public IGoapGoal Plan(IGoapAgent agent)
{
m_agent = agent;
m_currentGoal = null;
List <IGoapGoal> possibleGoals = GetPossibleGoals(agent);
if (possibleGoals.Count == 0)
{
GoapLogger.LogWarning("[ReGoapPlanner] Agent does not have any Goals to perform. " + m_agent.GetName());
}
while (possibleGoals.Count > 0)
{
m_currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
if (CanFullfillWithActions(m_agent, m_currentGoal) == false)
{
//No actions can't handle this goal
GoapLogger.LogWarning("GoalPlanner :: No Actions to handle Goal (" + m_currentGoal.GetName() + ")");
m_currentGoal = null;
continue;
}
GoapState targetState = m_currentGoal.GetGoalState(agent);
GoapNode <GoapState> leaf = (GoapNode <GoapState>)m_aStar.Run(GoapNode <GoapState> .Instantiate(this, targetState, null, null), targetState);
if (leaf == null)
{
GoapLogger.LogWarning("GoapPlanner :: Pathfinding failed!");
m_currentGoal = null;
continue;
}
Queue <IGoapAction> actions = leaf.CalculatePath();
if (actions.Count == 0)
{
GoapLogger.LogWarning("GoapPlanner :: Calculating Path failed!");
m_currentGoal = null;
continue;
}
m_currentGoal.SetPlan(actions);
break;
}
if (m_currentGoal != null)
{
GoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", m_currentGoal, m_currentGoal.GetPlan().Count));
}
else
{
GoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(m_currentGoal);
}
public GoapPlanner()
{
GoapNode <GoapState> .Warmup(100);
GoapState.Warmup(100);
m_aStar = new AStar <GoapState>(100);
}
public void CalculatePath(ref Queue <IGoapAction> container)
{
GoapNode <T> node = this;
while (node.GetParent() != null)
{
container.Enqueue(node.m_action);
node = (GoapNode <T>)node.GetParent();
}
}
public void Init(IGoapPlanner planner, GoapState goalState, GoapNode <T> parent, IGoapAction action)
{
m_expandList.Clear();
m_planner = planner;
m_parent = parent;
m_action = action;
if (m_parent != null)
{
m_currentState = parent.GetState().Clone();
m_gCost = parent.GetCost();
}
else
{
m_currentState = m_planner.GetAgent().GetMemory().GetWorldState().Clone();
}
if (action != null)
{
m_gCost += action.GetCost();
GoapState preconditions = action.GetPreConditions(goalState);
m_targetState = goalState + preconditions;
GoapState effects = action.GetPostEffects(goalState);
m_currentState.AddFromState(effects);
//Did this action's effect fulfill any of the goals?
m_targetState.RemoveCompletedConditions(effects);
//Did the world fulfill any of the goals?
m_targetState.RemoveCompletedConditions(m_planner.GetAgent().GetMemory().GetWorldState());
}
else
{
var diff = GoapState.Instantiate();
goalState.CreateStateWithMissingDifferences(m_currentState, ref diff);
m_targetState = diff;
}
//Cost is equal to the amount of extra actions
m_hCost = m_targetState.Count;
}
public static GoapNode <T> Instantiate(IGoapPlanner planner, GoapState goalState, GoapNode <T> parent, IGoapAction action)
{
GoapNode <T> node;
if (m_cachedNodes == null)
{
m_cachedNodes = new Stack <GoapNode <T> >();
}
node = (m_cachedNodes.Count > 0) ? m_cachedNodes.Pop() : new GoapNode <T>();
node.Init(planner, goalState, parent, action);
return(node);
}
