/// <summary>
/// A* forward search for a plan that satisfies the given goal.
/// </summary>
/// <returns>Returns null if a plan could not be found, or a list of the
/// actions that must be performed, in order.</returns>
public static Queue <ITransition> Plan(
GoapAgent agent,
WorldGoal goal)
{
var worldState = WorldState.Borrow();
worldState[agent] = agent.GetState();
var regressiveSearchGoal = RegressiveSearchWorldGoal.Borrow(goal);
DebugUtils.Assert(worldState[agent].ContainsKey("x") &&
worldState[agent].ContainsKey("y") &&
worldState[agent].ContainsKey("z"),
"Agent's state must contain his position as 'x' and 'y' keys");
var path = AStarSearch.Search(agent, regressiveSearchGoal, worldState, true);
worldState.ReturnSelf();
GoapAction.WithContext.ReportLeaks();
State.ReportLeaks();
WorldState.ReportLeaks();
WorldGoal.ReportLeaks();
RegressiveSearchWorldGoal.ReportLeaks();
WorldEffects.ReportLeaks();
return(path);
}
protected virtual bool CanDoNow(GoapAgent agent, IStateful target)
{
var worldState = WorldState.pool.Borrow();
worldState.Clear();
worldState[agent] = agent.GetState();
worldState[target] = target.GetState();
var conditions = GetDependentPreconditions(agent, target);
bool result = GoapPlanner.DoConditionsApplyToWorld(conditions, worldState);
WorldState.pool.Return(worldState);
return(result);
}
protected virtual bool CanDoNow(GoapAgent agent, IStateful target)
{
var worldState = WorldState.Borrow();
worldState[agent] = agent.GetState();
worldState[target] = target.GetState();
// Since the action is a part of the plan, its preconditions on the agent
// should apply.
var doesApply = worldState.IsGoalState(GetIndependentPreconditions(agent));
// NOTE: If the agent's state is volatile and can change outside of the
// agent's plan, comment out this assertion.
DebugUtils.AssertWarning(
doesApply,
"WARNING: Possible bug in definition of " + name
+ ". The agent " + agent.name + " planned to do it but now its state does not allow it");
// Need to check that the target's state still apply to the preconditions
// defined by the action.
doesApply = doesApply && worldState.IsGoalState(GetDependentPreconditions(agent, target));
worldState.ReturnSelf();
return(doesApply);
}
/// <summary>
/// A* forward search for a plan that satisfies the given goal.
/// </summary>
/// <returns>Returns null if a plan could not be found, or a list of the
/// actions that must be performed, in order.</returns>
public static Queue <GoapAction.WithContext> Plan(
GoapAgent agent,
List <GoapAction> availableActions,
WorldGoal goal)
{
var exploredNodes = new Dictionary <WorldState, Node> (WorldStateComparer.instance);
var closedSet = new HashSet <WorldState> (WorldStateComparer.instance);
var openSet = new FastPriorityQueue <Node> (MAX_FRINGE_NODES);
var currentNode = Node.pool.Borrow();
currentNode.Init(null, 0f, goal, null, null);
// currentNode.position = Vector2.zero;
currentNode.position = (agent as Component).transform.position;
openSet.Enqueue(currentNode, 0f);
int iterations = 0;
while (openSet.Count > 0 && iterations < MAX_FRINGE_NODES - 10)
{
iterations++;
currentNode = openSet.Dequeue();
//TODO: delete print
//Debug.Log ("current world goal: " + GoapAgent.PrettyPrint(currentNode.goal));
if (DoConditionsApply(currentNode.goal[agent], agent.GetState()))
{
DebugUtils.Log("Selected plan with cost: " + currentNode.Score);
var plan = UnwrapPlan(currentNode);
//DebugUtils.Log("the plan: " + GoapAgent.PrettyPrint(plan));
// Return all nodes.
Node.pool.ReturnAll();
// Check for leaks in the pools:
//DebugUtils.LogError("Nodes: " + Node.pool.Count);
//DebugUtils.LogError("WithContext: " + GoapAction.WithContext.pool.Count);
//DebugUtils.LogError("WorldState: " + WorldState.pool.Count);
return(plan);
}
foreach (GoapAction action in availableActions)
{
//TODO: delete print
//Debug.Log("considering " + action.name);
WorldGoal possibleChildGoal = action.reverseApplyToWorldGoal(currentNode.goal);
//Debug.Log ("new goal will be: " + GoapAgent.PrettyPrint(possibleChildGoal));
if (agent.GetState().isGoalCloser(currentNode.goal, possibleChildGoal))
{
List <IStateful> targets = action.GetAllTargets(agent);
// No targets, move to next action
if (targets.Count == 0)
{
continue;
}
float minCost = 99999f;
float tempCost = 0f;
IStateful closestTarget = null;
Vector2 newPosition = currentNode.position;
foreach (var target in targets)
{
//DebugUtils.Log ("targets...");
//TODO: check target preconds, make sure this works
if (goal.ContainsKey(target))
{
if (!DoConditionsApply(goal [target], target.GetPerceivedState()))
{
continue;
}
}
if (action.RequiresInRange())
{
tempCost = action.CalculateCost(currentNode.position, target);
if (tempCost < minCost)
{
minCost = tempCost;
closestTarget = target;
newPosition = (target as Component).transform.position;
DebugUtils.Log("minCost: " + minCost);
DebugUtils.Log("closestTarget: " + closestTarget);
}
//DebugUtils.Log ("calculating tempCost");
}
else
{
closestTarget = target;
tempCost = 9999;
DebugUtils.Log("+++ closestTarget: " + closestTarget);
break;
}
}
float cost = currentNode.runningCost + action.workDuration + tempCost;
Node newChiledNode = Node.pool.Borrow();
DebugUtils.Log("*** closestTarget: " + closestTarget);
newChiledNode.Init(currentNode, cost, possibleChildGoal, action, closestTarget);
newChiledNode.position = newPosition;
openSet.Enqueue(newChiledNode, newChiledNode.runningCost);
}
//TODO: delete 'else' scope
else
{
//DebugUtils.Log (action.name + " doesnt improve goal");
}
}
}
//TODO: return plan failed #yoel
return(null);
}
