public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (possibleAction == action)
{
continue;
}
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
!goal.HasAnyConflict(precond) && // no precondition is conflicting with the goal
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
var newGoal = goal;
expandList.Add(Instantiate(planner, newGoal, this, possibleAction));
}
}
return(expandList);
}
public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
GoapActionStackData <T, W> stackData;
stackData.currentState = state;
stackData.goalState = goal;
stackData.next = action;
stackData.agent = agent;
stackData.settings = null;
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(stackData);
var settingsList = possibleAction.GetSettings(stackData);
foreach (var settings in settingsList)
{
stackData.settings = settings;
var precond = possibleAction.GetPreconditions(stackData);
var effects = possibleAction.GetEffects(stackData);
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects, precond) && // no precondition is conflicting with the goal or has conflict but the effects fulfils the goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
possibleAction.CheckProceduralCondition(stackData))
{
var newGoal = goal;
expandList.Add(Instantiate(planner, newGoal, this, possibleAction, settings));
}
}
}
return(expandList);
}
public IEnumerator <IReGoapAction <T, W> > GetPossibleActionsEnumerator()
{
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (possibleAction == action)
{
continue;
}
if (effects.HasAny(goal) && // any effect is the current goal
!goal.HasAnyConflict(effects) && // no effect is conflicting with the goal
!goal.HasAnyConflict(precond) && // no precondition is conflicting with the goal
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
yield return(possibleAction);
}
}
}
private void Init(ReGoapAgent agent, ReGoapState newGoalState, ReGoapNode parent, ReGoapAction action)
{
expandList.Clear();
ReGoapState goal = null;
this.reGoapAgent = agent;
this.parentNode = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(newGoalState);
}
if (parentNode != null)
{
agentReGoapState = parentNode.GetState().Clone();
g = parentNode.GetPathCost();
}
else
{
ReGoapState reGoapState = agent.GetWorldState();
agentReGoapState = reGoapState.Clone();
}
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState.Instantiate(newGoalState);
var preconditions = action.GetPreconditions(goal);
var effects = action.GetEffects(goal);
// adding the action's effects to the current node's state
agentReGoapState.AddFromState(effects);
// addding the action's cost to the node's total cost
g += action.GetCost();
// add all preconditions of the current action to the goal
goal.AddFromState(preconditions);
// removes from goal all the conditions that are now fullfiled in the node's state
goal.ReplaceWithMissingDifference(agentReGoapState);
}
else
{
goal = newGoalState.MissingDifference(agentReGoapState);
}
h = goal.Count;
cost = g + h;
//Expand(goal);
expandList.Clear();
List <ReGoapAction> actionsList = reGoapAgent.GetActionsSet();
for (var index = actionsList.Count - 1; index >= 0; index--)
{
ReGoapAction possibleAction = actionsList[index];
if (!possibleAction.CheckProceduralCondition()) // 执行条件不满足排除掉
{
continue;
}
ReGoapState precond = possibleAction.GetPreconditions(goal);
ReGoapState effects = possibleAction.GetEffects(goal);
if (!ReGoapState.HasAny(effects, goal)) // any effect is the current goal
{
continue;
}
if (!ReGoapState.HasAnyConflict(precond, goal))
{
ReGoapNode reGoapNode = new ReGoapNode(reGoapAgent, goal, this, possibleAction);
expandList.Add(reGoapNode);
}
}
}