public void Plan(GoapAgent agent)
{
float cheapestPlan = 1000000f;
foreach (var goal in agent.goals)
{
var graph = new ActionGraph()
{
actions = agent.availableActions
};
foreach (var kvp in agent.state)
{
state[kvp.Key] = kvp.Value;
}
var start = new GoapActionNode()
{
action = null, state = state
};
var aas = new ActionAStar(graph, start, new Dictionary <string, object>()
{
{ goal.key, goal.value }
});
var cursor = aas.finalPoint;
if (cursor != null && cursor.action != null && aas.costSoFar.ContainsKey(cursor) && aas.costSoFar[cursor] / goal.weight < cheapestPlan)
{
cheapestPlan = aas.costSoFar[cursor] / goal.weight;
UpdateAgentActionList(cursor, aas, agent);
}
}
agent.planning = false;
}
private void UpdateAgentActionList(GoapActionNode cursor, ActionAStar aas, GoapAgent agent)
{
var i = 0;
var limit = 100;
var actionList = new List <GoapAction>();
while (cursor != null && cursor.action != null && aas.cameFrom.ContainsKey(cursor) && i < limit)
{
i++;
actionList.Add(cursor.action);
cursor = aas.cameFrom[cursor];
}
actionList.Reverse();
agent.currentActions = actionList;
agent.busy = true;
agent.planning = false;
}
