public void GetPlanner()
{
// GOAP planning
// get the world state and the goal we want to plan for
Dictionary <string, bool> worldState = goapAgent.dataProvider.getWorldState();
Dictionary <string, bool> goal = goapAgent.dataProvider.createGoalState();
// Plan
Queue <GoapAction> executeActionQueue = goapPlanner.plan(goapAgent.gameObject, availableActions, worldState, goal);
if (executeActionQueue != null && executeActionQueue.Count > 0)
{
// we have a plan, hooray!
currentActions = executeActionQueue;
goapAgent.stateMachine.clearState();
goapAgent.stateMachine.pushState(FSMStateEnum.Perform);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + GoapAgent.prettyPrint(goal));
goapAgent.stateMachine.clearState();
goapAgent.stateMachine.pushState(FSMStateEnum.Idle);
}
}
private void createIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP planning
// get the world state and the goal we want to plan for
HashSet <KeyValuePair <string, object> > worldState = dataProvider.getWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.createGoalState();
// Plan
Queue <GoapAction> plan = planner.plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.planFound(goal, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goal));
dataProvider.planFailed(goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
// Creating states for the GOAP FSM.
private void createIdleState()
{
idleState = (fsm, gameObj) =>
{
// Get world state and goal from data provider.
Dictionary <string, object> worldState = dataProvider.getWorldState();
Dictionary <string, object> goal = dataProvider.createGoalState();
Queue <GoapAction> plan = planner.plan(gameObj, availableActions, worldState, goal);
if (plan != null)
{
// Found a plan. Providing it to the data provider.
currentActions = plan;
dataProvider.planFound(goal, plan);
// Move FSM to performAction state.
fsm.popState();
fsm.pushState(performActionState);
}
else
{
// No plan found for goal.
Debug.Log("<color=orange>Failed plan:</color> " + prettyPrint(goal));
dataProvider.planFailed(goal);
// Going back to idleState.
fsm.popState();
fsm.pushState(idleState);
}
};
}
private void createIdleState()
{
idleState = (fsm, gameObj) => {
// Get the world state and the goal
Dictionary <string, object> worldState = dataProvider.getWorldState();
Dictionary <string, object> goal = dataProvider.createGoalState();
// Generate the plan using GOAP Planner
Queue <GoapAction> plan = planner.plan(gameObject, availableActions, worldState, goal);
if (isSelected)
{
setMetrics();
}
if (plan != null)
{
// Plan found
currentActions = plan;
if (isSelected)
{
generatePlanPanel();
}
dataProvider.planFound(goal, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// No plan
Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goal));
dataProvider.planFailed(goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
private void createIdleState()
{
idleState = (fsm, gameObj) => {
// GOAP planning
// get the world state and the goal we want to plan for
HashSet <KeyValuePair <string, object> > worldState = dataProvider.getWorldState();
HashSet <KeyValuePair <string, object> > goal = dataProvider.createGoalState();
// Plan
// MAYBE ONLY DO THIS ONCE EVERY n SECONDS
if (!hasPlan)
{
planner.plan(gameObject, availableActions, worldState, goal);
}
if (plan != null && hasPlan)
{
// need to find the targets for our actions here before trying to do anything
foreach (var item in plan)
{
foreach (var pre in item.Preconditions)
{
Debug.Log("Precondition: " + pre.Key + " " + pre.Value);
}
item.checkProceduralPrecondition(gameObject);
}
// we have a plan, hooray!
currentActions = plan;
dataProvider.planFound(goal, plan);
//doOnce = true;
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goal));
dataProvider.planFailed(goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
private void createIdleState()
{
idleState = (fsm, aiStateController) => {
// GOAP planning
// get the world state and the goal we want to plan for
UpdateAgentState();
if (debugPlanner)
{
foreach (var item in _goal)
{
Debug.Log(item.Key + " " + item.Value);
}
foreach (var item in _worldState)
{
Debug.Log(item.Key + " " + item.Value);
}
}
// Plan
Queue <GoapAction> plan = planner.plan(aiStateController, availableActions, _worldState, _goal);
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.planFound(_goal, plan);
//Debug.Log(plan.Count);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
//Debug.Log("<color=orange>Failed Plan:</color>"+prettyPrint(goal));
dataProvider.planFailed(_goal);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
private void createIdleState()
{
idleState = (fsm, gameObj) =>
{
// GOAP planning
// get the world state and the goal we want to plan for
var worldState = dataProvider.getWorldState();
var goals = dataProvider.createGoalState();
// search enable Plan
Queue <GoapAction> plan = null;
KeyValuePair <string, bool> lastGoal = new KeyValuePair <string, bool>();
foreach (var goal in goals)
{
lastGoal = goal;
plan = planner.plan(gameObject, availableActions, worldState, goal, dataProvider);
if (plan != null)
{
break;
}
}
if (plan != null)
{
// we have a plan, hooray!
currentActions = plan;
dataProvider.planFound(lastGoal, plan);
fsm.popState(); // move to PerformAction state
fsm.pushState(performActionState);
}
else
{
// ugh, we couldn't get a plan
Debug.Log("<color=orange>Failed Plan:</color>" + prettyPrint(goals));
dataProvider.planFailed(goals);
fsm.popState(); // move back to IdleAction state
fsm.pushState(idleState);
}
};
}
/// <summary>
/// Identifies a plan of action
/// </summary>
public void IdleState()
{
if (fsm.fsmStack.Peek() == "Idle")
{
HashSet <KeyValuePair <string, object> > worldState = gameObject.GetComponent <Player>().currentStateInWorld;
HashSet <KeyValuePair <string, object> > goal = gameObject.GetComponent <Player>().goal;
//Plan
Queue <Action> plan = planner.plan(gameObject, availableActions, worldState, goal);
if (plan != null)
{
currentActions = plan;
fsm.popFSM();
fsm.pushFSM("PerformAction");
}
else
{
Debug.Log("plan failed");
fsm.popFSM();
fsm.pushFSM("idle");
}
}
}
void LateUpdate()
{
if (currentAction != null && currentAction.running)
{
float distanceToTarget = Vector3.Distance(currentAction.target.transform.position, this.transform.position);
if (currentAction.agent.hasPath && distanceToTarget < 2.0f)
{
if (!invoked)
{
Invoke("CompleteAction", currentAction.duration);
invoked = true;
}
}
return;
}
if (planner == null || actionQueue == null)
{
planner = new GoapPlanner();
var sortedGoals = from entry in goals orderby entry.Value descending select entry;
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.plan(actions, sg.Key.subGoals, beliefs);
if (actionQueue != null)
{
currentGoal = sg.Key;
break;
}
}
}
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
currentAction.running = true;
currentAction.agent.SetDestination(currentAction.target.transform.position);
}
}
else
{
actionQueue = null;
}
}
}
