public override IEnumerable <AStarNode> GetNeighbours(AStarNode node)
{
//Find unsatisfied goal tokens
GOAPNode goal = ((GOAPNode)(node.Goal));
GOAPNode current = ((GOAPNode)(node.Value));
IEnumerable <WorldStateToken> unsatisfied = goal.WorldState.Where(x =>
{
object value = current.WorldState.GetValue(x.Name);
if (value != null)
{
return(((bool)value) != x.Value);
}
else
{
return(true);
}
});
//Find actions to satisfy them
foreach (WorldStateToken token in unsatisfied)
{
IEnumerable <Action> actions = null;
try
{
actions = effectActions[token.Name][token.Value];
}
catch (KeyNotFoundException keyNotFound)
{
break;
}
foreach (Action action in actions)
{
//Modify current and goal states to include the action
GOAPNode newState = (GOAPNode)current.Clone();
GOAPNode goalState = (GOAPNode)node.Goal.Clone();
newState.LastAction = action;
foreach (WorldStateToken effect in action.Effect)
{
newState.WorldState.SetToken(effect);
}
foreach (WorldStateToken precondition in action.Precondition)
{
goalState.WorldState.SetToken(precondition);
}
//Next
yield return(new AStarNode(newState, goalState, action.Cost, this));
}
}
}
public override float GetHeuristic(AStarNode node)
{
GOAPNode state = ((GOAPNode)node.Value);
return(state.WorldState.DifferenceFrom(((GOAPNode)(node.Goal)).WorldState));
}
static void Main(string[] args)
{
NavMap map = new NavMap();
NavNode a = new NavNode(new Point(0, 0));
NavNode b = new NavNode(new Point(2, 2));
NavNode c = new NavNode(new Point(4, 4));
NavNode e = new NavNode(new Point(6, 4));
NavNode f = new NavNode(new Point(6, 0));
NavNode g = new NavNode(new Point(6, 6));
NavNode h = new NavNode(new Point(3, 0));
a.Edges.Add(b, 3);
b.Edges.Add(c, 2.5f);
b.Edges.Add(h, 4f);
c.Edges.Add(f, 6);
f.Edges.Add(g, 7);
g.Edges.Add(e, 2);
h.Edges.Add(e, 7);
AStarEngine engine = new AStarEngine();
IEnumerable <NavNode> plan = engine.FindSolution(a, e, map).Select(x => ((NavNode)x));
foreach (NavNode navNode in plan)
{
Console.Out.WriteLine("({0}, {1})", navNode.Position.X, navNode.Position.Y);
}
GOAPMap goapMap = new GOAPMap();
Action buildFire = new Action("build_fire", new List <WorldStateToken>()
{
new WorldStateToken("has_wood", true)
}, new List <WorldStateToken>()
{
new WorldStateToken("has_fire", true)
}, 10);
Action cookFood = new Action("cook_food", new List <WorldStateToken>()
{
new WorldStateToken("has_fire", true), new WorldStateToken("has_raw_food", true)
}, new List <WorldStateToken>()
{
new WorldStateToken("has_cooked_food", true)
}, 10);
Action huntFood = new Action("hunt_food", new List <WorldStateToken>()
{
new WorldStateToken("has_weapon", true)
}, new List <WorldStateToken> {
new WorldStateToken("has_raw_food", true)
}, 10);
Action chopWood = new Action("chop_wood", new List <WorldStateToken>()
{
}, new List <WorldStateToken> {
new WorldStateToken("has_wood", true)
}, 10);
Action getWeapon = new Action("get_weapon", new List <WorldStateToken>()
{
}, new List <WorldStateToken> {
new WorldStateToken("has_weapon", true)
}, 10);
Action buyCrisps = new Action("buy_crisps", new List <WorldStateToken>()
{
new WorldStateToken("has_money", true)
}, new List <WorldStateToken> {
new WorldStateToken("has_cooked_food", true)
}, 20);
goapMap.AddAction(buildFire);
goapMap.AddAction(cookFood);
goapMap.AddAction(huntFood);
goapMap.AddAction(chopWood);
goapMap.AddAction(getWeapon);
GOAPNode start = new GOAPNode(new WorldState(), null);
WorldState goalWorldState = new WorldState();
goalWorldState.SetToken("has_cooked_food", true);
GOAPNode goal = new GOAPNode(goalWorldState, null);
IEnumerable <GOAPNode> actionPlan = engine.FindSolution(start, goal, goapMap).Select(x => ((GOAPNode)x));
printPlan(actionPlan);
Console.Out.WriteLine("\nAdd easy option\n");
goapMap.AddAction(buyCrisps);
Console.Out.WriteLine("Replanning\n");
actionPlan = engine.FindSolution(start, goal, goapMap).Select(x => ((GOAPNode)x));
printPlan(actionPlan);
start.WorldState.SetToken("has_money", true);
Console.Out.WriteLine("\nSetting precondition and Replanning\n");
actionPlan = engine.FindSolution(start, goal, goapMap).Select(x => ((GOAPNode)x));
printPlan(actionPlan);
Console.ReadKey();
}