void Execute()
{
var planner = new ActionPlanner();
planner.Clear();
planner.SetPrecondition(Actions.Scout, Atoms.Alive, true);
planner.SetPostcondition(Actions.Scout, Atoms.EnemyVisible, true);
planner.SetPrecondition(Actions.Approach, Atoms.EnemyVisible, true);
planner.SetPostcondition(Actions.Approach, Atoms.NearEnemy, true);
planner.SetPrecondition(Actions.Aim, Atoms.EnemyVisible, true);
planner.SetPrecondition(Actions.Aim, Atoms.WeaponLoaded, true);
planner.SetPostcondition(Actions.Aim, Atoms.EnemyLinedUp, true);
planner.SetPrecondition(Actions.Shoot, Atoms.EnemyLinedUp, true);
planner.SetPostcondition(Actions.Shoot, Atoms.EnemyAlive, false);
planner.SetPrecondition(Actions.Load, Atoms.ArmedWithGun, true);
planner.SetPostcondition(Actions.Load, Atoms.WeaponLoaded, true);
planner.SetPrecondition(Actions.DetonateBomb, Atoms.ArmedWithBomb, true);
planner.SetPrecondition(Actions.DetonateBomb, Atoms.NearEnemy, true);
planner.SetPostcondition(Actions.DetonateBomb, Atoms.Alive, false);
planner.SetPostcondition(Actions.DetonateBomb, Atoms.EnemyAlive, false);
planner.SetCost(Actions.DetonateBomb, 5);
planner.SetPrecondition(Actions.Flee, Atoms.EnemyVisible, true);
planner.SetPostcondition(Actions.Flee, Atoms.EnemyVisible, false);
Debug.Log(planner.ToString<Actions, Atoms>());
var state = new WorldState();
state.Set(Atoms.EnemyVisible, false);
state.Set(Atoms.ArmedWithGun, true);
state.Set(Atoms.WeaponLoaded, false);
state.Set(Atoms.EnemyLinedUp, false);
state.Set(Atoms.EnemyAlive, true);
state.Set(Atoms.ArmedWithBomb, true);
state.Set(Atoms.NearEnemy, false);
state.Set(Atoms.Alive, true);
Debug.LogFormat("State: {0}", state.ToString<Atoms>());
var goal = new WorldState();
goal.Set(Atoms.EnemyAlive, false);
Debug.LogFormat("Goal: {0}", goal.ToString<Atoms>());
var search = new Fringe(Graph.PlannerHeuristic);
var stateNode = new WorldStateNode(planner, state);
var goalNode = new WorldStateNode(planner, goal);
var path = search.FindPath(stateNode, goalNode);
foreach (WorldStateNode node in path)
{
Debug.Log(node.State);
}
}
public IEnumerable<INode> GetFringePath(GameObject Start, GameObject End)
{
IEnumerable<INode> path;
PathFinder.Fringe fringe = new PathFinder.Fringe(Heuristic);
Node startNode = getNodeAtPos(Start.transform.position);
Node endNode = getNodeAtPos(End.transform.position);
startNode.isStartEnd = true;
endNode.isStartEnd = true;
path = fringe.FindPath((INode)startNode, (INode)endNode);
if (fringe.PathCost > 200)
{
return new List<INode>();
}
startNode.isStartEnd = false;
endNode.isStartEnd = false;
return path;
}
protected void Awake()
{
gridSpace = transform.Find("GridSpace") as RectTransform;
var size = 100;
var grid = new Grid2D(size, size);
grid[5, 5].Weight = float.MaxValue;
grid[5, 6].Weight = float.MaxValue;
grid[5, 7].Weight = float.MaxValue;
grid[5, 8].Weight = float.MaxValue;
grid[5, 9].Weight = float.MaxValue;
grid[5, 10].Weight = float.MaxValue;
grid[5, 11].Weight = float.MaxValue;
grid[5, 12].Weight = float.MaxValue;
grid[5, 13].Weight = float.MaxValue;
grid[5, 14].Weight = float.MaxValue;
grid[15, 5].Weight = float.MaxValue;
grid[15, 6].Weight = float.MaxValue;
grid[15, 7].Weight = float.MaxValue;
grid[15, 8].Weight = float.MaxValue;
grid[15, 9].Weight = float.MaxValue;
grid[15, 10].Weight = float.MaxValue;
grid[15, 11].Weight = float.MaxValue;
grid[15, 12].Weight = float.MaxValue;
grid[15, 13].Weight = float.MaxValue;
grid[15, 14].Weight = float.MaxValue;
grid[5, 15].Weight = float.MaxValue;
grid[6, 15].Weight = float.MaxValue;
grid[7, 15].Weight = float.MaxValue;
grid[8, 15].Weight = float.MaxValue;
grid[9, 15].Weight = float.MaxValue;
grid[10, 15].Weight = float.MaxValue;
grid[11, 15].Weight = float.MaxValue;
grid[12, 15].Weight = float.MaxValue;
grid[13, 15].Weight = float.MaxValue;
grid[14, 15].Weight = float.MaxValue;
grid[15, 15].Weight = float.MaxValue;
//grid[5, 4].Weight = float.MaxValue;
//grid[6, 4].Weight = float.MaxValue;
//grid[7, 4].Weight = float.MaxValue;
//grid[8, 4].Weight = float.MaxValue;
//grid[9, 4].Weight = float.MaxValue;
//grid[10, 4].Weight = float.MaxValue;
//grid[11, 4].Weight = float.MaxValue;
//grid[12, 4].Weight = float.MaxValue;
//grid[13, 4].Weight = float.MaxValue;
//grid[14, 4].Weight = float.MaxValue;
//grid[15, 4].Weight = float.MaxValue;
tiles = new Image[size, size];
gridSpace.gameObject.AddComponent<Selectable>();
Vector2 anchorMin, anchorMax;
for (int i = 0; i < size; i++)
{
anchorMin.x = ((float)i / size);
anchorMax.x = ((float)(i + 1) / size);
for (int j = 0; j < size; j++)
{
anchorMin.y = ((float)j / size);
anchorMax.y = ((float)(j + 1) / size);
var obj = new GameObject(string.Format("Node [{0},{1}]", i, j));
obj.transform.SetParent(gridSpace);
var trans = obj.AddComponent<RectTransform>();
trans.anchorMin = anchorMin;
trans.anchorMax = anchorMax;
trans.offsetMax = Vector2.zero;
trans.offsetMin = Vector2.zero;
trans.localScale = Vector3.one;
var image = obj.AddComponent<Image>();
image.color = (Color.blue * anchorMax.x + Color.red * (1 - anchorMax.x)) * anchorMax.y +
(Color.yellow * anchorMax.x + Color.green * (1 - anchorMax.x)) * (1 - anchorMax.y);
var c = 1f / (grid[i, j].Weight);
image.color = new Color(c, c, c, 1);
tiles[i, j] = image;
}
}
var search = new Fringe(Grid2D.HeuristicManhattan2);
var searchA = new AStar(Grid2D.HeuristicManhattan2);
var start = grid[14, 5];
var end = grid[90, 90];
tiles[start.X, start.Y].color = Color.blue + Color.white * .5f;
tiles[end.X, end.Y].color = Color.yellow + Color.white * .5f;
//StartCoroutine(search.AdvanceFrontier(start, end, () => {
// foreach (Node node in search.mappedNodes.Keys)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.red + Color.white * .5f;
// foreach (Node node in search.frontier)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.green + Color.white * .5f;
// return StartCoroutine(WaitKeyDown(KeyCode.None));
//}));
// astar
var beforea = System.DateTime.Now;
var pathA = searchA.FindPath(start, end);
var aftera = System.DateTime.Now;
Debug.Log((aftera - beforea).Milliseconds);
//foreach (Node2D node in searchA.mappedNodes.Keys)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.red + Color.white * .5f;
//foreach (Node2D node in searchA.frontier)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.green + Color.white * .5f;
//foreach (Node2D node in pathA)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.magenta + Color.white * .5f;
// fringe
var before = System.DateTime.Now;
var path = search.FindPath(start, end);
var after = System.DateTime.Now;
Debug.Log((after - before).Milliseconds);
foreach (Node2D node in search.cache.Keys)
if (node != start && node != end)
tiles[node.X, node.Y].color = Color.red + Color.white * .5f;
foreach (Node2D node in search.fringe)
if (node != start && node != end)
tiles[node.X, node.Y].color = Color.green + Color.white * .5f;
foreach (Node2D node in path)
if (node != start && node != end)
tiles[node.X, node.Y].color = Color.magenta + Color.white * .5f;
//StartCoroutine(search.FindInteractive(start, end, () =>
//{
// foreach (Node2D node in search.cache.Keys)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.red + Color.white * .5f;
// foreach (Node2D node in search.fringe)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.green + Color.white * .5f;
// foreach (Node2D node in search.pathInteractive)
// if (node != start && node != end)
// tiles[node.X, node.Y].color = Color.magenta + Color.white * .5f;
// return StartCoroutine(WaitKeyDown(KeyCode.None));
//}));
}
void Execute()
{
var planner = new ActionPlanner();
planner.Clear();
var scout = planner.CreateAction("Scout");
scout.SetPrecondition ("Alive", true);
scout.SetPostcondition("EnemyVisible", true);
var approach =planner.CreateAction("Approach");
approach.SetPrecondition ("EnemyVisible", true);
approach.SetPostcondition("NearEnemy", true);
var aim =planner.CreateAction("Aim");
aim.SetPrecondition ("EnemyVisible", true);
aim.SetPrecondition ("WeaponLoaded", true);
aim.SetPostcondition("EnemyLinedUp", true);
var shoot =planner.CreateAction("Shoot");
shoot.SetPrecondition ("EnemyLinedUp", true);
shoot.SetPostcondition("EnemyAlive", false);
var load =planner.CreateAction("Load");
load.SetPrecondition ("ArmedWithGun", true);
load.SetPostcondition("WeaponLoaded", true);
var detonateBomb =planner.CreateAction("DetonateBomb", 5);
detonateBomb.SetPrecondition ("ArmedWithBomb", true);
detonateBomb.SetPrecondition ("NearEnemy", true);
detonateBomb.SetPostcondition("Alive", false);
detonateBomb.SetPostcondition("EnemyAlive", false);
var flee =planner.CreateAction("Flee");
flee.SetPrecondition ("EnemyVisible", true);
flee.SetPostcondition("EnemyVisible", false);
Debug.Log(planner.ToString());
var state = new WorldState();
state[planner.StringToAtom("EnemyVisible")] = false;
state[planner.StringToAtom("ArmedWithGun")] = true;
state[planner.StringToAtom("WeaponLoaded")] = false;
state[planner.StringToAtom("EnemyLinedUp")] = false;
state[planner.StringToAtom("EnemyAlive")] = true;
state[planner.StringToAtom("ArmedWithBomb")] = true;
state[planner.StringToAtom("NearEnemy")] = false;
state[planner.StringToAtom("Alive")] = true;
Debug.LogFormat("State: {0}", state.ToString(planner.Atoms));
var goal = new WorldState();
goal[planner.StringToAtom("EnemyAlive")] = false;
Debug.LogFormat("Goal: {0}", goal.ToString(planner.Atoms));
var search = new Fringe(GoapGraph.PlannerHeuristic);
var graph = new GoapGraph(planner);
var stateNode = new WorldStateNode(graph, state, null);
var goalNode = new WorldStateNode(graph, goal, null);
var path = search.FindPath(stateNode, goalNode);
foreach (WorldStateNode node in path)
{
Debug.Log(node.State.ToString(planner.Atoms));
}
}
public void Execute()
{
var sb = new StringBuilder();
var planner = new ActionPlanner();
planner.Clear();
foreach (Transform actionViewTransform in actionsContainer.container)
{
var actionView = actionViewTransform.GetComponent<ActionView>();
if (!actionView) continue;
var action = planner.CreateAction(actionView.GetName());
action.Cost = actionView.GetCost();
foreach (var atom in actionView.GetPreconditions())
{
action.SetPrecondition(atom.GetName(), atom.GetState());
}
foreach (var atom in actionView.GetPostconditions())
{
action.SetPostcondition(atom.GetName(), atom.GetState());
}
}
sb.AppendLine(".:: Action PLanner ::.");
sb.AppendLine(planner.ToString());
var state = new WorldState();
foreach (Transform atom in initialStateContainer.container)
{
var atomView = atom.GetComponent<AtomView>();
if (atomView) state[planner.StringToAtom(atomView.GetName())] = atomView.GetState();
}
sb.AppendLine(".:: Initial State ::.");
sb.AppendFormat("{0}\n\n", state.ToString(planner.Atoms));
var goal = new WorldState();
foreach (Transform atom in goalContainer.container)
{
var atomView = atom.GetComponent<AtomView>();
if (atomView) goal[planner.StringToAtom(atomView.GetName())] = atomView.GetState();
}
sb.AppendLine(".:: Goal ::.");
sb.AppendFormat("{0}\n\n", goal.ToString(planner.Atoms));
var search = new Fringe(GoapGraph.PlannerHeuristic);
var graph = new GoapGraph(planner);
var stateNode = new WorldStateNode(graph, state, null);
var goalNode = new WorldStateNode(graph, goal, null);
var path = search.FindPath(stateNode, goalNode);
var padding = 0;
foreach (WorldStateNode node in path)
{
if (node.Action == null) continue;
padding = System.Math.Max(node.Action.Name.Length, padding);
}
var format = "{0," + padding + "}: {1}\n";
sb.AppendLine(".:: Action Plan ::.");
foreach (WorldStateNode node in path)
{
sb.AppendFormat(format, node.Action == null ? "" : node.Action.Name, node.State.ToString(planner.Atoms));
}
outputText.text = sb.ToString();
}
public IEnumerable<INode> GetFringePath(Vector3 startPosition, Vector3 endPosition, int maxSteps = int.MaxValue)
{
var fringe = new Fringe(Heuristic);
var startNode = getNodeAtPos(startPosition);
var endNode = getNodeAtPos(endPosition);
if (startNode == null || endNode == null) return new List<INode>();
startNode.isStartEnd = true;
endNode.isStartEnd = true;
var path = fringe.FindPath(startNode, endNode, maxSteps);
if (fringe.PathCost > 2000)
{
return new List<INode>();
}
startNode.isStartEnd = false;
endNode.isStartEnd = false;
return path;
}
