
plannerLog += openSetString;
plannerLog += "\n";
plannerLog += makeIndent(graphDepth) + "-><color=#00CC00>Best Node Chosen:</color> " + current.ToString() + "\n\n";
}
planInfo.AddIteration(graphDepth, "Current:\n- " + last.ToString(), "OpenSet(" + openSet.Count + "):" + openSetString, current.ToString());
if (current.required.Count == 0)
{
plannerLog += makeIndent(graphDepth) + "-><color=#00CC00>Planning Completed with:</color> " + current.ToString() + "\n";
return(current);
}
openSet.Remove(current);
bool foundValidNeighbor = false;
for (int i = 0; i < availableActions.Count; i++)
{
if (availableActions[i].Equals("Action_" + current.action))
{
continue; //Dont do the same action twice
}
List <Node> neighbors = GetValidNeighborNodeVariations(current, InstantiateAction(availableActions[i]), currentWorldState, agent);
if (neighbors != null && neighbors.Count > 0)
{
for (int j = 0; j < neighbors.Count; j++)
{
if (neighbors[j] == null)
{
break;
}
foundValidNeighbor = true;
neighbors[j].id = currentNodeID++;
int indexOfNodeWithSameState = openSet.IndexOf(neighbors[j]);
if (indexOfNodeWithSameState != -1)
{
string tmp = openSet[indexOfNodeWithSameState].ToString();
//if there is already another node with the same resulting planningworldstate, check which has the lower pathcost
if (openSet[indexOfNodeWithSameState].estimatedPathCost > neighbors[j].estimatedPathCost)
{
//if the new node has a lower pathcost, pick that
openSet.Remove(openSet[indexOfNodeWithSameState]);
openSet.Add(neighbors[j]);
if (writePlannerLog)
{
plannerLog += makeIndent(graphDepth) + "-><color=#CCCC00>OpenSet Replaced</color> " + tmp + "with" + neighbors[j].ToString() + "\n";
}
}
else
{
//if the new node has a higher pathcost, don't do anything
if (writePlannerLog)
{
plannerLog += makeIndent(graphDepth) + "-><color=#CC0000>OpenSet Not Replaced</color> " + tmp + "with" + neighbors[j].ToString() + "\n";
}
}
}
else
{
openSet.Add(neighbors[j]);
//Debug Log to visualize the process
if (writePlannerLog)
{
plannerLog += makeIndent(graphDepth) + "-><color=#CCCC00>OpenSet Updated</color> " + neighbors[j].ToString() + "\n";
}
}
}
}
}
if (!foundValidNeighbor && current != goalNode)
{
plannerLog += "No valid neigbor found:\n";
Node questNode = GenerateQuestNode(current, currentWorldState, agent);
questNode.id = currentNodeID++;
openSet.Add(questNode);
//Debug Log to visualize the process
if (writePlannerLog)
{
plannerLog += makeIndent(graphDepth) + "-><color=#660000>OpenSet Updated</color> " + questNode.ToString() + "\n";
}
}
graphDepth++;
}
return(null);
}
