public Node_Goap(WorldStateSet ws, float gCost, float hCost, Node_Goap parent, ActionID actionID)
{
this.parent = parent;
this.WS = ws;
this.ID = actionID;
this.hCost = hCost;
}
protected Goal_Goap(GameObject owner, Planner_Goap planner)
{
this.planner = planner;
this.owner = owner;
//persona = owner.GetComponent<Persona>();
persona = owner.GetComponent <Goap_Controller>().Persona;
GoalWorldstates = new WorldStateSet();
}
public Node_Goap(WorldStateSet ws, WorldStateSymbol[] wsDiff, float gCost, float hCost, Node_Goap parent, ActionID actionID)
{
this.parent = parent;
this.WS = ws;
this.ID = actionID;
this.hCost = hCost;
this.WSDiff = wsDiff;
}
public void UpdateWSVariables(WorldStateSet currentWS)
{
WSVariableText.text = "WorldState";
foreach (var keyVal in currentWS)
{
WSVariableText.text += "\n" + keyVal.Key + ": " + keyVal.Value;
}
}
public WorldStateSet ApplyEffects(WorldStateSet worldState)
{
WorldStateSet appliedWorldState = (WorldStateSet)worldState.Clone();
foreach (WorldStateSymbol effect in Effects)
{
appliedWorldState[effect] = true;
}
return(appliedWorldState);
}
public WorldStateSet GetEffectedWorldState(WorldStateSet worldState)
{
WorldStateSet appliedWorldState = (WorldStateSet)worldState.Clone();
foreach (WorldStateSymbol effect in GoalWorldstates.Keys)
{
appliedWorldState[effect] = true;
}
return(appliedWorldState);
}
public object Clone()
{
WorldStateSet clone = new WorldStateSet();
foreach (KeyValuePair <WorldStateSymbol, bool> kvp in this)
{
clone.Add(kvp.Key, kvp.Value);
}
return(clone);
}
public bool IsValidInWorldState(WorldStateSet worldState)
{
foreach (WorldStateSymbol precondition in PreConditions)
{
if (!worldState[precondition])
{
return(false);
}
}
return(true);
}
/// <summary>
/// Checks if this goals world state is satisfied based on the world state it
/// in parameter
/// </summary>
/// <returns><c>true</c>, if satisfied was ised, <c>false</c> otherwise.</returns>
/// <param name="worldState">World state.</param>
public virtual bool IsSatisfied(WorldStateSet worldState)
{
foreach (var goalState in GoalWorldstates)
{
if (worldState[goalState.Key] != goalState.Value)
{
return(false);
}
}
return(true);
}
/// <summary>
/// Tries the get plan.
/// </summary>
/// <returns>The get plan.</returns>
/// <param name="currentState">Agentens current world state.</param>
/// <param name="actions">Agentens tillgängliga actions.</param>
public Queue <ActionID> TryGetPlan(WorldStateSet currentState, List <Action_Goap> actions)
{
var nodePlan = planner.FindPathFromGoal(currentState, this, actions);
Queue <ActionID> actionPlan = new Queue <ActionID>(nodePlan.Count);
foreach (Node_Goap node in nodePlan)
{
actionPlan.Enqueue(node.ID);
}
return(actionPlan);
}
private float CalculateHCost(WorldStateSet current, Goal_Goap target)
{
float cost = 0;
foreach (var stateSet in target.GoalWorldstates)
{
if (current[stateSet.Key] != stateSet.Value)
{
cost += 1;
}
}
return(cost);
}
public float CalculateHCost(WorldStateSet currentState)
{
float cost = 0;
foreach (WorldStateSymbol goalState in WSDiff)
{
if (currentState[goalState] == false)
{
cost += 1;
}
}
hCost = cost;
return(cost);
}
public List <Node_Goap> FindPathFromGoal(WorldStateSet currentState, Goal_Goap goal, List <Action_Goap> agentActions)
{
Dictionary <WorldStateSymbol, List <Action_Goap> > actionEffectsTable = new Dictionary <WorldStateSymbol, List <Action_Goap> >(agentActions.Count);
foreach (Action_Goap action in agentActions)
{
foreach (WorldStateSymbol effect in action.Effects)
{
if (!actionEffectsTable.ContainsKey(effect))
{
actionEffectsTable.Add(effect, new List <Action_Goap>());
}
actionEffectsTable[effect].Add(action);
}
}
List <Node_Goap> openSet = new List <Node_Goap>();
HashSet <Node_Goap> closedSet = new HashSet <Node_Goap>();
Node_Goap start = new Node_Goap(goal.GetEffectedWorldState(currentState), goal.GoalWorldstates.Keys.ToArray(), 1000, CalculateHCost(currentState, goal), null, ActionID.None);
openSet.Add(start);
int iteration = 0;
int maxIterations = 300;
while (openSet.Count > 0)
{
iteration++;
if (iteration >= maxIterations)
{
Debug.LogError("To many iterations returning [Plan = null]");
return(null);
}
Node_Goap currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost || openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
///Debug.Log("Added " + currentNode.ID + " to closed set");
if (currentNode.IsValidInWorldState(currentState))
{
List <Node_Goap> path = new List <Node_Goap>();
Node_Goap end = currentNode;
while (end.parent != null)
{
path.Add(end);
end = end.parent;
}
return(path);
}
// Get possible actions form currentNode, create new nodes from the actions
// effected worldState.
foreach (WorldStateSymbol symbol in currentNode.WSDiff)
{
//Debug.Log(symbol);
//TODO denna checken ska antagligen bort sen
if (!actionEffectsTable.ContainsKey(symbol))
{
continue;
}
//Check the actions available from the current WorldState
foreach (Action_Goap action in actionEffectsTable[symbol])
{
WorldStateSet effectedWS = action.ApplyEffects(currentNode.WS);
Node_Goap possibleNode = new Node_Goap(effectedWS, action.PreConditions, action.ID);
if (closedSet.Contains(possibleNode))
{
continue;
}
if (!openSet.Contains(possibleNode)) //The node is not a member, just add it.
{
possibleNode.parent = currentNode;
possibleNode.gCost = currentNode.gCost + action.GetCost() + CalculateHCost(effectedWS, goal);
openSet.Add(possibleNode);
// Debug.Log(action.ID + " was not visited before added to open set.");
}
else
{
if (currentNode.gCost + action.GetCost() < possibleNode.gCost)
{
int index = openSet.IndexOf(possibleNode);
openSet[index].parent = currentNode;
openSet[index].gCost = currentNode.gCost + action.GetCost();
openSet[index].hCost = CalculateHCost(effectedWS, goal);
openSet[index].ID = action.ID;
// Debug.Log("There was a cheaper path to: " + action.ID + " updating its values");
}
}
}
}
}
return(null);
}
public Node_Goap(WorldStateSet ws, ActionID actionID)
{
this.WS = ws;
this.ID = actionID;
}
public Node_Goap(WorldStateSet ws, WorldStateSymbol[] wsDiff, ActionID actionID)
{
this.WS = ws;
this.ID = actionID;
this.WSDiff = wsDiff;
}
