public ExecutableAction(string _label, WorldStateModifier <TKey, TValue> _preconditions, WorldStateModifier <TKey, TValue> _effects, float _baseUtility)
{
m_Label = _label;
m_Preconditions = _preconditions;
m_Effects = _effects;
m_BaseUtility = _baseUtility;
}
public List <PlannerNode <TKey, TValue> > GetNeighbours(PlannerNode <TKey, TValue> _baseNode)
{
m_NeighbourNodes.Clear();
WorldStateModifier <TKey, TValue> basePreconditions = _baseNode.Action?.GetPreconditions();
WorldState <TKey, TValue> worldStateAtBaseNode = _baseNode.GetWorldStateAtNode();
Goal <TKey, TValue> goalWorldStateAtBaseNode = _baseNode.GetGoalWorldStateAtNode();
WorldState <TKey, TValue> remainingGoals = goalWorldStateAtBaseNode - worldStateAtBaseNode;
// We implement regressive A* for GOAP by chaining action preconditions to action effects until all preconditions are fulfilled.
// For this planner, neighbours are nodes that fulfil any of the remaining goals of the base node without conflicting with any of its preconditions.
foreach (IAction <TKey, TValue> possibleAction in m_CurrentAgent.GetActionSet())
{
var effects = possibleAction.GetEffects();
if (!effects.ContainsAny(remainingGoals))
{
continue;
}
if (effects.ConflictsAny(basePreconditions))
{
continue;
}
PlannerNode <TKey, TValue> plannerNode = GetAvailablePlannerNode();
plannerNode.Init(possibleAction);
plannerNode.CalculateWorldStateAtNode(worldStateAtBaseNode);
plannerNode.CalculateGoalWorldStateAtNode(goalWorldStateAtBaseNode);
bool foundInUsed = false;
foreach (PlannerNode <TKey, TValue> usedNode in m_UsedNodes)
{
if (usedNode.Equals(plannerNode))
{
plannerNode = usedNode;
foundInUsed = true;
break;
}
}
m_NeighbourNodes.Add(plannerNode);
if (!foundInUsed)
{
m_UsedNodes.Add(plannerNode);
}
}
return(m_NeighbourNodes);
}
public void SetPreconditions(WorldStateModifier <string, object> _preconditons)
{
m_Preconditions = _preconditons;
}
public void SetEffects(WorldStateModifier <string, object> _effects)
{
m_Effects = _effects;
}
