public GOAP_State(GOAP_State reference)
{
foreach (KeyValuePair <string, PriorityValue> pair in reference.Conditions)
{
Conditions [pair.Key] = pair.Value; // set value
}
}
public IEnumerable <GOAP_GraphNode> Neighbors(GOAP_GraphNode Item)
{
if (Item.LeftPreConditions == null || Item.LeftPreConditions.Count <= 0) // solve left priorities
{
foreach (GOAP_Action Action in PossibleActions(Item))
{
var SortedConditions = Action.PreConditions.GetSortedList();
var LeftConditions = new GOAP_State(Item.LeftConditions);
GOAP_State Combined = Item.State + Action.Effects; // the combined conditions of the current state of the parrent and the effects of the new action
LeftConditions.RemoveConditions(Combined.Conditions);
yield return(new GOAP_GraphNode(LeftConditions, Item.Agent, Item, Action, SortedConditions)); // this is a neighbor of the parent node
}
}
else // first solve preconditions
{
foreach (GOAP_Action Action in PossibleActions(Item, Item.LeftPreConditions))
{
GOAP_State Combined = Item.State + Action.Effects; // the combined conditions of the current state of the parrent and the effects of the new action
var CopyList = new List <KeyValuePair <string, GOAP_State.PriorityValue> > (Item.LeftPreConditions); // copy left preconditions
bool SubstractedPreconditions = Combined.RemoveSelfInOrderFromList(ref CopyList); // remove from combined state
if (SubstractedPreconditions) // combined effects satisfy the first or more preconditions of the previous action
{
var SortedConditions = Action.PreConditions.GetSortedList(); // set sorted list of preconditios from this action
SortedConditions.AddRange(CopyList); // add copy list to preconditions of action
yield return(new GOAP_GraphNode(Item.LeftConditions, Item.Agent, Item, Action, SortedConditions)); // this is a neighbor of the parent node
}
}
}
}
public void Plan(GOAP_Goal Goal, GOAP_Agent Agent, System.Action <Queue <GOAP_ActionState>, GOAP_Goal> OnDone)
{
GOAP_State GoalState = Goal.Goal.RemoveConditions(Agent.Memory.State.Conditions); // remove already satisfied goals based on agent memory
if (IsAchievable(GoalState, Agent)) // first check wheter with the given actions the disired goal can be achived before forcing it with a*
{
GOAP_Searcher Searcher = new GOAP_Searcher(); // create new A* GOAP searches
Queue <GOAP_ActionState> NewPlan = Searcher.Solve <GOAP_ActionState>(
new GOAP_Graph(), // initialize new goap graph
(GOAP_GraphNode Node) => {
return(Node.ConnectionAction);
},
new GOAP_GraphNode(GoalState, Agent, null, null), // start state is the goal cause of backwards searching
new GOAP_GraphNode(Agent.Memory.State, Agent, null, null), // goal state is the current state cuase of backwards searching
false,
false, // include start in the que
500 // max 500 iterations before force exit
); // solve plan finding
if (NewPlan != null)
{
OnDone.Invoke(NewPlan, Goal); return;
} // created plan invoke
}
// could not find a plan
OnDone.Invoke(null, Goal);
}
public bool IsAchievable(GOAP_State GoalState, GOAP_Agent Agent)
{
if (GoalState.Conditions.Count <= 0)
{
return(false);
} // goalstate is already reached
GOAP_State CopyState = new GOAP_State(GoalState);
for (int i = 0; i < Agent.Actions.Length; i++)
{
if (CopyState.Count <= 0)
{
return(true);
} // if goal state count is lower the zero then its achievable
Agent.Actions [i].UpdateEffectsAndConditions(true, CopyState); // pre calculations done before checking
if (!Agent.Actions[i].CheckProceduralUsablity(CopyState))
{
continue;
} // check if action is runnable or not
CopyState.RemoveConditions(Agent.Actions[i].Effects.Conditions); // remove conditions of state based on effects of actions
}
return(CopyState.Count <= 0);
}
public GOAP_GraphNode(GOAP_State Left, GOAP_Agent Agent, GOAP_GraphNode Parent, GOAP_Action ConnectionAction, List <KeyValuePair <string, GOAP_State.PriorityValue> > LeftPreConditions = default(List <KeyValuePair <string, GOAP_State.PriorityValue> >))
{
this._Agent = Agent; // the agent of which to take its actions
this._LeftConditions = new GOAP_State(Left); // the goal state represents the state you want to achieve using the actions of the agent.
this._Parent = Parent; // the parents effect is used to meet the preconditions of this node. If parent is equal to null that means its the beginning point of the search.
this._LeftPreConditions = LeftPreConditions;
// temp
float G = 0;
if (Parent != null && ConnectionAction != null)
{
G = ConnectionAction.Cost; // set new cost
_LeftConditions.RemoveConditions(ConnectionAction.Effects.Conditions); // remove effects from left state
_LeftConditions += ConnectionAction.PreConditions; // add the pre conditions of the connection action
_State = Parent.State + ConnectionAction.Effects; // the new state is the state of the parrent with the connection action effects applied
if (Parent.ConnectionAction != null && Parent.ConnectionAction.Action != null)
{
_State.ReplaceGenData(Parent.ConnectionAction.Action.PreConditions); // replace pre conditions gen data
}
}
else
{
_State = Agent.Memory.State; // if parent is equal to null. It means this is the start node. The state of the start node is always the memory of the agent.
}
this._ConnectionAction = new GOAP_ActionState(ConnectionAction, new GOAP_State(this._State)); // the connection action is the action used to get from the parent state to this state.
_H = _LeftConditions.Count; // the heuristic is the count of conditions left to solve
_Cost = G + _H;
}
public void UpdateEffectsAndConditions(bool SetDefaults, GOAP_State GoalState)
{
if (SetDefaults)
{
SetDefaultValues();
} // set default values before pre calculations
PreCalculations(GoalState);
}
public void ReplaceGenData(GOAP_State State)
{
foreach (var Item in State.Conditions)
{
if (Conditions.ContainsKey(Item.Key))
{
Conditions [Item.Key].SetGenData(State.Conditions[Item.Key].GenData);
}
}
}
public static GOAP_State operator +(GOAP_State a, GOAP_State b)
{
GOAP_State result = new GOAP_State(a);
foreach (var pair in b.Conditions)
{
result.Conditions [pair.Key] = pair.Value;
}
return(result);
}
public bool HasKeyMatch(GOAP_State Other)
{
foreach (KeyValuePair <string, PriorityValue> pair in Other.Conditions)
{
if (_Conditions.ContainsKey(pair.Key))
{
return(true); // is equal, has key match
}
}
return(false);
}
public void UpdateAction(GOAP_State GoalState)
{
_CurrentSkipDelay -= 1 * DeltaTime;
if (_CurrentSkipDelay <= 0)
{
_CurrentSkipDelay = SkipDelay;
SkipUpdate(GoalState); // call the skip update
}
Update(GoalState); // call abstract update
}
/// <summary>
/// Determines wheter this state has a matching condition with the other state
/// </summary>
/// <returns><c>true</c> if this instance has match the specified Other; otherwise, <c>false</c>.</returns>
/// <param name="Other">Other.</param>
public bool HasMatch(GOAP_State Other)
{
foreach (KeyValuePair <string, PriorityValue> pair in Other.Conditions)
{
if (_Conditions.ContainsKey(pair.Key))
{
if (PairEquals(pair, new KeyValuePair <string, PriorityValue> (pair.Key, _Conditions [pair.Key])))
{
return(true); // is equal, has match
}
}
}
return(false);
}
public IEnumerable <GOAP_Action> PossibleActions(GOAP_GraphNode Node, List <KeyValuePair <string, GOAP_State.PriorityValue> > LeftPreconditions)
{
GOAP_Action[] Actions = Node.Agent.Actions; // get all possible actions of agent
for (int i = 0; i < Actions.Length; i++)
{
var PossibleAction = Actions[i];
GOAP_State State = new GOAP_State(LeftPreconditions); // create left state based on preconditions
PossibleAction.UpdateEffectsAndConditions(true, State); // update action conditions
if (PossibleAction.Effects.HasMatch(State) && PossibleAction.CheckProceduralUsablity(State)) // if has matching effect and possible action is possible
{
yield return(PossibleAction); // this is a possible action
}
}
}
protected abstract void Enter(GOAP_State GoalState);
/// <summary>
/// Calculations to do just before comparison state / effects comparisons
/// </summary>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
protected virtual void PreCalculations(GOAP_State GoalState)
{
}
public void InterruptAction(GOAP_State GoalState)
{
OnInterruption(GoalState);
}
public void ExitAction(GOAP_State GoalState)
{
Exit(GoalState);
}
public void EnterAction(GOAP_State GoalState)
{
_CurrentSkipDelay = 0f; // reset skip delay to call directly
Enter(GoalState);
}
protected abstract void Exit(GOAP_State GoalState);
protected virtual void OnInterruption(GOAP_State GoalState)
{
}
/// <summary> /// Determines wheter the action is done performing /// </summary> /// <value><c>true</c> if this instance is done; otherwise, <c>false</c>.</value> public abstract bool IsDone(GOAP_State GoalState);
public GOAP_ActionState(GOAP_Action Action, GOAP_State GoalState)
{
this._Action = Action;
this._GoalState = GoalState;
}
/// <summary>
/// This check is performed when switching to this action. It is only called once.
/// </summary>
/// <returns><c>true</c>, if procedural switch was checked, <c>false</c> otherwise.</returns>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
public virtual bool CheckProceduralSwitch(GOAP_State GoalState)
{
return(true);
}
/// <summary>
/// Checks the procedural precondition, determines wheter this action is still runnable or not.
/// </summary>
/// <returns><c>true</c>, if procedural precondition was checked, <c>false</c> otherwise.</returns>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
public virtual bool CheckProceduralPrecondition(GOAP_State GoalState)
{
return(true);
}
/// <summary>
/// Checks whether this action is usable during the planning of a goal
/// </summary>
/// <returns><c>true</c>, if procedural usablity was checked, <c>false</c> otherwise.</returns>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
public virtual bool CheckProceduralUsablity(GOAP_State GoalState)
{
return(true);
}
/// <summary>
/// Skip update is called not every frame but based on the "SkipDelay" value
/// </summary>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
protected virtual void SkipUpdate(GOAP_State GoalState)
{
}
protected abstract void Update(GOAP_State GoalState);
/// <summary>
/// Returns wheter this action is interruptable at this given moment in time. Always called before changing to new state
/// </summary>
/// <returns><c>true</c>, if for interruption was asked, <c>false</c> otherwise.</returns>
/// <param name="Agent">Agent.</param>
/// <param name="GoalState">Goal state.</param>
public virtual bool AskForInterruption(GOAP_State GoalState)
{
return(true);
}
