/// <summary>
/// A* forward search for a plan that satisfies the given goal.
/// </summary>
/// <returns>Returns null if a plan could not be found, or a list of the
/// actions that must be performed, in order.</returns>
public static Queue <ITransition> Plan(
GoapAgent agent,
WorldGoal goal)
{
var worldState = WorldState.Borrow();
worldState[agent] = agent.GetState();
var regressiveSearchGoal = RegressiveSearchWorldGoal.Borrow(goal);
DebugUtils.Assert(worldState[agent].ContainsKey("x") &&
worldState[agent].ContainsKey("y") &&
worldState[agent].ContainsKey("z"),
"Agent's state must contain his position as 'x' and 'y' keys");
var path = AStarSearch.Search(agent, regressiveSearchGoal, worldState, true);
worldState.ReturnSelf();
GoapAction.WithContext.ReportLeaks();
State.ReportLeaks();
WorldState.ReportLeaks();
WorldGoal.ReportLeaks();
RegressiveSearchWorldGoal.ReportLeaks();
WorldEffects.ReportLeaks();
return(path);
}
/// <summary>
/// Regress worldGoal to before effects
/// </summary>
public RegressiveSearchWorldGoal RegressWorldGoal(WorldEffects worldEffects, bool inPlace = false)
{
var worldGoal = this;
if (!inPlace)
{
worldGoal = RegressiveSearchWorldGoal.Borrow();
foreach (var goal in this)
{
worldGoal[goal.Key] = goal.Value;
}
}
// Reverse change.
foreach (var effects in worldEffects)
{
if (worldGoal.ContainsKey(effects.Key))
{
worldGoal[effects.Key] = worldGoal[effects.Key].RegressGoal(effects.Value);
}
}
return(worldGoal);
}