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 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 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 SetSensors(GOAP_Sensor[] Sens, GOAP_Agent Agent)
{
Sensors = Sens;
if (Sens != null) // initialize sensors if there are any
{
for (int i = 0; i < Sensors.Length; i++)
{
Sensors [i].Initialize(Agent);
}
}
}
public GOAP_Action(GOAP_Agent Agent)
{
this._Agent = Agent;
}
public void Initialize(GOAP_Agent Agent)
{
this._Memory = Agent.Memory;
this._Agent = Agent;
Awake();
}
public GOAP_Goal(GOAP_Agent Agent)
{
this._Agent = Agent; // set Goap agent
}