From 02547f5e7ced7a3e56d0fedf70bdfd2f1de29f96 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 19:05:06 +0900 Subject: [PATCH 001/108] Add ConditionOperator enum to define comparison operators --- Goap/ConditionOperator.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 Goap/ConditionOperator.cs diff --git a/Goap/ConditionOperator.cs b/Goap/ConditionOperator.cs new file mode 100644 index 0000000..9ddd706 --- /dev/null +++ b/Goap/ConditionOperator.cs @@ -0,0 +1,11 @@ +namespace TsunagiModule.Goap +{ + public enum CondiionOperator + { + Larger, + LargerOrEqual, + Smaller, + SmallerOrEqual, + Equal, + } +} From faf0b15be2bedc6b8d4ae31ae8f95f874fdbc8c1 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:02:10 +0900 Subject: [PATCH 002/108] meta files --- Goap.meta | 8 ++++++++ Goap/ConditionOperator.cs.meta | 2 ++ Goap/GoapValue.cs.meta | 2 ++ README.md.meta | 7 +++++++ 4 files changed, 19 insertions(+) create mode 100644 Goap.meta create mode 100644 Goap/ConditionOperator.cs.meta create mode 100644 Goap/GoapValue.cs.meta create mode 100644 README.md.meta diff --git a/Goap.meta b/Goap.meta new file mode 100644 index 0000000..2fdcbd5 --- /dev/null +++ b/Goap.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b78773f5467699b4bbc03c3a2be2451d +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/ConditionOperator.cs.meta b/Goap/ConditionOperator.cs.meta new file mode 100644 index 0000000..2738543 --- /dev/null +++ b/Goap/ConditionOperator.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: d56d9e08e417cc94d95a659a1d6da284 \ No newline at end of file diff --git a/Goap/GoapValue.cs.meta b/Goap/GoapValue.cs.meta new file mode 100644 index 0000000..515a1be --- /dev/null +++ b/Goap/GoapValue.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 05a9d8f79c779834a9097c7825fc5ad0 \ No newline at end of file diff --git a/README.md.meta b/README.md.meta new file mode 100644 index 0000000..06d9a57 --- /dev/null +++ b/README.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 86de5bca44e6ae34db8903a877f0033a +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: From 45fe106a4b0a490cf5c22ed6f3c4d5e79341d130 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:05:23 +0900 Subject: [PATCH 003/108] goap value --- Goap/GoapValue.cs | 63 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 Goap/GoapValue.cs diff --git a/Goap/GoapValue.cs b/Goap/GoapValue.cs new file mode 100644 index 0000000..52684d0 --- /dev/null +++ b/Goap/GoapValue.cs @@ -0,0 +1,63 @@ +using System; + +namespace TsunagiModule.Goap +{ + /// + /// Value used in Goap system. + /// + /// + /// This is implemented for support integrated control of State Control, being independent of value type. + /// + public struct GoapValue + { + public enum ValueType + { + Int, + Float, + Bool + } + + public float value { get; private set; } + public ValueType type { get; private set; } + + public GoapValue(float value) + { + this.value = value; + type = ValueType.Float; + } + + public GoapValue(int value) + { + this.value = value; + type = ValueType.Int; + } + + public GoapValue(bool value) + { + this.value = value ? 1 : 0; + type = ValueType.Bool; + } + + public bool GetAsBool() + { + return value > 0.5f; + } + + public int GetAsInt() + { + return (int)Math.Round(value); + } + + public float GetAsFloat() + { + if (type == ValueType.Float) + return value; + else if (type == ValueType.Int) + return (int)value; + else if (type == ValueType.Bool) + return value > 0 ? 1 : 0; + else + throw new NotImplementedException("Unknown GoapValue type."); + } + } +} From 06a7cdf12f2a10be3683350e60c362ee404a70c8 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:13:14 +0900 Subject: [PATCH 004/108] add condition class --- Goap/Condition.cs | 54 ++++++++++++++++++++++++++++++++++ Goap/Condition.cs.meta | 2 ++ Goap/ConditionOperator.cs | 11 ------- Goap/ConditionOperator.cs.meta | 2 -- 4 files changed, 56 insertions(+), 13 deletions(-) create mode 100644 Goap/Condition.cs create mode 100644 Goap/Condition.cs.meta delete mode 100644 Goap/ConditionOperator.cs delete mode 100644 Goap/ConditionOperator.cs.meta diff --git a/Goap/Condition.cs b/Goap/Condition.cs new file mode 100644 index 0000000..c834472 --- /dev/null +++ b/Goap/Condition.cs @@ -0,0 +1,54 @@ +using System; +using NUnit.Framework; + +namespace TsunagiModule.Goap +{ + public abstract class Condition + { + public enum ConditionOperator + { + Larger, + LargerOrEqual, + Smaller, + SmallerOrEqual, + Equal, + } + + /// + /// error acceptance value for float comparison. + /// + private const float EPSILON = 0.0001f; + + public string name { get; private set; } + public GoapValue value { get; private set; } + public ConditionOperator conditionOperator { get; private set; } + + public bool IsSatisfied(float valueComparing) + { + switch (conditionOperator) + { + case ConditionOperator.Larger: + return value.GetAsFloat() < valueComparing; + case ConditionOperator.LargerOrEqual: + return value.GetAsFloat() <= valueComparing; + case ConditionOperator.Smaller: + return value.GetAsFloat() > valueComparing; + case ConditionOperator.SmallerOrEqual: + return value.GetAsFloat() >= valueComparing; + case ConditionOperator.Equal: + return IsEqualApproximately(value.GetAsFloat(), valueComparing); + default: + Assert.IsTrue(false, "Unknown condition operator."); + return false; + } + } + + /// + /// Equality check for float values. + /// + private bool IsEqualApproximately(float a, float b) + { + return Math.Abs(a - b) < EPSILON; + } + } +} diff --git a/Goap/Condition.cs.meta b/Goap/Condition.cs.meta new file mode 100644 index 0000000..f2758a3 --- /dev/null +++ b/Goap/Condition.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: eaef8e2c64b14954aa8fce230e802c50 \ No newline at end of file diff --git a/Goap/ConditionOperator.cs b/Goap/ConditionOperator.cs deleted file mode 100644 index 9ddd706..0000000 --- a/Goap/ConditionOperator.cs +++ /dev/null @@ -1,11 +0,0 @@ -namespace TsunagiModule.Goap -{ - public enum CondiionOperator - { - Larger, - LargerOrEqual, - Smaller, - SmallerOrEqual, - Equal, - } -} diff --git a/Goap/ConditionOperator.cs.meta b/Goap/ConditionOperator.cs.meta deleted file mode 100644 index 2738543..0000000 --- a/Goap/ConditionOperator.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: d56d9e08e417cc94d95a659a1d6da284 \ No newline at end of file From 4b598c90055f07f2548e6c83c7b30d2fe7b1749b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:21:16 +0900 Subject: [PATCH 005/108] Refactor GoapValue to use ValueConverter for type conversions and add ValueConverter class for consistent value handling --- Goap/GoapValue.cs | 17 +++++------------ Goap/ValueConverter.cs | 30 ++++++++++++++++++++++++++++++ Goap/ValueConverter.cs.meta | 2 ++ 3 files changed, 37 insertions(+), 12 deletions(-) create mode 100644 Goap/ValueConverter.cs create mode 100644 Goap/ValueConverter.cs.meta diff --git a/Goap/GoapValue.cs b/Goap/GoapValue.cs index 52684d0..f5c995d 100644 --- a/Goap/GoapValue.cs +++ b/Goap/GoapValue.cs @@ -28,36 +28,29 @@ public GoapValue(float value) public GoapValue(int value) { - this.value = value; + this.value = ValueConverter.ToFloat(value); type = ValueType.Int; } public GoapValue(bool value) { - this.value = value ? 1 : 0; + this.value = ValueConverter.ToFloat(value); type = ValueType.Bool; } public bool GetAsBool() { - return value > 0.5f; + return ValueConverter.ToBool(value); } public int GetAsInt() { - return (int)Math.Round(value); + return ValueConverter.ToInt(value); } public float GetAsFloat() { - if (type == ValueType.Float) - return value; - else if (type == ValueType.Int) - return (int)value; - else if (type == ValueType.Bool) - return value > 0 ? 1 : 0; - else - throw new NotImplementedException("Unknown GoapValue type."); + return value; } } } diff --git a/Goap/ValueConverter.cs b/Goap/ValueConverter.cs new file mode 100644 index 0000000..596905f --- /dev/null +++ b/Goap/ValueConverter.cs @@ -0,0 +1,30 @@ +using System; + +namespace TsunagiModule.Goap +{ + /// + /// Convert values for GOAP inner calculation + /// + public static class ValueConverter + { + public static float ToFloat(int value) + { + return value; + } + + public static float ToFloat(bool value) + { + return value ? 1 : 0; + } + + public static int ToInt(float value) + { + return (int)Math.Round(value); + } + + public static bool ToBool(float value) + { + return value >= 0.5f; + } + } +} diff --git a/Goap/ValueConverter.cs.meta b/Goap/ValueConverter.cs.meta new file mode 100644 index 0000000..8dbdcd9 --- /dev/null +++ b/Goap/ValueConverter.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: f4e445cad5b89ec46ab1eae9702144c2 \ No newline at end of file From 64ea77ae5d04e2cc56d14afb54ff8870ef12db9f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:21:27 +0900 Subject: [PATCH 006/108] Remove unnecessary using directive from GoapValue.cs --- Goap/GoapValue.cs | 2 -- 1 file changed, 2 deletions(-) diff --git a/Goap/GoapValue.cs b/Goap/GoapValue.cs index f5c995d..306c13c 100644 --- a/Goap/GoapValue.cs +++ b/Goap/GoapValue.cs @@ -1,5 +1,3 @@ -using System; - namespace TsunagiModule.Goap { /// From 6193bd3400159ffc33b89cfc111d09ca3287c550 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:26:57 +0900 Subject: [PATCH 007/108] satisfaction check by type --- Goap/Condition.cs | 56 ++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 53 insertions(+), 3 deletions(-) diff --git a/Goap/Condition.cs b/Goap/Condition.cs index c834472..45826b6 100644 --- a/Goap/Condition.cs +++ b/Goap/Condition.cs @@ -1,5 +1,4 @@ using System; -using NUnit.Framework; namespace TsunagiModule.Goap { @@ -24,6 +23,21 @@ public enum ConditionOperator public ConditionOperator conditionOperator { get; private set; } public bool IsSatisfied(float valueComparing) + { + switch (value.type) + { + case GoapValue.ValueType.Float: + return IsSatisfiedFloat(valueComparing); + case GoapValue.ValueType.Int: + return IsSatisfiedInt(ValueConverter.ToInt(valueComparing)); + case GoapValue.ValueType.Bool: + return IsSatisfiedBool(ValueConverter.ToBool(valueComparing)); + default: + throw new NotImplementedException("Unknown GoapValue.ValueType"); + } + } + + private bool IsSatisfiedFloat(float valueComparing) { switch (conditionOperator) { @@ -38,8 +52,44 @@ public bool IsSatisfied(float valueComparing) case ConditionOperator.Equal: return IsEqualApproximately(value.GetAsFloat(), valueComparing); default: - Assert.IsTrue(false, "Unknown condition operator."); - return false; + throw new NotImplementedException("Unknown condition operator."); + } + } + + private bool IsSatisfiedInt(int valueComparing) + { + switch (conditionOperator) + { + case ConditionOperator.Larger: + return value.GetAsInt() < valueComparing; + case ConditionOperator.LargerOrEqual: + return value.GetAsInt() <= valueComparing; + case ConditionOperator.Smaller: + return value.GetAsInt() > valueComparing; + case ConditionOperator.SmallerOrEqual: + return value.GetAsInt() >= valueComparing; + case ConditionOperator.Equal: + return value.GetAsInt() == valueComparing; + default: + throw new NotImplementedException("Unknown condition operator."); + } + } + + private bool IsSatisfiedBool(bool valueComparing) + { + switch (conditionOperator) + { + case ConditionOperator.Equal: + return value.GetAsBool() == valueComparing; + case ConditionOperator.Larger: + case ConditionOperator.LargerOrEqual: + case ConditionOperator.Smaller: + case ConditionOperator.SmallerOrEqual: + throw new NotImplementedException( + "Condition operator is not supported for bool type." + ); + default: + throw new NotImplementedException("Unknown condition operator."); } } From 69ae1ab2e69277b068bb7a2d5e41f2a9637325e5 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:27:55 +0900 Subject: [PATCH 008/108] Add NotEqual operator --- Goap/Condition.cs | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Goap/Condition.cs b/Goap/Condition.cs index 45826b6..1cad7c1 100644 --- a/Goap/Condition.cs +++ b/Goap/Condition.cs @@ -11,6 +11,7 @@ public enum ConditionOperator Smaller, SmallerOrEqual, Equal, + NotEqual, } /// @@ -51,6 +52,8 @@ private bool IsSatisfiedFloat(float valueComparing) return value.GetAsFloat() >= valueComparing; case ConditionOperator.Equal: return IsEqualApproximately(value.GetAsFloat(), valueComparing); + case ConditionOperator.NotEqual: + return !IsEqualApproximately(value.GetAsFloat(), valueComparing); default: throw new NotImplementedException("Unknown condition operator."); } @@ -70,6 +73,8 @@ private bool IsSatisfiedInt(int valueComparing) return value.GetAsInt() >= valueComparing; case ConditionOperator.Equal: return value.GetAsInt() == valueComparing; + case ConditionOperator.NotEqual: + return value.GetAsInt() != valueComparing; default: throw new NotImplementedException("Unknown condition operator."); } @@ -81,6 +86,8 @@ private bool IsSatisfiedBool(bool valueComparing) { case ConditionOperator.Equal: return value.GetAsBool() == valueComparing; + case ConditionOperator.NotEqual: + return value.GetAsBool() != valueComparing; case ConditionOperator.Larger: case ConditionOperator.LargerOrEqual: case ConditionOperator.Smaller: From 52723187f9d29d8f273a53ed7429a3e328b96b42 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:38:19 +0900 Subject: [PATCH 009/108] dummy State --- Goap/State.cs | 4 ++++ Goap/State.cs.meta | 2 ++ 2 files changed, 6 insertions(+) create mode 100644 Goap/State.cs create mode 100644 Goap/State.cs.meta diff --git a/Goap/State.cs b/Goap/State.cs new file mode 100644 index 0000000..fe667a1 --- /dev/null +++ b/Goap/State.cs @@ -0,0 +1,4 @@ +namespace TsunagiModule.Goap +{ + public abstract class State { } +} diff --git a/Goap/State.cs.meta b/Goap/State.cs.meta new file mode 100644 index 0000000..7d5e541 --- /dev/null +++ b/Goap/State.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 8304c669d816bfa48894f5f58923ec1d \ No newline at end of file From b68d93640c14f4e8466dfecc2ac98f1b9543b293 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:41:07 +0900 Subject: [PATCH 010/108] dummy value getter --- Goap/State.cs | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/Goap/State.cs b/Goap/State.cs index fe667a1..ccec176 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -1,4 +1,12 @@ +using System; + namespace TsunagiModule.Goap { - public abstract class State { } + public class State + { + public float GetValue(string stateIndex) + { + throw new NotImplementedException(); + } + } } From e6f6e905c06693a6e5e87cfab56a563f4d17fea4 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:42:42 +0900 Subject: [PATCH 011/108] Add Condition class and interface with comparison operators --- Goap/Conditions.meta | 8 ++++++++ Goap/{ => Conditions}/Condition.cs | 15 ++++++++++++--- Goap/{ => Conditions}/Condition.cs.meta | 0 Goap/Conditions/ConditionInterface.cs | 7 +++++++ Goap/Conditions/ConditionInterface.cs.meta | 2 ++ 5 files changed, 29 insertions(+), 3 deletions(-) create mode 100644 Goap/Conditions.meta rename Goap/{ => Conditions}/Condition.cs (89%) rename Goap/{ => Conditions}/Condition.cs.meta (100%) create mode 100644 Goap/Conditions/ConditionInterface.cs create mode 100644 Goap/Conditions/ConditionInterface.cs.meta diff --git a/Goap/Conditions.meta b/Goap/Conditions.meta new file mode 100644 index 0000000..409f5a2 --- /dev/null +++ b/Goap/Conditions.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 534b8e054d2b8e24fa9f772a7ec79866 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/Condition.cs b/Goap/Conditions/Condition.cs similarity index 89% rename from Goap/Condition.cs rename to Goap/Conditions/Condition.cs index 1cad7c1..18f4422 100644 --- a/Goap/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public abstract class Condition + public class Condition : ConditionInterface { public enum ConditionOperator { @@ -19,12 +19,21 @@ public enum ConditionOperator /// private const float EPSILON = 0.0001f; - public string name { get; private set; } + public string stateIndex { get; private set; } public GoapValue value { get; private set; } public ConditionOperator conditionOperator { get; private set; } - public bool IsSatisfied(float valueComparing) + public Condition(string stateIndex, GoapValue value, ConditionOperator conditionOperator) { + this.stateIndex = stateIndex; + this.value = value; + this.conditionOperator = conditionOperator; + } + + public bool IsSatisfied(State state) + { + float valueComparing = state.GetValue(stateIndex); + switch (value.type) { case GoapValue.ValueType.Float: diff --git a/Goap/Condition.cs.meta b/Goap/Conditions/Condition.cs.meta similarity index 100% rename from Goap/Condition.cs.meta rename to Goap/Conditions/Condition.cs.meta diff --git a/Goap/Conditions/ConditionInterface.cs b/Goap/Conditions/ConditionInterface.cs new file mode 100644 index 0000000..e1416f9 --- /dev/null +++ b/Goap/Conditions/ConditionInterface.cs @@ -0,0 +1,7 @@ +namespace TsunagiModule.Goap +{ + public interface ConditionInterface + { + public bool IsSatisfied(State state); + } +} diff --git a/Goap/Conditions/ConditionInterface.cs.meta b/Goap/Conditions/ConditionInterface.cs.meta new file mode 100644 index 0000000..e1f6e9d --- /dev/null +++ b/Goap/Conditions/ConditionInterface.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 48cd3a5fd8565f94b8e162e3704b8098 \ No newline at end of file From c16b1c91e52932587587959c122e5460febba9a3 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:43:21 +0900 Subject: [PATCH 012/108] Add ConditionAnd class to evaluate multiple conditions --- Goap/Conditions/ConditionAnd.cs | 24 ++++++++++++++++++++++++ Goap/Conditions/ConditionAnd.cs.meta | 2 ++ 2 files changed, 26 insertions(+) create mode 100644 Goap/Conditions/ConditionAnd.cs create mode 100644 Goap/Conditions/ConditionAnd.cs.meta diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs new file mode 100644 index 0000000..76601cd --- /dev/null +++ b/Goap/Conditions/ConditionAnd.cs @@ -0,0 +1,24 @@ +namespace TsunagiModule.Goap +{ + public class ConditionAnd : ConditionInterface + { + public Condition[] conditions { get; private set; } + + public ConditionAnd(Condition[] conditions) + { + this.conditions = conditions; + } + + public bool IsSatisfied(State state) + { + foreach (var condition in conditions) + { + if (!condition.IsSatisfied(state)) + { + return false; + } + } + return true; + } + } +} diff --git a/Goap/Conditions/ConditionAnd.cs.meta b/Goap/Conditions/ConditionAnd.cs.meta new file mode 100644 index 0000000..12d2b23 --- /dev/null +++ b/Goap/Conditions/ConditionAnd.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 657fef7846b91c7469be75587d22fdb0 \ No newline at end of file From e74d1e772fd9d5c23ea2379b9a91d84592e8becc Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:44:48 +0900 Subject: [PATCH 013/108] Add ConditionOr class to evaluate conditions with logical OR --- Goap/Conditions/ConditionOr.cs | 24 ++++++++++++++++++++++++ Goap/Conditions/ConditionOr.cs.meta | 2 ++ 2 files changed, 26 insertions(+) create mode 100644 Goap/Conditions/ConditionOr.cs create mode 100644 Goap/Conditions/ConditionOr.cs.meta diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs new file mode 100644 index 0000000..deda5b1 --- /dev/null +++ b/Goap/Conditions/ConditionOr.cs @@ -0,0 +1,24 @@ +namespace TsunagiModule.Goap +{ + public class ConditionOr : ConditionInterface + { + public Condition[] conditions { get; private set; } + + public ConditionOr(Condition[] conditions) + { + this.conditions = conditions; + } + + public bool IsSatisfied(State state) + { + foreach (var condition in conditions) + { + if (condition.IsSatisfied(state)) + { + return true; + } + } + return false; + } + } +} diff --git a/Goap/Conditions/ConditionOr.cs.meta b/Goap/Conditions/ConditionOr.cs.meta new file mode 100644 index 0000000..7a0abd0 --- /dev/null +++ b/Goap/Conditions/ConditionOr.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 93c5b8c5c190ebf4cb1c67977c6b7e31 \ No newline at end of file From 0beb62bd52180784bab2374b7aea77c0d5151884 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:45:05 +0900 Subject: [PATCH 014/108] Refactor foreach loops to use explicit type for conditions in ConditionAnd and ConditionOr classes --- Goap/Conditions/ConditionAnd.cs | 2 +- Goap/Conditions/ConditionOr.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 76601cd..56a987a 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -11,7 +11,7 @@ public ConditionAnd(Condition[] conditions) public bool IsSatisfied(State state) { - foreach (var condition in conditions) + foreach (Condition condition in conditions) { if (!condition.IsSatisfied(state)) { diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index deda5b1..9367d5d 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -11,7 +11,7 @@ public ConditionOr(Condition[] conditions) public bool IsSatisfied(State state) { - foreach (var condition in conditions) + foreach (Condition condition in conditions) { if (condition.IsSatisfied(state)) { From 65b2140fd652f4f6f264b95a2c608c8e1f4cdbd8 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 20:47:02 +0900 Subject: [PATCH 015/108] Add ConditionNot class to negate conditions in the GOAP system --- Goap/Conditions/ConditionNot.cs | 17 +++++++++++++++++ Goap/Conditions/ConditionNot.cs.meta | 2 ++ 2 files changed, 19 insertions(+) create mode 100644 Goap/Conditions/ConditionNot.cs create mode 100644 Goap/Conditions/ConditionNot.cs.meta diff --git a/Goap/Conditions/ConditionNot.cs b/Goap/Conditions/ConditionNot.cs new file mode 100644 index 0000000..d683d87 --- /dev/null +++ b/Goap/Conditions/ConditionNot.cs @@ -0,0 +1,17 @@ +namespace TsunagiModule.Goap +{ + public class ConditionNot : ConditionInterface + { + public Condition condition { get; private set; } + + public ConditionNot(Condition condition) + { + this.condition = condition; + } + + public bool IsSatisfied(State state) + { + return !condition.IsSatisfied(state); + } + } +} diff --git a/Goap/Conditions/ConditionNot.cs.meta b/Goap/Conditions/ConditionNot.cs.meta new file mode 100644 index 0000000..8019dfb --- /dev/null +++ b/Goap/Conditions/ConditionNot.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b5774bdb91bd10142bf0ef0b334aa833 \ No newline at end of file From 42b0e20c65d3f28c0e29e65f8dd6e6db8b968c57 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:14:12 +0900 Subject: [PATCH 016/108] values to independent struct --- Goap/GoapValue.cs | 54 -------------------------- Goap/GoapValue.meta | 8 ++++ Goap/GoapValue/GoapBool.cs | 32 +++++++++++++++ Goap/GoapValue/GoapBool.cs.meta | 2 + Goap/GoapValue/GoapFloat.cs | 32 +++++++++++++++ Goap/GoapValue/GoapFloat.cs.meta | 2 + Goap/GoapValue/GoapInt.cs | 32 +++++++++++++++ Goap/GoapValue/GoapInt.cs.meta | 2 + Goap/GoapValue/GoapValue.cs | 16 ++++++++ Goap/{ => GoapValue}/GoapValue.cs.meta | 0 Goap/GoapValue/ValueType.cs | 9 +++++ Goap/GoapValue/ValueType.cs.meta | 2 + Goap/ValueConverter.cs | 30 -------------- Goap/ValueConverter.cs.meta | 2 - 14 files changed, 137 insertions(+), 86 deletions(-) delete mode 100644 Goap/GoapValue.cs create mode 100644 Goap/GoapValue.meta create mode 100644 Goap/GoapValue/GoapBool.cs create mode 100644 Goap/GoapValue/GoapBool.cs.meta create mode 100644 Goap/GoapValue/GoapFloat.cs create mode 100644 Goap/GoapValue/GoapFloat.cs.meta create mode 100644 Goap/GoapValue/GoapInt.cs create mode 100644 Goap/GoapValue/GoapInt.cs.meta create mode 100644 Goap/GoapValue/GoapValue.cs rename Goap/{ => GoapValue}/GoapValue.cs.meta (100%) create mode 100644 Goap/GoapValue/ValueType.cs create mode 100644 Goap/GoapValue/ValueType.cs.meta delete mode 100644 Goap/ValueConverter.cs delete mode 100644 Goap/ValueConverter.cs.meta diff --git a/Goap/GoapValue.cs b/Goap/GoapValue.cs deleted file mode 100644 index 306c13c..0000000 --- a/Goap/GoapValue.cs +++ /dev/null @@ -1,54 +0,0 @@ -namespace TsunagiModule.Goap -{ - /// - /// Value used in Goap system. - /// - /// - /// This is implemented for support integrated control of State Control, being independent of value type. - /// - public struct GoapValue - { - public enum ValueType - { - Int, - Float, - Bool - } - - public float value { get; private set; } - public ValueType type { get; private set; } - - public GoapValue(float value) - { - this.value = value; - type = ValueType.Float; - } - - public GoapValue(int value) - { - this.value = ValueConverter.ToFloat(value); - type = ValueType.Int; - } - - public GoapValue(bool value) - { - this.value = ValueConverter.ToFloat(value); - type = ValueType.Bool; - } - - public bool GetAsBool() - { - return ValueConverter.ToBool(value); - } - - public int GetAsInt() - { - return ValueConverter.ToInt(value); - } - - public float GetAsFloat() - { - return value; - } - } -} diff --git a/Goap/GoapValue.meta b/Goap/GoapValue.meta new file mode 100644 index 0000000..071704c --- /dev/null +++ b/Goap/GoapValue.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 72c7755c0bd64224d8419621fb42a70b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs new file mode 100644 index 0000000..d7e4b59 --- /dev/null +++ b/Goap/GoapValue/GoapBool.cs @@ -0,0 +1,32 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct GoapBool : GoapValue + { + public bool value { get; private set; } + + public GoapBool(bool value) + { + this.value = value; + } + + public ValueType type + { + get { return ValueType.Bool; } + } + + public GoapValue Operate(GoapValue other, Func operationHandler) + { + // type check + if (other.type != ValueType.Bool) + { + throw new InvalidOperationException( + "GoapBool can only operate with another GoapBool." + ); + } + + return operationHandler(other); + } + } +} diff --git a/Goap/GoapValue/GoapBool.cs.meta b/Goap/GoapValue/GoapBool.cs.meta new file mode 100644 index 0000000..2f1f7e6 --- /dev/null +++ b/Goap/GoapValue/GoapBool.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 5047d5a2e4c8622429b69efd4d95b062 \ No newline at end of file diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs new file mode 100644 index 0000000..689bebc --- /dev/null +++ b/Goap/GoapValue/GoapFloat.cs @@ -0,0 +1,32 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct GoapFloat : GoapValue + { + public float value { get; private set; } + + public GoapFloat(float value) + { + this.value = value; + } + + public ValueType type + { + get { return ValueType.Float; } + } + + public GoapValue Operate(GoapValue other, Func operationHandler) + { + // type check + if (other.type != ValueType.Float) + { + throw new InvalidOperationException( + "GoapFloat can only operate with another GoapFloat." + ); + } + + return operationHandler(other); + } + } +} diff --git a/Goap/GoapValue/GoapFloat.cs.meta b/Goap/GoapValue/GoapFloat.cs.meta new file mode 100644 index 0000000..5de9980 --- /dev/null +++ b/Goap/GoapValue/GoapFloat.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 6c030f54c4d4f804e97f09df8a9ded5c \ No newline at end of file diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs new file mode 100644 index 0000000..f295c11 --- /dev/null +++ b/Goap/GoapValue/GoapInt.cs @@ -0,0 +1,32 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct GoapInt : GoapValue + { + public int value { get; private set; } + + public GoapInt(int value) + { + this.value = value; + } + + public ValueType type + { + get { return ValueType.Int; } + } + + public GoapValue Operate(GoapValue other, Func operationHandler) + { + // type check + if (other.type != ValueType.Int) + { + throw new InvalidOperationException( + "GoapInt can only operate with another GoapInt." + ); + } + + return operationHandler(other); + } + } +} diff --git a/Goap/GoapValue/GoapInt.cs.meta b/Goap/GoapValue/GoapInt.cs.meta new file mode 100644 index 0000000..1a80d97 --- /dev/null +++ b/Goap/GoapValue/GoapInt.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 002bdbf45c3b63e4fa3cc53c4649f8d2 \ No newline at end of file diff --git a/Goap/GoapValue/GoapValue.cs b/Goap/GoapValue/GoapValue.cs new file mode 100644 index 0000000..0cf1459 --- /dev/null +++ b/Goap/GoapValue/GoapValue.cs @@ -0,0 +1,16 @@ +using System; + +namespace TsunagiModule.Goap +{ + /// + /// Value used in Goap system. + /// + /// + /// This is implemented for support integrated control of State Control, being independent of value type. + /// + public interface GoapValue + { + public ValueType type { get; } + public GoapValue Operate(GoapValue other, Func operationHandler); + } +} diff --git a/Goap/GoapValue.cs.meta b/Goap/GoapValue/GoapValue.cs.meta similarity index 100% rename from Goap/GoapValue.cs.meta rename to Goap/GoapValue/GoapValue.cs.meta diff --git a/Goap/GoapValue/ValueType.cs b/Goap/GoapValue/ValueType.cs new file mode 100644 index 0000000..ec3115a --- /dev/null +++ b/Goap/GoapValue/ValueType.cs @@ -0,0 +1,9 @@ +namespace TsunagiModule.Goap +{ + public enum ValueType + { + Int, + Float, + Bool + } +} diff --git a/Goap/GoapValue/ValueType.cs.meta b/Goap/GoapValue/ValueType.cs.meta new file mode 100644 index 0000000..b081cc8 --- /dev/null +++ b/Goap/GoapValue/ValueType.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: abd407e8509d867419d96ee6c474c7be \ No newline at end of file diff --git a/Goap/ValueConverter.cs b/Goap/ValueConverter.cs deleted file mode 100644 index 596905f..0000000 --- a/Goap/ValueConverter.cs +++ /dev/null @@ -1,30 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - /// - /// Convert values for GOAP inner calculation - /// - public static class ValueConverter - { - public static float ToFloat(int value) - { - return value; - } - - public static float ToFloat(bool value) - { - return value ? 1 : 0; - } - - public static int ToInt(float value) - { - return (int)Math.Round(value); - } - - public static bool ToBool(float value) - { - return value >= 0.5f; - } - } -} diff --git a/Goap/ValueConverter.cs.meta b/Goap/ValueConverter.cs.meta deleted file mode 100644 index 8dbdcd9..0000000 --- a/Goap/ValueConverter.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: f4e445cad5b89ec46ab1eae9702144c2 \ No newline at end of file From 7720bb1d13e14b58abe1ea6556cb1293f3aaf588 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:16:17 +0900 Subject: [PATCH 017/108] Implement state vector storage and retrieval in State class --- Goap/State.cs | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/Goap/State.cs b/Goap/State.cs index ccec176..fef1fae 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -1,12 +1,25 @@ using System; +using System.Collections.Generic; namespace TsunagiModule.Goap { public class State { - public float GetValue(string stateIndex) + /// + /// Main body of state vector + /// + private Dictionary values { get; set; } + + public GoapValue GetValue(string stateIndex) { - throw new NotImplementedException(); + if (values.TryGetValue(stateIndex, out GoapValue value)) + { + return value; + } + else + { + throw new KeyNotFoundException($"State index '{stateIndex}' not found."); + } } } } From b1dbc4145616a152f69c0146ca15b12bb28c26cb Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:20:24 +0900 Subject: [PATCH 018/108] appropriately get values --- Goap/Conditions/Condition.cs | 14 +++++++------- Goap/GoapValue/GoapBool.cs | 5 +++++ Goap/GoapValue/GoapFloat.cs | 5 +++++ Goap/GoapValue/GoapInt.cs | 5 +++++ Goap/GoapValue/GoapValue.cs | 18 ++++++++++++++++++ 5 files changed, 40 insertions(+), 7 deletions(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 18f4422..744888b 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -32,16 +32,16 @@ public Condition(string stateIndex, GoapValue value, ConditionOperator condition public bool IsSatisfied(State state) { - float valueComparing = state.GetValue(stateIndex); + GoapValue valueComparing = state.GetValue(stateIndex); switch (value.type) { - case GoapValue.ValueType.Float: - return IsSatisfiedFloat(valueComparing); - case GoapValue.ValueType.Int: - return IsSatisfiedInt(ValueConverter.ToInt(valueComparing)); - case GoapValue.ValueType.Bool: - return IsSatisfiedBool(ValueConverter.ToBool(valueComparing)); + case ValueType.Float: + return IsSatisfiedFloat(valueComparing.GetAsFloat()); + case ValueType.Int: + return IsSatisfiedInt(valueComparing.GetAsInt()); + case ValueType.Bool: + return IsSatisfiedBool(valueComparing.GetAsBool()); default: throw new NotImplementedException("Unknown GoapValue.ValueType"); } diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs index d7e4b59..ddc7cf5 100644 --- a/Goap/GoapValue/GoapBool.cs +++ b/Goap/GoapValue/GoapBool.cs @@ -28,5 +28,10 @@ public GoapValue Operate(GoapValue other, Func operationHa return operationHandler(other); } + + public bool GetAsBool() + { + return value; + } } } diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs index 689bebc..e75aa19 100644 --- a/Goap/GoapValue/GoapFloat.cs +++ b/Goap/GoapValue/GoapFloat.cs @@ -28,5 +28,10 @@ public GoapValue Operate(GoapValue other, Func operationHa return operationHandler(other); } + + public float GetAsFloat() + { + return value; + } } } diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs index f295c11..c294137 100644 --- a/Goap/GoapValue/GoapInt.cs +++ b/Goap/GoapValue/GoapInt.cs @@ -28,5 +28,10 @@ public GoapValue Operate(GoapValue other, Func operationHa return operationHandler(other); } + + public int GetAsInt() + { + return value; + } } } diff --git a/Goap/GoapValue/GoapValue.cs b/Goap/GoapValue/GoapValue.cs index 0cf1459..fd1cb54 100644 --- a/Goap/GoapValue/GoapValue.cs +++ b/Goap/GoapValue/GoapValue.cs @@ -12,5 +12,23 @@ public interface GoapValue { public ValueType type { get; } public GoapValue Operate(GoapValue other, Func operationHandler); + public float GetAsFloat() + { + throw new NotImplementedException( + "GetAsFloat is not implemented for this GoapValue type." + ); + } + public int GetAsInt() + { + throw new NotImplementedException( + "GetAsInt is not implemented for this GoapValue type." + ); + } + public bool GetAsBool() + { + throw new NotImplementedException( + "GetAsBool is not implemented for this GoapValue type." + ); + } } } From 221991832379169de377f58995cc71d72c0d5b50 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:21:18 +0900 Subject: [PATCH 019/108] rename: GoapValue -> GoapValueInterface --- Goap/Conditions/Condition.cs | 12 ++++++++---- Goap/GoapValue/GoapBool.cs | 7 +++++-- Goap/GoapValue/GoapFloat.cs | 7 +++++-- Goap/GoapValue/GoapInt.cs | 7 +++++-- .../{GoapValue.cs => GoapValueInterface.cs} | 7 +++++-- ...{GoapValue.cs.meta => GoapValueInterface.cs.meta} | 0 Goap/State.cs | 6 +++--- 7 files changed, 31 insertions(+), 15 deletions(-) rename Goap/GoapValue/{GoapValue.cs => GoapValueInterface.cs} (80%) rename Goap/GoapValue/{GoapValue.cs.meta => GoapValueInterface.cs.meta} (100%) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 744888b..96d7d18 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public class Condition : ConditionInterface + public struct Condition : ConditionInterface { public enum ConditionOperator { @@ -20,10 +20,14 @@ public enum ConditionOperator private const float EPSILON = 0.0001f; public string stateIndex { get; private set; } - public GoapValue value { get; private set; } + public GoapValueInterface value { get; private set; } public ConditionOperator conditionOperator { get; private set; } - public Condition(string stateIndex, GoapValue value, ConditionOperator conditionOperator) + public Condition( + string stateIndex, + GoapValueInterface value, + ConditionOperator conditionOperator + ) { this.stateIndex = stateIndex; this.value = value; @@ -32,7 +36,7 @@ public Condition(string stateIndex, GoapValue value, ConditionOperator condition public bool IsSatisfied(State state) { - GoapValue valueComparing = state.GetValue(stateIndex); + GoapValueInterface valueComparing = state.GetValue(stateIndex); switch (value.type) { diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs index ddc7cf5..642a469 100644 --- a/Goap/GoapValue/GoapBool.cs +++ b/Goap/GoapValue/GoapBool.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public struct GoapBool : GoapValue + public struct GoapBool : GoapValueInterface { public bool value { get; private set; } @@ -16,7 +16,10 @@ public ValueType type get { return ValueType.Bool; } } - public GoapValue Operate(GoapValue other, Func operationHandler) + public GoapValueInterface Operate( + GoapValueInterface other, + Func operationHandler + ) { // type check if (other.type != ValueType.Bool) diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs index e75aa19..abc23f7 100644 --- a/Goap/GoapValue/GoapFloat.cs +++ b/Goap/GoapValue/GoapFloat.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public struct GoapFloat : GoapValue + public struct GoapFloat : GoapValueInterface { public float value { get; private set; } @@ -16,7 +16,10 @@ public ValueType type get { return ValueType.Float; } } - public GoapValue Operate(GoapValue other, Func operationHandler) + public GoapValueInterface Operate( + GoapValueInterface other, + Func operationHandler + ) { // type check if (other.type != ValueType.Float) diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs index c294137..32c8d05 100644 --- a/Goap/GoapValue/GoapInt.cs +++ b/Goap/GoapValue/GoapInt.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public struct GoapInt : GoapValue + public struct GoapInt : GoapValueInterface { public int value { get; private set; } @@ -16,7 +16,10 @@ public ValueType type get { return ValueType.Int; } } - public GoapValue Operate(GoapValue other, Func operationHandler) + public GoapValueInterface Operate( + GoapValueInterface other, + Func operationHandler + ) { // type check if (other.type != ValueType.Int) diff --git a/Goap/GoapValue/GoapValue.cs b/Goap/GoapValue/GoapValueInterface.cs similarity index 80% rename from Goap/GoapValue/GoapValue.cs rename to Goap/GoapValue/GoapValueInterface.cs index fd1cb54..bad1829 100644 --- a/Goap/GoapValue/GoapValue.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -8,10 +8,13 @@ namespace TsunagiModule.Goap /// /// This is implemented for support integrated control of State Control, being independent of value type. /// - public interface GoapValue + public interface GoapValueInterface { public ValueType type { get; } - public GoapValue Operate(GoapValue other, Func operationHandler); + public GoapValueInterface Operate( + GoapValueInterface other, + Func operationHandler + ); public float GetAsFloat() { throw new NotImplementedException( diff --git a/Goap/GoapValue/GoapValue.cs.meta b/Goap/GoapValue/GoapValueInterface.cs.meta similarity index 100% rename from Goap/GoapValue/GoapValue.cs.meta rename to Goap/GoapValue/GoapValueInterface.cs.meta diff --git a/Goap/State.cs b/Goap/State.cs index fef1fae..30db7e3 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -8,11 +8,11 @@ public class State /// /// Main body of state vector /// - private Dictionary values { get; set; } + private Dictionary values { get; set; } - public GoapValue GetValue(string stateIndex) + public GoapValueInterface GetValue(string stateIndex) { - if (values.TryGetValue(stateIndex, out GoapValue value)) + if (values.TryGetValue(stateIndex, out GoapValueInterface value)) { return value; } From 3b40d9d48a9ec16a2d74f748a4093948ad3cd615 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:23:43 +0900 Subject: [PATCH 020/108] condition logics to struct --- Goap/Conditions/ConditionAnd.cs | 2 +- Goap/Conditions/ConditionNot.cs | 2 +- Goap/Conditions/ConditionOr.cs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 56a987a..a9528ea 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -1,6 +1,6 @@ namespace TsunagiModule.Goap { - public class ConditionAnd : ConditionInterface + public struct ConditionAnd : ConditionInterface { public Condition[] conditions { get; private set; } diff --git a/Goap/Conditions/ConditionNot.cs b/Goap/Conditions/ConditionNot.cs index d683d87..c9552bc 100644 --- a/Goap/Conditions/ConditionNot.cs +++ b/Goap/Conditions/ConditionNot.cs @@ -1,6 +1,6 @@ namespace TsunagiModule.Goap { - public class ConditionNot : ConditionInterface + public struct ConditionNot : ConditionInterface { public Condition condition { get; private set; } diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index 9367d5d..dcf5377 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -1,6 +1,6 @@ namespace TsunagiModule.Goap { - public class ConditionOr : ConditionInterface + public struct ConditionOr : ConditionInterface { public Condition[] conditions { get; private set; } From d5fbb3a952ec5afd5873dcc273d85d6e74549547 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:35:11 +0900 Subject: [PATCH 021/108] fix handler type --- Goap/GoapValue/GoapBool.cs | 4 ++-- Goap/GoapValue/GoapFloat.cs | 4 ++-- Goap/GoapValue/GoapInt.cs | 4 ++-- Goap/GoapValue/GoapValueInterface.cs | 2 +- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs index 642a469..19e29e9 100644 --- a/Goap/GoapValue/GoapBool.cs +++ b/Goap/GoapValue/GoapBool.cs @@ -18,7 +18,7 @@ public ValueType type public GoapValueInterface Operate( GoapValueInterface other, - Func operationHandler + Func operationHandler ) { // type check @@ -29,7 +29,7 @@ Func operationHandler ); } - return operationHandler(other); + return operationHandler(this, other); } public bool GetAsBool() diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs index abc23f7..e7d19da 100644 --- a/Goap/GoapValue/GoapFloat.cs +++ b/Goap/GoapValue/GoapFloat.cs @@ -18,7 +18,7 @@ public ValueType type public GoapValueInterface Operate( GoapValueInterface other, - Func operationHandler + Func operationHandler ) { // type check @@ -29,7 +29,7 @@ Func operationHandler ); } - return operationHandler(other); + return operationHandler(this, other); } public float GetAsFloat() diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs index 32c8d05..2f76210 100644 --- a/Goap/GoapValue/GoapInt.cs +++ b/Goap/GoapValue/GoapInt.cs @@ -18,7 +18,7 @@ public ValueType type public GoapValueInterface Operate( GoapValueInterface other, - Func operationHandler + Func operationHandler ) { // type check @@ -29,7 +29,7 @@ Func operationHandler ); } - return operationHandler(other); + return operationHandler(this, other); } public int GetAsInt() diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Goap/GoapValue/GoapValueInterface.cs index bad1829..dbe08bc 100644 --- a/Goap/GoapValue/GoapValueInterface.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -13,7 +13,7 @@ public interface GoapValueInterface public ValueType type { get; } public GoapValueInterface Operate( GoapValueInterface other, - Func operationHandler + Func operationHandler ); public float GetAsFloat() { From 0831855ab6a154750cf04d5a51e337f05223a7fe Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:36:32 +0900 Subject: [PATCH 022/108] value setting --- Goap/State.cs | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Goap/State.cs b/Goap/State.cs index 30db7e3..3af2d15 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -21,5 +21,10 @@ public GoapValueInterface GetValue(string stateIndex) throw new KeyNotFoundException($"State index '{stateIndex}' not found."); } } + + public void SetValue(string stateIndex, GoapValueInterface value) + { + values[stateIndex] = value; + } } } From 4c74a061f4c7e26590e1e36eab2e3e71cc97cf38 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:46:51 +0900 Subject: [PATCH 023/108] StateDiffSet --- Goap/StateDiff.meta | 8 ++++++++ Goap/StateDiff/StateDiff.cs | 4 ++++ Goap/StateDiff/StateDiff.cs.meta | 2 ++ Goap/StateDiff/StateDiffSet.cs | 14 ++++++++++++++ Goap/StateDiff/StateDiffSet.cs.meta | 2 ++ 5 files changed, 30 insertions(+) create mode 100644 Goap/StateDiff.meta create mode 100644 Goap/StateDiff/StateDiff.cs create mode 100644 Goap/StateDiff/StateDiff.cs.meta create mode 100644 Goap/StateDiff/StateDiffSet.cs create mode 100644 Goap/StateDiff/StateDiffSet.cs.meta diff --git a/Goap/StateDiff.meta b/Goap/StateDiff.meta new file mode 100644 index 0000000..3b48dd8 --- /dev/null +++ b/Goap/StateDiff.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b22791e46cd4ba540b4df40099f6be66 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/StateDiff/StateDiff.cs b/Goap/StateDiff/StateDiff.cs new file mode 100644 index 0000000..eeae4f6 --- /dev/null +++ b/Goap/StateDiff/StateDiff.cs @@ -0,0 +1,4 @@ +namespace TsunagiModule.Goap +{ + public struct StateDiff { } +} diff --git a/Goap/StateDiff/StateDiff.cs.meta b/Goap/StateDiff/StateDiff.cs.meta new file mode 100644 index 0000000..1e6dc8f --- /dev/null +++ b/Goap/StateDiff/StateDiff.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 732262d93b3b05245b2b1eb06e4ca551 \ No newline at end of file diff --git a/Goap/StateDiff/StateDiffSet.cs b/Goap/StateDiff/StateDiffSet.cs new file mode 100644 index 0000000..ab7e72c --- /dev/null +++ b/Goap/StateDiff/StateDiffSet.cs @@ -0,0 +1,14 @@ +using System.Collections.Generic; + +namespace TsunagiModule.Goap +{ + public struct StateDiffSet + { + public List diffs; + + public StateDiffSet(List diffs) + { + this.diffs = diffs; + } + } +} diff --git a/Goap/StateDiff/StateDiffSet.cs.meta b/Goap/StateDiff/StateDiffSet.cs.meta new file mode 100644 index 0000000..256faf5 --- /dev/null +++ b/Goap/StateDiff/StateDiffSet.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 788968bbd4bf8cc42889f60828dbb29b \ No newline at end of file From 218044e975a7133f7c6f8c7905e86c7f905a7aed Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 21:52:55 +0900 Subject: [PATCH 024/108] GoapValue don't operate themselves --- Goap/GoapValue/GoapBool.cs | 16 ---------------- Goap/GoapValue/GoapFloat.cs | 16 ---------------- Goap/GoapValue/GoapInt.cs | 16 ---------------- Goap/GoapValue/GoapValueInterface.cs | 4 ---- 4 files changed, 52 deletions(-) diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs index 19e29e9..bfae9d7 100644 --- a/Goap/GoapValue/GoapBool.cs +++ b/Goap/GoapValue/GoapBool.cs @@ -16,22 +16,6 @@ public ValueType type get { return ValueType.Bool; } } - public GoapValueInterface Operate( - GoapValueInterface other, - Func operationHandler - ) - { - // type check - if (other.type != ValueType.Bool) - { - throw new InvalidOperationException( - "GoapBool can only operate with another GoapBool." - ); - } - - return operationHandler(this, other); - } - public bool GetAsBool() { return value; diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs index e7d19da..291f73f 100644 --- a/Goap/GoapValue/GoapFloat.cs +++ b/Goap/GoapValue/GoapFloat.cs @@ -16,22 +16,6 @@ public ValueType type get { return ValueType.Float; } } - public GoapValueInterface Operate( - GoapValueInterface other, - Func operationHandler - ) - { - // type check - if (other.type != ValueType.Float) - { - throw new InvalidOperationException( - "GoapFloat can only operate with another GoapFloat." - ); - } - - return operationHandler(this, other); - } - public float GetAsFloat() { return value; diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs index 2f76210..15f2cfd 100644 --- a/Goap/GoapValue/GoapInt.cs +++ b/Goap/GoapValue/GoapInt.cs @@ -16,22 +16,6 @@ public ValueType type get { return ValueType.Int; } } - public GoapValueInterface Operate( - GoapValueInterface other, - Func operationHandler - ) - { - // type check - if (other.type != ValueType.Int) - { - throw new InvalidOperationException( - "GoapInt can only operate with another GoapInt." - ); - } - - return operationHandler(this, other); - } - public int GetAsInt() { return value; diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Goap/GoapValue/GoapValueInterface.cs index dbe08bc..349b27a 100644 --- a/Goap/GoapValue/GoapValueInterface.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -11,10 +11,6 @@ namespace TsunagiModule.Goap public interface GoapValueInterface { public ValueType type { get; } - public GoapValueInterface Operate( - GoapValueInterface other, - Func operationHandler - ); public float GetAsFloat() { throw new NotImplementedException( From 2ff820a3b68301d496ff4a2fee46ab59c5a84136 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 22:53:04 +0900 Subject: [PATCH 025/108] state diff --- Goap/StateDiff/StateDiff.cs | 4 ---- Goap/StateDiff/StateDiff.cs.meta | 2 -- Goap/StateDiff/StateDiffInt.cs | 28 +++++++++++++++++++++++ Goap/StateDiff/StateDiffInt.cs.meta | 2 ++ Goap/StateDiff/StateDiffInterface.cs | 8 +++++++ Goap/StateDiff/StateDiffInterface.cs.meta | 2 ++ Goap/StateDiff/StateDiffSet.cs | 12 +--------- 7 files changed, 41 insertions(+), 17 deletions(-) delete mode 100644 Goap/StateDiff/StateDiff.cs delete mode 100644 Goap/StateDiff/StateDiff.cs.meta create mode 100644 Goap/StateDiff/StateDiffInt.cs create mode 100644 Goap/StateDiff/StateDiffInt.cs.meta create mode 100644 Goap/StateDiff/StateDiffInterface.cs create mode 100644 Goap/StateDiff/StateDiffInterface.cs.meta diff --git a/Goap/StateDiff/StateDiff.cs b/Goap/StateDiff/StateDiff.cs deleted file mode 100644 index eeae4f6..0000000 --- a/Goap/StateDiff/StateDiff.cs +++ /dev/null @@ -1,4 +0,0 @@ -namespace TsunagiModule.Goap -{ - public struct StateDiff { } -} diff --git a/Goap/StateDiff/StateDiff.cs.meta b/Goap/StateDiff/StateDiff.cs.meta deleted file mode 100644 index 1e6dc8f..0000000 --- a/Goap/StateDiff/StateDiff.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: 732262d93b3b05245b2b1eb06e4ca551 \ No newline at end of file diff --git a/Goap/StateDiff/StateDiffInt.cs b/Goap/StateDiff/StateDiffInt.cs new file mode 100644 index 0000000..1877fdb --- /dev/null +++ b/Goap/StateDiff/StateDiffInt.cs @@ -0,0 +1,28 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct StateDiffInt : StateDiffInterface + { + public string stateIndex { get; private set; } + public Func operationHandler { get; private set; } + + public StateDiffInt(string stateIndex, Func operationHandler) + { + this.stateIndex = stateIndex; + this.operationHandler = operationHandler; + } + + public State Operate(State state) + { + // compute value + int valueState = state.GetValue(stateIndex).GetAsInt(); + int newValue = operationHandler(valueState); + + // update state + state.SetValue(stateIndex, new GoapInt(newValue)); + + return state; + } + } +} diff --git a/Goap/StateDiff/StateDiffInt.cs.meta b/Goap/StateDiff/StateDiffInt.cs.meta new file mode 100644 index 0000000..e8a9124 --- /dev/null +++ b/Goap/StateDiff/StateDiffInt.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b196d756c04ec7841956ad88e971131d \ No newline at end of file diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Goap/StateDiff/StateDiffInterface.cs new file mode 100644 index 0000000..2898e7e --- /dev/null +++ b/Goap/StateDiff/StateDiffInterface.cs @@ -0,0 +1,8 @@ +namespace TsunagiModule.Goap +{ + public interface StateDiffInterface + { + public string stateIndex { get; } + public State Operate(State state); + } +} diff --git a/Goap/StateDiff/StateDiffInterface.cs.meta b/Goap/StateDiff/StateDiffInterface.cs.meta new file mode 100644 index 0000000..aa50fd3 --- /dev/null +++ b/Goap/StateDiff/StateDiffInterface.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 0f8ac22e296f4f24496ce84a48755804 \ No newline at end of file diff --git a/Goap/StateDiff/StateDiffSet.cs b/Goap/StateDiff/StateDiffSet.cs index ab7e72c..b0561ef 100644 --- a/Goap/StateDiff/StateDiffSet.cs +++ b/Goap/StateDiff/StateDiffSet.cs @@ -1,14 +1,4 @@ -using System.Collections.Generic; - namespace TsunagiModule.Goap { - public struct StateDiffSet - { - public List diffs; - - public StateDiffSet(List diffs) - { - this.diffs = diffs; - } - } + public struct StateDiffSet { } } From ec0890a26d138b33056fc35f44c538ee557ea0c9 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:08:31 +0900 Subject: [PATCH 026/108] State copies itself --- Goap/State.cs | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/Goap/State.cs b/Goap/State.cs index 3af2d15..4738d45 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -1,9 +1,8 @@ -using System; using System.Collections.Generic; namespace TsunagiModule.Goap { - public class State + public struct State { /// /// Main body of state vector @@ -26,5 +25,10 @@ public void SetValue(string stateIndex, GoapValueInterface value) { values[stateIndex] = value; } + + public State Copy() + { + return new State { values = new Dictionary(values) }; + } } } From 7861212a9a50a82cdf5934d2a3d734eb389cbb0b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:11:13 +0900 Subject: [PATCH 027/108] Apply State Diff by set --- Goap/StateDiff/StateDiffInt.cs | 4 +--- Goap/StateDiff/StateDiffInterface.cs | 2 +- Goap/StateDiff/StateDiffSet.cs | 18 +++++++++++++++++- 3 files changed, 19 insertions(+), 5 deletions(-) diff --git a/Goap/StateDiff/StateDiffInt.cs b/Goap/StateDiff/StateDiffInt.cs index 1877fdb..af3b2df 100644 --- a/Goap/StateDiff/StateDiffInt.cs +++ b/Goap/StateDiff/StateDiffInt.cs @@ -13,7 +13,7 @@ public StateDiffInt(string stateIndex, Func operationHandler) this.operationHandler = operationHandler; } - public State Operate(State state) + public void Operate(State state) { // compute value int valueState = state.GetValue(stateIndex).GetAsInt(); @@ -21,8 +21,6 @@ public State Operate(State state) // update state state.SetValue(stateIndex, new GoapInt(newValue)); - - return state; } } } diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Goap/StateDiff/StateDiffInterface.cs index 2898e7e..d044f57 100644 --- a/Goap/StateDiff/StateDiffInterface.cs +++ b/Goap/StateDiff/StateDiffInterface.cs @@ -3,6 +3,6 @@ namespace TsunagiModule.Goap public interface StateDiffInterface { public string stateIndex { get; } - public State Operate(State state); + public void Operate(State state); } } diff --git a/Goap/StateDiff/StateDiffSet.cs b/Goap/StateDiff/StateDiffSet.cs index b0561ef..a4fb078 100644 --- a/Goap/StateDiff/StateDiffSet.cs +++ b/Goap/StateDiff/StateDiffSet.cs @@ -1,4 +1,20 @@ namespace TsunagiModule.Goap { - public struct StateDiffSet { } + public struct StateDiffSet + { + public StateDiffInterface[] stateDiffes; + + public StateDiffSet(StateDiffInterface[] stateDiffes) + { + this.stateDiffes = stateDiffes; + } + + public void Apply(State state) + { + foreach (StateDiffInterface stateDiff in stateDiffes) + { + stateDiff.Operate(state); + } + } + } } From 312a1a04588f3ebf906ad525c5e613206c9f8b32 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:15:57 +0900 Subject: [PATCH 028/108] data of Action --- Goap/Action.cs | 23 +++++++++++++++++++++++ Goap/Action.cs.meta | 2 ++ 2 files changed, 25 insertions(+) create mode 100644 Goap/Action.cs create mode 100644 Goap/Action.cs.meta diff --git a/Goap/Action.cs b/Goap/Action.cs new file mode 100644 index 0000000..20d98d3 --- /dev/null +++ b/Goap/Action.cs @@ -0,0 +1,23 @@ +namespace TsunagiModule.Goap +{ + public struct Action + { + public string name { get; private set; } + public ConditionInterface condition { get; private set; } + public StateDiffSet stateDiffSet { get; private set; } + public float cost { get; private set; } + + public Action( + string name, + ConditionInterface condition, + StateDiffSet stateDiffSet, + float cost + ) + { + this.name = name; + this.condition = condition; + this.stateDiffSet = stateDiffSet; + this.cost = cost; + } + } +} diff --git a/Goap/Action.cs.meta b/Goap/Action.cs.meta new file mode 100644 index 0000000..6a31887 --- /dev/null +++ b/Goap/Action.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 76c4afcdeb4ace943a41e9f78b871aa5 \ No newline at end of file From d6cd0c4a2e3a0263debf952afc9602eff6364c18 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:16:35 +0900 Subject: [PATCH 029/108] Add Available method to Action struct for condition satisfaction check --- Goap/Action.cs | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Goap/Action.cs b/Goap/Action.cs index 20d98d3..f9ecc54 100644 --- a/Goap/Action.cs +++ b/Goap/Action.cs @@ -19,5 +19,10 @@ float cost this.stateDiffSet = stateDiffSet; this.cost = cost; } + + public bool Available(State state) + { + return condition.IsSatisfied(state); + } } } From fe2085efad0f4ab48d9f8fd860df5f9af54e5a59 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:18:06 +0900 Subject: [PATCH 030/108] rename --- Goap/State.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Goap/State.cs b/Goap/State.cs index 4738d45..80939ca 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -26,7 +26,7 @@ public void SetValue(string stateIndex, GoapValueInterface value) values[stateIndex] = value; } - public State Copy() + public State Clone() { return new State { values = new Dictionary(values) }; } From a30d898eb6a3555859b1567a0daf980922fb1034 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:20:03 +0900 Subject: [PATCH 031/108] simulate action --- Goap/Action.cs | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/Goap/Action.cs b/Goap/Action.cs index f9ecc54..bdee505 100644 --- a/Goap/Action.cs +++ b/Goap/Action.cs @@ -24,5 +24,20 @@ public bool Available(State state) { return condition.IsSatisfied(state); } + + public State Simulate(State state, bool overwrite = false) + { + if (overwrite) + { + stateDiffSet.Apply(state); + return state; + } + else + { + State newState = state.Clone(); + stateDiffSet.Apply(newState); + return newState; + } + } } } From 379982ad5b123c080fab55020261af5095d55f9f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:26:30 +0900 Subject: [PATCH 032/108] option for overwriting State --- Goap/Action.cs | 16 ++++++++++------ Goap/StateDiff/StateDiffInt.cs | 19 ++++++++++++++++--- Goap/StateDiff/StateDiffInterface.cs | 2 +- Goap/StateDiff/StateDiffSet.cs | 18 ++++++++++++++++-- 4 files changed, 43 insertions(+), 12 deletions(-) diff --git a/Goap/Action.cs b/Goap/Action.cs index bdee505..cf380d8 100644 --- a/Goap/Action.cs +++ b/Goap/Action.cs @@ -25,19 +25,23 @@ public bool Available(State state) return condition.IsSatisfied(state); } - public State Simulate(State state, bool overwrite = false) + public State Simulate(State state, bool overwrite = true) { + // cloning or not + State stateTarget; if (overwrite) { - stateDiffSet.Apply(state); - return state; + stateTarget = state; } else { - State newState = state.Clone(); - stateDiffSet.Apply(newState); - return newState; + stateTarget = state.Clone(); } + + // apply action + stateTarget = stateDiffSet.Apply(stateTarget, overwrite: true); + + return stateTarget; } } } diff --git a/Goap/StateDiff/StateDiffInt.cs b/Goap/StateDiff/StateDiffInt.cs index af3b2df..ddf0436 100644 --- a/Goap/StateDiff/StateDiffInt.cs +++ b/Goap/StateDiff/StateDiffInt.cs @@ -13,14 +13,27 @@ public StateDiffInt(string stateIndex, Func operationHandler) this.operationHandler = operationHandler; } - public void Operate(State state) + public State Operate(State state, bool overwrite = true) { + // cloning or not + State stateTarget; + if (overwrite) + { + stateTarget = state; + } + else + { + stateTarget = state.Clone(); + } + // compute value - int valueState = state.GetValue(stateIndex).GetAsInt(); + int valueState = stateTarget.GetValue(stateIndex).GetAsInt(); int newValue = operationHandler(valueState); // update state - state.SetValue(stateIndex, new GoapInt(newValue)); + stateTarget.SetValue(stateIndex, new GoapInt(newValue)); + + return stateTarget; } } } diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Goap/StateDiff/StateDiffInterface.cs index d044f57..a4c8fd1 100644 --- a/Goap/StateDiff/StateDiffInterface.cs +++ b/Goap/StateDiff/StateDiffInterface.cs @@ -3,6 +3,6 @@ namespace TsunagiModule.Goap public interface StateDiffInterface { public string stateIndex { get; } - public void Operate(State state); + public State Operate(State state, bool overwrite = true); } } diff --git a/Goap/StateDiff/StateDiffSet.cs b/Goap/StateDiff/StateDiffSet.cs index a4fb078..1cfd3b0 100644 --- a/Goap/StateDiff/StateDiffSet.cs +++ b/Goap/StateDiff/StateDiffSet.cs @@ -9,12 +9,26 @@ public StateDiffSet(StateDiffInterface[] stateDiffes) this.stateDiffes = stateDiffes; } - public void Apply(State state) + public State Apply(State state, bool overwrite = true) { + // cloning or not + State stateTarget; + if (overwrite) + { + stateTarget = state; + } + else + { + stateTarget = state.Clone(); + } + + // apply all operations foreach (StateDiffInterface stateDiff in stateDiffes) { - stateDiff.Operate(state); + stateDiff.Operate(stateTarget, overwrite: true); } + + return stateTarget; } } } From da6cab0ca2698768418ff5bfb47f0a1fe62093ca Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Tue, 22 Apr 2025 23:30:38 +0900 Subject: [PATCH 033/108] setting action --- Goap/GoapSolver.cs | 30 ++++++++++++++++++++++++++++++ Goap/GoapSolver.cs.meta | 2 ++ 2 files changed, 32 insertions(+) create mode 100644 Goap/GoapSolver.cs create mode 100644 Goap/GoapSolver.cs.meta diff --git a/Goap/GoapSolver.cs b/Goap/GoapSolver.cs new file mode 100644 index 0000000..f7b9e01 --- /dev/null +++ b/Goap/GoapSolver.cs @@ -0,0 +1,30 @@ +using System.Collections.Generic; + +namespace TsunagiModule.Goap +{ + public class GoapSolver + { + /// + /// Pool of actions + /// + /// + /// action name -> Action + /// + private Dictionary actionPool = new Dictionary(); + + public void AddAction(Action action) + { + actionPool.Add(action.name, action); + } + + public void RemoveAction(string name) + { + actionPool.Remove(name); + } + + public void ReplaceAction(string name, Action action) + { + actionPool[name] = action; + } + } +} diff --git a/Goap/GoapSolver.cs.meta b/Goap/GoapSolver.cs.meta new file mode 100644 index 0000000..7e5ab3c --- /dev/null +++ b/Goap/GoapSolver.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 196ccfb8bd4148346812874761d8c7c9 \ No newline at end of file From 0b217392b8dcd3b6a8d9cfa2abbe74590b15e9fd Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Wed, 23 Apr 2025 00:27:47 +0900 Subject: [PATCH 034/108] code checker --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 8b13789..a050a70 100644 --- a/README.md +++ b/README.md @@ -1 +1,4 @@ +[![Codacy Badge](https://app.codacy.com/project/badge/Grade/b5fe6529e18f4843876976907689c563)](https://app.codacy.com/gh/tsunagi-ai/TsunagiModuleUnity/dashboard?utm_source=gh&utm_medium=referral&utm_content=&utm_campaign=Badge_grade) + +[![Maintainability](https://qlty.sh/badges/8bcac4c3-7aeb-4c26-b2e1-6aa8b3cf8843/maintainability.svg)](https://qlty.sh/gh/tsunagi-ai/projects/TsunagiModuleUnity) \ No newline at end of file From ddbb83ebfc155e170c94fd439494439768d1d4f4 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Wed, 23 Apr 2025 00:31:55 +0900 Subject: [PATCH 035/108] move folder --- Goap/GoapSolver.meta | 8 ++++++++ .../GoapSolver_ActionControl.cs} | 2 +- .../GoapSolver_ActionControl.cs.meta} | 0 3 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 Goap/GoapSolver.meta rename Goap/{GoapSolver.cs => GoapSolver/GoapSolver_ActionControl.cs} (94%) rename Goap/{GoapSolver.cs.meta => GoapSolver/GoapSolver_ActionControl.cs.meta} (100%) diff --git a/Goap/GoapSolver.meta b/Goap/GoapSolver.meta new file mode 100644 index 0000000..c33f273 --- /dev/null +++ b/Goap/GoapSolver.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 6be95c9a7ca333c4998dae17d848b073 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/GoapSolver.cs b/Goap/GoapSolver/GoapSolver_ActionControl.cs similarity index 94% rename from Goap/GoapSolver.cs rename to Goap/GoapSolver/GoapSolver_ActionControl.cs index f7b9e01..395cf32 100644 --- a/Goap/GoapSolver.cs +++ b/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -2,7 +2,7 @@ namespace TsunagiModule.Goap { - public class GoapSolver + public partial class GoapSolver { /// /// Pool of actions diff --git a/Goap/GoapSolver.cs.meta b/Goap/GoapSolver/GoapSolver_ActionControl.cs.meta similarity index 100% rename from Goap/GoapSolver.cs.meta rename to Goap/GoapSolver/GoapSolver_ActionControl.cs.meta From df03cc70f0e41447eec153c9c56cf511581b8d48 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Wed, 23 Apr 2025 00:51:16 +0900 Subject: [PATCH 036/108] dummy Pathfinding --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 12 ++++++++++++ Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta | 2 ++ 2 files changed, 14 insertions(+) create mode 100644 Goap/GoapSolver/GoapSolver_Pathfinding.cs create mode 100644 Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs new file mode 100644 index 0000000..d6f3dea --- /dev/null +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -0,0 +1,12 @@ +using System; + +namespace TsunagiModule.Goap +{ + public partial class GoapSolver + { + public Action[] Solve(State stateCurrent, Condition goal) + { + throw new NotImplementedException("Solve method not implemented yet."); + } + } +} diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta b/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta new file mode 100644 index 0000000..ad0635e --- /dev/null +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b3884298cf1091944be3fc4122477e39 \ No newline at end of file From 77b2508ffe32a1b41ccbfba5599682082362b5ac Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Wed, 23 Apr 2025 00:56:28 +0900 Subject: [PATCH 037/108] temp; rebase this --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index d6f3dea..e4a3990 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -1,12 +1,20 @@ using System; +using System.Collections.Generic; namespace TsunagiModule.Goap { public partial class GoapSolver { + /// + /// Cost estimation weights for each state index + /// + private Dictionary stateIndexCostWeights = new Dictionary(); + public Action[] Solve(State stateCurrent, Condition goal) { throw new NotImplementedException("Solve method not implemented yet."); } + + private Dictionary ComputeCostWeights() { } } } From 8daac44aeca95c138aba225fad5e1ca0084503bd Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Wed, 23 Apr 2025 09:55:17 +0900 Subject: [PATCH 038/108] Add indices property to State struct for easier access to keys --- Goap/State.cs | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Goap/State.cs b/Goap/State.cs index 80939ca..78ddbd0 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -1,4 +1,5 @@ using System.Collections.Generic; +using System.Linq; namespace TsunagiModule.Goap { @@ -9,6 +10,8 @@ public struct State /// private Dictionary values { get; set; } + public string[] indices => values.Keys.ToArray(); + public GoapValueInterface GetValue(string stateIndex) { if (values.TryGetValue(stateIndex, out GoapValueInterface value)) From 34cffd7c4accf48de6ef9ff82f0395f19da8c6c5 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 05:40:15 +0900 Subject: [PATCH 039/108] integrate GoapValue --- Goap/GoapValue/GoapBool.cs | 24 ------------------------ Goap/GoapValue/GoapBool.cs.meta | 2 -- Goap/GoapValue/GoapFloat.cs | 24 ------------------------ Goap/GoapValue/GoapFloat.cs.meta | 2 -- Goap/GoapValue/GoapInt.cs | 24 ------------------------ Goap/GoapValue/GoapInt.cs.meta | 2 -- Goap/GoapValue/GoapValueInterface.cs | 23 +++-------------------- Goap/GoapValue/GoapValueNumeric.cs | 22 ++++++++++++++++++++++ Goap/GoapValue/GoapValueNumeric.cs.meta | 2 ++ Goap/GoapValue/ValueType.cs | 9 --------- Goap/GoapValue/ValueType.cs.meta | 2 -- 11 files changed, 27 insertions(+), 109 deletions(-) delete mode 100644 Goap/GoapValue/GoapBool.cs delete mode 100644 Goap/GoapValue/GoapBool.cs.meta delete mode 100644 Goap/GoapValue/GoapFloat.cs delete mode 100644 Goap/GoapValue/GoapFloat.cs.meta delete mode 100644 Goap/GoapValue/GoapInt.cs delete mode 100644 Goap/GoapValue/GoapInt.cs.meta create mode 100644 Goap/GoapValue/GoapValueNumeric.cs create mode 100644 Goap/GoapValue/GoapValueNumeric.cs.meta delete mode 100644 Goap/GoapValue/ValueType.cs delete mode 100644 Goap/GoapValue/ValueType.cs.meta diff --git a/Goap/GoapValue/GoapBool.cs b/Goap/GoapValue/GoapBool.cs deleted file mode 100644 index bfae9d7..0000000 --- a/Goap/GoapValue/GoapBool.cs +++ /dev/null @@ -1,24 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct GoapBool : GoapValueInterface - { - public bool value { get; private set; } - - public GoapBool(bool value) - { - this.value = value; - } - - public ValueType type - { - get { return ValueType.Bool; } - } - - public bool GetAsBool() - { - return value; - } - } -} diff --git a/Goap/GoapValue/GoapBool.cs.meta b/Goap/GoapValue/GoapBool.cs.meta deleted file mode 100644 index 2f1f7e6..0000000 --- a/Goap/GoapValue/GoapBool.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: 5047d5a2e4c8622429b69efd4d95b062 \ No newline at end of file diff --git a/Goap/GoapValue/GoapFloat.cs b/Goap/GoapValue/GoapFloat.cs deleted file mode 100644 index 291f73f..0000000 --- a/Goap/GoapValue/GoapFloat.cs +++ /dev/null @@ -1,24 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct GoapFloat : GoapValueInterface - { - public float value { get; private set; } - - public GoapFloat(float value) - { - this.value = value; - } - - public ValueType type - { - get { return ValueType.Float; } - } - - public float GetAsFloat() - { - return value; - } - } -} diff --git a/Goap/GoapValue/GoapFloat.cs.meta b/Goap/GoapValue/GoapFloat.cs.meta deleted file mode 100644 index 5de9980..0000000 --- a/Goap/GoapValue/GoapFloat.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: 6c030f54c4d4f804e97f09df8a9ded5c \ No newline at end of file diff --git a/Goap/GoapValue/GoapInt.cs b/Goap/GoapValue/GoapInt.cs deleted file mode 100644 index 15f2cfd..0000000 --- a/Goap/GoapValue/GoapInt.cs +++ /dev/null @@ -1,24 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct GoapInt : GoapValueInterface - { - public int value { get; private set; } - - public GoapInt(int value) - { - this.value = value; - } - - public ValueType type - { - get { return ValueType.Int; } - } - - public int GetAsInt() - { - return value; - } - } -} diff --git a/Goap/GoapValue/GoapInt.cs.meta b/Goap/GoapValue/GoapInt.cs.meta deleted file mode 100644 index 1a80d97..0000000 --- a/Goap/GoapValue/GoapInt.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: 002bdbf45c3b63e4fa3cc53c4649f8d2 \ No newline at end of file diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Goap/GoapValue/GoapValueInterface.cs index 349b27a..60a3fbf 100644 --- a/Goap/GoapValue/GoapValueInterface.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -8,26 +8,9 @@ namespace TsunagiModule.Goap /// /// This is implemented for support integrated control of State Control, being independent of value type. /// - public interface GoapValueInterface + public interface GoapValueInterface { - public ValueType type { get; } - public float GetAsFloat() - { - throw new NotImplementedException( - "GetAsFloat is not implemented for this GoapValue type." - ); - } - public int GetAsInt() - { - throw new NotImplementedException( - "GetAsInt is not implemented for this GoapValue type." - ); - } - public bool GetAsBool() - { - throw new NotImplementedException( - "GetAsBool is not implemented for this GoapValue type." - ); - } + public Type type { get; } + public T value { get; set; } // getter and setter for value } } diff --git a/Goap/GoapValue/GoapValueNumeric.cs b/Goap/GoapValue/GoapValueNumeric.cs new file mode 100644 index 0000000..e6a7a9d --- /dev/null +++ b/Goap/GoapValue/GoapValueNumeric.cs @@ -0,0 +1,22 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct GoapValueNumeric : GoapValueInterface, IFormattable + where T : struct, IConvertible, IComparable, IComparable, IEquatable + { + public Type type => typeof(T); + public T value { get; set; } // getter and setter for value + + public GoapValueNumeric(T value) + { + this.value = value; + } + + public string ToString(string format, IFormatProvider formatProvider) + { + double numericValue = Convert.ToDouble(value, formatProvider); + return numericValue.ToString(format, formatProvider); + } + } +} diff --git a/Goap/GoapValue/GoapValueNumeric.cs.meta b/Goap/GoapValue/GoapValueNumeric.cs.meta new file mode 100644 index 0000000..bb3b451 --- /dev/null +++ b/Goap/GoapValue/GoapValueNumeric.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 15f7b0502366ecd4ea2a77993982f99e \ No newline at end of file diff --git a/Goap/GoapValue/ValueType.cs b/Goap/GoapValue/ValueType.cs deleted file mode 100644 index ec3115a..0000000 --- a/Goap/GoapValue/ValueType.cs +++ /dev/null @@ -1,9 +0,0 @@ -namespace TsunagiModule.Goap -{ - public enum ValueType - { - Int, - Float, - Bool - } -} diff --git a/Goap/GoapValue/ValueType.cs.meta b/Goap/GoapValue/ValueType.cs.meta deleted file mode 100644 index b081cc8..0000000 --- a/Goap/GoapValue/ValueType.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: abd407e8509d867419d96ee6c474c7be \ No newline at end of file From 5d204312261515a5b3549e1f69404532739c5a65 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 06:18:54 +0900 Subject: [PATCH 040/108] numeric addition --- Goap/GoapValue/GoapValueInterface.cs | 8 ++- Goap/State.cs | 9 ++- Goap/StateDiff/StateDiffAddition.cs | 66 +++++++++++++++++++ ...fInt.cs.meta => StateDiffAddition.cs.meta} | 0 Goap/StateDiff/StateDiffInt.cs | 39 ----------- 5 files changed, 80 insertions(+), 42 deletions(-) create mode 100644 Goap/StateDiff/StateDiffAddition.cs rename Goap/StateDiff/{StateDiffInt.cs.meta => StateDiffAddition.cs.meta} (100%) delete mode 100644 Goap/StateDiff/StateDiffInt.cs diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Goap/GoapValue/GoapValueInterface.cs index 60a3fbf..632d7de 100644 --- a/Goap/GoapValue/GoapValueInterface.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -2,15 +2,19 @@ namespace TsunagiModule.Goap { + public interface GoapValueInterface + { + public Type type { get; } + } + /// /// Value used in Goap system. /// /// /// This is implemented for support integrated control of State Control, being independent of value type. /// - public interface GoapValueInterface + public interface GoapValueInterface : GoapValueInterface { - public Type type { get; } public T value { get; set; } // getter and setter for value } } diff --git a/Goap/State.cs b/Goap/State.cs index 78ddbd0..462735f 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -1,3 +1,4 @@ +using System; using System.Collections.Generic; using System.Linq; @@ -24,11 +25,17 @@ public GoapValueInterface GetValue(string stateIndex) } } - public void SetValue(string stateIndex, GoapValueInterface value) + public void SetValue(string stateIndex, GoapValueInterface value) { values[stateIndex] = value; } + public void SetNumericValue(string stateIndex, T value) + where T : struct, IConvertible, IComparable, IComparable, IEquatable + { + SetValue(stateIndex, new GoapValueNumeric(value)); + } + public State Clone() { return new State { values = new Dictionary(values) }; diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Goap/StateDiff/StateDiffAddition.cs new file mode 100644 index 0000000..cf25fb8 --- /dev/null +++ b/Goap/StateDiff/StateDiffAddition.cs @@ -0,0 +1,66 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct StateDiffAddition : StateDiffInterface + where T : struct, IConvertible, IComparable, IComparable, IEquatable + { + public string stateIndex { get; private set; } + public T additionValue { get; set; } + + public StateDiffAddition(string stateIndex, T additionValue) + { + this.stateIndex = stateIndex; + this.additionValue = additionValue; + } + + public State Operate(State state, bool overwrite = true) + { + // cloning or not + State stateTarget; + if (overwrite) + { + stateTarget = state; + } + else + { + stateTarget = state.Clone(); + } + + GoapValueInterface targetValueInterface = stateTarget.GetValue(stateIndex); + + // if both are same type... + if (targetValueInterface is GoapValueInterface targetValue) + { + // ...operate addtion + + // compute value + double newValueDouble = + Convert.ToDouble(targetValue.value) + Convert.ToDouble(additionValue); + + // type converting + T newValue; + if (typeof(T) == typeof(int)) + { + // int support + newValue = (T)Convert.ChangeType(Math.Round(newValueDouble), typeof(T)); + } + else + { + newValue = (T)Convert.ChangeType(newValueDouble, typeof(T)); + } + + // update state + stateTarget.SetNumericValue(stateIndex, newValue); // Updated to remove unnecessary new() + return stateTarget; + } + else + { + // ...panic + throw new ArgumentException( + "StateDiffAddition: Type mismatch in addition operation and State value type." + ); + } + } + } +} diff --git a/Goap/StateDiff/StateDiffInt.cs.meta b/Goap/StateDiff/StateDiffAddition.cs.meta similarity index 100% rename from Goap/StateDiff/StateDiffInt.cs.meta rename to Goap/StateDiff/StateDiffAddition.cs.meta diff --git a/Goap/StateDiff/StateDiffInt.cs b/Goap/StateDiff/StateDiffInt.cs deleted file mode 100644 index ddf0436..0000000 --- a/Goap/StateDiff/StateDiffInt.cs +++ /dev/null @@ -1,39 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct StateDiffInt : StateDiffInterface - { - public string stateIndex { get; private set; } - public Func operationHandler { get; private set; } - - public StateDiffInt(string stateIndex, Func operationHandler) - { - this.stateIndex = stateIndex; - this.operationHandler = operationHandler; - } - - public State Operate(State state, bool overwrite = true) - { - // cloning or not - State stateTarget; - if (overwrite) - { - stateTarget = state; - } - else - { - stateTarget = state.Clone(); - } - - // compute value - int valueState = stateTarget.GetValue(stateIndex).GetAsInt(); - int newValue = operationHandler(valueState); - - // update state - stateTarget.SetValue(stateIndex, new GoapInt(newValue)); - - return stateTarget; - } - } -} From 001c1a8bc6e3a6ab076c1a432ef9204f5b032c9f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 06:51:51 +0900 Subject: [PATCH 041/108] equitable value --- Goap/GoapValue/GoapValueEquitable.cs | 16 ++++++++++++++++ Goap/GoapValue/GoapValueEquitable.cs.meta | 2 ++ 2 files changed, 18 insertions(+) create mode 100644 Goap/GoapValue/GoapValueEquitable.cs create mode 100644 Goap/GoapValue/GoapValueEquitable.cs.meta diff --git a/Goap/GoapValue/GoapValueEquitable.cs b/Goap/GoapValue/GoapValueEquitable.cs new file mode 100644 index 0000000..e60fe02 --- /dev/null +++ b/Goap/GoapValue/GoapValueEquitable.cs @@ -0,0 +1,16 @@ +using System; + +namespace TsunagiModule.Goap +{ + public struct GoapValueEquitable : GoapValueInterface + where T : struct, IEquatable + { + public Type type => typeof(T); + public T value { get; set; } // getter and setter for value + + public GoapValueEquitable(T value) + { + this.value = value; + } + } +} diff --git a/Goap/GoapValue/GoapValueEquitable.cs.meta b/Goap/GoapValue/GoapValueEquitable.cs.meta new file mode 100644 index 0000000..4e35e38 --- /dev/null +++ b/Goap/GoapValue/GoapValueEquitable.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 67e1b44ee3d9b5d49b1689e029dd3c54 \ No newline at end of file From 7a3d5b268db8fe7217142e27e1a6b7b2d845f1a9 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 06:52:03 +0900 Subject: [PATCH 042/108] better typing --- Goap/State.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Goap/State.cs b/Goap/State.cs index 462735f..b853507 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -25,7 +25,7 @@ public GoapValueInterface GetValue(string stateIndex) } } - public void SetValue(string stateIndex, GoapValueInterface value) + public void SetValue(string stateIndex, GoapValueInterface value) { values[stateIndex] = value; } From 6f3c17a044c9d13a2fbcbcab1febcc16ab58dbf9 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 06:52:09 +0900 Subject: [PATCH 043/108] mapping operation --- Goap/GoapValue/GoapValueMapping.cs | 61 +++++++++++++++++++++++++ Goap/GoapValue/GoapValueMapping.cs.meta | 2 + 2 files changed, 63 insertions(+) create mode 100644 Goap/GoapValue/GoapValueMapping.cs create mode 100644 Goap/GoapValue/GoapValueMapping.cs.meta diff --git a/Goap/GoapValue/GoapValueMapping.cs b/Goap/GoapValue/GoapValueMapping.cs new file mode 100644 index 0000000..542b963 --- /dev/null +++ b/Goap/GoapValue/GoapValueMapping.cs @@ -0,0 +1,61 @@ +using System; +using System.Collections.Generic; + +namespace TsunagiModule.Goap +{ + public struct StateDiffMapping : StateDiffInterface + where T : struct, IEquatable + { + public string stateIndex { get; private set; } + public Dictionary mapping { get; set; } + + public StateDiffMapping(string stateIndex, Dictionary mapping) + { + this.stateIndex = stateIndex; + this.mapping = mapping; + } + + public State Operate(State state, bool overwrite = true) + { + // cloning or not + State stateTarget; + if (overwrite) + { + stateTarget = state; + } + else + { + stateTarget = state.Clone(); + } + + GoapValueInterface targetValueInterface = stateTarget.GetValue(stateIndex); + + // if both are same type... + if (targetValueInterface is GoapValueInterface targetValue) + { + // ...operate mapping + + // if the current valus is in the map... + if (mapping.TryGetValue(targetValue.value, out T newValue)) + { + // ...update state + GoapValueInterface newGoapValue = new GoapValueEquitable(newValue); + stateTarget.SetValue(stateIndex, newGoapValue); + return stateTarget; + } + else + { + // ...do nothing + return stateTarget; + } + } + else + { + // ...panic + throw new ArgumentException( + $"State index '{stateIndex}' is not of type {typeof(T)}." + ); + } + } + } +} diff --git a/Goap/GoapValue/GoapValueMapping.cs.meta b/Goap/GoapValue/GoapValueMapping.cs.meta new file mode 100644 index 0000000..fee775e --- /dev/null +++ b/Goap/GoapValue/GoapValueMapping.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: fff0d2ed0ed048045a849a28eb0dc71b \ No newline at end of file From db218695fe45c9525763b6ab72697557b0e399c0 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 06:58:43 +0900 Subject: [PATCH 044/108] integrate all values --- Goap/GoapValue/GoapValue.cs | 22 +++++++ ...lueEquitable.cs.meta => GoapValue.cs.meta} | 0 Goap/GoapValue/GoapValueEquitable.cs | 16 ----- Goap/GoapValue/GoapValueInterface.cs | 11 ---- Goap/GoapValue/GoapValueMapping.cs | 61 ------------------- Goap/GoapValue/GoapValueMapping.cs.meta | 2 - Goap/GoapValue/GoapValueNumeric.cs | 22 ------- Goap/GoapValue/GoapValueNumeric.cs.meta | 2 - 8 files changed, 22 insertions(+), 114 deletions(-) create mode 100644 Goap/GoapValue/GoapValue.cs rename Goap/GoapValue/{GoapValueEquitable.cs.meta => GoapValue.cs.meta} (100%) delete mode 100644 Goap/GoapValue/GoapValueEquitable.cs delete mode 100644 Goap/GoapValue/GoapValueMapping.cs delete mode 100644 Goap/GoapValue/GoapValueMapping.cs.meta delete mode 100644 Goap/GoapValue/GoapValueNumeric.cs delete mode 100644 Goap/GoapValue/GoapValueNumeric.cs.meta diff --git a/Goap/GoapValue/GoapValue.cs b/Goap/GoapValue/GoapValue.cs new file mode 100644 index 0000000..f17e8aa --- /dev/null +++ b/Goap/GoapValue/GoapValue.cs @@ -0,0 +1,22 @@ +using System; + +namespace TsunagiModule.Goap +{ + /// + /// Value used in Goap system. + /// + /// + /// This is implemented for support integrated control of State Control, being independent of value type. + /// + public struct GoapValue : GoapValueInterface + where T : struct + { + public Type type => typeof(T); // getter for type + public T value { get; set; } // getter and setter for value + + public GoapValue(T value) + { + this.value = value; + } + } +} diff --git a/Goap/GoapValue/GoapValueEquitable.cs.meta b/Goap/GoapValue/GoapValue.cs.meta similarity index 100% rename from Goap/GoapValue/GoapValueEquitable.cs.meta rename to Goap/GoapValue/GoapValue.cs.meta diff --git a/Goap/GoapValue/GoapValueEquitable.cs b/Goap/GoapValue/GoapValueEquitable.cs deleted file mode 100644 index e60fe02..0000000 --- a/Goap/GoapValue/GoapValueEquitable.cs +++ /dev/null @@ -1,16 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct GoapValueEquitable : GoapValueInterface - where T : struct, IEquatable - { - public Type type => typeof(T); - public T value { get; set; } // getter and setter for value - - public GoapValueEquitable(T value) - { - this.value = value; - } - } -} diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Goap/GoapValue/GoapValueInterface.cs index 632d7de..0d9929c 100644 --- a/Goap/GoapValue/GoapValueInterface.cs +++ b/Goap/GoapValue/GoapValueInterface.cs @@ -6,15 +6,4 @@ public interface GoapValueInterface { public Type type { get; } } - - /// - /// Value used in Goap system. - /// - /// - /// This is implemented for support integrated control of State Control, being independent of value type. - /// - public interface GoapValueInterface : GoapValueInterface - { - public T value { get; set; } // getter and setter for value - } } diff --git a/Goap/GoapValue/GoapValueMapping.cs b/Goap/GoapValue/GoapValueMapping.cs deleted file mode 100644 index 542b963..0000000 --- a/Goap/GoapValue/GoapValueMapping.cs +++ /dev/null @@ -1,61 +0,0 @@ -using System; -using System.Collections.Generic; - -namespace TsunagiModule.Goap -{ - public struct StateDiffMapping : StateDiffInterface - where T : struct, IEquatable - { - public string stateIndex { get; private set; } - public Dictionary mapping { get; set; } - - public StateDiffMapping(string stateIndex, Dictionary mapping) - { - this.stateIndex = stateIndex; - this.mapping = mapping; - } - - public State Operate(State state, bool overwrite = true) - { - // cloning or not - State stateTarget; - if (overwrite) - { - stateTarget = state; - } - else - { - stateTarget = state.Clone(); - } - - GoapValueInterface targetValueInterface = stateTarget.GetValue(stateIndex); - - // if both are same type... - if (targetValueInterface is GoapValueInterface targetValue) - { - // ...operate mapping - - // if the current valus is in the map... - if (mapping.TryGetValue(targetValue.value, out T newValue)) - { - // ...update state - GoapValueInterface newGoapValue = new GoapValueEquitable(newValue); - stateTarget.SetValue(stateIndex, newGoapValue); - return stateTarget; - } - else - { - // ...do nothing - return stateTarget; - } - } - else - { - // ...panic - throw new ArgumentException( - $"State index '{stateIndex}' is not of type {typeof(T)}." - ); - } - } - } -} diff --git a/Goap/GoapValue/GoapValueMapping.cs.meta b/Goap/GoapValue/GoapValueMapping.cs.meta deleted file mode 100644 index fee775e..0000000 --- a/Goap/GoapValue/GoapValueMapping.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: fff0d2ed0ed048045a849a28eb0dc71b \ No newline at end of file diff --git a/Goap/GoapValue/GoapValueNumeric.cs b/Goap/GoapValue/GoapValueNumeric.cs deleted file mode 100644 index e6a7a9d..0000000 --- a/Goap/GoapValue/GoapValueNumeric.cs +++ /dev/null @@ -1,22 +0,0 @@ -using System; - -namespace TsunagiModule.Goap -{ - public struct GoapValueNumeric : GoapValueInterface, IFormattable - where T : struct, IConvertible, IComparable, IComparable, IEquatable - { - public Type type => typeof(T); - public T value { get; set; } // getter and setter for value - - public GoapValueNumeric(T value) - { - this.value = value; - } - - public string ToString(string format, IFormatProvider formatProvider) - { - double numericValue = Convert.ToDouble(value, formatProvider); - return numericValue.ToString(format, formatProvider); - } - } -} diff --git a/Goap/GoapValue/GoapValueNumeric.cs.meta b/Goap/GoapValue/GoapValueNumeric.cs.meta deleted file mode 100644 index bb3b451..0000000 --- a/Goap/GoapValue/GoapValueNumeric.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: 15f7b0502366ecd4ea2a77993982f99e \ No newline at end of file From 345405ffff78a13b9ff9793dd82f13d850941099 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 07:25:30 +0900 Subject: [PATCH 045/108] adapt --- Goap/State.cs | 5 +++-- Goap/StateDiff/StateDiffAddition.cs | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/Goap/State.cs b/Goap/State.cs index b853507..e7c4f1c 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -31,9 +31,10 @@ public void SetValue(string stateIndex, GoapValueInterface value) } public void SetNumericValue(string stateIndex, T value) - where T : struct, IConvertible, IComparable, IComparable, IEquatable + where T : struct { - SetValue(stateIndex, new GoapValueNumeric(value)); + // wrapping + SetValue(stateIndex, new GoapValue(value)); } public State Clone() diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Goap/StateDiff/StateDiffAddition.cs index cf25fb8..846c3f0 100644 --- a/Goap/StateDiff/StateDiffAddition.cs +++ b/Goap/StateDiff/StateDiffAddition.cs @@ -30,7 +30,7 @@ public State Operate(State state, bool overwrite = true) GoapValueInterface targetValueInterface = stateTarget.GetValue(stateIndex); // if both are same type... - if (targetValueInterface is GoapValueInterface targetValue) + if (targetValueInterface is GoapValue targetValue) { // ...operate addtion From 9f8c49c1179edae6e5d123829a4329dd8d85601e Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 07:29:40 +0900 Subject: [PATCH 046/108] implement StateDiffMapping struct for state value mapping operations --- Goap/StateDiff/StateDiffMapping.cs | 63 +++++++++++++++++++++++++ Goap/StateDiff/StateDiffMapping.cs.meta | 2 + 2 files changed, 65 insertions(+) create mode 100644 Goap/StateDiff/StateDiffMapping.cs create mode 100644 Goap/StateDiff/StateDiffMapping.cs.meta diff --git a/Goap/StateDiff/StateDiffMapping.cs b/Goap/StateDiff/StateDiffMapping.cs new file mode 100644 index 0000000..573a158 --- /dev/null +++ b/Goap/StateDiff/StateDiffMapping.cs @@ -0,0 +1,63 @@ +using System; +using System.Collections.Generic; + +namespace TsunagiModule.Goap +{ + public struct StateDiffMapping : StateDiffInterface + where T : struct, IEquatable + { + public string stateIndex { get; private set; } + public Dictionary mapping { get; set; } + + public StateDiffMapping(string stateIndex, Dictionary mapping) + { + this.stateIndex = stateIndex; + this.mapping = mapping; + } + + public State Operate(State state, bool overwrite = true) + { + // cloning or not + State stateTarget; + if (overwrite) + { + stateTarget = state; + } + else + { + stateTarget = state.Clone(); + } + + GoapValueInterface targetValueInterface = stateTarget.GetValue(stateIndex); + + // if both are same type... + if (targetValueInterface is GoapValue targetValue) + { + // ...operate addtion + + T currentValue = targetValue.value; + + // if the current value is in the map... + if (mapping.TryGetValue(currentValue, out T value)) + { + // ...update the state with the mapped value + stateTarget.SetNumericValue(stateIndex, value); + } + // if there isn't... + else + { + // ...do nothing + } + + return stateTarget; + } + else + { + // ...panic + throw new ArgumentException( + "StateDiffMapping: Type mismatch in mapping operation and State value type." + ); + } + } + } +} diff --git a/Goap/StateDiff/StateDiffMapping.cs.meta b/Goap/StateDiff/StateDiffMapping.cs.meta new file mode 100644 index 0000000..a1f8aa0 --- /dev/null +++ b/Goap/StateDiff/StateDiffMapping.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 33fc616dabc4fdf4b9ba1d95d7d1fde1 \ No newline at end of file From fc2500f004e55cf1b58b792c756fcde99d77f41d Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 07:32:49 +0900 Subject: [PATCH 047/108] export diffs --- Goap/StateDiff/StateDiffAddition.cs | 1 + Goap/StateDiff/StateDiffInterface.cs | 1 + Goap/StateDiff/StateDiffMapping.cs | 1 + 3 files changed, 3 insertions(+) diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Goap/StateDiff/StateDiffAddition.cs index 846c3f0..355e9da 100644 --- a/Goap/StateDiff/StateDiffAddition.cs +++ b/Goap/StateDiff/StateDiffAddition.cs @@ -7,6 +7,7 @@ public struct StateDiffAddition : StateDiffInterface { public string stateIndex { get; private set; } public T additionValue { get; set; } + public float diff => Convert.ToSingle(additionValue); public StateDiffAddition(string stateIndex, T additionValue) { diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Goap/StateDiff/StateDiffInterface.cs index a4c8fd1..5ad2a6f 100644 --- a/Goap/StateDiff/StateDiffInterface.cs +++ b/Goap/StateDiff/StateDiffInterface.cs @@ -4,5 +4,6 @@ public interface StateDiffInterface { public string stateIndex { get; } public State Operate(State state, bool overwrite = true); + public float diff { get; } } } diff --git a/Goap/StateDiff/StateDiffMapping.cs b/Goap/StateDiff/StateDiffMapping.cs index 573a158..d6e49a8 100644 --- a/Goap/StateDiff/StateDiffMapping.cs +++ b/Goap/StateDiff/StateDiffMapping.cs @@ -8,6 +8,7 @@ public struct StateDiffMapping : StateDiffInterface { public string stateIndex { get; private set; } public Dictionary mapping { get; set; } + public float diff => 1f; public StateDiffMapping(string stateIndex, Dictionary mapping) { From 5db8ff3c47d2caf12f5982f31602df93e334c678 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 07:37:52 +0900 Subject: [PATCH 048/108] refactor: implement ComputeCostWeights method for cost estimation --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 27 ++++++++++++++++++++++- 1 file changed, 26 insertions(+), 1 deletion(-) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index e4a3990..bbd574c 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -12,9 +12,34 @@ public partial class GoapSolver public Action[] Solve(State stateCurrent, Condition goal) { + // compute cost weights + stateIndexCostWeights = ComputeCostWeights(stateCurrent); + throw new NotImplementedException("Solve method not implemented yet."); } - private Dictionary ComputeCostWeights() { } + private Dictionary ComputeCostWeights(State stateCurrent) + { + // state index -> cost per diff + Dictionary largestCostPerDiff = new Dictionary(); + foreach (string stateIndex in stateCurrent.indices) + { + largestCostPerDiff[stateIndex] = 0f; + } + + foreach (Action action in actionPool.Values) + { + foreach (StateDiffInterface stateDiff in action.stateDiffSet.stateDiffes) + { + // get cost per diff + float costPerDiff = Math.Abs(action.cost / stateDiff.diff); + if (largestCostPerDiff[stateDiff.stateIndex] < costPerDiff) + { + largestCostPerDiff[stateDiff.stateIndex] = costPerDiff; + } + } + } + return largestCostPerDiff; + } } } From ea24debf238f4db6db5068a37ef72a48f3790c81 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 07:46:34 +0900 Subject: [PATCH 049/108] AstarQueue --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 32 +++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index bbd574c..c29f56b 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -3,8 +3,40 @@ namespace TsunagiModule.Goap { + //https://medium.com/@hanxuyang0826/mastering-pathfinding-with-a-star-a-practical-guide-and-c-implementation-f76f1643d8c3 public partial class GoapSolver { + private class AstarQueue : IComparable + { + public State state; + public AstarQueue parent; + public float currentCost; + public float heuristicCost; + public float totalCost => currentCost + heuristicCost; + + public AstarQueue( + State state, + AstarQueue parent, + float currentCost, + float heuristicCost + ) + { + this.state = state; + this.parent = parent; + this.currentCost = currentCost; + this.heuristicCost = heuristicCost; + } + + public int CompareTo(AstarQueue other) + { + if (totalCost < other.totalCost) + return -1; + if (totalCost > other.totalCost) + return 1; + return 0; + } + } + /// /// Cost estimation weights for each state index /// From c15f944fc1ec7578bd562f6ec2843f7c14f7f419 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:11:41 +0900 Subject: [PATCH 050/108] integrated conditioning --- Goap/Conditions/Condition.cs | 133 +++++++++++++++++++---------------- 1 file changed, 71 insertions(+), 62 deletions(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 96d7d18..8c60336 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -2,7 +2,8 @@ namespace TsunagiModule.Goap { - public struct Condition : ConditionInterface + public struct Condition : ConditionInterface + where T : struct { public enum ConditionOperator { @@ -14,111 +15,119 @@ public enum ConditionOperator NotEqual, } - /// - /// error acceptance value for float comparison. - /// - private const float EPSILON = 0.0001f; - public string stateIndex { get; private set; } - public GoapValueInterface value { get; private set; } - public ConditionOperator conditionOperator { get; private set; } + public T valueComparing { get; set; } + public ConditionOperator conditionOperator { get; set; } - public Condition( - string stateIndex, - GoapValueInterface value, - ConditionOperator conditionOperator - ) + public Condition(string stateIndex, T valueComparing, ConditionOperator conditionOperator) { this.stateIndex = stateIndex; - this.value = value; + this.valueComparing = valueComparing; this.conditionOperator = conditionOperator; } public bool IsSatisfied(State state) { - GoapValueInterface valueComparing = state.GetValue(stateIndex); + GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); - switch (value.type) + // if type check passed... + if (valueGivenInterface is GoapValue valueGiven) { - case ValueType.Float: - return IsSatisfiedFloat(valueComparing.GetAsFloat()); - case ValueType.Int: - return IsSatisfiedInt(valueComparing.GetAsInt()); - case ValueType.Bool: - return IsSatisfiedBool(valueComparing.GetAsBool()); - default: - throw new NotImplementedException("Unknown GoapValue.ValueType"); + // ...compare value + return Compare(valueGiven.value, valueComparing); + } + // if different type... + else + { + // ...panic + throw new InvalidCastException( + $"State index '{stateIndex}' is not of type '{typeof(T)}'." + ); } } - private bool IsSatisfiedFloat(float valueComparing) + private bool Compare(T valueGiven, T valueComparing) { + // delegate to corresponding comparison method switch (conditionOperator) { + case ConditionOperator.Equal: + case ConditionOperator.NotEqual: + // if operation available... + if (valueGiven is IEquatable valueGivenEquatable) + { + // ...compare value + return CompareEquatable(valueGivenEquatable, valueComparing); + } + else + { + // ...panic + throw new InvalidOperationException( + $"Condition operator '{conditionOperator}' is not supported for type '{typeof(T)}'." + ); + } case ConditionOperator.Larger: - return value.GetAsFloat() < valueComparing; case ConditionOperator.LargerOrEqual: - return value.GetAsFloat() <= valueComparing; case ConditionOperator.Smaller: - return value.GetAsFloat() > valueComparing; case ConditionOperator.SmallerOrEqual: - return value.GetAsFloat() >= valueComparing; - case ConditionOperator.Equal: - return IsEqualApproximately(value.GetAsFloat(), valueComparing); - case ConditionOperator.NotEqual: - return !IsEqualApproximately(value.GetAsFloat(), valueComparing); + // if operation available... + if (valueGiven is IComparable valueGivenComparable) + { + // ...compare value + return CompareComparable(valueGivenComparable, valueComparing); + } + else + { + // ...panic + throw new InvalidOperationException( + $"Condition operator '{conditionOperator}' is not supported for type '{typeof(T)}'." + ); + } default: - throw new NotImplementedException("Unknown condition operator."); + // ...panic + throw new NotImplementedException( + $"Condition operator '{conditionOperator}' not implemented yet." + ); } } - private bool IsSatisfiedInt(int valueComparing) + private bool CompareEquatable(IEquatable valueGivenEquatable, T valueComparing) { switch (conditionOperator) { - case ConditionOperator.Larger: - return value.GetAsInt() < valueComparing; - case ConditionOperator.LargerOrEqual: - return value.GetAsInt() <= valueComparing; - case ConditionOperator.Smaller: - return value.GetAsInt() > valueComparing; - case ConditionOperator.SmallerOrEqual: - return value.GetAsInt() >= valueComparing; case ConditionOperator.Equal: - return value.GetAsInt() == valueComparing; + return valueGivenEquatable.Equals(valueComparing); case ConditionOperator.NotEqual: - return value.GetAsInt() != valueComparing; + return !valueGivenEquatable.Equals(valueComparing); default: - throw new NotImplementedException("Unknown condition operator."); + throw new NotImplementedException( + $"Condition operator '{conditionOperator}' not implemented yet." + ); } } - private bool IsSatisfiedBool(bool valueComparing) + private bool CompareComparable(IComparable valueGivenComparable, T valueComparing) { + // https://learn.microsoft.com/en-us/dotnet/api/system.icomparable?view=net-9.0 + // A.CompareTo(B) < 0 means A < B + // A.CompareTo(B) == 0 means A == B + // A.CompareTo(B) > 0 means A > B + switch (conditionOperator) { - case ConditionOperator.Equal: - return value.GetAsBool() == valueComparing; - case ConditionOperator.NotEqual: - return value.GetAsBool() != valueComparing; case ConditionOperator.Larger: + return valueGivenComparable.CompareTo(valueComparing) > 0; case ConditionOperator.LargerOrEqual: + return valueGivenComparable.CompareTo(valueComparing) >= 0; case ConditionOperator.Smaller: + return valueGivenComparable.CompareTo(valueComparing) < 0; case ConditionOperator.SmallerOrEqual: + return valueGivenComparable.CompareTo(valueComparing) <= 0; + default: throw new NotImplementedException( - "Condition operator is not supported for bool type." + $"Condition operator '{conditionOperator}' not implemented yet." ); - default: - throw new NotImplementedException("Unknown condition operator."); } } - - /// - /// Equality check for float values. - /// - private bool IsEqualApproximately(float a, float b) - { - return Math.Abs(a - b) < EPSILON; - } } } From bf4298bd8e535356de65ce18a1e059867e4f0074 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:12:21 +0900 Subject: [PATCH 051/108] fix: logic conditions use ConditionInterface --- Goap/Conditions/ConditionAnd.cs | 6 +++--- Goap/Conditions/ConditionNot.cs | 4 ++-- Goap/Conditions/ConditionOr.cs | 6 +++--- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index a9528ea..27cc74a 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -2,16 +2,16 @@ namespace TsunagiModule.Goap { public struct ConditionAnd : ConditionInterface { - public Condition[] conditions { get; private set; } + public ConditionInterface[] conditions { get; private set; } - public ConditionAnd(Condition[] conditions) + public ConditionAnd(ConditionInterface[] conditions) { this.conditions = conditions; } public bool IsSatisfied(State state) { - foreach (Condition condition in conditions) + foreach (ConditionInterface condition in conditions) { if (!condition.IsSatisfied(state)) { diff --git a/Goap/Conditions/ConditionNot.cs b/Goap/Conditions/ConditionNot.cs index c9552bc..c383cb9 100644 --- a/Goap/Conditions/ConditionNot.cs +++ b/Goap/Conditions/ConditionNot.cs @@ -2,9 +2,9 @@ namespace TsunagiModule.Goap { public struct ConditionNot : ConditionInterface { - public Condition condition { get; private set; } + public ConditionInterface condition { get; private set; } - public ConditionNot(Condition condition) + public ConditionNot(ConditionInterface condition) { this.condition = condition; } diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index dcf5377..5340889 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -2,16 +2,16 @@ namespace TsunagiModule.Goap { public struct ConditionOr : ConditionInterface { - public Condition[] conditions { get; private set; } + public ConditionInterface[] conditions { get; private set; } - public ConditionOr(Condition[] conditions) + public ConditionOr(ConditionInterface[] conditions) { this.conditions = conditions; } public bool IsSatisfied(State state) { - foreach (Condition condition in conditions) + foreach (ConditionInterface condition in conditions) { if (condition.IsSatisfied(state)) { From 23fc61428fa330676b6f13596c7424f0cca788b6 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:12:42 +0900 Subject: [PATCH 052/108] fix: update Solve method to use ConditionInterface for goal parameter --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index c29f56b..56b927d 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -42,7 +42,7 @@ public int CompareTo(AstarQueue other) /// private Dictionary stateIndexCostWeights = new Dictionary(); - public Action[] Solve(State stateCurrent, Condition goal) + public Action[] Solve(State stateCurrent, ConditionInterface goal) { // compute cost weights stateIndexCostWeights = ComputeCostWeights(stateCurrent); From 4ab5ca904d825a2dc229f66a72d0094217e58f77 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:22:51 +0900 Subject: [PATCH 053/108] distance estimation from condition --- Goap/Conditions/Condition.cs | 38 +++++++++++++++++++++++++++ Goap/Conditions/ConditionInterface.cs | 1 + 2 files changed, 39 insertions(+) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 8c60336..a708342 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -46,6 +46,44 @@ public bool IsSatisfied(State state) } } + public float EstimateDistance(State state) + { + GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); + // if type check passed... + if (valueGivenInterface is GoapValue valueGiven) + { + // bool + if (valueGiven.value is bool valueGivenBool) + { + return valueGivenBool.Equals(valueComparing) ? 1f : 0f; + } + // numeric + else if (valueGiven.value is IConvertible) + { + // convert to double + double valueGivenDouble = Convert.ToDouble(valueGiven.value); + double valueComparingDouble = Convert.ToDouble(valueComparing); + + // compute distance + return (float)Math.Abs(valueGivenDouble - valueComparingDouble); + } + else + { + throw new NotImplementedException( + $"Condition operator '{conditionOperator}' not implemented yet." + ); + } + } + // if different type... + else + { + // ...panic + throw new InvalidCastException( + $"State index '{stateIndex}' is not of type '{typeof(T)}'." + ); + } + } + private bool Compare(T valueGiven, T valueComparing) { // delegate to corresponding comparison method diff --git a/Goap/Conditions/ConditionInterface.cs b/Goap/Conditions/ConditionInterface.cs index e1416f9..1e44fee 100644 --- a/Goap/Conditions/ConditionInterface.cs +++ b/Goap/Conditions/ConditionInterface.cs @@ -3,5 +3,6 @@ namespace TsunagiModule.Goap public interface ConditionInterface { public bool IsSatisfied(State state); + public float EstimateDistance(State state); } } From 4fb51d61728778e9859dffa5058951ecc3faa5ff Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:26:09 +0900 Subject: [PATCH 054/108] distance estimation for logic conditions NotCondition is deleted because it is crazy --- Goap/Conditions/ConditionAnd.cs | 14 ++++++++++++++ Goap/Conditions/ConditionNot.cs | 17 ----------------- Goap/Conditions/ConditionNot.cs.meta | 2 -- Goap/Conditions/ConditionOr.cs | 15 +++++++++++++++ 4 files changed, 29 insertions(+), 19 deletions(-) delete mode 100644 Goap/Conditions/ConditionNot.cs delete mode 100644 Goap/Conditions/ConditionNot.cs.meta diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 27cc74a..0246abb 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -1,3 +1,5 @@ +using System; + namespace TsunagiModule.Goap { public struct ConditionAnd : ConditionInterface @@ -20,5 +22,17 @@ public bool IsSatisfied(State state) } return true; } + + public float EstimateDistance(State state) + { + // square root of sum of squares + float sum = 0; + foreach (ConditionInterface condition in conditions) + { + float distance = condition.EstimateDistance(state); + sum += distance * distance; + } + return (float)Math.Sqrt(sum); + } } } diff --git a/Goap/Conditions/ConditionNot.cs b/Goap/Conditions/ConditionNot.cs deleted file mode 100644 index c383cb9..0000000 --- a/Goap/Conditions/ConditionNot.cs +++ /dev/null @@ -1,17 +0,0 @@ -namespace TsunagiModule.Goap -{ - public struct ConditionNot : ConditionInterface - { - public ConditionInterface condition { get; private set; } - - public ConditionNot(ConditionInterface condition) - { - this.condition = condition; - } - - public bool IsSatisfied(State state) - { - return !condition.IsSatisfied(state); - } - } -} diff --git a/Goap/Conditions/ConditionNot.cs.meta b/Goap/Conditions/ConditionNot.cs.meta deleted file mode 100644 index 8019dfb..0000000 --- a/Goap/Conditions/ConditionNot.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: b5774bdb91bd10142bf0ef0b334aa833 \ No newline at end of file diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index 5340889..f858bac 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -20,5 +20,20 @@ public bool IsSatisfied(State state) } return false; } + + public float EstimateDistance(State state) + { + // shortest distance + float min = float.MaxValue; + foreach (ConditionInterface condition in conditions) + { + float distance = condition.EstimateDistance(state); + if (distance < min) + { + min = distance; + } + } + return min; + } } } From 53bf10449017a8e7a35251a6f80a44a28078a2bd Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:28:28 +0900 Subject: [PATCH 055/108] return 0 if already satisfied --- Goap/Conditions/Condition.cs | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index a708342..c78a322 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -48,6 +48,15 @@ public bool IsSatisfied(State state) public float EstimateDistance(State state) { + // if already satisfied... + if (IsSatisfied(state)) + { + // ... early return + return 0f; + } + + // not satisfied! + GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); // if type check passed... if (valueGivenInterface is GoapValue valueGiven) @@ -55,7 +64,7 @@ public float EstimateDistance(State state) // bool if (valueGiven.value is bool valueGivenBool) { - return valueGivenBool.Equals(valueComparing) ? 1f : 0f; + return 1f; } // numeric else if (valueGiven.value is IConvertible) From 4e4a76046e2b848092a88f787d53d96d1f432a2d Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:30:45 +0900 Subject: [PATCH 056/108] float to double --- Goap/Conditions/Condition.cs | 8 ++++---- Goap/Conditions/ConditionAnd.cs | 8 ++++---- Goap/Conditions/ConditionInterface.cs | 2 +- Goap/Conditions/ConditionOr.cs | 6 +++--- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index c78a322..6d42199 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -46,13 +46,13 @@ public bool IsSatisfied(State state) } } - public float EstimateDistance(State state) + public double EstimateDistance(State state) { // if already satisfied... if (IsSatisfied(state)) { // ... early return - return 0f; + return 0.0; } // not satisfied! @@ -64,7 +64,7 @@ public float EstimateDistance(State state) // bool if (valueGiven.value is bool valueGivenBool) { - return 1f; + return 1.0; } // numeric else if (valueGiven.value is IConvertible) @@ -74,7 +74,7 @@ public float EstimateDistance(State state) double valueComparingDouble = Convert.ToDouble(valueComparing); // compute distance - return (float)Math.Abs(valueGivenDouble - valueComparingDouble); + return Math.Abs(valueGivenDouble - valueComparingDouble); } else { diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 0246abb..56f72fe 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -23,16 +23,16 @@ public bool IsSatisfied(State state) return true; } - public float EstimateDistance(State state) + public double EstimateDistance(State state) { // square root of sum of squares - float sum = 0; + double sum = 0; foreach (ConditionInterface condition in conditions) { - float distance = condition.EstimateDistance(state); + double distance = condition.EstimateDistance(state); sum += distance * distance; } - return (float)Math.Sqrt(sum); + return Math.Sqrt(sum); } } } diff --git a/Goap/Conditions/ConditionInterface.cs b/Goap/Conditions/ConditionInterface.cs index 1e44fee..29d5b31 100644 --- a/Goap/Conditions/ConditionInterface.cs +++ b/Goap/Conditions/ConditionInterface.cs @@ -3,6 +3,6 @@ namespace TsunagiModule.Goap public interface ConditionInterface { public bool IsSatisfied(State state); - public float EstimateDistance(State state); + public double EstimateDistance(State state); } } diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index f858bac..bd0e4c0 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -21,13 +21,13 @@ public bool IsSatisfied(State state) return false; } - public float EstimateDistance(State state) + public double EstimateDistance(State state) { // shortest distance - float min = float.MaxValue; + double min = double.MaxValue; foreach (ConditionInterface condition in conditions) { - float distance = condition.EstimateDistance(state); + double distance = condition.EstimateDistance(state); if (distance < min) { min = distance; From c294be55e178f4222d338cc91ee2fa3d313c3ea8 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:33:52 +0900 Subject: [PATCH 057/108] all cost to double --- Goap/Action.cs | 4 ++-- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 20 ++++++++++---------- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/Goap/Action.cs b/Goap/Action.cs index cf380d8..5b320f9 100644 --- a/Goap/Action.cs +++ b/Goap/Action.cs @@ -5,13 +5,13 @@ public struct Action public string name { get; private set; } public ConditionInterface condition { get; private set; } public StateDiffSet stateDiffSet { get; private set; } - public float cost { get; private set; } + public double cost { get; private set; } public Action( string name, ConditionInterface condition, StateDiffSet stateDiffSet, - float cost + double cost ) { this.name = name; diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 56b927d..8367a09 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -10,15 +10,15 @@ private class AstarQueue : IComparable { public State state; public AstarQueue parent; - public float currentCost; - public float heuristicCost; - public float totalCost => currentCost + heuristicCost; + public double currentCost; + public double heuristicCost; + public double totalCost => currentCost + heuristicCost; public AstarQueue( State state, AstarQueue parent, - float currentCost, - float heuristicCost + double currentCost, + double heuristicCost ) { this.state = state; @@ -40,7 +40,7 @@ public int CompareTo(AstarQueue other) /// /// Cost estimation weights for each state index /// - private Dictionary stateIndexCostWeights = new Dictionary(); + private Dictionary stateIndexCostWeights = new Dictionary(); public Action[] Solve(State stateCurrent, ConditionInterface goal) { @@ -50,13 +50,13 @@ public Action[] Solve(State stateCurrent, ConditionInterface goal) throw new NotImplementedException("Solve method not implemented yet."); } - private Dictionary ComputeCostWeights(State stateCurrent) + private Dictionary ComputeCostWeights(State stateCurrent) { // state index -> cost per diff - Dictionary largestCostPerDiff = new Dictionary(); + Dictionary largestCostPerDiff = new Dictionary(); foreach (string stateIndex in stateCurrent.indices) { - largestCostPerDiff[stateIndex] = 0f; + largestCostPerDiff[stateIndex] = 0.0; } foreach (Action action in actionPool.Values) @@ -64,7 +64,7 @@ private Dictionary ComputeCostWeights(State stateCurrent) foreach (StateDiffInterface stateDiff in action.stateDiffSet.stateDiffes) { // get cost per diff - float costPerDiff = Math.Abs(action.cost / stateDiff.diff); + double costPerDiff = Math.Abs(action.cost / stateDiff.diff); if (largestCostPerDiff[stateDiff.stateIndex] < costPerDiff) { largestCostPerDiff[stateDiff.stateIndex] = costPerDiff; From acde42bd9fa735dc551e64fe8124433313068059 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 08:35:18 +0900 Subject: [PATCH 058/108] cost estimation --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 8367a09..63f12a2 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -73,5 +73,10 @@ private Dictionary ComputeCostWeights(State stateCurrent) } return largestCostPerDiff; } + + private double EstimateCost(State state, ConditionInterface goal) + { + return goal.EstimateDistance(state); + } } } From ee97fd37d9c881515352b75ae10e12c8877a697c Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 09:14:50 +0900 Subject: [PATCH 059/108] hashing State --- Goap/GoapValue/GoapValue.cs | 14 ++++++++++++-- Goap/State.cs | 26 +++++++++++++++++++++++++- 2 files changed, 37 insertions(+), 3 deletions(-) diff --git a/Goap/GoapValue/GoapValue.cs b/Goap/GoapValue/GoapValue.cs index f17e8aa..43c7610 100644 --- a/Goap/GoapValue/GoapValue.cs +++ b/Goap/GoapValue/GoapValue.cs @@ -8,8 +8,8 @@ namespace TsunagiModule.Goap /// /// This is implemented for support integrated control of State Control, being independent of value type. /// - public struct GoapValue : GoapValueInterface - where T : struct + public struct GoapValue : GoapValueInterface, IEquatable> + where T : struct, IEquatable { public Type type => typeof(T); // getter for type public T value { get; set; } // getter and setter for value @@ -18,5 +18,15 @@ public GoapValue(T value) { this.value = value; } + + public bool Equals(GoapValue other) + { + return value.Equals(other.value); + } + + public override int GetHashCode() + { + return value.GetHashCode(); + } } } diff --git a/Goap/State.cs b/Goap/State.cs index e7c4f1c..66f2a1d 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -4,7 +4,7 @@ namespace TsunagiModule.Goap { - public struct State + public struct State : IEquatable { /// /// Main body of state vector @@ -37,8 +37,32 @@ public void SetNumericValue(string stateIndex, T value) SetValue(stateIndex, new GoapValue(value)); } + public bool Equals(State other) + { + // HACK: there could be a better data structure + // since length of dictionary tends not to be too large, + // this is fast enough. + return values.SequenceEqual(other.values); + } + + public override int GetHashCode() + { + // HACK: there could be a better data structure + // since length of dictionary tends not to be too large, + // hash collision is not likely to happen. + + int hash = 17; + foreach (var pair in values) + { + hash = hash * 31 + pair.Key.GetHashCode(); + hash = hash * 31 + pair.Value.GetHashCode(); + } + return hash; + } + public State Clone() { + // HACK: there could be a better data structure return new State { values = new Dictionary(values) }; } } From 376002df8c0ebe33db82e8f95d311c7ac904790c Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 09:16:52 +0900 Subject: [PATCH 060/108] setting value --- Goap/State.cs | 4 ++-- Goap/StateDiff/StateDiffAddition.cs | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Goap/State.cs b/Goap/State.cs index 66f2a1d..e742db7 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -30,8 +30,8 @@ public void SetValue(string stateIndex, GoapValueInterface value) values[stateIndex] = value; } - public void SetNumericValue(string stateIndex, T value) - where T : struct + public void SetValue(string stateIndex, T value) + where T : struct, IEquatable { // wrapping SetValue(stateIndex, new GoapValue(value)); diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Goap/StateDiff/StateDiffAddition.cs index 355e9da..d0a5dde 100644 --- a/Goap/StateDiff/StateDiffAddition.cs +++ b/Goap/StateDiff/StateDiffAddition.cs @@ -52,7 +52,7 @@ public State Operate(State state, bool overwrite = true) } // update state - stateTarget.SetNumericValue(stateIndex, newValue); // Updated to remove unnecessary new() + stateTarget.SetValue(stateIndex, newValue); // Updated to remove unnecessary new() return stateTarget; } else From e75aed0ad76e74226c04fee998f139e155a1a32f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 09:20:55 +0900 Subject: [PATCH 061/108] fix type --- Goap/Conditions/Condition.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 6d42199..3bfb84d 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -3,7 +3,7 @@ namespace TsunagiModule.Goap { public struct Condition : ConditionInterface - where T : struct + where T : struct, IEquatable { public enum ConditionOperator { From 0b775a213ff9ca456a9c26ba883f36da6d816308 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 09:55:19 +0900 Subject: [PATCH 062/108] solving A* --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 81 ++++++++++++++++++++++- Goap/Utils.meta | 8 +++ Goap/Utils/PriorityQueue.cs | 73 ++++++++++++++++++++ Goap/Utils/PriorityQueue.cs.meta | 2 + 4 files changed, 161 insertions(+), 3 deletions(-) create mode 100644 Goap/Utils.meta create mode 100644 Goap/Utils/PriorityQueue.cs create mode 100644 Goap/Utils/PriorityQueue.cs.meta diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 63f12a2..b84a94f 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -1,5 +1,6 @@ using System; using System.Collections.Generic; +using TsunagiModule.Goap.Utils; namespace TsunagiModule.Goap { @@ -10,21 +11,25 @@ private class AstarQueue : IComparable { public State state; public AstarQueue parent; + public Action? action; public double currentCost; public double heuristicCost; public double totalCost => currentCost + heuristicCost; + public int depth => parent == null ? 0 : parent.depth + 1; public AstarQueue( State state, AstarQueue parent, double currentCost, - double heuristicCost + double heuristicCost, + Action? action ) { this.state = state; this.parent = parent; this.currentCost = currentCost; this.heuristicCost = heuristicCost; + this.action = action; } public int CompareTo(AstarQueue other) @@ -42,12 +47,12 @@ public int CompareTo(AstarQueue other) /// private Dictionary stateIndexCostWeights = new Dictionary(); - public Action[] Solve(State stateCurrent, ConditionInterface goal) + public Action[] Solve(State stateCurrent, ConditionInterface goal, int maxLength = 10) { // compute cost weights stateIndexCostWeights = ComputeCostWeights(stateCurrent); - throw new NotImplementedException("Solve method not implemented yet."); + return SolveAstar(stateCurrent, goal, maxLength); } private Dictionary ComputeCostWeights(State stateCurrent) @@ -74,6 +79,76 @@ private Dictionary ComputeCostWeights(State stateCurrent) return largestCostPerDiff; } + private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int maxDepth) + { + PriorityQueue queue = new PriorityQueue(); + HashSet closedSet = new HashSet(); + + // starting point + queue.Enqueue( + new AstarQueue(stateCurrent, null, 0, EstimateCost(stateCurrent, goal), null) + ); + + while (queue.Count > 0) + { + // to next node + AstarQueue current = queue.Dequeue(); + + // if already closed... + if (closedSet.Contains(current.state)) + { + // ...skip + continue; + } + + // if arrived at goal... + if (goal.IsSatisfied(current.state)) + { + // ...return the Action path + List actions = new List(); + while (current.action != null) + { + actions.Add(current.action ?? throw new InvalidOperationException()); + current = current.parent; + } + actions.Reverse(); + return actions.ToArray(); + } + + // close the current node + closedSet.Add(current.state); + + // if not arrived to the max depth... + if (current.depth < maxDepth) + { + // ...find next nodes + foreach (Action action in actionPool.Values) + { + // if the action is available... + if (action.condition.IsSatisfied(stateCurrent)) + { + // ...go to this state + State nextState = action.Simulate(current.state, overwrite: false); + double costCurrent = current.currentCost + action.cost; + double costEstimated = EstimateCost(nextState, goal); + queue.Enqueue( + new AstarQueue( + nextState, + current, + costCurrent, + costEstimated, + action + ) + ); + } + } + } + } + + // Return empty array if no solution is found + return new Action[0]; + } + private double EstimateCost(State state, ConditionInterface goal) { return goal.EstimateDistance(state); diff --git a/Goap/Utils.meta b/Goap/Utils.meta new file mode 100644 index 0000000..f614288 --- /dev/null +++ b/Goap/Utils.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 97249b122072eaa48a0c498015dbc899 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap/Utils/PriorityQueue.cs b/Goap/Utils/PriorityQueue.cs new file mode 100644 index 0000000..a434a72 --- /dev/null +++ b/Goap/Utils/PriorityQueue.cs @@ -0,0 +1,73 @@ +using System; +using System.Collections.Generic; + +namespace TsunagiModule.Goap.Utils +{ + public class PriorityQueue + where T : IComparable + { + private List elements = new List(); + + public int Count => elements.Count; + + public void Enqueue(T item) + { + elements.Add(item); + int childIndex = elements.Count - 1; + while (childIndex > 0) + { + int parentIndex = (childIndex - 1) / 2; + if (elements[childIndex].CompareTo(elements[parentIndex]) >= 0) + break; + + T temp = elements[childIndex]; + elements[childIndex] = elements[parentIndex]; + elements[parentIndex] = temp; + + childIndex = parentIndex; + } + } + + public T Dequeue() + { + if (elements.Count == 0) + throw new InvalidOperationException("The priority queue is empty."); + + T result = elements[0]; + int lastIndex = elements.Count - 1; + elements[0] = elements[lastIndex]; + elements.RemoveAt(lastIndex); + + int parentIndex = 0; + while (true) + { + int leftChildIndex = 2 * parentIndex + 1; + int rightChildIndex = 2 * parentIndex + 2; + int smallestIndex = parentIndex; + + if ( + leftChildIndex < elements.Count + && elements[leftChildIndex].CompareTo(elements[smallestIndex]) < 0 + ) + smallestIndex = leftChildIndex; + + if ( + rightChildIndex < elements.Count + && elements[rightChildIndex].CompareTo(elements[smallestIndex]) < 0 + ) + smallestIndex = rightChildIndex; + + if (smallestIndex == parentIndex) + break; + + T temp = elements[parentIndex]; + elements[parentIndex] = elements[smallestIndex]; + elements[smallestIndex] = temp; + + parentIndex = smallestIndex; + } + + return result; + } + } +} diff --git a/Goap/Utils/PriorityQueue.cs.meta b/Goap/Utils/PriorityQueue.cs.meta new file mode 100644 index 0000000..d903722 --- /dev/null +++ b/Goap/Utils/PriorityQueue.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 101d9294a56e00e43bbfa6afc096e367 \ No newline at end of file From 103e9191eb3506a95477748dcbdeeddf22dbb01e Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 10:06:36 +0900 Subject: [PATCH 063/108] receiving costPerDiff dictionary --- Goap/Conditions/Condition.cs | 25 +++++++++++++++++++---- Goap/Conditions/ConditionAnd.cs | 7 ++++--- Goap/Conditions/ConditionInterface.cs | 4 +++- Goap/Conditions/ConditionOr.cs | 10 +++++---- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- 5 files changed, 35 insertions(+), 13 deletions(-) diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 3bfb84d..7d95bed 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -1,4 +1,5 @@ using System; +using System.Collections.Generic; namespace TsunagiModule.Goap { @@ -46,7 +47,7 @@ public bool IsSatisfied(State state) } } - public double EstimateDistance(State state) + public double EstimateCost(State state, Dictionary costPerDiffes = null) { // if already satisfied... if (IsSatisfied(state)) @@ -57,14 +58,28 @@ public double EstimateDistance(State state) // not satisfied! + // get weight + double costPerDiff = 1.0; + // if corresponding weight given... + if ( + (costPerDiffes != null) + && costPerDiffes.TryGetValue(stateIndex, out double weightFound) + ) + { + // ...use it + costPerDiff = weightFound; + } + + // compute distance + double distance = 0.0; GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); // if type check passed... if (valueGivenInterface is GoapValue valueGiven) { // bool - if (valueGiven.value is bool valueGivenBool) + if (valueGiven.value is bool) { - return 1.0; + distance = 1.0; } // numeric else if (valueGiven.value is IConvertible) @@ -74,7 +89,7 @@ public double EstimateDistance(State state) double valueComparingDouble = Convert.ToDouble(valueComparing); // compute distance - return Math.Abs(valueGivenDouble - valueComparingDouble); + distance = Math.Abs(valueGivenDouble - valueComparingDouble); } else { @@ -91,6 +106,8 @@ public double EstimateDistance(State state) $"State index '{stateIndex}' is not of type '{typeof(T)}'." ); } + + return distance * costPerDiff; } private bool Compare(T valueGiven, T valueComparing) diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 56f72fe..5730eaf 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -1,4 +1,5 @@ using System; +using System.Collections.Generic; namespace TsunagiModule.Goap { @@ -23,14 +24,14 @@ public bool IsSatisfied(State state) return true; } - public double EstimateDistance(State state) + public double EstimateCost(State state, Dictionary costPerDiffes = null) { // square root of sum of squares double sum = 0; foreach (ConditionInterface condition in conditions) { - double distance = condition.EstimateDistance(state); - sum += distance * distance; + double cost = condition.EstimateCost(state, costPerDiffes: costPerDiffes); + sum += cost * cost; } return Math.Sqrt(sum); } diff --git a/Goap/Conditions/ConditionInterface.cs b/Goap/Conditions/ConditionInterface.cs index 29d5b31..857ca86 100644 --- a/Goap/Conditions/ConditionInterface.cs +++ b/Goap/Conditions/ConditionInterface.cs @@ -1,8 +1,10 @@ +using System.Collections.Generic; + namespace TsunagiModule.Goap { public interface ConditionInterface { public bool IsSatisfied(State state); - public double EstimateDistance(State state); + public double EstimateCost(State state, Dictionary costPerDiffes = null); } } diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index bd0e4c0..b904323 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -1,3 +1,5 @@ +using System.Collections.Generic; + namespace TsunagiModule.Goap { public struct ConditionOr : ConditionInterface @@ -21,16 +23,16 @@ public bool IsSatisfied(State state) return false; } - public double EstimateDistance(State state) + public double EstimateCost(State state, Dictionary costPerDiffes = null) { // shortest distance double min = double.MaxValue; foreach (ConditionInterface condition in conditions) { - double distance = condition.EstimateDistance(state); - if (distance < min) + double cost = condition.EstimateCost(state, costPerDiffes: costPerDiffes); + if (cost < min) { - min = distance; + min = cost; } } return min; diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index b84a94f..5bc134c 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -151,7 +151,7 @@ private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int max private double EstimateCost(State state, ConditionInterface goal) { - return goal.EstimateDistance(state); + return goal.EstimateCost(state); } } } From 3218f897987185b28af9a34968214c3aaf9d1c66 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 10:09:20 +0900 Subject: [PATCH 064/108] Passing cost weights --- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 5bc134c..01ac4fc 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -45,12 +45,12 @@ public int CompareTo(AstarQueue other) /// /// Cost estimation weights for each state index /// - private Dictionary stateIndexCostWeights = new Dictionary(); + private Dictionary costPerDiffes = new Dictionary(); public Action[] Solve(State stateCurrent, ConditionInterface goal, int maxLength = 10) { // compute cost weights - stateIndexCostWeights = ComputeCostWeights(stateCurrent); + costPerDiffes = ComputeCostWeights(stateCurrent); return SolveAstar(stateCurrent, goal, maxLength); } @@ -151,7 +151,7 @@ private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int max private double EstimateCost(State state, ConditionInterface goal) { - return goal.EstimateCost(state); + return goal.EstimateCost(state, costPerDiffes: costPerDiffes); } } } From 90d7e8d352d9251cb0ec6f75a0ee9205f334ab1b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 10:11:51 +0900 Subject: [PATCH 065/108] fix: update state setting method in StateDiffMapping --- Goap/StateDiff/StateDiffMapping.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Goap/StateDiff/StateDiffMapping.cs b/Goap/StateDiff/StateDiffMapping.cs index d6e49a8..79831a2 100644 --- a/Goap/StateDiff/StateDiffMapping.cs +++ b/Goap/StateDiff/StateDiffMapping.cs @@ -42,7 +42,7 @@ public State Operate(State state, bool overwrite = true) if (mapping.TryGetValue(currentValue, out T value)) { // ...update the state with the mapped value - stateTarget.SetNumericValue(stateIndex, value); + stateTarget.SetValue(stateIndex, value); } // if there isn't... else From ddf491493edfa06c5a75934cff05a30851a355e3 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 10:53:13 +0900 Subject: [PATCH 066/108] constructor for State --- Goap/State.cs | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Goap/State.cs b/Goap/State.cs index e742db7..dd74380 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -13,6 +13,11 @@ public struct State : IEquatable public string[] indices => values.Keys.ToArray(); + public State(Dictionary values) + { + this.values = values; + } + public GoapValueInterface GetValue(string stateIndex) { if (values.TryGetValue(stateIndex, out GoapValueInterface value)) From 11a76a2c67e1bded441e40426f2775dacb415e61 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 10:56:53 +0900 Subject: [PATCH 067/108] delete State constructor it couldn't receive multiple types --- Goap/State.cs | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Goap/State.cs b/Goap/State.cs index dd74380..6c3aff7 100644 --- a/Goap/State.cs +++ b/Goap/State.cs @@ -13,9 +13,16 @@ public struct State : IEquatable public string[] indices => values.Keys.ToArray(); - public State(Dictionary values) + public State(Dictionary values = null) { - this.values = values; + if (values == null) + { + this.values = new Dictionary(); + } + else + { + this.values = values; + } } public GoapValueInterface GetValue(string stateIndex) From b470f438e8c53f72be2ecbc2392371da9e584ea9 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:00:32 +0900 Subject: [PATCH 068/108] rename State -> GoapState conflict with Unity namespace --- Goap/Action.cs | 6 +++--- Goap/Conditions/Condition.cs | 4 ++-- Goap/Conditions/ConditionAnd.cs | 4 ++-- Goap/Conditions/ConditionInterface.cs | 7 +++++-- Goap/Conditions/ConditionOr.cs | 4 ++-- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 16 ++++++++-------- Goap/{State.cs => GoapState.cs} | 10 +++++----- Goap/{State.cs.meta => GoapState.cs.meta} | 0 Goap/StateDiff/StateDiffAddition.cs | 4 ++-- Goap/StateDiff/StateDiffInterface.cs | 2 +- Goap/StateDiff/StateDiffMapping.cs | 4 ++-- Goap/StateDiff/StateDiffSet.cs | 4 ++-- 12 files changed, 34 insertions(+), 31 deletions(-) rename Goap/{State.cs => GoapState.cs} (87%) rename Goap/{State.cs.meta => GoapState.cs.meta} (100%) diff --git a/Goap/Action.cs b/Goap/Action.cs index 5b320f9..6b1c647 100644 --- a/Goap/Action.cs +++ b/Goap/Action.cs @@ -20,15 +20,15 @@ double cost this.cost = cost; } - public bool Available(State state) + public bool Available(GoapState state) { return condition.IsSatisfied(state); } - public State Simulate(State state, bool overwrite = true) + public GoapState Simulate(GoapState state, bool overwrite = true) { // cloning or not - State stateTarget; + GoapState stateTarget; if (overwrite) { stateTarget = state; diff --git a/Goap/Conditions/Condition.cs b/Goap/Conditions/Condition.cs index 7d95bed..c391709 100644 --- a/Goap/Conditions/Condition.cs +++ b/Goap/Conditions/Condition.cs @@ -27,7 +27,7 @@ public Condition(string stateIndex, T valueComparing, ConditionOperator conditio this.conditionOperator = conditionOperator; } - public bool IsSatisfied(State state) + public bool IsSatisfied(GoapState state) { GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); @@ -47,7 +47,7 @@ public bool IsSatisfied(State state) } } - public double EstimateCost(State state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // if already satisfied... if (IsSatisfied(state)) diff --git a/Goap/Conditions/ConditionAnd.cs b/Goap/Conditions/ConditionAnd.cs index 5730eaf..a2aa733 100644 --- a/Goap/Conditions/ConditionAnd.cs +++ b/Goap/Conditions/ConditionAnd.cs @@ -12,7 +12,7 @@ public ConditionAnd(ConditionInterface[] conditions) this.conditions = conditions; } - public bool IsSatisfied(State state) + public bool IsSatisfied(GoapState state) { foreach (ConditionInterface condition in conditions) { @@ -24,7 +24,7 @@ public bool IsSatisfied(State state) return true; } - public double EstimateCost(State state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // square root of sum of squares double sum = 0; diff --git a/Goap/Conditions/ConditionInterface.cs b/Goap/Conditions/ConditionInterface.cs index 857ca86..311b0e7 100644 --- a/Goap/Conditions/ConditionInterface.cs +++ b/Goap/Conditions/ConditionInterface.cs @@ -4,7 +4,10 @@ namespace TsunagiModule.Goap { public interface ConditionInterface { - public bool IsSatisfied(State state); - public double EstimateCost(State state, Dictionary costPerDiffes = null); + public bool IsSatisfied(GoapState state); + public double EstimateCost( + GoapState state, + Dictionary costPerDiffes = null + ); } } diff --git a/Goap/Conditions/ConditionOr.cs b/Goap/Conditions/ConditionOr.cs index b904323..1782aef 100644 --- a/Goap/Conditions/ConditionOr.cs +++ b/Goap/Conditions/ConditionOr.cs @@ -11,7 +11,7 @@ public ConditionOr(ConditionInterface[] conditions) this.conditions = conditions; } - public bool IsSatisfied(State state) + public bool IsSatisfied(GoapState state) { foreach (ConditionInterface condition in conditions) { @@ -23,7 +23,7 @@ public bool IsSatisfied(State state) return false; } - public double EstimateCost(State state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // shortest distance double min = double.MaxValue; diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 01ac4fc..1408f4c 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -9,7 +9,7 @@ public partial class GoapSolver { private class AstarQueue : IComparable { - public State state; + public GoapState state; public AstarQueue parent; public Action? action; public double currentCost; @@ -18,7 +18,7 @@ private class AstarQueue : IComparable public int depth => parent == null ? 0 : parent.depth + 1; public AstarQueue( - State state, + GoapState state, AstarQueue parent, double currentCost, double heuristicCost, @@ -47,7 +47,7 @@ public int CompareTo(AstarQueue other) /// private Dictionary costPerDiffes = new Dictionary(); - public Action[] Solve(State stateCurrent, ConditionInterface goal, int maxLength = 10) + public Action[] Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) { // compute cost weights costPerDiffes = ComputeCostWeights(stateCurrent); @@ -55,7 +55,7 @@ public Action[] Solve(State stateCurrent, ConditionInterface goal, int maxLength return SolveAstar(stateCurrent, goal, maxLength); } - private Dictionary ComputeCostWeights(State stateCurrent) + private Dictionary ComputeCostWeights(GoapState stateCurrent) { // state index -> cost per diff Dictionary largestCostPerDiff = new Dictionary(); @@ -79,10 +79,10 @@ private Dictionary ComputeCostWeights(State stateCurrent) return largestCostPerDiff; } - private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int maxDepth) + private Action[] SolveAstar(GoapState stateCurrent, ConditionInterface goal, int maxDepth) { PriorityQueue queue = new PriorityQueue(); - HashSet closedSet = new HashSet(); + HashSet closedSet = new HashSet(); // starting point queue.Enqueue( @@ -128,7 +128,7 @@ private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int max if (action.condition.IsSatisfied(stateCurrent)) { // ...go to this state - State nextState = action.Simulate(current.state, overwrite: false); + GoapState nextState = action.Simulate(current.state, overwrite: false); double costCurrent = current.currentCost + action.cost; double costEstimated = EstimateCost(nextState, goal); queue.Enqueue( @@ -149,7 +149,7 @@ private Action[] SolveAstar(State stateCurrent, ConditionInterface goal, int max return new Action[0]; } - private double EstimateCost(State state, ConditionInterface goal) + private double EstimateCost(GoapState state, ConditionInterface goal) { return goal.EstimateCost(state, costPerDiffes: costPerDiffes); } diff --git a/Goap/State.cs b/Goap/GoapState.cs similarity index 87% rename from Goap/State.cs rename to Goap/GoapState.cs index 6c3aff7..a0f68ad 100644 --- a/Goap/State.cs +++ b/Goap/GoapState.cs @@ -4,7 +4,7 @@ namespace TsunagiModule.Goap { - public struct State : IEquatable + public struct GoapState : IEquatable { /// /// Main body of state vector @@ -13,7 +13,7 @@ public struct State : IEquatable public string[] indices => values.Keys.ToArray(); - public State(Dictionary values = null) + public GoapState(Dictionary values = null) { if (values == null) { @@ -49,7 +49,7 @@ public void SetValue(string stateIndex, T value) SetValue(stateIndex, new GoapValue(value)); } - public bool Equals(State other) + public bool Equals(GoapState other) { // HACK: there could be a better data structure // since length of dictionary tends not to be too large, @@ -72,10 +72,10 @@ public override int GetHashCode() return hash; } - public State Clone() + public GoapState Clone() { // HACK: there could be a better data structure - return new State { values = new Dictionary(values) }; + return new GoapState { values = new Dictionary(values) }; } } } diff --git a/Goap/State.cs.meta b/Goap/GoapState.cs.meta similarity index 100% rename from Goap/State.cs.meta rename to Goap/GoapState.cs.meta diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Goap/StateDiff/StateDiffAddition.cs index d0a5dde..7da6480 100644 --- a/Goap/StateDiff/StateDiffAddition.cs +++ b/Goap/StateDiff/StateDiffAddition.cs @@ -15,10 +15,10 @@ public StateDiffAddition(string stateIndex, T additionValue) this.additionValue = additionValue; } - public State Operate(State state, bool overwrite = true) + public GoapState Operate(GoapState state, bool overwrite = true) { // cloning or not - State stateTarget; + GoapState stateTarget; if (overwrite) { stateTarget = state; diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Goap/StateDiff/StateDiffInterface.cs index 5ad2a6f..ed8fee0 100644 --- a/Goap/StateDiff/StateDiffInterface.cs +++ b/Goap/StateDiff/StateDiffInterface.cs @@ -3,7 +3,7 @@ namespace TsunagiModule.Goap public interface StateDiffInterface { public string stateIndex { get; } - public State Operate(State state, bool overwrite = true); + public GoapState Operate(GoapState state, bool overwrite = true); public float diff { get; } } } diff --git a/Goap/StateDiff/StateDiffMapping.cs b/Goap/StateDiff/StateDiffMapping.cs index 79831a2..12bdbfe 100644 --- a/Goap/StateDiff/StateDiffMapping.cs +++ b/Goap/StateDiff/StateDiffMapping.cs @@ -16,10 +16,10 @@ public StateDiffMapping(string stateIndex, Dictionary mapping) this.mapping = mapping; } - public State Operate(State state, bool overwrite = true) + public GoapState Operate(GoapState state, bool overwrite = true) { // cloning or not - State stateTarget; + GoapState stateTarget; if (overwrite) { stateTarget = state; diff --git a/Goap/StateDiff/StateDiffSet.cs b/Goap/StateDiff/StateDiffSet.cs index 1cfd3b0..92a24a9 100644 --- a/Goap/StateDiff/StateDiffSet.cs +++ b/Goap/StateDiff/StateDiffSet.cs @@ -9,10 +9,10 @@ public StateDiffSet(StateDiffInterface[] stateDiffes) this.stateDiffes = stateDiffes; } - public State Apply(State state, bool overwrite = true) + public GoapState Apply(GoapState state, bool overwrite = true) { // cloning or not - State stateTarget; + GoapState stateTarget; if (overwrite) { stateTarget = state; From 3a1317b666dcc0b7bc2ccda651f27adac7195a5c Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:01:15 +0900 Subject: [PATCH 069/108] rename Action -> GoapAction avoiding conflict --- Goap/{Action.cs => GoapAction.cs} | 4 ++-- Goap/{Action.cs.meta => GoapAction.cs.meta} | 0 Goap/GoapSolver/GoapSolver_ActionControl.cs | 6 +++--- Goap/GoapSolver/GoapSolver_Pathfinding.cs | 24 ++++++++++++++------- 4 files changed, 21 insertions(+), 13 deletions(-) rename Goap/{Action.cs => GoapAction.cs} (95%) rename Goap/{Action.cs.meta => GoapAction.cs.meta} (100%) diff --git a/Goap/Action.cs b/Goap/GoapAction.cs similarity index 95% rename from Goap/Action.cs rename to Goap/GoapAction.cs index 6b1c647..3a48b1e 100644 --- a/Goap/Action.cs +++ b/Goap/GoapAction.cs @@ -1,13 +1,13 @@ namespace TsunagiModule.Goap { - public struct Action + public struct GoapAction { public string name { get; private set; } public ConditionInterface condition { get; private set; } public StateDiffSet stateDiffSet { get; private set; } public double cost { get; private set; } - public Action( + public GoapAction( string name, ConditionInterface condition, StateDiffSet stateDiffSet, diff --git a/Goap/Action.cs.meta b/Goap/GoapAction.cs.meta similarity index 100% rename from Goap/Action.cs.meta rename to Goap/GoapAction.cs.meta diff --git a/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Goap/GoapSolver/GoapSolver_ActionControl.cs index 395cf32..139df27 100644 --- a/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -10,9 +10,9 @@ public partial class GoapSolver /// /// action name -> Action /// - private Dictionary actionPool = new Dictionary(); + private Dictionary actionPool = new Dictionary(); - public void AddAction(Action action) + public void AddAction(GoapAction action) { actionPool.Add(action.name, action); } @@ -22,7 +22,7 @@ public void RemoveAction(string name) actionPool.Remove(name); } - public void ReplaceAction(string name, Action action) + public void ReplaceAction(string name, GoapAction action) { actionPool[name] = action; } diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 1408f4c..e5979d8 100644 --- a/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -11,7 +11,7 @@ private class AstarQueue : IComparable { public GoapState state; public AstarQueue parent; - public Action? action; + public GoapAction? action; public double currentCost; public double heuristicCost; public double totalCost => currentCost + heuristicCost; @@ -22,7 +22,7 @@ public AstarQueue( AstarQueue parent, double currentCost, double heuristicCost, - Action? action + GoapAction? action ) { this.state = state; @@ -47,7 +47,11 @@ public int CompareTo(AstarQueue other) /// private Dictionary costPerDiffes = new Dictionary(); - public Action[] Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) + public GoapAction[] Solve( + GoapState stateCurrent, + ConditionInterface goal, + int maxLength = 10 + ) { // compute cost weights costPerDiffes = ComputeCostWeights(stateCurrent); @@ -64,7 +68,7 @@ private Dictionary ComputeCostWeights(GoapState stateCurrent) largestCostPerDiff[stateIndex] = 0.0; } - foreach (Action action in actionPool.Values) + foreach (GoapAction action in actionPool.Values) { foreach (StateDiffInterface stateDiff in action.stateDiffSet.stateDiffes) { @@ -79,7 +83,11 @@ private Dictionary ComputeCostWeights(GoapState stateCurrent) return largestCostPerDiff; } - private Action[] SolveAstar(GoapState stateCurrent, ConditionInterface goal, int maxDepth) + private GoapAction[] SolveAstar( + GoapState stateCurrent, + ConditionInterface goal, + int maxDepth + ) { PriorityQueue queue = new PriorityQueue(); HashSet closedSet = new HashSet(); @@ -105,7 +113,7 @@ private Action[] SolveAstar(GoapState stateCurrent, ConditionInterface goal, int if (goal.IsSatisfied(current.state)) { // ...return the Action path - List actions = new List(); + List actions = new List(); while (current.action != null) { actions.Add(current.action ?? throw new InvalidOperationException()); @@ -122,7 +130,7 @@ private Action[] SolveAstar(GoapState stateCurrent, ConditionInterface goal, int if (current.depth < maxDepth) { // ...find next nodes - foreach (Action action in actionPool.Values) + foreach (GoapAction action in actionPool.Values) { // if the action is available... if (action.condition.IsSatisfied(stateCurrent)) @@ -146,7 +154,7 @@ private Action[] SolveAstar(GoapState stateCurrent, ConditionInterface goal, int } // Return empty array if no solution is found - return new Action[0]; + return new GoapAction[0]; } private double EstimateCost(GoapState state, ConditionInterface goal) From a62aeee9e1bb7f6770f58b8b28d38670fa2b4233 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:12:51 +0900 Subject: [PATCH 070/108] create scripts directory --- Scripts.meta | 8 ++++++++ Goap.meta => Scripts/Goap.meta | 0 {Goap => Scripts/Goap}/Conditions.meta | 0 {Goap => Scripts/Goap}/Conditions/Condition.cs | 0 {Goap => Scripts/Goap}/Conditions/Condition.cs.meta | 0 {Goap => Scripts/Goap}/Conditions/ConditionAnd.cs | 0 {Goap => Scripts/Goap}/Conditions/ConditionAnd.cs.meta | 0 {Goap => Scripts/Goap}/Conditions/ConditionInterface.cs | 0 .../Goap}/Conditions/ConditionInterface.cs.meta | 0 {Goap => Scripts/Goap}/Conditions/ConditionOr.cs | 0 {Goap => Scripts/Goap}/Conditions/ConditionOr.cs.meta | 0 {Goap => Scripts/Goap}/GoapAction.cs | 0 {Goap => Scripts/Goap}/GoapAction.cs.meta | 0 {Goap => Scripts/Goap}/GoapSolver.meta | 0 .../Goap}/GoapSolver/GoapSolver_ActionControl.cs | 0 .../Goap}/GoapSolver/GoapSolver_ActionControl.cs.meta | 0 .../Goap}/GoapSolver/GoapSolver_Pathfinding.cs | 0 .../Goap}/GoapSolver/GoapSolver_Pathfinding.cs.meta | 0 {Goap => Scripts/Goap}/GoapState.cs | 0 {Goap => Scripts/Goap}/GoapState.cs.meta | 0 {Goap => Scripts/Goap}/GoapValue.meta | 0 {Goap => Scripts/Goap}/GoapValue/GoapValue.cs | 0 {Goap => Scripts/Goap}/GoapValue/GoapValue.cs.meta | 0 {Goap => Scripts/Goap}/GoapValue/GoapValueInterface.cs | 0 .../Goap}/GoapValue/GoapValueInterface.cs.meta | 0 {Goap => Scripts/Goap}/StateDiff.meta | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffAddition.cs | 0 .../Goap}/StateDiff/StateDiffAddition.cs.meta | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffInterface.cs | 0 .../Goap}/StateDiff/StateDiffInterface.cs.meta | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffMapping.cs | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffMapping.cs.meta | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffSet.cs | 0 {Goap => Scripts/Goap}/StateDiff/StateDiffSet.cs.meta | 0 {Goap => Scripts/Goap}/Utils.meta | 0 {Goap => Scripts/Goap}/Utils/PriorityQueue.cs | 0 {Goap => Scripts/Goap}/Utils/PriorityQueue.cs.meta | 0 37 files changed, 8 insertions(+) create mode 100644 Scripts.meta rename Goap.meta => Scripts/Goap.meta (100%) rename {Goap => Scripts/Goap}/Conditions.meta (100%) rename {Goap => Scripts/Goap}/Conditions/Condition.cs (100%) rename {Goap => Scripts/Goap}/Conditions/Condition.cs.meta (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionAnd.cs (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionAnd.cs.meta (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionInterface.cs (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionInterface.cs.meta (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionOr.cs (100%) rename {Goap => Scripts/Goap}/Conditions/ConditionOr.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapAction.cs (100%) rename {Goap => Scripts/Goap}/GoapAction.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapSolver.meta (100%) rename {Goap => Scripts/Goap}/GoapSolver/GoapSolver_ActionControl.cs (100%) rename {Goap => Scripts/Goap}/GoapSolver/GoapSolver_ActionControl.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapSolver/GoapSolver_Pathfinding.cs (100%) rename {Goap => Scripts/Goap}/GoapSolver/GoapSolver_Pathfinding.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapState.cs (100%) rename {Goap => Scripts/Goap}/GoapState.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapValue.meta (100%) rename {Goap => Scripts/Goap}/GoapValue/GoapValue.cs (100%) rename {Goap => Scripts/Goap}/GoapValue/GoapValue.cs.meta (100%) rename {Goap => Scripts/Goap}/GoapValue/GoapValueInterface.cs (100%) rename {Goap => Scripts/Goap}/GoapValue/GoapValueInterface.cs.meta (100%) rename {Goap => Scripts/Goap}/StateDiff.meta (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffAddition.cs (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffAddition.cs.meta (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffInterface.cs (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffInterface.cs.meta (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffMapping.cs (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffMapping.cs.meta (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffSet.cs (100%) rename {Goap => Scripts/Goap}/StateDiff/StateDiffSet.cs.meta (100%) rename {Goap => Scripts/Goap}/Utils.meta (100%) rename {Goap => Scripts/Goap}/Utils/PriorityQueue.cs (100%) rename {Goap => Scripts/Goap}/Utils/PriorityQueue.cs.meta (100%) diff --git a/Scripts.meta b/Scripts.meta new file mode 100644 index 0000000..5a3d76f --- /dev/null +++ b/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c76e76e5b0e590a44875d223b3d70618 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Goap.meta b/Scripts/Goap.meta similarity index 100% rename from Goap.meta rename to Scripts/Goap.meta diff --git a/Goap/Conditions.meta b/Scripts/Goap/Conditions.meta similarity index 100% rename from Goap/Conditions.meta rename to Scripts/Goap/Conditions.meta diff --git a/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs similarity index 100% rename from Goap/Conditions/Condition.cs rename to Scripts/Goap/Conditions/Condition.cs diff --git a/Goap/Conditions/Condition.cs.meta b/Scripts/Goap/Conditions/Condition.cs.meta similarity index 100% rename from Goap/Conditions/Condition.cs.meta rename to Scripts/Goap/Conditions/Condition.cs.meta diff --git a/Goap/Conditions/ConditionAnd.cs b/Scripts/Goap/Conditions/ConditionAnd.cs similarity index 100% rename from Goap/Conditions/ConditionAnd.cs rename to Scripts/Goap/Conditions/ConditionAnd.cs diff --git a/Goap/Conditions/ConditionAnd.cs.meta b/Scripts/Goap/Conditions/ConditionAnd.cs.meta similarity index 100% rename from Goap/Conditions/ConditionAnd.cs.meta rename to Scripts/Goap/Conditions/ConditionAnd.cs.meta diff --git a/Goap/Conditions/ConditionInterface.cs b/Scripts/Goap/Conditions/ConditionInterface.cs similarity index 100% rename from Goap/Conditions/ConditionInterface.cs rename to Scripts/Goap/Conditions/ConditionInterface.cs diff --git a/Goap/Conditions/ConditionInterface.cs.meta b/Scripts/Goap/Conditions/ConditionInterface.cs.meta similarity index 100% rename from Goap/Conditions/ConditionInterface.cs.meta rename to Scripts/Goap/Conditions/ConditionInterface.cs.meta diff --git a/Goap/Conditions/ConditionOr.cs b/Scripts/Goap/Conditions/ConditionOr.cs similarity index 100% rename from Goap/Conditions/ConditionOr.cs rename to Scripts/Goap/Conditions/ConditionOr.cs diff --git a/Goap/Conditions/ConditionOr.cs.meta b/Scripts/Goap/Conditions/ConditionOr.cs.meta similarity index 100% rename from Goap/Conditions/ConditionOr.cs.meta rename to Scripts/Goap/Conditions/ConditionOr.cs.meta diff --git a/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs similarity index 100% rename from Goap/GoapAction.cs rename to Scripts/Goap/GoapAction.cs diff --git a/Goap/GoapAction.cs.meta b/Scripts/Goap/GoapAction.cs.meta similarity index 100% rename from Goap/GoapAction.cs.meta rename to Scripts/Goap/GoapAction.cs.meta diff --git a/Goap/GoapSolver.meta b/Scripts/Goap/GoapSolver.meta similarity index 100% rename from Goap/GoapSolver.meta rename to Scripts/Goap/GoapSolver.meta diff --git a/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs similarity index 100% rename from Goap/GoapSolver/GoapSolver_ActionControl.cs rename to Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs diff --git a/Goap/GoapSolver/GoapSolver_ActionControl.cs.meta b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs.meta similarity index 100% rename from Goap/GoapSolver/GoapSolver_ActionControl.cs.meta rename to Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs.meta diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs similarity index 100% rename from Goap/GoapSolver/GoapSolver_Pathfinding.cs rename to Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs diff --git a/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta similarity index 100% rename from Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta rename to Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs.meta diff --git a/Goap/GoapState.cs b/Scripts/Goap/GoapState.cs similarity index 100% rename from Goap/GoapState.cs rename to Scripts/Goap/GoapState.cs diff --git a/Goap/GoapState.cs.meta b/Scripts/Goap/GoapState.cs.meta similarity index 100% rename from Goap/GoapState.cs.meta rename to Scripts/Goap/GoapState.cs.meta diff --git a/Goap/GoapValue.meta b/Scripts/Goap/GoapValue.meta similarity index 100% rename from Goap/GoapValue.meta rename to Scripts/Goap/GoapValue.meta diff --git a/Goap/GoapValue/GoapValue.cs b/Scripts/Goap/GoapValue/GoapValue.cs similarity index 100% rename from Goap/GoapValue/GoapValue.cs rename to Scripts/Goap/GoapValue/GoapValue.cs diff --git a/Goap/GoapValue/GoapValue.cs.meta b/Scripts/Goap/GoapValue/GoapValue.cs.meta similarity index 100% rename from Goap/GoapValue/GoapValue.cs.meta rename to Scripts/Goap/GoapValue/GoapValue.cs.meta diff --git a/Goap/GoapValue/GoapValueInterface.cs b/Scripts/Goap/GoapValue/GoapValueInterface.cs similarity index 100% rename from Goap/GoapValue/GoapValueInterface.cs rename to Scripts/Goap/GoapValue/GoapValueInterface.cs diff --git a/Goap/GoapValue/GoapValueInterface.cs.meta b/Scripts/Goap/GoapValue/GoapValueInterface.cs.meta similarity index 100% rename from Goap/GoapValue/GoapValueInterface.cs.meta rename to Scripts/Goap/GoapValue/GoapValueInterface.cs.meta diff --git a/Goap/StateDiff.meta b/Scripts/Goap/StateDiff.meta similarity index 100% rename from Goap/StateDiff.meta rename to Scripts/Goap/StateDiff.meta diff --git a/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs similarity index 100% rename from Goap/StateDiff/StateDiffAddition.cs rename to Scripts/Goap/StateDiff/StateDiffAddition.cs diff --git a/Goap/StateDiff/StateDiffAddition.cs.meta b/Scripts/Goap/StateDiff/StateDiffAddition.cs.meta similarity index 100% rename from Goap/StateDiff/StateDiffAddition.cs.meta rename to Scripts/Goap/StateDiff/StateDiffAddition.cs.meta diff --git a/Goap/StateDiff/StateDiffInterface.cs b/Scripts/Goap/StateDiff/StateDiffInterface.cs similarity index 100% rename from Goap/StateDiff/StateDiffInterface.cs rename to Scripts/Goap/StateDiff/StateDiffInterface.cs diff --git a/Goap/StateDiff/StateDiffInterface.cs.meta b/Scripts/Goap/StateDiff/StateDiffInterface.cs.meta similarity index 100% rename from Goap/StateDiff/StateDiffInterface.cs.meta rename to Scripts/Goap/StateDiff/StateDiffInterface.cs.meta diff --git a/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs similarity index 100% rename from Goap/StateDiff/StateDiffMapping.cs rename to Scripts/Goap/StateDiff/StateDiffMapping.cs diff --git a/Goap/StateDiff/StateDiffMapping.cs.meta b/Scripts/Goap/StateDiff/StateDiffMapping.cs.meta similarity index 100% rename from Goap/StateDiff/StateDiffMapping.cs.meta rename to Scripts/Goap/StateDiff/StateDiffMapping.cs.meta diff --git a/Goap/StateDiff/StateDiffSet.cs b/Scripts/Goap/StateDiff/StateDiffSet.cs similarity index 100% rename from Goap/StateDiff/StateDiffSet.cs rename to Scripts/Goap/StateDiff/StateDiffSet.cs diff --git a/Goap/StateDiff/StateDiffSet.cs.meta b/Scripts/Goap/StateDiff/StateDiffSet.cs.meta similarity index 100% rename from Goap/StateDiff/StateDiffSet.cs.meta rename to Scripts/Goap/StateDiff/StateDiffSet.cs.meta diff --git a/Goap/Utils.meta b/Scripts/Goap/Utils.meta similarity index 100% rename from Goap/Utils.meta rename to Scripts/Goap/Utils.meta diff --git a/Goap/Utils/PriorityQueue.cs b/Scripts/Goap/Utils/PriorityQueue.cs similarity index 100% rename from Goap/Utils/PriorityQueue.cs rename to Scripts/Goap/Utils/PriorityQueue.cs diff --git a/Goap/Utils/PriorityQueue.cs.meta b/Scripts/Goap/Utils/PriorityQueue.cs.meta similarity index 100% rename from Goap/Utils/PriorityQueue.cs.meta rename to Scripts/Goap/Utils/PriorityQueue.cs.meta From 462d3ed88ccfdc31b2688ba7443252cc5cdc34bc Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:34:27 +0900 Subject: [PATCH 071/108] condition that always true --- Scripts/Goap/Conditions/NoCondition.cs | 17 +++++++++++++++++ Scripts/Goap/Conditions/NoCondition.cs.meta | 2 ++ 2 files changed, 19 insertions(+) create mode 100644 Scripts/Goap/Conditions/NoCondition.cs create mode 100644 Scripts/Goap/Conditions/NoCondition.cs.meta diff --git a/Scripts/Goap/Conditions/NoCondition.cs b/Scripts/Goap/Conditions/NoCondition.cs new file mode 100644 index 0000000..221fba9 --- /dev/null +++ b/Scripts/Goap/Conditions/NoCondition.cs @@ -0,0 +1,17 @@ +using System.Collections.Generic; + +namespace TsunagiModule.Goap +{ + public struct NoCondition : ConditionInterface + { + public bool IsSatisfied(GoapState state) + { + return true; + } + + public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) + { + return 0; + } + } +} diff --git a/Scripts/Goap/Conditions/NoCondition.cs.meta b/Scripts/Goap/Conditions/NoCondition.cs.meta new file mode 100644 index 0000000..188ccdb --- /dev/null +++ b/Scripts/Goap/Conditions/NoCondition.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: fa2a2ec7aa07b9542948720f4f4f2e5b \ No newline at end of file From 30eccb7a0f01ccd0b680c668be6e4ba28209e942 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:38:55 +0900 Subject: [PATCH 072/108] accept passing diff list directly --- Scripts/Goap/GoapAction.cs | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/Scripts/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs index 3a48b1e..e1c35e7 100644 --- a/Scripts/Goap/GoapAction.cs +++ b/Scripts/Goap/GoapAction.cs @@ -20,6 +20,19 @@ double cost this.cost = cost; } + public GoapAction( + string name, + ConditionInterface condition, + StateDiffInterface[] stateDiffSet, + double cost + ) + { + this.name = name; + this.condition = condition; + this.stateDiffSet = new StateDiffSet(stateDiffSet); + this.cost = cost; + } + public bool Available(GoapState state) { return condition.IsSatisfied(state); From 86578f9ea72f09815071bec5a5d18425477f3765 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:43:08 +0900 Subject: [PATCH 073/108] seperate ConditionOperator --- Scripts/Goap/Conditions/Condition.cs | 10 ---------- Scripts/Goap/Conditions/ConditionOperator.cs | 12 ++++++++++++ 2 files changed, 12 insertions(+), 10 deletions(-) create mode 100644 Scripts/Goap/Conditions/ConditionOperator.cs diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index c391709..e891006 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -6,16 +6,6 @@ namespace TsunagiModule.Goap public struct Condition : ConditionInterface where T : struct, IEquatable { - public enum ConditionOperator - { - Larger, - LargerOrEqual, - Smaller, - SmallerOrEqual, - Equal, - NotEqual, - } - public string stateIndex { get; private set; } public T valueComparing { get; set; } public ConditionOperator conditionOperator { get; set; } diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs b/Scripts/Goap/Conditions/ConditionOperator.cs new file mode 100644 index 0000000..6c3474c --- /dev/null +++ b/Scripts/Goap/Conditions/ConditionOperator.cs @@ -0,0 +1,12 @@ +namespace TsunagiModule.Goap +{ + public enum ConditionOperator + { + Larger, + LargerOrEqual, + Smaller, + SmallerOrEqual, + Equal, + NotEqual, + } +} From 79e0aa78c3129af82e63efd8473adfe8c07ad75c Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 11:47:32 +0900 Subject: [PATCH 074/108] intruitive order --- Scripts/Goap/Conditions/Condition.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index e891006..95ec3c3 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -10,7 +10,7 @@ public struct Condition : ConditionInterface public T valueComparing { get; set; } public ConditionOperator conditionOperator { get; set; } - public Condition(string stateIndex, T valueComparing, ConditionOperator conditionOperator) + public Condition(string stateIndex, ConditionOperator conditionOperator, T valueComparing) { this.stateIndex = stateIndex; this.valueComparing = valueComparing; From 50783d7fdfa7abb620baf1e1ddf5e95e4862ade0 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 12:03:27 +0900 Subject: [PATCH 075/108] test code --- .../Goap/Conditions/ConditionOperator.cs.meta | 2 + Tests.asmdef | 21 +++ Tests.asmdef.meta | 7 + Tests.meta | 8 + Tests/GoapTest.cs | 173 ++++++++++++++++++ Tests/GoapTest.cs.meta | 2 + 6 files changed, 213 insertions(+) create mode 100644 Scripts/Goap/Conditions/ConditionOperator.cs.meta create mode 100644 Tests.asmdef create mode 100644 Tests.asmdef.meta create mode 100644 Tests.meta create mode 100644 Tests/GoapTest.cs create mode 100644 Tests/GoapTest.cs.meta diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs.meta b/Scripts/Goap/Conditions/ConditionOperator.cs.meta new file mode 100644 index 0000000..6c6af6c --- /dev/null +++ b/Scripts/Goap/Conditions/ConditionOperator.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 8698ddb9307e0094bae9fe705539db66 \ No newline at end of file diff --git a/Tests.asmdef b/Tests.asmdef new file mode 100644 index 0000000..aa17583 --- /dev/null +++ b/Tests.asmdef @@ -0,0 +1,21 @@ +{ + "name": "Tests", + "rootNamespace": "", + "references": [ + "UnityEngine.TestRunner", + "UnityEditor.TestRunner" + ], + "includePlatforms": [], + "excludePlatforms": [], + "allowUnsafeCode": false, + "overrideReferences": true, + "precompiledReferences": [ + "nunit.framework.dll" + ], + "autoReferenced": false, + "defineConstraints": [ + "UNITY_INCLUDE_TESTS" + ], + "versionDefines": [], + "noEngineReferences": false +} \ No newline at end of file diff --git a/Tests.asmdef.meta b/Tests.asmdef.meta new file mode 100644 index 0000000..656e015 --- /dev/null +++ b/Tests.asmdef.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 1c6cce9f195ef6c479540225cff2ec90 +AssemblyDefinitionImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Tests.meta b/Tests.meta new file mode 100644 index 0000000..3c9590c --- /dev/null +++ b/Tests.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c67e08ee36fbe4f41a957c7694801f98 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs new file mode 100644 index 0000000..e06d62e --- /dev/null +++ b/Tests/GoapTest.cs @@ -0,0 +1,173 @@ +using System.Collections.Generic; +using NUnit.Framework; +using TsunagiModule.Goap; + +public class GoapTest +{ + private const string ACTION_1 = "#1 increase int"; + private const string ACTION_2 = "#2 increase float"; + private const string ACTION_3 = "#3 increase double and switch boolean"; + + [Test] + public void GoapTestSimple() + { + Condition goal = new Condition("int", ConditionOperator.LargerOrEqual, 2); + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + + //run + GoapAction[] actions = solver.Solve(state, goal, 10); + + // #1 -> #1 + Assert.AreEqual(actions.Length, 2); + Assert.AreEqual(actions[0].name, ACTION_1); + Assert.AreEqual(actions[1].name, ACTION_1); + } + + [Test] + public void GoapTestPathFinding() + { + Condition goal = new Condition( + "float", + ConditionOperator.LargerOrEqual, + 0.5f + ); + + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + + //run + GoapAction[] actions = solver.Solve(state, goal, 10); + + // #1 -> #1 -> #1 -> #2 + Assert.AreEqual(actions.Length, 4); + Assert.AreEqual(actions[0].name, ACTION_1); + Assert.AreEqual(actions[1].name, ACTION_1); + Assert.AreEqual(actions[2].name, ACTION_1); + Assert.AreEqual(actions[3].name, ACTION_2); + } + + [Test] + public void GoapTestMapping() + { + ConditionInterface goal = new ConditionAnd( + new ConditionInterface[] + { + new Condition("double", ConditionOperator.LargerOrEqual, 0.1), + new Condition("boolean", ConditionOperator.Equal, true) + } + ); + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + + GoapAction[] actions = solver.Solve(state, goal, 10); + + // #3 -> #3 + Assert.AreEqual(actions.Length, 2); + Assert.AreEqual(actions[0].name, ACTION_3); + Assert.AreEqual(actions[1].name, ACTION_3); + } + + [Test] + public void GoapTestBetterCost() + { + const string ACTION_X = "#X int + 100 (cost 100)"; + + Condition goal = new Condition("int", ConditionOperator.Equal, 3); + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + solver.AddAction( + new GoapAction( + ACTION_X, + new NoCondition(), + new StateDiffInterface[] { new StateDiffAddition("int", 100) }, + 100.0 + ) + ); + + //run + GoapAction[] actions = solver.Solve(state, goal, 10); + + // #1 -> #1 -> #1 + Assert.AreEqual(actions.Length, 3); + Assert.AreEqual(actions[0].name, ACTION_1); + Assert.AreEqual(actions[1].name, ACTION_1); + ; + Assert.AreEqual(actions[2].name, ACTION_1); + } + + [Test] + public void GoapTestTooDeep() + { + Condition goal = new Condition("int", ConditionOperator.Equal, 100); + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + + //run + GoapAction[] actions = solver.Solve(state, goal, 10); + + // empty + Assert.AreEqual(actions.Length, 0); + } + + [Test] + public void GoapTestImpossible() + { + Condition goal = new Condition("int", ConditionOperator.Equal, -1); + GoapState state = GenerateState(); + GoapSolver solver = GenerateSolverWithActionPool(); + + //run + GoapAction[] actions = solver.Solve(state, goal, 10); + + // empty + Assert.AreEqual(actions.Length, 0); + } + + private GoapState GenerateState() + { + GoapState state = new GoapState(); + state.SetValue("int", 0); + state.SetValue("float", 0f); + state.SetValue("double", 0); + state.SetValue("boolean", false); + return state; + } + + private GoapSolver GenerateSolverWithActionPool() + { + GoapSolver solver = new GoapSolver(); + solver.AddAction( + new GoapAction( + ACTION_1, + new NoCondition(), + new StateDiffInterface[] { new StateDiffAddition("int", 1) }, + 1.0 + ) + ); + solver.AddAction( + new GoapAction( + ACTION_2, + new Condition("int", ConditionOperator.Larger, 2), + new StateDiffInterface[] { new StateDiffAddition("float", 1f) }, + 2.0 + ) + ); + solver.AddAction( + new GoapAction( + ACTION_3, + new NoCondition(), + new StateDiffInterface[] + { + new StateDiffAddition("double", 1.0), + new StateDiffMapping( + "boolean", + new Dictionary() { { false, true }, { true, false } } + ) + }, + 3.0 + ) + ); + return solver; + } +} diff --git a/Tests/GoapTest.cs.meta b/Tests/GoapTest.cs.meta new file mode 100644 index 0000000..d58b26a --- /dev/null +++ b/Tests/GoapTest.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 54bf1392730ce124d92d928539d9158c \ No newline at end of file From 3390e299364afd51b1087e1b116361bef3153393 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Thu, 24 Apr 2025 12:50:30 +0900 Subject: [PATCH 076/108] test settings --- Tests.asmdef | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Tests.asmdef b/Tests.asmdef index aa17583..02091dd 100644 --- a/Tests.asmdef +++ b/Tests.asmdef @@ -5,7 +5,9 @@ "UnityEngine.TestRunner", "UnityEditor.TestRunner" ], - "includePlatforms": [], + "includePlatforms": [ + "Editor" + ], "excludePlatforms": [], "allowUnsafeCode": false, "overrideReferences": true, From 33515992e2f98b8e0f6430f1813759b58ccb74ca Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:23:49 +0900 Subject: [PATCH 077/108] rename func conflict with two same-named functions --- Scripts/Goap/GoapState.cs | 2 +- Scripts/Goap/StateDiff/StateDiffAddition.cs | 2 +- Scripts/Goap/StateDiff/StateDiffMapping.cs | 2 +- Tests/GoapTest.cs | 8 ++++---- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Scripts/Goap/GoapState.cs b/Scripts/Goap/GoapState.cs index a0f68ad..6283650 100644 --- a/Scripts/Goap/GoapState.cs +++ b/Scripts/Goap/GoapState.cs @@ -42,7 +42,7 @@ public void SetValue(string stateIndex, GoapValueInterface value) values[stateIndex] = value; } - public void SetValue(string stateIndex, T value) + public void SetRawValue(string stateIndex, T value) where T : struct, IEquatable { // wrapping diff --git a/Scripts/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs index 7da6480..7079951 100644 --- a/Scripts/Goap/StateDiff/StateDiffAddition.cs +++ b/Scripts/Goap/StateDiff/StateDiffAddition.cs @@ -52,7 +52,7 @@ public GoapState Operate(GoapState state, bool overwrite = true) } // update state - stateTarget.SetValue(stateIndex, newValue); // Updated to remove unnecessary new() + stateTarget.SetRawValue(stateIndex, newValue); return stateTarget; } else diff --git a/Scripts/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs index 12bdbfe..d42bad2 100644 --- a/Scripts/Goap/StateDiff/StateDiffMapping.cs +++ b/Scripts/Goap/StateDiff/StateDiffMapping.cs @@ -42,7 +42,7 @@ public GoapState Operate(GoapState state, bool overwrite = true) if (mapping.TryGetValue(currentValue, out T value)) { // ...update the state with the mapped value - stateTarget.SetValue(stateIndex, value); + stateTarget.SetRawValue(stateIndex, value); } // if there isn't... else diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index e06d62e..7de1b73 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -127,10 +127,10 @@ public void GoapTestImpossible() private GoapState GenerateState() { GoapState state = new GoapState(); - state.SetValue("int", 0); - state.SetValue("float", 0f); - state.SetValue("double", 0); - state.SetValue("boolean", false); + state.SetRawValue("int", 0); + state.SetRawValue("float", 0f); + state.SetRawValue("double", 0); + state.SetRawValue("boolean", false); return state; } From 97293e6d7509104a80c06b7db00646cf47d2bd8e Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:30:06 +0900 Subject: [PATCH 078/108] null guard --- Scripts/Goap/GoapState.cs | 25 ++++++++++++++++--------- 1 file changed, 16 insertions(+), 9 deletions(-) diff --git a/Scripts/Goap/GoapState.cs b/Scripts/Goap/GoapState.cs index 6283650..70c692a 100644 --- a/Scripts/Goap/GoapState.cs +++ b/Scripts/Goap/GoapState.cs @@ -13,20 +13,15 @@ public struct GoapState : IEquatable public string[] indices => values.Keys.ToArray(); - public GoapState(Dictionary values = null) + public GoapState(Dictionary values) { - if (values == null) - { - this.values = new Dictionary(); - } - else - { - this.values = values; - } + this.values = values; } public GoapValueInterface GetValue(string stateIndex) { + GuardValueNull(); + if (values.TryGetValue(stateIndex, out GoapValueInterface value)) { return value; @@ -39,6 +34,8 @@ public GoapValueInterface GetValue(string stateIndex) public void SetValue(string stateIndex, GoapValueInterface value) { + GuardValueNull(); + values[stateIndex] = value; } @@ -51,6 +48,8 @@ public void SetRawValue(string stateIndex, T value) public bool Equals(GoapState other) { + GuardValueNull(); + // HACK: there could be a better data structure // since length of dictionary tends not to be too large, // this is fast enough. @@ -77,5 +76,13 @@ public GoapState Clone() // HACK: there could be a better data structure return new GoapState { values = new Dictionary(values) }; } + + private void GuardValueNull() + { + if (values == null) + { + values = new Dictionary(); + } + } } } From b40cb3a7f779edbaf6f23444dcd00d67c23cf158 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:33:09 +0900 Subject: [PATCH 079/108] fix type --- Tests/GoapTest.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index 7de1b73..8a0c3a2 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -129,7 +129,7 @@ private GoapState GenerateState() GoapState state = new GoapState(); state.SetRawValue("int", 0); state.SetRawValue("float", 0f); - state.SetRawValue("double", 0); + state.SetRawValue("double", 0.0); state.SetRawValue("boolean", false); return state; } From a9835a84ec379b9f9b9b0e9755db0c70f146c69a Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:38:52 +0900 Subject: [PATCH 080/108] fix goal --- Tests/GoapTest.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index 8a0c3a2..450416e 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -54,7 +54,7 @@ public void GoapTestMapping() new ConditionInterface[] { new Condition("double", ConditionOperator.LargerOrEqual, 0.1), - new Condition("boolean", ConditionOperator.Equal, true) + new Condition("boolean", ConditionOperator.Equal, false) } ); GoapState state = GenerateState(); From 2cafb497cce5c9cc7b12ad67c8a8d8a840418218 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:47:56 +0900 Subject: [PATCH 081/108] GoapResult --- Scripts/Goap/GoapSolver/GoapResult.cs | 17 ++++++++++++ Scripts/Goap/GoapSolver/GoapResult.cs.meta | 2 ++ .../Goap/GoapSolver/GoapSolver_Pathfinding.cs | 27 ++++++++++--------- 3 files changed, 33 insertions(+), 13 deletions(-) create mode 100644 Scripts/Goap/GoapSolver/GoapResult.cs create mode 100644 Scripts/Goap/GoapSolver/GoapResult.cs.meta diff --git a/Scripts/Goap/GoapSolver/GoapResult.cs b/Scripts/Goap/GoapSolver/GoapResult.cs new file mode 100644 index 0000000..87f70b5 --- /dev/null +++ b/Scripts/Goap/GoapSolver/GoapResult.cs @@ -0,0 +1,17 @@ +namespace TsunagiModule.Goap +{ + public struct GoapResult + { + public GoapAction[] actions; + public double cost; + public int length => actions.Length; + public bool success; + + public GoapResult(GoapAction[] actions, double cost, bool success) + { + this.actions = actions; + this.cost = cost; + this.success = success; + } + } +} diff --git a/Scripts/Goap/GoapSolver/GoapResult.cs.meta b/Scripts/Goap/GoapSolver/GoapResult.cs.meta new file mode 100644 index 0000000..65c6a73 --- /dev/null +++ b/Scripts/Goap/GoapSolver/GoapResult.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 50aecb45af83a2c43a6638fd3ca3fd3f \ No newline at end of file diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index e5979d8..a0b97de 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -47,11 +47,7 @@ public int CompareTo(AstarQueue other) /// private Dictionary costPerDiffes = new Dictionary(); - public GoapAction[] Solve( - GoapState stateCurrent, - ConditionInterface goal, - int maxLength = 10 - ) + public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) { // compute cost weights costPerDiffes = ComputeCostWeights(stateCurrent); @@ -83,11 +79,7 @@ private Dictionary ComputeCostWeights(GoapState stateCurrent) return largestCostPerDiff; } - private GoapAction[] SolveAstar( - GoapState stateCurrent, - ConditionInterface goal, - int maxDepth - ) + private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, int maxDepth) { PriorityQueue queue = new PriorityQueue(); HashSet closedSet = new HashSet(); @@ -113,6 +105,8 @@ int maxDepth if (goal.IsSatisfied(current.state)) { // ...return the Action path + + // action list List actions = new List(); while (current.action != null) { @@ -120,7 +114,15 @@ int maxDepth current = current.parent; } actions.Reverse(); - return actions.ToArray(); + + // create GoapResult + GoapResult result = new GoapResult( + actions.ToArray(), + current.currentCost, + true + ); + + return result; } // close the current node @@ -153,8 +155,7 @@ int maxDepth } } - // Return empty array if no solution is found - return new GoapAction[0]; + return new GoapResult(null, -1, false); } private double EstimateCost(GoapState state, ConditionInterface goal) From b1101f9559983265ddd9aba7aa3c279f42a2369f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:51:24 +0900 Subject: [PATCH 082/108] use GoapResult --- Tests/GoapTest.cs | 55 +++++++++++++++++++++++++---------------------- 1 file changed, 29 insertions(+), 26 deletions(-) diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index 450416e..0d890b0 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -16,12 +16,13 @@ public void GoapTestSimple() GoapSolver solver = GenerateSolverWithActionPool(); //run - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 - Assert.AreEqual(actions.Length, 2); - Assert.AreEqual(actions[0].name, ACTION_1); - Assert.AreEqual(actions[1].name, ACTION_1); + Assert.AreEqual(result.success, true); + Assert.AreEqual(result.length, 2); + Assert.AreEqual(result.actions[0].name, ACTION_1); + Assert.AreEqual(result.actions[1].name, ACTION_1); } [Test] @@ -37,14 +38,15 @@ public void GoapTestPathFinding() GoapSolver solver = GenerateSolverWithActionPool(); //run - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 -> #1 -> #2 - Assert.AreEqual(actions.Length, 4); - Assert.AreEqual(actions[0].name, ACTION_1); - Assert.AreEqual(actions[1].name, ACTION_1); - Assert.AreEqual(actions[2].name, ACTION_1); - Assert.AreEqual(actions[3].name, ACTION_2); + Assert.AreEqual(result.success, true); + Assert.AreEqual(result.length, 4); + Assert.AreEqual(result.actions[0].name, ACTION_1); + Assert.AreEqual(result.actions[1].name, ACTION_1); + Assert.AreEqual(result.actions[2].name, ACTION_1); + Assert.AreEqual(result.actions[3].name, ACTION_2); } [Test] @@ -60,12 +62,13 @@ public void GoapTestMapping() GoapState state = GenerateState(); GoapSolver solver = GenerateSolverWithActionPool(); - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); // #3 -> #3 - Assert.AreEqual(actions.Length, 2); - Assert.AreEqual(actions[0].name, ACTION_3); - Assert.AreEqual(actions[1].name, ACTION_3); + Assert.AreEqual(result.success, true); + Assert.AreEqual(result.length, 2); + Assert.AreEqual(result.actions[0].name, ACTION_3); + Assert.AreEqual(result.actions[1].name, ACTION_3); } [Test] @@ -86,14 +89,14 @@ public void GoapTestBetterCost() ); //run - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 -> #1 - Assert.AreEqual(actions.Length, 3); - Assert.AreEqual(actions[0].name, ACTION_1); - Assert.AreEqual(actions[1].name, ACTION_1); - ; - Assert.AreEqual(actions[2].name, ACTION_1); + Assert.AreEqual(result.success, true); + Assert.AreEqual(result.length, 3); + Assert.AreEqual(result.actions[0].name, ACTION_1); + Assert.AreEqual(result.actions[1].name, ACTION_1); + Assert.AreEqual(result.actions[2].name, ACTION_1); } [Test] @@ -104,10 +107,10 @@ public void GoapTestTooDeep() GoapSolver solver = GenerateSolverWithActionPool(); //run - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); - // empty - Assert.AreEqual(actions.Length, 0); + // error + Assert.AreEqual(result.success, false); } [Test] @@ -118,10 +121,10 @@ public void GoapTestImpossible() GoapSolver solver = GenerateSolverWithActionPool(); //run - GoapAction[] actions = solver.Solve(state, goal, 10); + GoapResult result = solver.Solve(state, goal, 10); - // empty - Assert.AreEqual(actions.Length, 0); + // error + Assert.AreEqual(result.success, false); } private GoapState GenerateState() From febb3a06c4288664d58319323daaf12fc758ca32 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:54:47 +0900 Subject: [PATCH 083/108] swap params of AreEqual --- Tests/GoapTest.cs | 42 +++++++++++++++++++++--------------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index 0d890b0..e15cf3b 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -19,10 +19,10 @@ public void GoapTestSimple() GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 - Assert.AreEqual(result.success, true); - Assert.AreEqual(result.length, 2); - Assert.AreEqual(result.actions[0].name, ACTION_1); - Assert.AreEqual(result.actions[1].name, ACTION_1); + Assert.AreEqual(true, result.success); + Assert.AreEqual(2, result.length); + Assert.AreEqual(ACTION_1, result.actions[0].name); + Assert.AreEqual(ACTION_1, result.actions[1].name); } [Test] @@ -41,12 +41,12 @@ public void GoapTestPathFinding() GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 -> #1 -> #2 - Assert.AreEqual(result.success, true); - Assert.AreEqual(result.length, 4); - Assert.AreEqual(result.actions[0].name, ACTION_1); - Assert.AreEqual(result.actions[1].name, ACTION_1); - Assert.AreEqual(result.actions[2].name, ACTION_1); - Assert.AreEqual(result.actions[3].name, ACTION_2); + Assert.AreEqual(true, result.success); + Assert.AreEqual(4, result.length); + Assert.AreEqual(ACTION_1, result.actions[0].name); + Assert.AreEqual(ACTION_1, result.actions[1].name); + Assert.AreEqual(ACTION_1, result.actions[2].name); + Assert.AreEqual(ACTION_2, result.actions[3].name); } [Test] @@ -65,10 +65,10 @@ public void GoapTestMapping() GoapResult result = solver.Solve(state, goal, 10); // #3 -> #3 - Assert.AreEqual(result.success, true); - Assert.AreEqual(result.length, 2); - Assert.AreEqual(result.actions[0].name, ACTION_3); - Assert.AreEqual(result.actions[1].name, ACTION_3); + Assert.AreEqual(true, result.success); + Assert.AreEqual(2, result.length); + Assert.AreEqual(ACTION_3, result.actions[0].name); + Assert.AreEqual(ACTION_3, result.actions[1].name); } [Test] @@ -92,11 +92,11 @@ public void GoapTestBetterCost() GoapResult result = solver.Solve(state, goal, 10); // #1 -> #1 -> #1 - Assert.AreEqual(result.success, true); - Assert.AreEqual(result.length, 3); - Assert.AreEqual(result.actions[0].name, ACTION_1); - Assert.AreEqual(result.actions[1].name, ACTION_1); - Assert.AreEqual(result.actions[2].name, ACTION_1); + Assert.AreEqual(true, result.success); + Assert.AreEqual(3, result.length); + Assert.AreEqual(ACTION_1, result.actions[0].name); + Assert.AreEqual(ACTION_1, result.actions[1].name); + Assert.AreEqual(ACTION_1, result.actions[2].name); } [Test] @@ -110,7 +110,7 @@ public void GoapTestTooDeep() GoapResult result = solver.Solve(state, goal, 10); // error - Assert.AreEqual(result.success, false); + Assert.AreEqual(false, result.success); } [Test] @@ -124,7 +124,7 @@ public void GoapTestImpossible() GoapResult result = solver.Solve(state, goal, 10); // error - Assert.AreEqual(result.success, false); + Assert.AreEqual(false, result.success); } private GoapState GenerateState() From 2596438faae9d56c3649b37f92ca9d4c521cf249 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 12:57:20 +0900 Subject: [PATCH 084/108] fix: check condition of the simulated state --- Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index a0b97de..3056a46 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -135,7 +135,7 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i foreach (GoapAction action in actionPool.Values) { // if the action is available... - if (action.condition.IsSatisfied(stateCurrent)) + if (action.condition.IsSatisfied(current.state)) { // ...go to this state GoapState nextState = action.Simulate(current.state, overwrite: false); From 5d2da788368ad67ef4a217d4734ca31f9c38b280 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:17:08 +0900 Subject: [PATCH 085/108] copilot documentation --- Scripts/Goap/Conditions/Condition.cs | 66 +++++++++++++++++ Scripts/Goap/Conditions/ConditionAnd.cs | 21 ++++++ Scripts/Goap/Conditions/ConditionInterface.cs | 15 ++++ Scripts/Goap/Conditions/ConditionOperator.cs | 26 +++++++ Scripts/Goap/Conditions/ConditionOr.cs | 24 +++++- Scripts/Goap/Conditions/NoCondition.cs | 14 ++++ Scripts/Goap/GoapAction.cs | 45 +++++++++++- Scripts/Goap/GoapSolver/GoapResult.cs | 24 ++++++ .../GoapSolver/GoapSolver_ActionControl.cs | 20 ++++- .../Goap/GoapSolver/GoapSolver_Pathfinding.cs | 73 ++++++++++++++++++- Scripts/Goap/GoapState.cs | 45 +++++++++++- Scripts/Goap/GoapValue/GoapValue.cs | 28 ++++++- Scripts/Goap/GoapValue/GoapValueInterface.cs | 6 ++ Scripts/Goap/StateDiff/StateDiffAddition.cs | 27 +++++++ Scripts/Goap/StateDiff/StateDiffInterface.cs | 17 +++++ Scripts/Goap/StateDiff/StateDiffMapping.cs | 27 +++++++ Scripts/Goap/StateDiff/StateDiffSet.cs | 16 ++++ Scripts/Goap/Utils/PriorityQueue.cs | 19 +++++ Tests/GoapTest.cs | 40 ++++++++++ 19 files changed, 544 insertions(+), 9 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index 95ec3c3..8b6eb0b 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -3,13 +3,44 @@ namespace TsunagiModule.Goap { + /// + /// Basic conditioning in the GOAP system. + /// Compares a state value with a target value using a specified operator. + /// + /// + /// Available conditioning method is listed in the enum. + /// + /// + /// This means > 5 + /// + /// new Condition("correspondingindex", ConditionOperator.Greater, 5) + /// + /// + /// This must be the same type as the value in the State. public struct Condition : ConditionInterface where T : struct, IEquatable { + /// + /// The index of the state value to compare. + /// public string stateIndex { get; private set; } + + /// + /// The target value to compare against. + /// public T valueComparing { get; set; } + + /// + /// The operator used for the comparison. + /// public ConditionOperator conditionOperator { get; set; } + /// + /// Initializes a new instance of the struct. + /// + /// The index of the state value to compare. + /// The operator used for the comparison. + /// The target value to compare against. public Condition(string stateIndex, ConditionOperator conditionOperator, T valueComparing) { this.stateIndex = stateIndex; @@ -17,6 +48,12 @@ public Condition(string stateIndex, ConditionOperator conditionOperator, T value this.conditionOperator = conditionOperator; } + /// + /// Determines whether the condition is satisfied given the current state. + /// + /// The current GOAP state. + /// True if the condition is satisfied; otherwise, false. + /// Thrown when the state value type does not match the expected type. public bool IsSatisfied(GoapState state) { GoapValueInterface valueGivenInterface = state.GetValue(stateIndex); @@ -37,6 +74,13 @@ public bool IsSatisfied(GoapState state) } } + /// + /// Estimates the cost of satisfying the condition given the current state. + /// + /// The current GOAP state. + /// Optional dictionary of costs per state difference. + /// The estimated cost of satisfying the condition. + /// Thrown when the state value type does not match the expected type. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // if already satisfied... @@ -100,6 +144,14 @@ public double EstimateCost(GoapState state, Dictionary costPerDi return distance * costPerDiff; } + /// + /// Compares the given value with the target value using the specified operator. + /// + /// The value to compare. + /// The target value to compare against. + /// True if the comparison is successful; otherwise, false. + /// Thrown when the operator is not supported for the value type. + /// Thrown when the operator is not implemented. private bool Compare(T valueGiven, T valueComparing) { // delegate to corresponding comparison method @@ -145,6 +197,13 @@ private bool Compare(T valueGiven, T valueComparing) } } + /// + /// Compares two values using equatable operators. + /// + /// The value to compare. + /// The target value to compare against. + /// True if the comparison is successful; otherwise, false. + /// Thrown when the operator is not implemented. private bool CompareEquatable(IEquatable valueGivenEquatable, T valueComparing) { switch (conditionOperator) @@ -160,6 +219,13 @@ private bool CompareEquatable(IEquatable valueGivenEquatable, T valueComparin } } + /// + /// Compares two values using comparable operators. + /// + /// The value to compare. + /// The target value to compare against. + /// True if the comparison is successful; otherwise, false. + /// Thrown when the operator is not implemented. private bool CompareComparable(IComparable valueGivenComparable, T valueComparing) { // https://learn.microsoft.com/en-us/dotnet/api/system.icomparable?view=net-9.0 diff --git a/Scripts/Goap/Conditions/ConditionAnd.cs b/Scripts/Goap/Conditions/ConditionAnd.cs index a2aa733..296efc8 100644 --- a/Scripts/Goap/Conditions/ConditionAnd.cs +++ b/Scripts/Goap/Conditions/ConditionAnd.cs @@ -3,15 +3,30 @@ namespace TsunagiModule.Goap { + /// + /// Represents a logical AND condition composed of multiple sub-conditions. + /// public struct ConditionAnd : ConditionInterface { + /// + /// The array of sub-conditions that make up this AND condition. + /// public ConditionInterface[] conditions { get; private set; } + /// + /// Initializes a new instance of the struct. + /// + /// The array of sub-conditions. public ConditionAnd(ConditionInterface[] conditions) { this.conditions = conditions; } + /// + /// Determines whether all sub-conditions are satisfied given the current state. + /// + /// The current GOAP state. + /// True if all sub-conditions are satisfied; otherwise, false. public bool IsSatisfied(GoapState state) { foreach (ConditionInterface condition in conditions) @@ -24,6 +39,12 @@ public bool IsSatisfied(GoapState state) return true; } + /// + /// Estimates the cost of satisfying this AND condition given the current state. + /// + /// The current GOAP state. + /// Optional dictionary of costs per state difference. + /// The estimated cost of satisfying the condition. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // square root of sum of squares diff --git a/Scripts/Goap/Conditions/ConditionInterface.cs b/Scripts/Goap/Conditions/ConditionInterface.cs index 311b0e7..b781f9f 100644 --- a/Scripts/Goap/Conditions/ConditionInterface.cs +++ b/Scripts/Goap/Conditions/ConditionInterface.cs @@ -2,9 +2,24 @@ namespace TsunagiModule.Goap { + /// + /// Defines an interface for conditions in the GOAP system. + /// public interface ConditionInterface { + /// + /// Determines whether the condition is satisfied given the current state. + /// + /// The current GOAP state. + /// True if the condition is satisfied; otherwise, false. public bool IsSatisfied(GoapState state); + + /// + /// Estimates the cost of satisfying the condition given the current state. + /// + /// The current GOAP state. + /// Optional dictionary of costs per state difference. + /// The estimated cost of satisfying the condition. public double EstimateCost( GoapState state, Dictionary costPerDiffes = null diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs b/Scripts/Goap/Conditions/ConditionOperator.cs index 6c3474c..936e208 100644 --- a/Scripts/Goap/Conditions/ConditionOperator.cs +++ b/Scripts/Goap/Conditions/ConditionOperator.cs @@ -1,12 +1,38 @@ namespace TsunagiModule.Goap { + /// + /// Defines the operators used in GOAP conditions for comparison. + /// public enum ConditionOperator { + /// + /// Represents a comparison where the left-hand side is larger than the right-hand side. + /// Larger, + + /// + /// Represents a comparison where the left-hand side is larger than or equal to the right-hand side. + /// LargerOrEqual, + + /// + /// Represents a comparison where the left-hand side is smaller than the right-hand side. + /// Smaller, + + /// + /// Represents a comparison where the left-hand side is smaller than or equal to the right-hand side. + /// SmallerOrEqual, + + /// + /// Represents a comparison where the left-hand side is equal to the right-hand side. + /// Equal, + + /// + /// Represents a comparison where the left-hand side is not equal to the right-hand side. + /// NotEqual, } } diff --git a/Scripts/Goap/Conditions/ConditionOr.cs b/Scripts/Goap/Conditions/ConditionOr.cs index 1782aef..5d4e5fe 100644 --- a/Scripts/Goap/Conditions/ConditionOr.cs +++ b/Scripts/Goap/Conditions/ConditionOr.cs @@ -2,15 +2,30 @@ namespace TsunagiModule.Goap { + /// + /// Represents a logical OR condition composed of multiple sub-conditions. + /// public struct ConditionOr : ConditionInterface { + /// + /// The array of sub-conditions that make up this OR condition. + /// public ConditionInterface[] conditions { get; private set; } + /// + /// Initializes a new instance of the struct. + /// + /// The array of sub-conditions. public ConditionOr(ConditionInterface[] conditions) { this.conditions = conditions; } + /// + /// Determines whether any of the sub-conditions are satisfied given the current state. + /// + /// The current state. + /// True if any sub-condition is satisfied; otherwise, false. public bool IsSatisfied(GoapState state) { foreach (ConditionInterface condition in conditions) @@ -23,10 +38,17 @@ public bool IsSatisfied(GoapState state) return false; } + /// + /// Estimates the cost of satisfying this OR condition given the current state. + /// + /// The current state. + /// Optional dictionary of costs per state difference. + /// The estimated cost of satisfying the condition. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { // shortest distance - double min = double.MaxValue; + double min = // shortest distance + double.MaxValue; foreach (ConditionInterface condition in conditions) { double cost = condition.EstimateCost(state, costPerDiffes: costPerDiffes); diff --git a/Scripts/Goap/Conditions/NoCondition.cs b/Scripts/Goap/Conditions/NoCondition.cs index 221fba9..3f66958 100644 --- a/Scripts/Goap/Conditions/NoCondition.cs +++ b/Scripts/Goap/Conditions/NoCondition.cs @@ -2,13 +2,27 @@ namespace TsunagiModule.Goap { + /// + /// Represents a condition that is always satisfied and has no cost. + /// public struct NoCondition : ConditionInterface { + /// + /// Determines whether the condition is satisfied. + /// + /// The current GOAP state. + /// Always returns true. public bool IsSatisfied(GoapState state) { return true; } + /// + /// Estimates the cost of satisfying the condition. + /// + /// The current GOAP state. + /// Optional dictionary of costs per state difference. + /// Always returns 0. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { return 0; diff --git a/Scripts/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs index e1c35e7..e64d835 100644 --- a/Scripts/Goap/GoapAction.cs +++ b/Scripts/Goap/GoapAction.cs @@ -1,12 +1,37 @@ namespace TsunagiModule.Goap { + /// + /// Represents an action in the GOAP (Goal-Oriented Action Planning) system. + /// public struct GoapAction { + /// + /// The name of the action. + /// public string name { get; private set; } + + /// + /// The condition that must be satisfied for the action to be available. + /// public ConditionInterface condition { get; private set; } + + /// + /// The set of state differences that this action applies. + /// public StateDiffSet stateDiffSet { get; private set; } + + /// + /// The cost of performing this action. + /// public double cost { get; private set; } + /// + /// Initializes a new instance of the struct. + /// + /// The name of the action. + /// The condition for the action. + /// The state differences applied by the action. + /// The cost of the action. public GoapAction( string name, ConditionInterface condition, @@ -20,6 +45,13 @@ double cost this.cost = cost; } + /// + /// Initializes a new instance of the struct with an array of state differences. + /// + /// The name of the action. + /// The condition for the action. + /// The array of state differences applied by the action. + /// The cost of the action. public GoapAction( string name, ConditionInterface condition, @@ -33,14 +65,24 @@ double cost this.cost = cost; } + /// + /// Determines whether the action is available given the current state. + /// + /// The current state. + /// True if the action is available; otherwise, false. public bool Available(GoapState state) { return condition.IsSatisfied(state); } + /// + /// Simulates the application of the action on the given state. + /// + /// The current state. + /// Whether to overwrite the current state or clone it. + /// The resulting state after applying the action. public GoapState Simulate(GoapState state, bool overwrite = true) { - // cloning or not GoapState stateTarget; if (overwrite) { @@ -51,7 +93,6 @@ public GoapState Simulate(GoapState state, bool overwrite = true) stateTarget = state.Clone(); } - // apply action stateTarget = stateDiffSet.Apply(stateTarget, overwrite: true); return stateTarget; diff --git a/Scripts/Goap/GoapSolver/GoapResult.cs b/Scripts/Goap/GoapSolver/GoapResult.cs index 87f70b5..b3c7ffc 100644 --- a/Scripts/Goap/GoapSolver/GoapResult.cs +++ b/Scripts/Goap/GoapSolver/GoapResult.cs @@ -1,12 +1,36 @@ namespace TsunagiModule.Goap { + /// + /// Represents the result of solving a GOAP (Goal-Oriented Action Planning) problem. + /// public struct GoapResult { + /// + /// The sequence of actions that lead to the goal. + /// public GoapAction[] actions; + + /// + /// The total cost of the actions. + /// public double cost; + + /// + /// Gets the number of actions in the result. + /// public int length => actions.Length; + + /// + /// Indicates whether the goal was successfully achieved. + /// public bool success; + /// + /// Initializes a new instance of the struct. + /// + /// The sequence of actions that lead to the goal. + /// The total cost of the actions. + /// Indicates whether the goal was successfully achieved. public GoapResult(GoapAction[] actions, double cost, bool success) { this.actions = actions; diff --git a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs index 139df27..2d3404f 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -2,26 +2,42 @@ namespace TsunagiModule.Goap { + /// + /// Provides methods to manage the pool of actions in the GOAP solver. + /// public partial class GoapSolver { /// - /// Pool of actions + /// Pool of actions. /// /// - /// action name -> Action + /// Maps action names to their corresponding instances. /// private Dictionary actionPool = new Dictionary(); + /// + /// Adds a new action to the action pool. + /// + /// The action to add. public void AddAction(GoapAction action) { actionPool.Add(action.name, action); } + /// + /// Removes an action from the action pool by its name. + /// + /// The name of the action to remove. public void RemoveAction(string name) { actionPool.Remove(name); } + /// + /// Replaces an existing action in the action pool with a new one. + /// + /// The name of the action to replace. + /// The new action to replace the existing one. public void ReplaceAction(string name, GoapAction action) { actionPool[name] = action; diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 3056a46..c1fc328 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -5,18 +5,59 @@ namespace TsunagiModule.Goap { //https://medium.com/@hanxuyang0826/mastering-pathfinding-with-a-star-a-practical-guide-and-c-implementation-f76f1643d8c3 + /// + /// Implements the A* pathfinding algorithm for the GOAP solver. + /// public partial class GoapSolver { + /// + /// Represents a node in the A* search queue. + /// private class AstarQueue : IComparable { + /// + /// The current state of the node. + /// public GoapState state; + + /// + /// The parent node in the search path. + /// public AstarQueue parent; + + /// + /// The action that led to this state. + /// public GoapAction? action; + + /// + /// The cost incurred to reach this state. + /// public double currentCost; + + /// + /// The estimated cost to reach the goal from this state. + /// public double heuristicCost; + + /// + /// Gets the total cost (current cost + heuristic cost) for this node. + /// public double totalCost => currentCost + heuristicCost; + + /// + /// Gets the depth of this node in the search tree. + /// public int depth => parent == null ? 0 : parent.depth + 1; + /// + /// Initializes a new instance of the class. + /// + /// The current state of the node. + /// The parent node in the search path. + /// The cost incurred to reach this state. + /// The estimated cost to reach the goal from this state. + /// The action that led to this state. public AstarQueue( GoapState state, AstarQueue parent, @@ -32,6 +73,11 @@ public AstarQueue( this.action = action; } + /// + /// Compares this node with another node based on their total costs. + /// + /// The other node to compare with. + /// A negative value if this node has a lower total cost, a positive value if it has a higher total cost, or zero if the costs are equal. public int CompareTo(AstarQueue other) { if (totalCost < other.totalCost) @@ -43,10 +89,17 @@ public int CompareTo(AstarQueue other) } /// - /// Cost estimation weights for each state index + /// Cost estimation weights for each state index. /// private Dictionary costPerDiffes = new Dictionary(); + /// + /// Solves the GOAP problem using the A* algorithm. + /// + /// The current state. + /// The goal condition to satisfy. + /// The maximum depth of the search tree. + /// The result of the GOAP problem-solving process. public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) { // compute cost weights @@ -55,6 +108,11 @@ public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int max return SolveAstar(stateCurrent, goal, maxLength); } + /// + /// Computes the cost weights for each state index based on the current state. + /// + /// The current state. + /// A dictionary mapping state indices to their cost weights. private Dictionary ComputeCostWeights(GoapState stateCurrent) { // state index -> cost per diff @@ -79,6 +137,13 @@ private Dictionary ComputeCostWeights(GoapState stateCurrent) return largestCostPerDiff; } + /// + /// Performs the A* search to solve the GOAP problem. + /// + /// The current state. + /// The goal condition to satisfy. + /// The maximum depth of the search tree. + /// The result of the A* search process. private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, int maxDepth) { PriorityQueue queue = new PriorityQueue(); @@ -158,6 +223,12 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i return new GoapResult(null, -1, false); } + /// + /// Estimates the cost to satisfy the goal condition from the given state. + /// + /// The current state. + /// The goal condition to satisfy. + /// The estimated cost to satisfy the goal condition. private double EstimateCost(GoapState state, ConditionInterface goal) { return goal.EstimateCost(state, costPerDiffes: costPerDiffes); diff --git a/Scripts/Goap/GoapState.cs b/Scripts/Goap/GoapState.cs index 70c692a..a758e5f 100644 --- a/Scripts/Goap/GoapState.cs +++ b/Scripts/Goap/GoapState.cs @@ -4,20 +4,36 @@ namespace TsunagiModule.Goap { + /// + /// Represents the state in the GOAP (Goal-Oriented Action Planning) system. + /// public struct GoapState : IEquatable { /// - /// Main body of state vector + /// The main body of the state vector, storing state values by their indices. /// private Dictionary values { get; set; } + /// + /// Gets the indices of all state values. + /// public string[] indices => values.Keys.ToArray(); + /// + /// Initializes a new instance of the struct. + /// + /// The dictionary of state values. public GoapState(Dictionary values) { this.values = values; } + /// + /// Retrieves the value associated with the specified state index. + /// + /// The index of the state value to retrieve. + /// The value associated with the specified state index. + /// Thrown when the specified state index is not found. public GoapValueInterface GetValue(string stateIndex) { GuardValueNull(); @@ -32,6 +48,11 @@ public GoapValueInterface GetValue(string stateIndex) } } + /// + /// Sets the value for the specified state index. + /// + /// The index of the state value to set. + /// The value to set. public void SetValue(string stateIndex, GoapValueInterface value) { GuardValueNull(); @@ -39,6 +60,12 @@ public void SetValue(string stateIndex, GoapValueInterface value) values[stateIndex] = value; } + /// + /// Sets the raw value for the specified state index. + /// + /// The type of the value. + /// The index of the state value to set. + /// The raw value to set. public void SetRawValue(string stateIndex, T value) where T : struct, IEquatable { @@ -46,6 +73,11 @@ public void SetRawValue(string stateIndex, T value) SetValue(stateIndex, new GoapValue(value)); } + /// + /// Determines whether the current state is equal to another state. + /// + /// The other state to compare with. + /// True if the states are equal; otherwise, false. public bool Equals(GoapState other) { GuardValueNull(); @@ -56,6 +88,10 @@ public bool Equals(GoapState other) return values.SequenceEqual(other.values); } + /// + /// Returns the hash code for the current state. + /// + /// The hash code for the current state. public override int GetHashCode() { // HACK: there could be a better data structure @@ -71,12 +107,19 @@ public override int GetHashCode() return hash; } + /// + /// Creates a clone of the current state. + /// + /// A new instance of that is a clone of the current state. public GoapState Clone() { // HACK: there could be a better data structure return new GoapState { values = new Dictionary(values) }; } + /// + /// Ensures that the state values dictionary is not null. + /// private void GuardValueNull() { if (values == null) diff --git a/Scripts/Goap/GoapValue/GoapValue.cs b/Scripts/Goap/GoapValue/GoapValue.cs index 43c7610..cf8703e 100644 --- a/Scripts/Goap/GoapValue/GoapValue.cs +++ b/Scripts/Goap/GoapValue/GoapValue.cs @@ -8,22 +8,46 @@ namespace TsunagiModule.Goap /// /// This is implemented for support integrated control of State Control, being independent of value type. /// + /// + /// Represents a value used in the GOAP system, supporting integrated control of state values independent of their type. + /// + /// The type of the value. Must be a struct and implement . public struct GoapValue : GoapValueInterface, IEquatable> where T : struct, IEquatable { - public Type type => typeof(T); // getter for type - public T value { get; set; } // getter and setter for value + /// + /// Gets the type of the GOAP value. + /// + public Type type => typeof(T); + + /// + /// Gets or sets the value. + /// + public T value { get; set; } + /// + /// Initializes a new instance of the struct. + /// + /// The value to initialize with. public GoapValue(T value) { this.value = value; } + /// + /// Determines whether the current value is equal to another value of the same type. + /// + /// The other value to compare with. + /// True if the values are equal; otherwise, false. public bool Equals(GoapValue other) { return value.Equals(other.value); } + /// + /// Returns the hash code for the current value. + /// + /// The hash code for the current value. public override int GetHashCode() { return value.GetHashCode(); diff --git a/Scripts/Goap/GoapValue/GoapValueInterface.cs b/Scripts/Goap/GoapValue/GoapValueInterface.cs index 0d9929c..fcddb6d 100644 --- a/Scripts/Goap/GoapValue/GoapValueInterface.cs +++ b/Scripts/Goap/GoapValue/GoapValueInterface.cs @@ -2,8 +2,14 @@ namespace TsunagiModule.Goap { + /// + /// Defines an interface for GOAP value types. + /// public interface GoapValueInterface { + /// + /// Gets the type of the GOAP value. + /// public Type type { get; } } } diff --git a/Scripts/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs index 7079951..6e551c9 100644 --- a/Scripts/Goap/StateDiff/StateDiffAddition.cs +++ b/Scripts/Goap/StateDiff/StateDiffAddition.cs @@ -2,19 +2,46 @@ namespace TsunagiModule.Goap { + /// + /// Represents an addition operation for state differences in the GOAP system. + /// + /// The type of the state values. Must be a struct and implement , , and . public struct StateDiffAddition : StateDiffInterface where T : struct, IConvertible, IComparable, IComparable, IEquatable { + /// + /// The index of the state to which this addition applies. + /// public string stateIndex { get; private set; } + + /// + /// The value to be added to the state. + /// public T additionValue { get; set; } + + /// + /// Gets the difference value associated with this addition operation. + /// public float diff => Convert.ToSingle(additionValue); + /// + /// Initializes a new instance of the struct. + /// + /// The index of the state to which this addition applies. + /// The value to be added to the state. public StateDiffAddition(string stateIndex, T additionValue) { this.stateIndex = stateIndex; this.additionValue = additionValue; } + /// + /// Applies the addition operation to the given GOAP state. + /// + /// The GOAP state to apply the addition to. + /// Whether to overwrite the current state or clone it. + /// The resulting state after applying the addition. + /// Thrown when there is a type mismatch between the addition operation and the state value type. public GoapState Operate(GoapState state, bool overwrite = true) { // cloning or not diff --git a/Scripts/Goap/StateDiff/StateDiffInterface.cs b/Scripts/Goap/StateDiff/StateDiffInterface.cs index ed8fee0..8f12ce7 100644 --- a/Scripts/Goap/StateDiff/StateDiffInterface.cs +++ b/Scripts/Goap/StateDiff/StateDiffInterface.cs @@ -1,9 +1,26 @@ namespace TsunagiModule.Goap { + /// + /// Defines an interface for state difference operations in the GOAP system. + /// public interface StateDiffInterface { + /// + /// Gets the index of the state to which this difference applies. + /// public string stateIndex { get; } + + /// + /// Applies the state difference operation to the given GOAP state. + /// + /// The GOAP state to apply the difference to. + /// Whether to overwrite the current state or clone it. + /// The resulting state after applying the difference. public GoapState Operate(GoapState state, bool overwrite = true); + + /// + /// Gets the difference value associated with this operation. + /// public float diff { get; } } } diff --git a/Scripts/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs index d42bad2..4a63ca4 100644 --- a/Scripts/Goap/StateDiff/StateDiffMapping.cs +++ b/Scripts/Goap/StateDiff/StateDiffMapping.cs @@ -3,19 +3,46 @@ namespace TsunagiModule.Goap { + /// + /// Represents a mapping operation for state differences in the GOAP system. + /// + /// The type of the state values. Must be a struct and implement . public struct StateDiffMapping : StateDiffInterface where T : struct, IEquatable { + /// + /// The index of the state to which this mapping applies. + /// public string stateIndex { get; private set; } + + /// + /// The dictionary defining the mapping of state values. + /// public Dictionary mapping { get; set; } + + /// + /// Gets the difference value for this mapping operation. + /// public float diff => 1f; + /// + /// Initializes a new instance of the struct. + /// + /// The index of the state to which this mapping applies. + /// The dictionary defining the mapping of state values. public StateDiffMapping(string stateIndex, Dictionary mapping) { this.stateIndex = stateIndex; this.mapping = mapping; } + /// + /// Applies the mapping operation to the given GOAP state. + /// + /// The GOAP state to apply the mapping to. + /// Whether to overwrite the current state or clone it. + /// The resulting state after applying the mapping. + /// Thrown when there is a type mismatch between the mapping operation and the state value type. public GoapState Operate(GoapState state, bool overwrite = true) { // cloning or not diff --git a/Scripts/Goap/StateDiff/StateDiffSet.cs b/Scripts/Goap/StateDiff/StateDiffSet.cs index 92a24a9..5c675d9 100644 --- a/Scripts/Goap/StateDiff/StateDiffSet.cs +++ b/Scripts/Goap/StateDiff/StateDiffSet.cs @@ -1,14 +1,30 @@ namespace TsunagiModule.Goap { + /// + /// Represents a collection of state differences and provides functionality to apply them to a GOAP state. + /// public struct StateDiffSet { + /// + /// The array of state differences in this set. + /// public StateDiffInterface[] stateDiffes; + /// + /// Initializes a new instance of the struct. + /// + /// The array of state differences. public StateDiffSet(StateDiffInterface[] stateDiffes) { this.stateDiffes = stateDiffes; } + /// + /// Applies all state differences in this set to the given GOAP state. + /// + /// The GOAP state to apply the differences to. + /// Whether to overwrite the current state or clone it. + /// The resulting state after applying the differences. public GoapState Apply(GoapState state, bool overwrite = true) { // cloning or not diff --git a/Scripts/Goap/Utils/PriorityQueue.cs b/Scripts/Goap/Utils/PriorityQueue.cs index a434a72..9fd3563 100644 --- a/Scripts/Goap/Utils/PriorityQueue.cs +++ b/Scripts/Goap/Utils/PriorityQueue.cs @@ -3,13 +3,27 @@ namespace TsunagiModule.Goap.Utils { + /// + /// Represents a generic priority queue that organizes elements based on their priority. + /// + /// The type of elements in the priority queue. Must implement . public class PriorityQueue where T : IComparable { + /// + /// The list of elements in the priority queue. + /// private List elements = new List(); + /// + /// Gets the number of elements in the priority queue. + /// public int Count => elements.Count; + /// + /// Adds an element to the priority queue. + /// + /// The element to add. public void Enqueue(T item) { elements.Add(item); @@ -28,6 +42,11 @@ public void Enqueue(T item) } } + /// + /// Removes and returns the element with the highest priority from the priority queue. + /// + /// The element with the highest priority. + /// Thrown when the priority queue is empty. public T Dequeue() { if (elements.Count == 0) diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index e15cf3b..5feaf69 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -2,12 +2,29 @@ using NUnit.Framework; using TsunagiModule.Goap; +/// +/// Contains unit tests for the GOAP (Goal-Oriented Action Planning) system. +/// public class GoapTest { + /// + /// Constant representing the name of the first action. + /// private const string ACTION_1 = "#1 increase int"; + + /// + /// Constant representing the name of the second action. + /// private const string ACTION_2 = "#2 increase float"; + + /// + /// Constant representing the name of the third action. + /// private const string ACTION_3 = "#3 increase double and switch boolean"; + /// + /// Tests a simple GOAP scenario. + /// [Test] public void GoapTestSimple() { @@ -25,6 +42,9 @@ public void GoapTestSimple() Assert.AreEqual(ACTION_1, result.actions[1].name); } + /// + /// Tests the pathfinding capabilities of the GOAP solver. + /// [Test] public void GoapTestPathFinding() { @@ -49,6 +69,9 @@ public void GoapTestPathFinding() Assert.AreEqual(ACTION_2, result.actions[3].name); } + /// + /// Tests the mapping functionality of the GOAP solver. + /// [Test] public void GoapTestMapping() { @@ -71,6 +94,9 @@ public void GoapTestMapping() Assert.AreEqual(ACTION_3, result.actions[1].name); } + /// + /// Tests the solver's ability to choose actions with better costs. + /// [Test] public void GoapTestBetterCost() { @@ -99,6 +125,9 @@ public void GoapTestBetterCost() Assert.AreEqual(ACTION_1, result.actions[2].name); } + /// + /// Tests the solver's behavior when the goal depth is too deep. + /// [Test] public void GoapTestTooDeep() { @@ -113,6 +142,9 @@ public void GoapTestTooDeep() Assert.AreEqual(false, result.success); } + /// + /// Tests the solver's behavior when the goal is impossible to achieve. + /// [Test] public void GoapTestImpossible() { @@ -127,6 +159,10 @@ public void GoapTestImpossible() Assert.AreEqual(false, result.success); } + /// + /// Generates a sample GOAP state for testing. + /// + /// A sample GOAP state. private GoapState GenerateState() { GoapState state = new GoapState(); @@ -137,6 +173,10 @@ private GoapState GenerateState() return state; } + /// + /// Generates a GOAP solver with a predefined action pool for testing. + /// + /// A GOAP solver with predefined actions. private GoapSolver GenerateSolverWithActionPool() { GoapSolver solver = new GoapSolver(); From 4127d34052b72e2d94819dd31539fb962ea4414d Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:17:37 +0900 Subject: [PATCH 086/108] larger -> greater --- Scripts/Goap/Conditions/Condition.cs | 8 ++++---- Scripts/Goap/Conditions/ConditionOperator.cs | 4 ++-- Tests/GoapTest.cs | 8 ++++---- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index 8b6eb0b..d2ee42a 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -172,8 +172,8 @@ private bool Compare(T valueGiven, T valueComparing) $"Condition operator '{conditionOperator}' is not supported for type '{typeof(T)}'." ); } - case ConditionOperator.Larger: - case ConditionOperator.LargerOrEqual: + case ConditionOperator.Greater: + case ConditionOperator.GreaterOrEqual: case ConditionOperator.Smaller: case ConditionOperator.SmallerOrEqual: // if operation available... @@ -235,9 +235,9 @@ private bool CompareComparable(IComparable valueGivenComparable, T valueCompa switch (conditionOperator) { - case ConditionOperator.Larger: + case ConditionOperator.Greater: return valueGivenComparable.CompareTo(valueComparing) > 0; - case ConditionOperator.LargerOrEqual: + case ConditionOperator.GreaterOrEqual: return valueGivenComparable.CompareTo(valueComparing) >= 0; case ConditionOperator.Smaller: return valueGivenComparable.CompareTo(valueComparing) < 0; diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs b/Scripts/Goap/Conditions/ConditionOperator.cs index 936e208..b5a0a20 100644 --- a/Scripts/Goap/Conditions/ConditionOperator.cs +++ b/Scripts/Goap/Conditions/ConditionOperator.cs @@ -8,12 +8,12 @@ public enum ConditionOperator /// /// Represents a comparison where the left-hand side is larger than the right-hand side. /// - Larger, + Greater, /// /// Represents a comparison where the left-hand side is larger than or equal to the right-hand side. /// - LargerOrEqual, + GreaterOrEqual, /// /// Represents a comparison where the left-hand side is smaller than the right-hand side. diff --git a/Tests/GoapTest.cs b/Tests/GoapTest.cs index 5feaf69..5cab34a 100644 --- a/Tests/GoapTest.cs +++ b/Tests/GoapTest.cs @@ -28,7 +28,7 @@ public class GoapTest [Test] public void GoapTestSimple() { - Condition goal = new Condition("int", ConditionOperator.LargerOrEqual, 2); + Condition goal = new Condition("int", ConditionOperator.GreaterOrEqual, 2); GoapState state = GenerateState(); GoapSolver solver = GenerateSolverWithActionPool(); @@ -50,7 +50,7 @@ public void GoapTestPathFinding() { Condition goal = new Condition( "float", - ConditionOperator.LargerOrEqual, + ConditionOperator.GreaterOrEqual, 0.5f ); @@ -78,7 +78,7 @@ public void GoapTestMapping() ConditionInterface goal = new ConditionAnd( new ConditionInterface[] { - new Condition("double", ConditionOperator.LargerOrEqual, 0.1), + new Condition("double", ConditionOperator.GreaterOrEqual, 0.1), new Condition("boolean", ConditionOperator.Equal, false) } ); @@ -191,7 +191,7 @@ private GoapSolver GenerateSolverWithActionPool() solver.AddAction( new GoapAction( ACTION_2, - new Condition("int", ConditionOperator.Larger, 2), + new Condition("int", ConditionOperator.Greater, 2), new StateDiffInterface[] { new StateDiffAddition("float", 1f) }, 2.0 ) From b5c442cca2f714150e1249f16ae804d878bd65e8 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:18:00 +0900 Subject: [PATCH 087/108] smaller -> less --- Scripts/Goap/Conditions/Condition.cs | 8 ++++---- Scripts/Goap/Conditions/ConditionOperator.cs | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index d2ee42a..437fbf0 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -174,8 +174,8 @@ private bool Compare(T valueGiven, T valueComparing) } case ConditionOperator.Greater: case ConditionOperator.GreaterOrEqual: - case ConditionOperator.Smaller: - case ConditionOperator.SmallerOrEqual: + case ConditionOperator.Less: + case ConditionOperator.LessOrEqual: // if operation available... if (valueGiven is IComparable valueGivenComparable) { @@ -239,9 +239,9 @@ private bool CompareComparable(IComparable valueGivenComparable, T valueCompa return valueGivenComparable.CompareTo(valueComparing) > 0; case ConditionOperator.GreaterOrEqual: return valueGivenComparable.CompareTo(valueComparing) >= 0; - case ConditionOperator.Smaller: + case ConditionOperator.Less: return valueGivenComparable.CompareTo(valueComparing) < 0; - case ConditionOperator.SmallerOrEqual: + case ConditionOperator.LessOrEqual: return valueGivenComparable.CompareTo(valueComparing) <= 0; default: throw new NotImplementedException( diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs b/Scripts/Goap/Conditions/ConditionOperator.cs index b5a0a20..085ae2c 100644 --- a/Scripts/Goap/Conditions/ConditionOperator.cs +++ b/Scripts/Goap/Conditions/ConditionOperator.cs @@ -18,12 +18,12 @@ public enum ConditionOperator /// /// Represents a comparison where the left-hand side is smaller than the right-hand side. /// - Smaller, + Less, /// /// Represents a comparison where the left-hand side is smaller than or equal to the right-hand side. /// - SmallerOrEqual, + LessOrEqual, /// /// Represents a comparison where the left-hand side is equal to the right-hand side. From 6cebaa25d753a0a7a0ffd867c7a060f63cd13c9b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:26:49 +0900 Subject: [PATCH 088/108] assume unknown struct diff as 1 --- Scripts/Goap/Conditions/Condition.cs | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index 437fbf0..643bfaa 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -125,11 +125,10 @@ public double EstimateCost(GoapState state, Dictionary costPerDi // compute distance distance = Math.Abs(valueGivenDouble - valueComparingDouble); } + // unknown else { - throw new NotImplementedException( - $"Condition operator '{conditionOperator}' not implemented yet." - ); + distance = 1.0; } } // if different type... From 19545f6c02b36848f502887446c80e83341b48aa Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:35:07 +0900 Subject: [PATCH 089/108] comments for Condition --- Scripts/Goap/Conditions/Condition.cs | 28 +++++++++++++------ Scripts/Goap/Conditions/ConditionAnd.cs | 3 ++ Scripts/Goap/Conditions/ConditionInterface.cs | 6 +++- Scripts/Goap/Conditions/ConditionOperator.cs | 14 +++++----- Scripts/Goap/Conditions/ConditionOr.cs | 3 ++ Scripts/Goap/Conditions/NoCondition.cs | 5 +++- 6 files changed, 41 insertions(+), 18 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index 643bfaa..96b8c84 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -11,7 +11,7 @@ namespace TsunagiModule.Goap /// Available conditioning method is listed in the enum. /// /// - /// This means > 5 + /// This means (> 5) /// /// new Condition("correspondingindex", ConditionOperator.Greater, 5) /// @@ -26,12 +26,12 @@ public struct Condition : ConditionInterface public string stateIndex { get; private set; } /// - /// The target value to compare against. + /// The value to compare against. /// public T valueComparing { get; set; } /// - /// The operator used for the comparison. + /// Conditioning method /// public ConditionOperator conditionOperator { get; set; } @@ -39,8 +39,8 @@ public struct Condition : ConditionInterface /// Initializes a new instance of the struct. /// /// The index of the state value to compare. - /// The operator used for the comparison. - /// The target value to compare against. + /// Conditioning method + /// Value to compare against. public Condition(string stateIndex, ConditionOperator conditionOperator, T valueComparing) { this.stateIndex = stateIndex; @@ -51,7 +51,7 @@ public Condition(string stateIndex, ConditionOperator conditionOperator, T value /// /// Determines whether the condition is satisfied given the current state. /// - /// The current GOAP state. + /// The current GOAP state. This class will read the state value associated with the stateIndex. /// True if the condition is satisfied; otherwise, false. /// Thrown when the state value type does not match the expected type. public bool IsSatisfied(GoapState state) @@ -77,8 +77,13 @@ public bool IsSatisfied(GoapState state) /// /// Estimates the cost of satisfying the condition given the current state. /// - /// The current GOAP state. - /// Optional dictionary of costs per state difference. + /// + /// If boolean, the diff is set as 1.0. + /// If numerical (), the diff is the absolute difference of them. + /// If others, the diff assumed to be 1.0 if not equal. + /// + /// The current GOAP state. This class will read the state value associated with the stateIndex. + /// Optional dictionary of costs per state difference. If null, this will assume as 1.0 /// The estimated cost of satisfying the condition. /// Thrown when the state value type does not match the expected type. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) @@ -146,6 +151,9 @@ public double EstimateCost(GoapState state, Dictionary costPerDi /// /// Compares the given value with the target value using the specified operator. /// + /// + /// This function routes to corresponding comparison method. + /// /// The value to compare. /// The target value to compare against. /// True if the comparison is successful; otherwise, false. @@ -188,8 +196,10 @@ private bool Compare(T valueGiven, T valueComparing) $"Condition operator '{conditionOperator}' is not supported for type '{typeof(T)}'." ); } + + // unknown default: - // ...panic + // panic throw new NotImplementedException( $"Condition operator '{conditionOperator}' not implemented yet." ); diff --git a/Scripts/Goap/Conditions/ConditionAnd.cs b/Scripts/Goap/Conditions/ConditionAnd.cs index 296efc8..92000c7 100644 --- a/Scripts/Goap/Conditions/ConditionAnd.cs +++ b/Scripts/Goap/Conditions/ConditionAnd.cs @@ -42,6 +42,9 @@ public bool IsSatisfied(GoapState state) /// /// Estimates the cost of satisfying this AND condition given the current state. /// + /// + /// This method uses the square root of the sum of squares to estimate the cost of the sub-conditions + /// /// The current GOAP state. /// Optional dictionary of costs per state difference. /// The estimated cost of satisfying the condition. diff --git a/Scripts/Goap/Conditions/ConditionInterface.cs b/Scripts/Goap/Conditions/ConditionInterface.cs index b781f9f..9df45be 100644 --- a/Scripts/Goap/Conditions/ConditionInterface.cs +++ b/Scripts/Goap/Conditions/ConditionInterface.cs @@ -3,8 +3,12 @@ namespace TsunagiModule.Goap { /// - /// Defines an interface for conditions in the GOAP system. + /// interface for conditions in the GOAP system. /// + /// + /// If you want basical conditioning, see . + /// If you DONT want to use the default condition, see . + /// public interface ConditionInterface { /// diff --git a/Scripts/Goap/Conditions/ConditionOperator.cs b/Scripts/Goap/Conditions/ConditionOperator.cs index 085ae2c..7d5dec2 100644 --- a/Scripts/Goap/Conditions/ConditionOperator.cs +++ b/Scripts/Goap/Conditions/ConditionOperator.cs @@ -1,37 +1,37 @@ namespace TsunagiModule.Goap { /// - /// Defines the operators used in GOAP conditions for comparison. + /// Defines the comparing method in /// public enum ConditionOperator { /// - /// Represents a comparison where the left-hand side is larger than the right-hand side. + /// StateValue > ConditionValue /// Greater, /// - /// Represents a comparison where the left-hand side is larger than or equal to the right-hand side. + /// StateValue >= ConditionValue /// GreaterOrEqual, /// - /// Represents a comparison where the left-hand side is smaller than the right-hand side. + /// StateValue < ConditionValue /// Less, /// - /// Represents a comparison where the left-hand side is smaller than or equal to the right-hand side. + /// StateValue <= ConditionValue /// LessOrEqual, /// - /// Represents a comparison where the left-hand side is equal to the right-hand side. + /// StateValue == ConditionValue /// Equal, /// - /// Represents a comparison where the left-hand side is not equal to the right-hand side. + /// StateValue != ConditionValue /// NotEqual, } diff --git a/Scripts/Goap/Conditions/ConditionOr.cs b/Scripts/Goap/Conditions/ConditionOr.cs index 5d4e5fe..2d5584e 100644 --- a/Scripts/Goap/Conditions/ConditionOr.cs +++ b/Scripts/Goap/Conditions/ConditionOr.cs @@ -41,6 +41,9 @@ public bool IsSatisfied(GoapState state) /// /// Estimates the cost of satisfying this OR condition given the current state. /// + /// + /// This method uses the minimum cost of the sub-conditions to estimate the cost of satisfying the OR condition. + /// /// The current state. /// Optional dictionary of costs per state difference. /// The estimated cost of satisfying the condition. diff --git a/Scripts/Goap/Conditions/NoCondition.cs b/Scripts/Goap/Conditions/NoCondition.cs index 3f66958..2e8aade 100644 --- a/Scripts/Goap/Conditions/NoCondition.cs +++ b/Scripts/Goap/Conditions/NoCondition.cs @@ -3,7 +3,7 @@ namespace TsunagiModule.Goap { /// - /// Represents a condition that is always satisfied and has no cost. + /// Represents a condition that is always satisfied /// public struct NoCondition : ConditionInterface { @@ -20,6 +20,9 @@ public bool IsSatisfied(GoapState state) /// /// Estimates the cost of satisfying the condition. /// + /// + /// this is always 0 because the condition is always satisfied. + /// /// The current GOAP state. /// Optional dictionary of costs per state difference. /// Always returns 0. From 922caee1c9ca2f3fd6c19615ef13cc2a4d69f32f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:46:13 +0900 Subject: [PATCH 090/108] comment GoapSolver --- Scripts/Goap/GoapSolver/GoapResult.cs | 5 +- .../GoapSolver/GoapSolver_ActionControl.cs | 3 - .../Goap/GoapSolver/GoapSolver_Pathfinding.cs | 57 ++++++------------- 3 files changed, 20 insertions(+), 45 deletions(-) diff --git a/Scripts/Goap/GoapSolver/GoapResult.cs b/Scripts/Goap/GoapSolver/GoapResult.cs index b3c7ffc..c71d46e 100644 --- a/Scripts/Goap/GoapSolver/GoapResult.cs +++ b/Scripts/Goap/GoapSolver/GoapResult.cs @@ -1,8 +1,11 @@ namespace TsunagiModule.Goap { /// - /// Represents the result of solving a GOAP (Goal-Oriented Action Planning) problem. + /// The result returned by the /// + /// + /// You may want to check to check if the goal was achieved or not, before accessing + /// public struct GoapResult { /// diff --git a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs index 2d3404f..2f098ec 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -2,9 +2,6 @@ namespace TsunagiModule.Goap { - /// - /// Provides methods to manage the pool of actions in the GOAP solver. - /// public partial class GoapSolver { /// diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index c1fc328..c26d16c 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -4,7 +4,6 @@ namespace TsunagiModule.Goap { - //https://medium.com/@hanxuyang0826/mastering-pathfinding-with-a-star-a-practical-guide-and-c-implementation-f76f1643d8c3 /// /// Implements the A* pathfinding algorithm for the GOAP solver. /// @@ -16,68 +15,36 @@ public partial class GoapSolver private class AstarQueue : IComparable { /// - /// The current state of the node. + /// simulated State /// public GoapState state; /// - /// The parent node in the search path. + /// previous queue /// public AstarQueue parent; - - /// - /// The action that led to this state. - /// public GoapAction? action; - - /// - /// The cost incurred to reach this state. - /// public double currentCost; - - /// - /// The estimated cost to reach the goal from this state. - /// - public double heuristicCost; - - /// - /// Gets the total cost (current cost + heuristic cost) for this node. - /// - public double totalCost => currentCost + heuristicCost; - - /// - /// Gets the depth of this node in the search tree. - /// + public double estimatedCost; + public double totalCost => currentCost + estimatedCost; public int depth => parent == null ? 0 : parent.depth + 1; - /// - /// Initializes a new instance of the class. - /// - /// The current state of the node. - /// The parent node in the search path. - /// The cost incurred to reach this state. - /// The estimated cost to reach the goal from this state. - /// The action that led to this state. public AstarQueue( GoapState state, AstarQueue parent, double currentCost, - double heuristicCost, + double estimatedCost, GoapAction? action ) { this.state = state; this.parent = parent; this.currentCost = currentCost; - this.heuristicCost = heuristicCost; + this.estimatedCost = estimatedCost; this.action = action; } - /// - /// Compares this node with another node based on their total costs. - /// - /// The other node to compare with. - /// A negative value if this node has a lower total cost, a positive value if it has a higher total cost, or zero if the costs are equal. + // for sorting public int CompareTo(AstarQueue other) { if (totalCost < other.totalCost) @@ -90,6 +57,7 @@ public int CompareTo(AstarQueue other) /// /// Cost estimation weights for each state index. + /// This is simply multipied with the diff from the goal of State /// private Dictionary costPerDiffes = new Dictionary(); @@ -98,7 +66,8 @@ public int CompareTo(AstarQueue other) /// /// The current state. /// The goal condition to satisfy. - /// The maximum depth of the search tree. + /// The maximum depth of the search tree. + /// If the search exceeds this depth, it will terminate early. /// The result of the GOAP problem-solving process. public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) { @@ -111,6 +80,9 @@ public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int max /// /// Computes the cost weights for each state index based on the current state. /// + /// + /// This assume that the weight should be the largest costPerDiff about each State values + /// /// The current state. /// A dictionary mapping state indices to their cost weights. private Dictionary ComputeCostWeights(GoapState stateCurrent) @@ -144,6 +116,9 @@ private Dictionary ComputeCostWeights(GoapState stateCurrent) /// The goal condition to satisfy. /// The maximum depth of the search tree. /// The result of the A* search process. + /// + /// Implementation of A* Pathfinding + /// private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, int maxDepth) { PriorityQueue queue = new PriorityQueue(); From 0108ea4506f58e510e19bf02a60b05898d652a44 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 13:55:48 +0900 Subject: [PATCH 091/108] comment GOAPValue --- Scripts/Goap/GoapValue/GoapValue.cs | 17 ++++++++++++----- Scripts/Goap/GoapValue/GoapValueInterface.cs | 4 ++++ 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/Scripts/Goap/GoapValue/GoapValue.cs b/Scripts/Goap/GoapValue/GoapValue.cs index cf8703e..2ec52aa 100644 --- a/Scripts/Goap/GoapValue/GoapValue.cs +++ b/Scripts/Goap/GoapValue/GoapValue.cs @@ -6,12 +6,16 @@ namespace TsunagiModule.Goap /// Value used in Goap system. /// /// - /// This is implemented for support integrated control of State Control, being independent of value type. + /// This is implemented for State supporting as much type as possible.
+ /// You can use:
+ /// - + /// - + /// - + /// - + ///
is recommended instead of for accurate pathfinding. /// - /// - /// Represents a value used in the GOAP system, supporting integrated control of state values independent of their type. - /// - /// The type of the value. Must be a struct and implement . + /// The type of the value. Must be a struct and implement . + /// public struct GoapValue : GoapValueInterface, IEquatable> where T : struct, IEquatable { @@ -47,6 +51,9 @@ public bool Equals(GoapValue other) /// /// Returns the hash code for the current value. /// + /// + /// the GetHashCode() of the original value should be implemented + /// /// The hash code for the current value. public override int GetHashCode() { diff --git a/Scripts/Goap/GoapValue/GoapValueInterface.cs b/Scripts/Goap/GoapValue/GoapValueInterface.cs index fcddb6d..2a8bbbe 100644 --- a/Scripts/Goap/GoapValue/GoapValueInterface.cs +++ b/Scripts/Goap/GoapValue/GoapValueInterface.cs @@ -5,6 +5,10 @@ namespace TsunagiModule.Goap /// /// Defines an interface for GOAP value types. /// + /// + /// You may want to use for real instance. + /// This is implemented for State supporting as much type as possible. + /// public interface GoapValueInterface { /// From 5463a8b0be45230ed79e237dcbbb1e30c2d5ad73 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 14:00:28 +0900 Subject: [PATCH 092/108] comment StateDiff --- Scripts/Goap/StateDiff/StateDiffAddition.cs | 6 ++++++ Scripts/Goap/StateDiff/StateDiffMapping.cs | 4 ++++ Scripts/Goap/Utils/PriorityQueue.cs | 2 ++ 3 files changed, 12 insertions(+) diff --git a/Scripts/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs index 6e551c9..3e084fe 100644 --- a/Scripts/Goap/StateDiff/StateDiffAddition.cs +++ b/Scripts/Goap/StateDiff/StateDiffAddition.cs @@ -5,6 +5,12 @@ namespace TsunagiModule.Goap /// /// Represents an addition operation for state differences in the GOAP system. /// + /// + /// This is example of adding 3 at index0 + /// + /// new StateDiffAddition("index0", 1) + /// + /// /// The type of the state values. Must be a struct and implement , , and . public struct StateDiffAddition : StateDiffInterface where T : struct, IConvertible, IComparable, IComparable, IEquatable diff --git a/Scripts/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs index 4a63ca4..955ddb4 100644 --- a/Scripts/Goap/StateDiff/StateDiffMapping.cs +++ b/Scripts/Goap/StateDiff/StateDiffMapping.cs @@ -6,6 +6,10 @@ namespace TsunagiModule.Goap /// /// Represents a mapping operation for state differences in the GOAP system. /// + /// + /// the State value is replaced according to the given mapping dictionary. + /// The unwritten state value in the dictionary will not be changed. + /// /// The type of the state values. Must be a struct and implement . public struct StateDiffMapping : StateDiffInterface where T : struct, IEquatable diff --git a/Scripts/Goap/Utils/PriorityQueue.cs b/Scripts/Goap/Utils/PriorityQueue.cs index 9fd3563..212058c 100644 --- a/Scripts/Goap/Utils/PriorityQueue.cs +++ b/Scripts/Goap/Utils/PriorityQueue.cs @@ -1,3 +1,4 @@ +// This entire file is written by GitHub Copilot using System; using System.Collections.Generic; @@ -7,6 +8,7 @@ namespace TsunagiModule.Goap.Utils /// Represents a generic priority queue that organizes elements based on their priority. /// /// The type of elements in the priority queue. Must implement . + /// public class PriorityQueue where T : IComparable { From ecb88ef7068fe6bdf8027a6e6c4935e18be54b92 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 14:04:00 +0900 Subject: [PATCH 093/108] comments --- Scripts/Goap/GoapAction.cs | 6 +++++- Scripts/Goap/GoapState.cs | 3 +++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/Scripts/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs index e64d835..4e71e13 100644 --- a/Scripts/Goap/GoapAction.cs +++ b/Scripts/Goap/GoapAction.cs @@ -1,8 +1,12 @@ namespace TsunagiModule.Goap { /// - /// Represents an action in the GOAP (Goal-Oriented Action Planning) system. + /// Represents an action in the GOAP system. /// + /// + /// This contains the condition and effect of the action. + /// The will conduct a pathfinding according to these conditions and effects. + /// public struct GoapAction { /// diff --git a/Scripts/Goap/GoapState.cs b/Scripts/Goap/GoapState.cs index a758e5f..9114317 100644 --- a/Scripts/Goap/GoapState.cs +++ b/Scripts/Goap/GoapState.cs @@ -7,6 +7,9 @@ namespace TsunagiModule.Goap /// /// Represents the state in the GOAP (Goal-Oriented Action Planning) system. /// + /// + /// You need to write what is happening in the game world into this . + /// public struct GoapState : IEquatable { /// From 6c114679713434040395cc08b00fa8e9cdcd540f Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 15:43:56 +0900 Subject: [PATCH 094/108] state diff as double --- Scripts/Goap/StateDiff/StateDiffAddition.cs | 2 +- Scripts/Goap/StateDiff/StateDiffInterface.cs | 2 +- Scripts/Goap/StateDiff/StateDiffMapping.cs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Scripts/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs index 3e084fe..2b58dcf 100644 --- a/Scripts/Goap/StateDiff/StateDiffAddition.cs +++ b/Scripts/Goap/StateDiff/StateDiffAddition.cs @@ -28,7 +28,7 @@ public struct StateDiffAddition : StateDiffInterface /// /// Gets the difference value associated with this addition operation. /// - public float diff => Convert.ToSingle(additionValue); + public double diff => Convert.ToDouble(additionValue); /// /// Initializes a new instance of the struct. diff --git a/Scripts/Goap/StateDiff/StateDiffInterface.cs b/Scripts/Goap/StateDiff/StateDiffInterface.cs index 8f12ce7..d3fcc73 100644 --- a/Scripts/Goap/StateDiff/StateDiffInterface.cs +++ b/Scripts/Goap/StateDiff/StateDiffInterface.cs @@ -21,6 +21,6 @@ public interface StateDiffInterface /// /// Gets the difference value associated with this operation. /// - public float diff { get; } + public double diff { get; } } } diff --git a/Scripts/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs index 955ddb4..f3f8df6 100644 --- a/Scripts/Goap/StateDiff/StateDiffMapping.cs +++ b/Scripts/Goap/StateDiff/StateDiffMapping.cs @@ -27,7 +27,7 @@ public struct StateDiffMapping : StateDiffInterface /// /// Gets the difference value for this mapping operation. /// - public float diff => 1f; + public double diff => 1.0; /// /// Initializes a new instance of the struct. From bc14e250938674f7dccccdc725118fe0a4457c36 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 15:53:59 +0900 Subject: [PATCH 095/108] rename IsAvailable --- Scripts/Goap/GoapAction.cs | 2 +- Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Scripts/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs index 4e71e13..d5caaee 100644 --- a/Scripts/Goap/GoapAction.cs +++ b/Scripts/Goap/GoapAction.cs @@ -74,7 +74,7 @@ double cost /// /// The current state. /// True if the action is available; otherwise, false. - public bool Available(GoapState state) + public bool IsAvailable(GoapState state) { return condition.IsSatisfied(state); } diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index c26d16c..6032a0e 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -175,7 +175,7 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i foreach (GoapAction action in actionPool.Values) { // if the action is available... - if (action.condition.IsSatisfied(current.state)) + if (action.IsAvailable(current.state)) { // ...go to this state GoapState nextState = action.Simulate(current.state, overwrite: false); From 1669892cc8619ac9cc26322a359029b3c14f4f17 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 15:54:09 +0900 Subject: [PATCH 096/108] add remarks --- Scripts/Goap/StateDiff/StateDiffInterface.cs | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Scripts/Goap/StateDiff/StateDiffInterface.cs b/Scripts/Goap/StateDiff/StateDiffInterface.cs index d3fcc73..bb283dc 100644 --- a/Scripts/Goap/StateDiff/StateDiffInterface.cs +++ b/Scripts/Goap/StateDiff/StateDiffInterface.cs @@ -21,6 +21,9 @@ public interface StateDiffInterface /// /// Gets the difference value associated with this operation. /// + /// + /// This is used to 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+} +GoapState o-- GoapValueInterface : consists of > + +interface ConditionInterface { + +bool IsSatisfied(GoapState state) + +double EstimateCost(GoapState state, Dictionary costPerDiffes) +} +ConditionInterface ..> GoapState : reads > + +interface StateDiffInterface { + +string stateIndex + +GoapState Operate(GoapState state, bool overwrite) + +double diff +} +StateDiffInterface --> GoapState : operates on > + +class StateDiffSet { + -StateDiffInterface[] stateDiffs + +GoapState Apply(GoapState state, bool overwrite) +} +StateDiffSet o-- StateDiffInterface : delegates to > + +class GoapAction { + +string name + +ConditionInterface condition + +StateDiffSet stateDiffSet + +double cost + +bool IsAvailable(GoapState state) + +GoapState Simulate(GoapState state, bool overwrite) +} +GoapAction *-- ConditionInterface : delegates to > +GoapAction *-- StateDiffSet : delegates to > + +class GoapResult { + +GoapAction[] actions + +double cost + +int length + +bool success +} +GoapResult o-- GoapAction : has > + +class GoapSolver { + -GoapAction[] actionPool + +GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength) + +void AddAction(GoapAction action) +} +GoapSolver --> GoapResult : Generates > +GoapSolver --> GoapState : uses > +GoapSolver --> ConditionInterface : uses > +GoapSolver o-- GoapAction : stores > + +@enduml \ No newline at end of file From 89f3e563242820fc88242b9ae4633b1dac5c5f89 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:05:40 +0900 Subject: [PATCH 098/108] meta files --- Docs.meta | 8 +++ Docs/GOAP_ClassDiagram.png.meta | 117 +++++++++++++++++++++++++++++++ Docs/GOAP_ClassDiagram.puml.meta | 7 ++ 3 files changed, 132 insertions(+) create mode 100644 Docs.meta create mode 100644 Docs/GOAP_ClassDiagram.png.meta create mode 100644 Docs/GOAP_ClassDiagram.puml.meta diff --git a/Docs.meta b/Docs.meta new file mode 100644 index 0000000..66cd592 --- /dev/null +++ b/Docs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 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crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + ignorePlatformSupport: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + - serializedVersion: 4 + buildTarget: Standalone + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + ignorePlatformSupport: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + spriteSheet: + serializedVersion: 2 + sprites: [] + outline: [] + customData: + physicsShape: [] + bones: [] + spriteID: + internalID: 0 + vertices: [] + indices: + edges: [] + weights: [] + secondaryTextures: [] + spriteCustomMetadata: + entries: [] + nameFileIdTable: {} + mipmapLimitGroupName: + pSDRemoveMatte: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Docs/GOAP_ClassDiagram.puml.meta b/Docs/GOAP_ClassDiagram.puml.meta new file mode 100644 index 0000000..572965c --- /dev/null +++ b/Docs/GOAP_ClassDiagram.puml.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: b2df6d4814bb41b4f9c06cc2d27bab46 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: From 5c8dc49f5e4a0fcc3c45ca75b6800cbac7b057d2 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:08:16 +0900 Subject: [PATCH 099/108] refac --- Scripts/Goap/Conditions/ConditionOr.cs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Scripts/Goap/Conditions/ConditionOr.cs b/Scripts/Goap/Conditions/ConditionOr.cs index 2d5584e..e5601f8 100644 --- a/Scripts/Goap/Conditions/ConditionOr.cs +++ b/Scripts/Goap/Conditions/ConditionOr.cs @@ -49,9 +49,7 @@ public bool IsSatisfied(GoapState state) /// The estimated cost of satisfying the condition. public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) { - // shortest distance - double min = // shortest distance - double.MaxValue; + double min = double.MaxValue; foreach (ConditionInterface condition in conditions) { double cost = condition.EstimateCost(state, costPerDiffes: costPerDiffes); From d8880eab6345b725ea949e51c4d8e37522ef6898 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:21:36 +0900 Subject: [PATCH 100/108] quit optional overwrite params --- Scripts/Goap/GoapAction.cs | 4 ++-- Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- Scripts/Goap/StateDiff/StateDiffAddition.cs | 2 +- Scripts/Goap/StateDiff/StateDiffInterface.cs | 2 +- Scripts/Goap/StateDiff/StateDiffMapping.cs | 2 +- Scripts/Goap/StateDiff/StateDiffSet.cs | 4 ++-- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Scripts/Goap/GoapAction.cs b/Scripts/Goap/GoapAction.cs index d5caaee..98e4de4 100644 --- a/Scripts/Goap/GoapAction.cs +++ b/Scripts/Goap/GoapAction.cs @@ -85,7 +85,7 @@ public bool IsAvailable(GoapState state) /// The current state. /// Whether to overwrite the current state or clone it. /// The resulting state after applying the action. - public GoapState Simulate(GoapState state, bool overwrite = true) + public GoapState Simulate(GoapState state, bool overwrite) { GoapState stateTarget; if (overwrite) @@ -97,7 +97,7 @@ public GoapState Simulate(GoapState state, bool overwrite = true) stateTarget = state.Clone(); } - stateTarget = stateDiffSet.Apply(stateTarget, overwrite: true); + stateTarget = stateDiffSet.Apply(stateTarget, overwrite); return stateTarget; } diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 6032a0e..10da156 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -178,7 +178,7 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i if (action.IsAvailable(current.state)) { // ...go to this state - GoapState nextState = action.Simulate(current.state, overwrite: false); + GoapState nextState = action.Simulate(current.state, false); double costCurrent = current.currentCost + action.cost; double costEstimated = EstimateCost(nextState, goal); queue.Enqueue( diff --git a/Scripts/Goap/StateDiff/StateDiffAddition.cs b/Scripts/Goap/StateDiff/StateDiffAddition.cs index 2b58dcf..004ac16 100644 --- a/Scripts/Goap/StateDiff/StateDiffAddition.cs +++ b/Scripts/Goap/StateDiff/StateDiffAddition.cs @@ -48,7 +48,7 @@ public StateDiffAddition(string stateIndex, T additionValue) /// Whether to overwrite the current state or clone it. /// The resulting state after applying the addition. /// Thrown when there is a type mismatch between the addition operation and the state value type. - public GoapState Operate(GoapState state, bool overwrite = true) + public GoapState Operate(GoapState state, bool overwrite) { // cloning or not GoapState stateTarget; diff --git a/Scripts/Goap/StateDiff/StateDiffInterface.cs b/Scripts/Goap/StateDiff/StateDiffInterface.cs index bb283dc..fd3086f 100644 --- a/Scripts/Goap/StateDiff/StateDiffInterface.cs +++ b/Scripts/Goap/StateDiff/StateDiffInterface.cs @@ -16,7 +16,7 @@ public interface StateDiffInterface /// The GOAP state to apply the difference to. /// Whether to overwrite the current state or clone it. /// The resulting state after applying the difference. - public GoapState Operate(GoapState state, bool overwrite = true); + public GoapState Operate(GoapState state, bool overwrite); /// /// Gets the difference value associated with this operation. diff --git a/Scripts/Goap/StateDiff/StateDiffMapping.cs b/Scripts/Goap/StateDiff/StateDiffMapping.cs index f3f8df6..7244dc8 100644 --- a/Scripts/Goap/StateDiff/StateDiffMapping.cs +++ b/Scripts/Goap/StateDiff/StateDiffMapping.cs @@ -47,7 +47,7 @@ public StateDiffMapping(string stateIndex, Dictionary mapping) /// Whether to overwrite the current state or clone it. /// The resulting state after applying the mapping. /// Thrown when there is a type mismatch between the mapping operation and the state value type. - public GoapState Operate(GoapState state, bool overwrite = true) + public GoapState Operate(GoapState state, bool overwrite) { // cloning or not GoapState stateTarget; diff --git a/Scripts/Goap/StateDiff/StateDiffSet.cs b/Scripts/Goap/StateDiff/StateDiffSet.cs index 5c675d9..4ba9731 100644 --- a/Scripts/Goap/StateDiff/StateDiffSet.cs +++ b/Scripts/Goap/StateDiff/StateDiffSet.cs @@ -25,7 +25,7 @@ public StateDiffSet(StateDiffInterface[] stateDiffes) /// The GOAP state to apply the differences to. /// Whether to overwrite the current state or clone it. /// The resulting state after applying the differences. - public GoapState Apply(GoapState state, bool overwrite = true) + public GoapState Apply(GoapState state, bool overwrite) { // cloning or not GoapState stateTarget; @@ -41,7 +41,7 @@ public GoapState Apply(GoapState state, bool overwrite = true) // apply all operations foreach (StateDiffInterface stateDiff in stateDiffes) { - stateDiff.Operate(stateTarget, overwrite: true); + stateDiff.Operate(stateTarget, true); } return stateTarget; From a4a1d3964476b5564218d05bdb1c9f4f0db55fca Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:25:04 +0900 Subject: [PATCH 101/108] refac curly braces SonarCSharp_S121 --- Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs | 6 ++++++ Scripts/Goap/Utils/PriorityQueue.cs | 10 ++++++++++ 2 files changed, 16 insertions(+) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 10da156..e8c8846 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -48,9 +48,15 @@ public AstarQueue( public int CompareTo(AstarQueue other) { if (totalCost < other.totalCost) + { return -1; + } + if (totalCost > other.totalCost) + { return 1; + } + return 0; } } diff --git a/Scripts/Goap/Utils/PriorityQueue.cs b/Scripts/Goap/Utils/PriorityQueue.cs index 212058c..9cc3e36 100644 --- a/Scripts/Goap/Utils/PriorityQueue.cs +++ b/Scripts/Goap/Utils/PriorityQueue.cs @@ -34,7 +34,9 @@ public void Enqueue(T item) { int parentIndex = (childIndex - 1) / 2; if (elements[childIndex].CompareTo(elements[parentIndex]) >= 0) + { break; + } T temp = elements[childIndex]; elements[childIndex] = elements[parentIndex]; @@ -52,7 +54,9 @@ public void Enqueue(T item) public T Dequeue() { if (elements.Count == 0) + { throw new InvalidOperationException("The priority queue is empty."); + } T result = elements[0]; int lastIndex = elements.Count - 1; @@ -70,16 +74,22 @@ public T Dequeue() leftChildIndex < elements.Count && elements[leftChildIndex].CompareTo(elements[smallestIndex]) < 0 ) + { smallestIndex = leftChildIndex; + } if ( rightChildIndex < elements.Count && elements[rightChildIndex].CompareTo(elements[smallestIndex]) < 0 ) + { smallestIndex = rightChildIndex; + } if (smallestIndex == parentIndex) + { break; + } T temp = elements[parentIndex]; elements[parentIndex] = elements[smallestIndex]; From f691475cfbecc2d08cb378420e4d49875861d560 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:28:02 +0900 Subject: [PATCH 102/108] add ClearActionPool method to manage action pool --- Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs index 2f098ec..099bc35 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -39,5 +39,13 @@ public void ReplaceAction(string name, GoapAction action) { actionPool[name] = action; } + + /// + /// Clear all actions in the action pool. + /// + public void ClearActionPool() + { + actionPool.Clear(); + } } } From f7250ccac99e96fdf29d79f43db58f2bdbc153f5 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:28:58 +0900 Subject: [PATCH 103/108] set readonly for constructor-only-fields SonarCSharp_S2933 --- Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs | 3 ++- Scripts/Goap/Utils/PriorityQueue.cs | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs index 099bc35..44c47b1 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -10,7 +10,8 @@ public partial class GoapSolver /// /// Maps action names to their corresponding instances. /// - private Dictionary actionPool = new Dictionary(); + public readonly Dictionary actionPool = + new Dictionary(); /// /// Adds a new action to the action pool. diff --git a/Scripts/Goap/Utils/PriorityQueue.cs b/Scripts/Goap/Utils/PriorityQueue.cs index 9cc3e36..51a0461 100644 --- a/Scripts/Goap/Utils/PriorityQueue.cs +++ b/Scripts/Goap/Utils/PriorityQueue.cs @@ -15,7 +15,7 @@ public class PriorityQueue /// /// The list of elements in the priority queue. /// - private List elements = new List(); + private readonly List elements = new List(); /// /// Gets the number of elements in the priority queue. From 2ad5cec54ce273ba28bd1c2c6f45f12f7ebb0454 Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:32:26 +0900 Subject: [PATCH 104/108] fix optional parameters for costPerDiffes --- Scripts/Goap/Conditions/Condition.cs | 2 +- Scripts/Goap/Conditions/ConditionAnd.cs | 2 +- Scripts/Goap/Conditions/ConditionInterface.cs | 5 +---- Scripts/Goap/Conditions/ConditionOr.cs | 2 +- Scripts/Goap/Conditions/NoCondition.cs | 2 +- 5 files changed, 5 insertions(+), 8 deletions(-) diff --git a/Scripts/Goap/Conditions/Condition.cs b/Scripts/Goap/Conditions/Condition.cs index 96b8c84..50fd19b 100644 --- a/Scripts/Goap/Conditions/Condition.cs +++ b/Scripts/Goap/Conditions/Condition.cs @@ -86,7 +86,7 @@ public bool IsSatisfied(GoapState state) /// Optional dictionary of costs per state difference. If null, this will assume as 1.0 /// The estimated cost of satisfying the condition. /// Thrown when the state value type does not match the expected type. - public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes) { // if already satisfied... if (IsSatisfied(state)) diff --git a/Scripts/Goap/Conditions/ConditionAnd.cs b/Scripts/Goap/Conditions/ConditionAnd.cs index 92000c7..f6828f7 100644 --- a/Scripts/Goap/Conditions/ConditionAnd.cs +++ b/Scripts/Goap/Conditions/ConditionAnd.cs @@ -48,7 +48,7 @@ public bool IsSatisfied(GoapState state) /// The current GOAP state. /// Optional dictionary of costs per state difference. /// The estimated cost of satisfying the condition. - public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes) { // square root of sum of squares double sum = 0; diff --git a/Scripts/Goap/Conditions/ConditionInterface.cs b/Scripts/Goap/Conditions/ConditionInterface.cs index 9df45be..401e2f7 100644 --- a/Scripts/Goap/Conditions/ConditionInterface.cs +++ b/Scripts/Goap/Conditions/ConditionInterface.cs @@ -24,9 +24,6 @@ public interface ConditionInterface /// The current GOAP state. /// Optional dictionary of costs per state difference. /// The estimated cost of satisfying the condition. - public double EstimateCost( - GoapState state, - Dictionary costPerDiffes = null - ); + public double EstimateCost(GoapState state, Dictionary costPerDiffes); } } diff --git a/Scripts/Goap/Conditions/ConditionOr.cs b/Scripts/Goap/Conditions/ConditionOr.cs index e5601f8..e4a6d1d 100644 --- a/Scripts/Goap/Conditions/ConditionOr.cs +++ b/Scripts/Goap/Conditions/ConditionOr.cs @@ -47,7 +47,7 @@ public bool IsSatisfied(GoapState state) /// The current state. /// Optional dictionary of costs per state difference. /// The estimated cost of satisfying the condition. - public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes) { double min = double.MaxValue; foreach (ConditionInterface condition in conditions) diff --git a/Scripts/Goap/Conditions/NoCondition.cs b/Scripts/Goap/Conditions/NoCondition.cs index 2e8aade..da5bf4d 100644 --- a/Scripts/Goap/Conditions/NoCondition.cs +++ b/Scripts/Goap/Conditions/NoCondition.cs @@ -26,7 +26,7 @@ public bool IsSatisfied(GoapState state) /// The current GOAP state. /// Optional dictionary of costs per state difference. /// Always returns 0. - public double EstimateCost(GoapState state, Dictionary costPerDiffes = null) + public double EstimateCost(GoapState state, Dictionary costPerDiffes) { return 0; } From f6d3be1eaf89615bdee09e221b751e0ea2a7b0fb Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:33:19 +0900 Subject: [PATCH 105/108] quit optional parameters SonarCSharp_S2360 --- Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index e8c8846..9ba86a4 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -75,7 +75,7 @@ public int CompareTo(AstarQueue other) /// The maximum depth of the search tree. /// If the search exceeds this depth, it will terminate early. /// The result of the GOAP problem-solving process. - public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength = 10) + public GoapResult Solve(GoapState stateCurrent, ConditionInterface goal, int maxLength) { // compute cost weights costPerDiffes = ComputeCostWeights(stateCurrent); From f6510cae32469990ef0b46634bc71271149a065d Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:35:15 +0900 Subject: [PATCH 106/108] fix protection https://app.codacy.com/gh/tsunagi-ai/TsunagiModuleUnity/issues/131317239960 --- Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs index 44c47b1..cc78592 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_ActionControl.cs @@ -10,7 +10,7 @@ public partial class GoapSolver /// /// Maps action names to their corresponding instances. /// - public readonly Dictionary actionPool = + private readonly Dictionary actionPool = new Dictionary(); /// From 86d14ce0209636e55cd1c39cf292081d833f656b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:38:54 +0900 Subject: [PATCH 107/108] refac: seperating result creation https://app.codacy.com/gh/tsunagi-ai/TsunagiModuleUnity/issues/131317239960 --- .../Goap/GoapSolver/GoapSolver_Pathfinding.cs | 41 ++++++++++--------- 1 file changed, 22 insertions(+), 19 deletions(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index 9ba86a4..a69a005 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -150,25 +150,8 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i // if arrived at goal... if (goal.IsSatisfied(current.state)) { - // ...return the Action path - - // action list - List actions = new List(); - while (current.action != null) - { - actions.Add(current.action ?? throw new InvalidOperationException()); - current = current.parent; - } - actions.Reverse(); - - // create GoapResult - GoapResult result = new GoapResult( - actions.ToArray(), - current.currentCost, - true - ); - - return result; + // ...early return result + return CreateSuccessResult(current); } // close the current node @@ -201,6 +184,26 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i } } + return CreateFailureResult(); + } + + private GoapResult CreateSuccessResult(AstarQueue latestQueue) + { + // action list + List actions = new List(); + while (latestQueue.action != null) + { + actions.Add(latestQueue.action ?? throw new InvalidOperationException()); + latestQueue = latestQueue.parent; + } + actions.Reverse(); + + // create GoapResult + return new GoapResult(actions.ToArray(), latestQueue.currentCost, true); + } + + private GoapResult CreateFailureResult() + { return new GoapResult(null, -1, false); } From 0d6fb138ec3ba8919c78aa4b7d730d5d6211d94b Mon Sep 17 00:00:00 2001 From: konbraphat51 Date: Fri, 25 Apr 2025 16:41:35 +0900 Subject: [PATCH 108/108] seperate enquing https://app.codacy.com/gh/tsunagi-ai/TsunagiModuleUnity/issues/131317239960 --- .../Goap/GoapSolver/GoapSolver_Pathfinding.cs | 46 ++++++++++--------- 1 file changed, 25 insertions(+), 21 deletions(-) diff --git a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs index a69a005..5866fbc 100644 --- a/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs +++ b/Scripts/Goap/GoapSolver/GoapSolver_Pathfinding.cs @@ -160,33 +160,37 @@ private GoapResult SolveAstar(GoapState stateCurrent, ConditionInterface goal, i // if not arrived to the max depth... if (current.depth < maxDepth) { - // ...find next nodes - foreach (GoapAction action in actionPool.Values) - { - // if the action is available... - if (action.IsAvailable(current.state)) - { - // ...go to this state - GoapState nextState = action.Simulate(current.state, false); - double costCurrent = current.currentCost + action.cost; - double costEstimated = EstimateCost(nextState, goal); - queue.Enqueue( - new AstarQueue( - nextState, - current, - costCurrent, - costEstimated, - action - ) - ); - } - } + // ...enqueue next nodes + EnqueueNextActions(queue, current, goal); } } return CreateFailureResult(); } + private void EnqueueNextActions( + PriorityQueue queue, + AstarQueue current, + ConditionInterface goal + ) + { + // ...find next nodes + foreach (GoapAction action in actionPool.Values) + { + // if the action is available... + if (action.IsAvailable(current.state)) + { + // ...go to this state + GoapState nextState = action.Simulate(current.state, false); + double costCurrent = current.currentCost + action.cost; + double costEstimated = EstimateCost(nextState, goal); + queue.Enqueue( + new AstarQueue(nextState, current, costCurrent, costEstimated, action) + ); + } + } + } + private GoapResult CreateSuccessResult(AstarQueue latestQueue) { // action list