public IReGoapGoal Plan(IReGoapAgent agent, IReGoapGoal blacklistGoal = null, Queue <ReGoapActionState> currentPlan = null, Action <IReGoapGoal> callback = null)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal>();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible()) //goal.GetPriority() > bestPriority &&
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
var leaf = (BGoapNode)astar.Run(
new BGoapNode(this, goalState, null, null), goapAgent.GetMemory().GetWorldState(), settings.MaxIterations, settings.PlanningEarlyExit);
if (leaf == null)
{
currentGoal = null;
continue;
}
var path = leaf.CalculatePath();
if (currentPlan != null && currentPlan == path)
{
currentGoal = null;
break;
}
currentGoal.SetPlan(path);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public override bool IsGoalPossible()
{
var state = agent.GetMemory().GetWorldState();
if (state.HasKey($"Has Role {type}"))
{
return((bool)state.Get($"Has Role {type}"));
}
return(false);
}
protected override IEnumerable <BGoapState> GetPossibleGenericVariableCombinations(IReGoapAgent goapAgent)
{
foreach (SmartObject so in (goapAgent.GetMemory() as GoapMemory).GetAvailableSoList())
{
if (so is RPGSOTable)
{
BGoapState resultState = new BGoapState();
resultState.Set(table, so);
yield return(resultState);
}
}
}
protected override IEnumerable <BGoapState> GetPossibleVariableCombinations(BGoapState lockInValues, IReGoapAgent goapAgent, BGoapState genericAssignments)
{
if (lockInValues.HasKey(itemVariable) && lockInValues.Get(itemVariable) == null) //this should be handled by place/drop item
{
yield break;
}
if (lockInValues.HasKey(itemVariable) && lockInValues.HasKey(itemTypeVariable)) //both item type and specific item are locked in
{
if (lockInValues.Get(itemVariable).sourceItem == lockInValues.Get(itemTypeVariable)) //check that this combination is valid
{
BGoapState assignment = new BGoapState();
assignment.Set(locationVariable, lockInValues.Get(itemVariable).positionCache);
yield return(assignment);
}
}
else if (lockInValues.HasKey(itemVariable) && lockInValues.Get(itemVariable) != null) //specific item locked in, fill in it's values
{
BGoapState assignment = new BGoapState();
assignment.Set(itemTypeVariable, lockInValues.Get(itemVariable).sourceItem);
assignment.Set(locationVariable, lockInValues.Get(itemVariable).positionCache);
yield return(assignment);
}
else if (lockInValues.HasKey(itemTypeVariable)) //item type locked in, fill in all possible items
{
DBItem requiredItemType = lockInValues.Get(itemTypeVariable);
foreach (InGameItem item in (goapAgent.GetMemory() as GoapMemory).GetAvailableItemList())
{
if (item.sourceItem == requiredItemType)
{
BGoapState assignment = new BGoapState();
assignment.Set(itemVariable, item);
assignment.Set(locationVariable, item.positionCache);
yield return(assignment);
}
}
}
yield break;
}
private void UpdateGoapNodes <T, W>(IReGoapAgent <T, W> agent)
{
if (nodes == null)
{
nodes = new List <ReGoapNodeEditor>();
}
if (agentHelper == null || agent == null || !agent.IsActive() || agent.GetMemory() == null)
{
return;
}
nodes.Clear();
var width = 300f;
var height = 70f;
var nodePosition = new Vector2(0f, 60f);
var nodeMiddleY = new Vector2(0f, height * 0.5f);
ReGoapNodeEditor?previousNode = null;
foreach (var goal in agent.GetGoalsSet())
{
if (goal.GetGoalState() == null)
{
continue;
}
var text = string.Format("<b>GOAL</b> <i>{0}</i>\n", goal);
foreach (var keyValue in goal.GetGoalState().GetValues())
{
text += string.Format("<b>'{0}'</b> = <i>'{1}'</i>", keyValue.Key, keyValue.Value);
}
var style = nodeStyle;
if (agent.IsActive() && agent.GetCurrentGoal() == goal)
{
style = activeStyle;
}
var newNode = DrawGenericNode(text, width, height, style, ref nodePosition);
if (previousNode.HasValue)
{
var startPosition = previousNode.Value.Rect.max - nodeMiddleY - new Vector2(10f, 0f);
var endPosition = newNode.Rect.min + nodeMiddleY + new Vector2(10f, 0f);
Handles.DrawLine(startPosition, endPosition);
}
previousNode = newNode;
}
previousNode = null;
nodePosition = new Vector2(0f, nodePosition.y + height + 10);
height = 66;
var maxHeight = height;
var emptyGoal = agent.InstantiateNewState();
GoapActionStackData <T, W> stackData;
stackData.agent = agent;
stackData.currentState = agent.GetMemory().GetWorldState();
stackData.goalState = emptyGoal;
stackData.next = null;
stackData.settings = null;
foreach (var action in agent.GetActionsSet())
{
var curHeight = height;
var text = string.Format("<b>POSS.ACTION</b> <i>{0}</i>\n", action.GetName());
text += "-<b>preconditions</b>-\n";
var preconditionsDifferences = agent.InstantiateNewState();
var preconditions = action.GetPreconditions(stackData);
if (preconditions == null)
{
continue;
}
preconditions.MissingDifference(stackData.currentState, ref preconditionsDifferences);
foreach (var preconditionPair in preconditions.GetValues())
{
curHeight += 13;
var color = "#004d00";
if (preconditionsDifferences.GetValues().ContainsKey(preconditionPair.Key))
{
color = "#800000";
}
text += string.Format("<color={2}>'<b>{0}</b>' = '<i>{1}</i>'</color>\n", preconditionPair.Key, preconditionPair.Value, color);
}
preconditionsDifferences.Recycle();
text += "-<b>effects</b>-\n";
foreach (var effectPair in action.GetEffects(stackData).GetValues())
{
curHeight += 13;
text += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", effectPair.Key, effectPair.Value);
}
curHeight += 13;
var proceduralCheck = action.CheckProceduralCondition(stackData);
text += string.Format("<color={0}>-<b>proceduralCondition</b>: {1}</color>\n", proceduralCheck ? "#004d00" : "#800000", proceduralCheck);
maxHeight = Mathf.Max(maxHeight, curHeight);
nodeMiddleY = new Vector2(0f, curHeight * 0.5f);
var newNode = DrawGenericNode(text, width, curHeight, possibleActionStyle, ref nodePosition);
if (previousNode.HasValue)
{
var startPosition = previousNode.Value.Rect.max - nodeMiddleY - new Vector2(10f, 0f);
var endPosition = newNode.Rect.min + nodeMiddleY + new Vector2(10f, 0f);
Handles.DrawLine(startPosition, endPosition);
}
previousNode = newNode;
}
previousNode = null;
nodePosition.x = 0;
nodePosition.y += maxHeight + 10;
height = 40;
nodeMiddleY = new Vector2(0f, height * 0.5f);
if (agent.GetCurrentGoal() != null)
{
foreach (var action in agent.GetStartingPlan().ToArray())
{
var style = actionNodeStyle;
if (action.Action.IsActive())
{
style = activeActionNodeStyle;
}
var text = string.Format("<b>ACTION</b> <i>{0}</i>\n", action.Action.GetName());
var newNode = DrawGenericNode(text, width, height, style, ref nodePosition);
if (previousNode.HasValue)
{
var startPosition = previousNode.Value.Rect.max - nodeMiddleY - new Vector2(10f, 0f);
var endPosition = newNode.Rect.min + nodeMiddleY + new Vector2(10f, 0f);
Handles.DrawLine(startPosition, endPosition);
}
previousNode = newNode;
}
}
if (agent.GetMemory() != null)
{
nodePosition = new Vector2(0, nodePosition.y + height + 10);
width = 500;
height = 40;
nodeMiddleY = new Vector2(0f, height * 0.5f);
var nodeText = "<b>WORLD STATE</b>\n";
foreach (var pair in agent.GetMemory().GetWorldState().GetValues())
{
nodeText += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", pair.Key, pair.Value);
height += 13;
}
DrawGenericNode(nodeText, width, height, worldStateStyle, ref nodePosition);
}
}
public IReGoapGoal <T, W> Plan(IReGoapAgent <T, W> agent, IReGoapGoal <T, W> blacklistGoal = null, Queue <ReGoapActionState <T, W> > currentPlan = null, Action <IReGoapGoal <T, W> > callback = null)
{
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
}
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
var currentState = agent.GetMemory().GetWorldState();
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
GoapActionStackData <T, W> stackData;
stackData.agent = goapAgent;
stackData.currentState = currentState;
stackData.goalState = goalState;
stackData.next = null;
stackData.settings = null;
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(stackData);
if (!action.CheckProceduralCondition(stackData))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(stackData), ref wantedGoalCheck);
}
// finally push the current world state
var current = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
current.MissingDifference(GetCurrentAgent().GetMemory().GetWorldState(), ref wantedGoalCheck);
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
goalState = goalState.Clone();
var leaf = (ReGoapNode <T, W>)astar.Run(
ReGoapNode <T, W> .Instantiate(this, goalState, null, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit, debugPlan: settings.DebugPlan);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
int i = 0;
GoapActionStackData <T, W> stackData;
stackData.agent = agent;
stackData.currentState = currentState;
stackData.goalState = currentGoal.GetGoalState();
stackData.next = null;
foreach (var action in currentGoal.GetPlan())
{
stackData.settings = action.Settings;
ReGoapLogger.Log(string.Format("[ReGoapPlanner] {0}) {1}", i++, action.Action.ToString(stackData)));
}
}
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
private void UpdateGoapNodes(GameObject gameObj)
{
if (agent == null || !agent.IsActive() || agent.GetMemory() == null)
{
return;
}
if (nodes == null)
{
nodes = new List <ReGoapNodeEditor>();
}
nodes.Clear();
var width = 250f;
var height = 70f;
var nodePosition = Vector2.zero;
foreach (var goal in gameObj.GetComponents <IReGoapGoal>())
{
if (goal.GetGoalState() == null)
{
continue;
}
var text = string.Format("<b>GOAL</b> <i>{0}</i>\n", goal);
foreach (var keyValue in goal.GetGoalState().GetValues())
{
text += string.Format("<b>'{0}'</b> = <i>'{1}'</i>", keyValue.Key, keyValue.Value);
}
var style = nodeStyle;
if (agent.IsActive() && agent.GetCurrentGoal() == goal)
{
style = activeStyle;
}
DrawGenericNode(text, width, height, style, ref nodePosition);
}
nodePosition = new Vector2(0f, nodePosition.y + height + 10);
height = 66;
var maxHeight = height;
var worldState = agent.GetMemory().GetWorldState();
foreach (var action in agent.GetActionsSet())
{
var curHeight = height;
var text = string.Format("<b>POSS.ACTION</b> <i>{0}</i>\n", action.GetName());
text += "-<b>preconditions</b>-\n";
ReGoapState preconditionsDifferences = new ReGoapState();
var preconditions = action.GetPreconditions(null);
if (preconditions == null)
{
continue;
}
preconditions.MissingDifference(worldState, ref preconditionsDifferences);
foreach (var preconditionPair in preconditions.GetValues())
{
curHeight += 13;
var color = "#004d00";
if (preconditionsDifferences.GetValues().ContainsKey(preconditionPair.Key))
{
color = "#800000";
}
text += string.Format("<color={2}>'<b>{0}</b>' = '<i>{1}</i>'</color>\n", preconditionPair.Key, preconditionPair.Value, color);
}
text += "-<b>effects</b>-\n";
foreach (var effectPair in action.GetEffects(null).GetValues())
{
curHeight += 13;
text += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", effectPair.Key, effectPair.Value);
}
curHeight += 13;
var proceduralCheck = action.CheckProceduralCondition(agent, null);
text += string.Format("<color={0}>-<b>proceduralCondition</b>: {1}</color>\n", proceduralCheck ? "#004d00" : "#800000", proceduralCheck);
maxHeight = Mathf.Max(maxHeight, curHeight);
DrawGenericNode(text, width, curHeight, possibleActionStyle, ref nodePosition);
}
nodePosition.x = 0;
nodePosition.y += maxHeight + 10;
height = 40;
if (agent.GetCurrentGoal() != null)
{
foreach (var action in agent.GetStartingPlan().ToArray())
{
var style = actionNodeStyle;
if (action.Action.IsActive())
{
style = activeActionNodeStyle;
}
var text = string.Format("<b>ACTION</b> <i>{0}</i>\n", action.Action.GetName());
DrawGenericNode(text, width, height, style, ref nodePosition);
}
}
if (agent.GetMemory() != null)
{
nodePosition = new Vector2(0, nodePosition.y + height + 10);
width = 500;
height = 40;
var nodeText = "<b>WORLD STATE</b>\n";
foreach (var pair in agent.GetMemory().GetWorldState().GetValues())
{
nodeText += string.Format("'<b>{0}</b>' = '<i>{1}</i>'\n", pair.Key, pair.Value);
height += 13;
}
DrawGenericNode(nodeText, width, height, worldStateStyle, ref nodePosition);
}
}
