public void PlanAsync(I_GoapAgent _agent, HashSet <string> _worldState, HashSet <string> _goalState, I_GoapActionSet _actionSet, Action <List <I_GoapAction> > _callback)
{
Vector2 agentPos = _agent.GetPositionXZ();
I_GoapAction[] actions = _actionSet.GetActions();
GoapRequest gRequest = new GoapRequest(_agent, actions, _worldState, _goalState, _callback);
//thread safe enqueue
pendingRequests.Enqueue(gRequest);
}
//returns true if finds leave nodes
private static bool BuildTree(GoapRequest _request, GoapNode _parentNode, List <GoapNode> _leaves, List <I_GoapAction> _remainingActions, HashSet <string> _goalState)
{
bool foundSolution = false;
for (int i = 0; i < _remainingActions.Count; i++)
{
planningData.goapAgent = _request.owner;
planningData.agentPositonXZ = _request.agentPos;
_remainingActions[i].InitPlanning(planningData);
//check if we can use this action
if (_remainingActions[i].GetPreConditions().IsSubsetOf(_parentNode.currentState) && _remainingActions[i].IsProceduralConditionValid())
{
//Debug.Log("Found valid action!");
//found an action, create node and build with build tree with remaining actions
GoapNode newNode = new GoapNode(_remainingActions[i]);
newNode.parent = _parentNode;
newNode.currentState.UnionWith(_parentNode.currentState);
newNode.currentState.UnionWith(_remainingActions[i].GetPostEffects());
newNode.runningCost = _parentNode.runningCost + _remainingActions[i].GetCost();
if (_goalState.IsSubsetOf(newNode.currentState))
{
//found a solution
foundSolution = true;
_leaves.Add(newNode);
//Debug.Log("Found a solution!");
}
else
{
List <I_GoapAction> remainingActions = new List <I_GoapAction>(_remainingActions);
remainingActions.RemoveAt(i); //remove used action
foundSolution = BuildTree(_request, newNode, _leaves, remainingActions, _goalState);
}
}
}
return(foundSolution);
}
private static void ExecuteGoapRequest(GoapRequest _request)
{
//I_GoapAgent _agent, HashSet< string > _worldState, HashSet<string> _goalState, I_GoapActionSet _actionSet
//Check is there an action which can just run on the current worldstate without building a tree?
//sort by number of effects
List <I_GoapAction> actions = new List <I_GoapAction>(_request.actions);
///////TODO!!! Sort by number of preconditions
//this is returned
List <I_GoapAction> acitonSequence = new List <I_GoapAction>();
//check if one action can just satisfy
/*for (int i = 0; i < actions.Count; i++)
* {
* actions[i].ResetConditionCache();
* if (actions[i].GetPreConditions().IsSubsetOf(_worldState) && actions[i].IsProceduralConditionValid(_agent))
* {
* HashSet<string> newWorldState = new HashSet<string>();
* newWorldState.UnionWith(_worldState);
* newWorldState.UnionWith(actions[i].GetPostEffects());
*
* if (_goalState.IsSubsetOf(newWorldState))
* {
* acitonSequence.Add(actions[i]);
* return acitonSequence;
* }
*
* }
* }*/
List <GoapNode> leaves = new List <GoapNode>(); //leaves are the solutions
GoapNode rootNode = new GoapNode(null, null, _request.worldState, 0);
for (int i = 0; i < actions.Count; i++)
{
if (actions[i] == null)
{
Debug.LogError("One of the ations is null!");
}
actions[i].ResetConditionCache();
}
bool success = BuildTree(_request, rootNode, leaves, actions, _request.goalState);
if (success)
{
Debug.Log("Found solution");
}
//return goap actions with cheapest cost
float smallestCost = float.MaxValue;
int index = -1;
// Debug.Log("found leaves: " + leaves.Count);
for (int i = 0; i < leaves.Count; i++)
{
//Debug.Log("cost: " + leaves[i].runningCost);
if (smallestCost > leaves[i].runningCost)
{
index = i;
smallestCost = leaves[i].runningCost;
}
}
Debug.Log("Found Solutions: " + leaves.Count);
if (leaves.Count > 0)
{
GoapNode currentNode = leaves[index];
while (currentNode != null)
{
if (currentNode.GetValue() != null)
{
I_GoapAction action = (I_GoapAction)currentNode.GetValue().Clone();
action.ActionHasBeenPicked();
acitonSequence.Insert(0, action);
}
currentNode = (GoapNode)currentNode.parent;
}
}
//callback -> should be executed on the main thread if this is ever threaded!
_request.callback?.Invoke(acitonSequence);
}
