private void PlanActions()
{
_actions.Clear();
var worldActions = GetWorldActions();
_actions = ActionPlanner.ConstructActionPlan(this, Goal, worldActions);
}
void Start()
{
m_memory = new Dictionary <string, string>();
m_actionPlanner = new ActionPlanner();
goal = new Goal("Goal1", null, "Goal1_Happy", 100);
m_goals = new List <Goal>();
// Action : Name : PreCondition : Effect : Cost
m_actions = new List <Action>();
// m_actions.Add(new Action("A1", "A1_Happy", "Goal1_Happy", 2));
// m_actions.Add(new Action("A2", "A2_Happy", "Goal1_Happy", 2));
// m_actions.Add(new Action("A3", "", "A1_Happy", 3));
// m_actions.Add(new Action("A4", "A4_Happy", "A1_Happy", 2));
// m_actions.Add(new Action("A5", "", "A2_Happy", 8));
// m_actions.Add(new Action("A6", "A6_Happy", "A2_Happy", 1));
// m_actions.Add(new Action("A7", "", "A4_Happy", 1));
// m_actions.Add(new Action("A8", "", "A4_Happy", 4));
// m_actions.Add(new Action("A9", "", "A6_Happy", 4));
}
public WorldStateNode(GoapGraph graph, WorldState state, ActionPlanner.Action action)
{
Graph = graph;
State = state;
Action = action;
}
public GoapGraph(ActionPlanner planner)
{
this.planner = planner;
}
void Execute()
{
var planner = new ActionPlanner();
planner.Clear();
var scout = planner.CreateAction("Scout");
scout.SetPrecondition ("Alive", true);
scout.SetPostcondition("EnemyVisible", true);
var approach =planner.CreateAction("Approach");
approach.SetPrecondition ("EnemyVisible", true);
approach.SetPostcondition("NearEnemy", true);
var aim =planner.CreateAction("Aim");
aim.SetPrecondition ("EnemyVisible", true);
aim.SetPrecondition ("WeaponLoaded", true);
aim.SetPostcondition("EnemyLinedUp", true);
var shoot =planner.CreateAction("Shoot");
shoot.SetPrecondition ("EnemyLinedUp", true);
shoot.SetPostcondition("EnemyAlive", false);
var load =planner.CreateAction("Load");
load.SetPrecondition ("ArmedWithGun", true);
load.SetPostcondition("WeaponLoaded", true);
var detonateBomb =planner.CreateAction("DetonateBomb", 5);
detonateBomb.SetPrecondition ("ArmedWithBomb", true);
detonateBomb.SetPrecondition ("NearEnemy", true);
detonateBomb.SetPostcondition("Alive", false);
detonateBomb.SetPostcondition("EnemyAlive", false);
var flee =planner.CreateAction("Flee");
flee.SetPrecondition ("EnemyVisible", true);
flee.SetPostcondition("EnemyVisible", false);
Debug.Log(planner.ToString());
var state = new WorldState();
state[planner.StringToAtom("EnemyVisible")] = false;
state[planner.StringToAtom("ArmedWithGun")] = true;
state[planner.StringToAtom("WeaponLoaded")] = false;
state[planner.StringToAtom("EnemyLinedUp")] = false;
state[planner.StringToAtom("EnemyAlive")] = true;
state[planner.StringToAtom("ArmedWithBomb")] = true;
state[planner.StringToAtom("NearEnemy")] = false;
state[planner.StringToAtom("Alive")] = true;
Debug.LogFormat("State: {0}", state.ToString(planner.Atoms));
var goal = new WorldState();
goal[planner.StringToAtom("EnemyAlive")] = false;
Debug.LogFormat("Goal: {0}", goal.ToString(planner.Atoms));
var search = new Fringe(GoapGraph.PlannerHeuristic);
var graph = new GoapGraph(planner);
var stateNode = new WorldStateNode(graph, state, null);
var goalNode = new WorldStateNode(graph, goal, null);
var path = search.FindPath(stateNode, goalNode);
foreach (WorldStateNode node in path)
{
Debug.Log(node.State.ToString(planner.Atoms));
}
}
public void Execute()
{
var sb = new StringBuilder();
var planner = new ActionPlanner();
planner.Clear();
foreach (Transform actionViewTransform in actionsContainer.container)
{
var actionView = actionViewTransform.GetComponent<ActionView>();
if (!actionView) continue;
var action = planner.CreateAction(actionView.GetName());
action.Cost = actionView.GetCost();
foreach (var atom in actionView.GetPreconditions())
{
action.SetPrecondition(atom.GetName(), atom.GetState());
}
foreach (var atom in actionView.GetPostconditions())
{
action.SetPostcondition(atom.GetName(), atom.GetState());
}
}
sb.AppendLine(".:: Action PLanner ::.");
sb.AppendLine(planner.ToString());
var state = new WorldState();
foreach (Transform atom in initialStateContainer.container)
{
var atomView = atom.GetComponent<AtomView>();
if (atomView) state[planner.StringToAtom(atomView.GetName())] = atomView.GetState();
}
sb.AppendLine(".:: Initial State ::.");
sb.AppendFormat("{0}\n\n", state.ToString(planner.Atoms));
var goal = new WorldState();
foreach (Transform atom in goalContainer.container)
{
var atomView = atom.GetComponent<AtomView>();
if (atomView) goal[planner.StringToAtom(atomView.GetName())] = atomView.GetState();
}
sb.AppendLine(".:: Goal ::.");
sb.AppendFormat("{0}\n\n", goal.ToString(planner.Atoms));
var search = new Fringe(GoapGraph.PlannerHeuristic);
var graph = new GoapGraph(planner);
var stateNode = new WorldStateNode(graph, state, null);
var goalNode = new WorldStateNode(graph, goal, null);
var path = search.FindPath(stateNode, goalNode);
var padding = 0;
foreach (WorldStateNode node in path)
{
if (node.Action == null) continue;
padding = System.Math.Max(node.Action.Name.Length, padding);
}
var format = "{0," + padding + "}: {1}\n";
sb.AppendLine(".:: Action Plan ::.");
foreach (WorldStateNode node in path)
{
sb.AppendFormat(format, node.Action == null ? "" : node.Action.Name, node.State.ToString(planner.Atoms));
}
outputText.text = sb.ToString();
}