public Node_Goap(WorldStateSet ws, float gCost, float hCost, Node_Goap parent, ActionID actionID)
{
this.parent = parent;
this.WS = ws;
this.ID = actionID;
this.hCost = hCost;
}
public Node_Goap(WorldStateSet ws, WorldStateSymbol[] wsDiff, float gCost, float hCost, Node_Goap parent, ActionID actionID)
{
this.parent = parent;
this.WS = ws;
this.ID = actionID;
this.hCost = hCost;
this.WSDiff = wsDiff;
}
public List <Node_Goap> FindPathFromGoal(WorldStateSet currentState, Goal_Goap goal, List <Action_Goap> agentActions)
{
Dictionary <WorldStateSymbol, List <Action_Goap> > actionEffectsTable = new Dictionary <WorldStateSymbol, List <Action_Goap> >(agentActions.Count);
foreach (Action_Goap action in agentActions)
{
foreach (WorldStateSymbol effect in action.Effects)
{
if (!actionEffectsTable.ContainsKey(effect))
{
actionEffectsTable.Add(effect, new List <Action_Goap>());
}
actionEffectsTable[effect].Add(action);
}
}
List <Node_Goap> openSet = new List <Node_Goap>();
HashSet <Node_Goap> closedSet = new HashSet <Node_Goap>();
Node_Goap start = new Node_Goap(goal.GetEffectedWorldState(currentState), goal.GoalWorldstates.Keys.ToArray(), 1000, CalculateHCost(currentState, goal), null, ActionID.None);
openSet.Add(start);
int iteration = 0;
int maxIterations = 300;
while (openSet.Count > 0)
{
iteration++;
if (iteration >= maxIterations)
{
Debug.LogError("To many iterations returning [Plan = null]");
return(null);
}
Node_Goap currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost || openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
///Debug.Log("Added " + currentNode.ID + " to closed set");
if (currentNode.IsValidInWorldState(currentState))
{
List <Node_Goap> path = new List <Node_Goap>();
Node_Goap end = currentNode;
while (end.parent != null)
{
path.Add(end);
end = end.parent;
}
return(path);
}
// Get possible actions form currentNode, create new nodes from the actions
// effected worldState.
foreach (WorldStateSymbol symbol in currentNode.WSDiff)
{
//Debug.Log(symbol);
//TODO denna checken ska antagligen bort sen
if (!actionEffectsTable.ContainsKey(symbol))
{
continue;
}
//Check the actions available from the current WorldState
foreach (Action_Goap action in actionEffectsTable[symbol])
{
WorldStateSet effectedWS = action.ApplyEffects(currentNode.WS);
Node_Goap possibleNode = new Node_Goap(effectedWS, action.PreConditions, action.ID);
if (closedSet.Contains(possibleNode))
{
continue;
}
if (!openSet.Contains(possibleNode)) //The node is not a member, just add it.
{
possibleNode.parent = currentNode;
possibleNode.gCost = currentNode.gCost + action.GetCost() + CalculateHCost(effectedWS, goal);
openSet.Add(possibleNode);
// Debug.Log(action.ID + " was not visited before added to open set.");
}
else
{
if (currentNode.gCost + action.GetCost() < possibleNode.gCost)
{
int index = openSet.IndexOf(possibleNode);
openSet[index].parent = currentNode;
openSet[index].gCost = currentNode.gCost + action.GetCost();
openSet[index].hCost = CalculateHCost(effectedWS, goal);
openSet[index].ID = action.ID;
// Debug.Log("There was a cheaper path to: " + action.ID + " updating its values");
}
}
}
}
}
return(null);
}
public void AddNeighBour(Node_Goap node)
{
}
