//Called by the planner when the action is being considered. This function is used to receive the iGoap and current state
//variables.
public override void OnActionSetup(IGoap iGoap, List <Condition> state)
{
entity = (GOAP_Agent)iGoap;
target = entity.PatrolPoint;
UpdatePrecondition("CloseTo", target);
isViable = (target != null);
}
public override void OnActionSetup(IGoap igoap, List <Condition> state)
{
entity = (Entity)igoap;
// Only set the action to viable if the entity has any food
isViable = entity.amountOfFood > 0;
}
/// <summary>
/// Formulates a plan based on the given actions and goals
/// </summary>
/// <param name="actions">List of available actions</param>
/// <param name="goals">List of available goals, these will be sorted by priority</param>
/// <param name="currentGoal">If a plan is found, this will be the current goal</param>
/// <returns>If a plan was found, a list of actions. Otherwise null</returns>
public static List <Action> FormulatePlan(IGoap igoap, List <Action> actions, List <Goal> goals, out Goal currentGoal, DebugPlanning debug = DebugPlanning.None)
{
currentGoal = null;
if (igoap == null || actions == null || actions.Count == 0 || goals == null || goals.Count == 0)
{
if (igoap == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable iGoap was found.");
}
if (actions == null || actions.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable actions for iGoap were found.");
}
if (goals == null || goals.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable goals for iGoap were found.");
}
return(null);
}
foreach (Goal goal in goals.OrderByDescending(g => g.priority).ToList())
{
List <Action> plan = FormulatePlan(igoap, actions, goal, out currentGoal, debug);
if (plan != null)
{
return(plan);
}
}
return(null);
}
public PerformActionState(BoolDelegate _hasActionPlan, IGoap _goapData, StateMachine _controller, Queue <GoapAction> _currentActions, GameObject _agent)
{
currentActions = _currentActions;
hasActionPlan = _hasActionPlan;
goapData = _goapData;
controller = _controller;
agent = _agent;
}
public override void OnActionSetup(IGoap igoap, List <Condition> state)
{
entity = (GOAP_Agent)igoap;
Transform alarm_point = entity.Alarm;
UpdatePrecondition("CloseTo", alarm_point);
isViable = (alarm_point != null);
}
private void FindDataProvider()
{
worldDataProvider = gameObject.GetComponent <IGoap>();
if (worldDataProvider == null)
{
worldDataProvider = gameObject.AddComponent <VillagerRole>();
}
//
}
public virtual void Awake()
{
ourGoapAgent = GetComponent <GoapAgent>();
ourThreatTrigger = GetComponentInChildren <ThreatTrigger>();
ourThreatTrigger.threatInArea += this.importantEventTriggered;
gameStateHandler = GameObject.Find("Game State Handler").GetComponent <GameStateHandler>();
enemySpawner = GameObject.Find("EnemySpawner").GetComponent <EnemySpawner>();
ourType = GetComponent <IGoap>();
}
public GameObject GetClosestAlly(IGoap allyType, GameObject allySeeker)
{
GameObject potentialMate = null;
//change this
potentialMate = FindClosest.FindClosestObject(enemyDirectory[allyType.GetType()], allySeeker);
return(potentialMate);
}
public void Tick(IGoap goap)
{
_costTime += Time.deltaTime;
if (_costTime >= 1)
{
Hunger -= 2;
Mind -= 2;
_costTime = 0;
}
}
public IdleState(IGoap _goapData, StateMachine _controller, List <GoapAction> _availableActions, GoapPlanner _planner, GoapAgent _agent)
{
goapData = _goapData;
worldState = goapData.GetWorldState();
goal = goapData.GetGoalState();
controller = _controller;
planner = _planner;
agent = _agent;
availableActions = _availableActions;
}
public override void OnActionSetup(IGoap igoap, System.Collections.Generic.List <Condition> state)
{
entity = (Entity)igoap;
// Get the closests carcass the entity knows off, and if it's not null the action is viable
target = entity.closestsCarcass;
UpdatePrecondition("inRangeOf", target);
isViable = target != null;
}
public GoapAgent(List <GoapAction> _availableActions, StateMachine _stateMachine, IGoap _goapData, GameObject __agent)
{
availableActions = _availableActions;
stateMachine = _stateMachine;
goapData = _goapData;
_agent = __agent;
planner = new GoapPlanner();
stateMachine.states.Add("perform_action_state", new PerformActionState(HasPlan, goapData, stateMachine, currentActions, agent));
stateMachine.states.Add("idle", new IdleState(goapData, stateMachine, availableActions, planner, this));
stateMachine.Change("idle");
}
private void findDataProvider()
{
foreach (Component comp in gameObject.GetComponents(typeof(Component)))
{
if (typeof(IGoap).IsAssignableFrom(comp.GetType()))
{
dataProvider = (IGoap)comp;
return;
}
}
}
private void FindAgent()
{
foreach (Component comp in gameObject.GetComponents <Component>())
{
if (typeof(IGoap).IsAssignableFrom(comp.GetType()))
{
agent = (IGoap)comp;
return;
}
}
}
void Awake()
{
availableActions = new HashSet <GoapAction> ();
currentPlan = new Queue <GoapAction> ();
planner = new GoapPlanner();
agentImplementation = GetComponent <IGoap>();
FSM = GetComponent <Animator>();
LoadActions();
}
public override void Update()
{
IGoap c = (IGoap)fsm.owner.controller;
Queue <GOAP_action> plan = fsm.goaplanner.MakePlan(c.GetGoalsState(), c.GetWorldState(), c.GetActions());
if (plan.Count > 0)
{
fsm.currentPlan = plan;
fsm.PushState(new PerformActionState(fsm));
}
}
public GoapAgent(IGoap provider, IAgentActions actions, IAgentControllerState state)
{
_dataProvider = provider;
ActionProvider = actions;
StateProvider = state;
_stateMachine = new FSM();
_availableActions = new HashSet <GoapAction>();
_currentActions = new Queue <GoapAction>();
_planner = new GoapPlanner();
createIdleState();
createMoveToState();
createPerformActionState();
_stateMachine.pushState(_idleState);
loadActions();
}
//Called by the planner when the action is being considered. This function is used to receive the iGoap and current state
//variables.
public override void OnActionSetup(IGoap iGoap, List <Condition> state)
{
entity = (GOAP_Agent)iGoap;
target = null;
foreach (Condition c in state)
{
if (c.identifier == "CloseTo")
{
target = (Transform)c.value;
break;
}
}
UpdateEffect("CloseTo", target);
isViable = (target != null);
}
public override void OnActionSetup(IGoap igoap, List <Condition> state)
{
entity = (Entity)igoap;
// Loop through the conditions state, and see if we can find a condition called "inRangeOf"
foreach (Condition c in state)
{
// If we find one, we use the value to set our target
if (c.identifier == "inRangeOf")
{
target = (Transform)c.value;
break;
}
}
// Update the effect with the target, and make sure the action is viable based on the target
UpdateEffect("inRangeOf", target);
isViable = target != null;
}
private void FindDataProvider()
{
//foreach (Component comp in gameObject.GetComponents(typeof(Component)))
//{
// if (typeof(IGoap).IsAssignableFrom(comp.GetType()))
// {
// dataProvider = (IGoap)comp;
// return;
// }
//}
foreach (Component comp in gameObject.GetComponents <Component>())
{
if (typeof(IGoap).IsAssignableFrom(comp.GetType()))
{
dataProvider = (IGoap)comp;
return;
}
}
}
/// <summary>
/// Formulates a plan based on the given actions and goal
/// </summary>
/// <param name="actions">List of available actions</param>
/// <param name="goals">Available goal</param>
/// <param name="currentGoal">If a plan is found, this will be the current goal</param>
/// <returns>If a plan was found, a list of actions. Otherwise null</returns>
public static List <Action> FormulatePlan(IGoap igoap, List <Action> actions, Goal goal, out Goal currentGoal, DebugPlanning debug = DebugPlanning.None)
{
currentGoal = goal;
if (igoap == null || actions == null || actions.Count == 0 || goal == null)
{
if (igoap == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable iGoap was found.");
}
if (actions == null || actions.Count == 0)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable actions for iGoap were found.");
}
if (goal)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Can't formulate a plan because no suitable goal for iGoap was found.");
}
}
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Formulating a plan for goal {0}.", goal.GetType());
goal.OnGoalSetup();
if (!goal.IsGoalRelevant())
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Goal {0} is not relevant.", goal.GetType());
return(null);
}
List <Action> plan = FindSolution(igoap, actions, goal, debug);
if (plan == null)
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Couldn't find a plan for goal {0}, returning null.", goal.GetType());
}
else
{
DebugText(debug, DebugPlanning.Basics | DebugPlanning.Everything, "Found a plan for goal {0} and returning it.", goal.GetType());
}
return(plan);
}
/**
* Plan what sequence of actions can fulfill the goal.
* Returns null if a plan could not be found, or a list of the actions
* that must be performed, in order, to fulfill the goal.
*/
public Queue <GoapAction> Plan(GameObject agent,
HashSet <GoapAction> availableActions,
Dictionary <string, object> worldState,
KeyValuePair <string, object> goal,
IGoap goap)
{
// reset the actions so we can start fresh with them
foreach (GoapAction a in availableActions)
{
a.DoReset();
}
// check what actions can run using their checkProceduralPrecondition
HashSet <GoapAction> usableActions = NodeManager.GetFreeActionSet();
foreach (GoapAction a in availableActions)
{
if (a.CheckProceduralPrecondition(agent, goap.GetMemory()))
{
usableActions.Add(a);
}
}
// we now have all actions that can run, stored in usableActions
// build up the tree and record the leaf nodes that provide a solution to the goal.
List <GoapNode> leaves = new List <GoapNode>();
// build graph
GoapNode start = NodeManager.GetFreeNode(null, 0, worldState, null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
// oh no, we didn't get a plan
Debug.Log("[" + agent.name + "] " + "NO PLAN");
return(null);
}
// get the cheapest leaf
GoapNode cheapest = null;
foreach (GoapNode leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.BetterThen(cheapest))
{
cheapest = leaf;
}
}
}
// get its node and work back through the parents
List <GoapAction> result = new List <GoapAction>();
GoapNode n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action); // insert the action in the front
}
n = n.parent;
}
NodeManager.Release();
// we now have this action list in correct order
Queue <GoapAction> queue = new Queue <GoapAction>();
foreach (GoapAction a in result)
{
queue.Enqueue(a);
}
// Builds a shortest way for many actions
//for (int i = 1; i < result.Count; i++)
//{
// GoapAction a = result[i];
// a.CheckDistance(result[i-1].target, goap.GetMemory());
//}
// hooray we have a plan!
return(queue);
}
// Should be called from the iGoap class. This initializes the goal class.
// The reason a goal has a initialize function, and the actions don't is because action are
// copied by the planner, while a goal remains the same throughout.
public override void OnGoalInitialize(IGoap igoap)
{
this.igoap = igoap;
}
/// <summary>
/// Get the <see cref="IGoap"/> component in this game object
/// </summary>
private void FindDataProvider()
{
_dataProvider = GetComponent <IGoap>();
}
public PerformActionAction(GoapAgent agent, IGoap dataProvider)
{
_agent = agent;
_dataProvider = dataProvider;
}
private void findDataProvider() {
foreach (Component comp in gameObject.GetComponents(typeof(Component)) ) {
if ( typeof(IGoap).IsAssignableFrom(comp.GetType()) ) {
dataProvider = (IGoap)comp;
return;
}
}
}
private void Awake()
{
igoap = GetComponent <IGoap>();
}
public virtual void OnActionSetup(IGoap igoap, List <Condition> state)
{
this.igoap = igoap;
}
/**
* Plan what sequence of actions can fulfill the goal.
* Returns null if a plan could not be found, or a list of the actions
* that must be performed, in order, to fulfill the goal.
* 计划可以实现目标的行动顺序。
* 如果找不到计划，或者操作列表，则返回null
* 必须按顺序执行才能实现目标。
*/
///<summary>
///计划
///</summary>
public Queue <GoapAction> Plan(GameObject agent,
HashSet <GoapAction> availableActions,
Dictionary <string, bool> worldState,
KeyValuePair <string, bool> goal,
IGoap goap)
{
// reset the actions so we can start fresh with them
//重置动作，以便我们可以重新开始
foreach (var a in availableActions)
{
a.doReset();
}
// check what actions can run using their checkProceduralPrecondition
//使用检查程序前置条件检查可以运行的操作
var usableActions = NodeManager.GetFreeActionSet();
foreach (var a in availableActions)
{
if (a.CheckProceduralPrecondition(agent, goap.GetBlackBoard()))
{
usableActions.Add(a);
}
}
// we now have all actions that can run, stored in usableActions
//我们现在拥有可以运行的所有操作，存储在usefulActions中
// build up the tree and record the leaf nodes that provide a solution to the goal.
//构建树并记录提供目标解决方案的节点。
var leaves = new List <GoapNode>();
// build graph
//构建图表
var start = NodeManager.GetFreeNode(null, 0, 0, worldState, null);
//构建图
var success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
// oh no, we didn't get a plan
//不，我们没有得到一个计划
// Debug.Log("NO PLAN");
return(null);
}
// get the cheapest leaf
//得到最便宜的节点
GoapNode cheapest = null;
foreach (var leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.BetterThen(cheapest))
{
cheapest = leaf;
}
}
}
// get its node and work back through the parents
//获取其节点并通过父节点返回
var result = new List <GoapAction>();
var n = cheapest;
while (n != null)
{
if (n.action != null)
{
//在前面插入动作
result.Insert(0, n.action); // insert the action in the front
}
n = n.parent;
}
NodeManager.Release();
// we now have this action list in correct order
//我们现在按正确的顺序拥有此操作列表
var queue = new Queue <GoapAction>();
foreach (var a in result)
{
queue.Enqueue(a);
}
// hooray we have a plan!
//万岁，我们有一个计划！
return(queue);
}
public PlanAction(GoapPlanner planner, IGoap dataProvider, GoapAgent agent)
{
_planner = planner;
_dataProvider = dataProvider;
_agent = agent;
}
void FindDataProvider() => _dataProvider = gameObject.GetComponent <IGoap>();
