private void _EnsureArithStructValueInited(ref StructValue sv, ref StructValue proto)
{
if (!sv.Inited)
{
sv = StructValue.CopyCreate(ref proto, 0);
}
}
private float _CalculateH()
{
float h = 0;
foreach (var pr in goal.GetValues())
{
var pairValue = pr.Value;
if (pairValue.tp == StructValue.EValueType.Other)
{
++h;
}
else if (pairValue.tp == StructValue.EValueType.Arithmetic)
{
float goalValue = Convert.ToSingle(pairValue.v);
var defValue = StructValue.CopyCreate(ref pairValue, 0);
if (!pairValue.IsFulfilledBy(defValue))
{
h += Math.Abs(goalValue);
}
}
}
return(h);
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action)
{
expandList.Clear();
tmpKeys.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), newGoal);
}
if (parent != null)
{
state = parent.GetState().Clone();
// g(node)
g = parent.GetPathCost();
}
else
{
state = planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// create a new instance of the goal based on the paren't goal
goal = ReGoapState <T, W> .Instantiate();
var tmpGoal = ReGoapState <T, W> .Instantiate(newGoal);
var preconditions = action.GetPreconditions(tmpGoal, nextAction);
var effects = action.GetEffects(tmpGoal, nextAction);
// adding the action's effects to the current node's state
state.AddFromState(effects);
// addding the action's cost to the node's total cost
g += action.GetCost(tmpGoal, nextAction);
//// add all preconditions of the current action to the goal
//tmpGoal.AddFromState(preconditions);
//// removes from goal all the conditions that are now fulfilled in the node's state
//tmpGoal.ReplaceWithMissingDifference(state);
////goal.ReplaceWithMissingDifference(effects);
// collect all keys from goal & precondition, unique-ed
foreach (var pr in tmpGoal.GetValues())
{
var k = pr.Key;
if (!tmpKeys.Contains(k))
{
tmpKeys.Add(k);
}
}
foreach (var pr in preconditions.GetValues())
{
var k = pr.Key;
if (!tmpKeys.Contains(k))
{
tmpKeys.Add(k);
}
}
// process each keys
foreach (var k in tmpKeys)
{
StructValue goalValue, effectValue, precondValue, stateValue, protoValue;
tmpGoal.GetValues().TryGetValue(k, out goalValue);
effects.GetValues().TryGetValue(k, out effectValue);
preconditions.GetValues().TryGetValue(k, out precondValue);
state.GetValues().TryGetValue(k, out stateValue);
StructValue.EValueType valueType;
_GetValueType(ref goalValue, ref effectValue, ref precondValue, ref stateValue, out valueType, out protoValue);
if (valueType == StructValue.EValueType.Arithmetic)
{
//_EnsureArithStructValueInited(ref goalValue, ref protoValue);
_EnsureArithStructValueInited(ref effectValue, ref protoValue);
_EnsureArithStructValueInited(ref precondValue, ref protoValue);
_EnsureArithStructValueInited(ref stateValue, ref protoValue);
if (!goalValue.Inited)
{
goalValue = StructValue.CopyCreate(ref stateValue, -(Convert.ToSingle(stateValue.v) - Convert.ToSingle(effectValue.v)));
}
float fGoal = Convert.ToSingle(goalValue.v);
float fEffect = Convert.ToSingle(effectValue.v);
float fPrecond = Convert.ToSingle(precondValue.v);
float fState = Convert.ToSingle(stateValue.v);
float finalV = Math.Max(
fGoal - fEffect,
Math.Min(fPrecond, fPrecond - fState)
);
var sv = StructValue.CopyCreate(ref protoValue, finalV);
goal.SetStructValue(k, sv);
}
else if (valueType == StructValue.EValueType.Other)
{
//ReplaceWithMissingDifference
if (stateValue.Inited && goalValue.Inited && goalValue.IsFulfilledBy(stateValue))
{
goalValue.Invalidate();
}
// AddFromPrecond
// 1. if the precond is satisfied by the memory start state, then discard
// 2. else this newly added goal from precond, should not be removed due to fulfilled by curStateValue
if (precondValue.Inited)
{
bool preCondfulfilledByMem = false;
var startMemoryState = planner.GetCurrentAgent().GetMemory().GetWorldState();
StructValue startMemoryValue;
if (startMemoryState.GetValues().TryGetValue(k, out startMemoryValue))
{
if (startMemoryValue.Inited && precondValue.IsFulfilledBy(startMemoryValue))
{
preCondfulfilledByMem = true;
}
}
if (!preCondfulfilledByMem)
{
if (goalValue.Inited)
{
goalValue = goalValue.MergeWith(precondValue);
}
else
{
goalValue = precondValue;
}
}
}
if (goalValue.Inited)
{
goal.SetStructValue(k, goalValue);
}
}
else
{
UnityEngine.Debug.LogError("Unexpected StructValue type: " + valueType);
}
}// foreach (var k in tmpKeys)
tmpGoal.Recycle();
}
else
{
var diff = ReGoapState <T, W> .Instantiate();
newGoal.MissingDifference(state, ref diff);
goal = diff;
}
h = _CalculateH();
// f(node) = g(node) + h(node)
cost = g + h * planner.GetSettings().HeuristicMultiplier;
}