public void Update(GOAPAgent agent)
{
if (StateStack.Peek() != null)
{
StateStack.Peek().Invoke(this, agent);
}
}
public abstract bool CheckProceduralPrecondition(GOAPAgent agent);
//public Queue<GOAPAction> Plan(GOAPAgent agent, List<GOAPAction> availableActions, Dictionary<Tuple<string, object>, object> worldState, Dictionary<Tuple<string, object>, object> goal)
public Queue <GOAPAction> Plan(GOAPAgent agent, List <GOAPAction> availableActions, Dictionary <Tuple <string, object>, object> worldState, List <KeyValuePair <Tuple <string, object>, object> > goal)
{
bool Success = false;
List <Node> Tree = new List <Node>();
foreach (KeyValuePair <Tuple <string, object>, object> kvp in goal)
{
foreach (GOAPAction a in availableActions)
{
a.Reset();
}
List <GOAPAction> UseableActions = new List <GOAPAction>();
foreach (GOAPAction a in availableActions)
{
if (a.CheckProceduralPrecondition(agent))
{
UseableActions.Add(a);
}
}
Tree = new List <Node>();
Node Start = new Node(null, 0, worldState, null);
Success = BuildGraph(Start, Tree, UseableActions, kvp);
if (Success)
{
break;
}
}
if (!Success)
{
return(null);
}
Node Cheapest = null;
foreach (Node node in Tree)
{
if (Cheapest == null)
{
Cheapest = node;
}
else
{
if (node.TotalCost < Cheapest.TotalCost)
{
Cheapest = node;
}
}
}
List <GOAPAction> Result = new List <GOAPAction>();
Node n = Cheapest;
while (n != null)
{
if (n.Action != null)
{
Result.Insert(0, n.Action);
}
n = n.Parent;
}
Queue <GOAPAction> queue = new Queue <GOAPAction>();
foreach (GOAPAction a in Result)
{
queue.Enqueue(a);
}
return(queue);
}
