// 可以A*搜索生成plan，也可以手动配置plan
void BuildPlan(GOAPGoal goal)
{
int maxOverLoad = 100;
AStarResultCode ret = _astar.FindPath(goal, CurWorldState, ref _path, maxOverLoad);
switch (ret)
{
case AStarResultCode.SUCCESS:
foreach (var action in _path)
{
steps.Enqueue(action);
}
break;
case AStarResultCode.FAIL_NO_WAY:
Debug.Log(string.Format("寻路失败！无法获得goalType = {0}的路径。", goal.GetType()));
break;
case AStarResultCode.FAIL_OVERLOAD:
Debug.Log(string.Format("寻路失败！在寻找goalType = {0}的路径时open列表元素个数超过上限{1}。",
goal.GetType(), maxOverLoad));
break;
default:
break;
}
}
public void OnUpdate()
{
if (_curGoal != null)
{
if (_curGoal.IsAborted() || _curGoal.IsFinished(WorldState) || _plan.IsAborted())
{
_curGoal.OnExit(WorldState);
if (onGoalExit != null)
{
onGoalExit.Invoke(false);
}
_curGoal = null;
}
}
GOAPGoal topGoal = FindTopGoal();
if (topGoal == null /*|| topGoal.IsAborted()*/ || topGoal.IsFinished(WorldState))
{
// 如果topGoal不合理
if (_curGoal != null)
{
_plan.OnUpdate();
}
return;
}
// 如果是新的topGoal
if (_curGoal != topGoal)
{
if (_curGoal != null)
{
_curGoal.OnExit(WorldState);
if (onGoalExit != null)
{
onGoalExit.Invoke(true);
}
}
_curGoal = topGoal;
foreach (var action in _actions)
{
action.BeforeBuildPlan(_curGoal);
}
_plan.Build(WorldState, _curGoal);
_curGoal.OnEnter(WorldState);
}
else if (_plan.IsEmpty()) // TopGoal不变
{
_plan.Build(WorldState, _curGoal);
}
_plan.OnUpdate();
}
public GOAP(WorldState ws, List <GOAPGoal> goals, List <GOAPAction> actions, GOAPAStarBase astar)
{
WorldState = ws;
_goals = goals;
_actions = actions;
_plan = new GOAPPlan(astar);
_curGoal = null;
foreach (var goal in goals)
{
goalsMap.Add(goal.GOAPGoalType, goal);
}
}
public void Build(WorldState curWS, GOAPGoal goal)
{
CurWorldState = curWS;
while (steps.Count > 0)
{
steps.Dequeue().OnExit(curWS);
}
BuildPlan(goal);
if (steps.Count > 0)
{
steps.Peek().OnEnter();
}
}
protected virtual GOAPGoal FindTopGoal()
{
float max = -1;
GOAPGoal ret = null;
foreach (var goal in _goals)
{
if (goal.InCD())
{
continue;
}
float weight = goal.GetWeight(WorldState);
if (weight > max)
{
max = weight;
ret = goal;
}
}
return(ret);
}
public AStarResultCode FindPath(GOAPGoal goal, WorldState curWorldState,
ref List <GOAPAction> path, int maxOverload = 0)
{
path.Clear();
_goal = goal;
_nodes.Shuffle();
curWorldState.CopyTo(ref _start.nodeWS);
AStarResultCode ret = FindPath(_start, null, ref _nodePath, maxOverload);
if (AStarResultCode.SUCCESS == ret)
{
foreach (var node in _nodePath)
{
path.Add(node.goapAction);
}
}
return(ret);
}
public void Reset()
{
if (WorldState != null)
{
WorldState.Clear();
}
if (_plan != null)
{
_plan.Reset();
}
_curGoal = null;
foreach (var goal in _goals)
{
goal.Reset();
}
foreach (var action in _actions)
{
action.Reset();
}
}
public virtual void BeforeBuildPlan(GOAPGoal goal)
{
}
protected virtual float GetH(GOAPAction action, GOAPGoal goal)
{
return(0);
}
protected virtual float GetCost(GOAPAction action, GOAPGoal goal)
{
return(1);
}
