public IReGoapGoal <T, W> Plan(IReGoapAgent <T, W> agent, IReGoapGoal <T, W> blacklistGoal = null, Queue <ReGoapActionState <T, W> > currentPlan = null, Action <IReGoapGoal <T, W> > callback = null)
{
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
}
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(goapAgent, goalState);
if (!action.CheckProceduralCondition(goapAgent, wantedGoalCheck))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(wantedGoalCheck), ref wantedGoalCheck);
}
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
//Utilities.ReGoapLogger.Log(string.Format("**** Goal: {0}, Expected State = ({1})", currentGoal.GetName(), goalState));
goalState = goalState.Clone();
var leaf = (ReGoapNode <T, W>)astar.Run(
ReGoapNode <T, W> .Instantiate(this, goalState, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit, debugPlan: agent.debugPlan);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
int i = 0;
foreach (var action in currentGoal.GetPlan())
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] {0}) {1}", i++, action.Action));
}
}
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public IReGoapGoal <T, W> Plan(IReGoapAgent <T, W> agent, IReGoapGoal <T, W> blacklistGoal = null, Queue <ReGoapActionState <T, W> > currentPlan = null, Action <IReGoapGoal <T, W> > callback = null)
{
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
var currentState = agent.GetMemory().GetWorldState();
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
GoapActionStackData <T, W> stackData;
stackData.agent = goapAgent;
stackData.currentState = currentState;
stackData.goalState = goalState;
stackData.next = null;
stackData.settings = null;
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(stackData);
if (!action.CheckProceduralCondition(stackData))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(stackData), ref wantedGoalCheck);
}
// finally push the current world state
var current = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
current.MissingDifference(GetCurrentAgent().GetMemory().GetWorldState(), ref wantedGoalCheck);
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
goalState = goalState.Clone();
var leaf = (ReGoapNode <T, W>)astar.Run(
ReGoapNode <T, W> .Instantiate(this, goalState, null, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
return(currentGoal);
}
