GOAP is now working in a basic way, time to clean it up.
This commit is contained in:
Zed A. Shaw
parent
2992193447
commit
01525388ec
6 changed files with 183 additions and 179 deletions
2
Makefile
2
Makefile
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@ -22,7 +22,7 @@ tracy_build:
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meson compile -j 10 -C builddir
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test: build
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./builddir/runtests "[goap]"
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./builddir/runtests
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run: build test
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powershell "cp ./builddir/zedcaster.exe ."
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113
goap.cpp
Normal file
113
goap.cpp
Normal file
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@ -0,0 +1,113 @@
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#include "dbc.hpp"
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#include "goap.hpp"
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namespace ailol {
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bool is_subset(GOAPState& source, GOAPState& target) {
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GOAPState result = source & target;
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return result == target;
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}
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bool Action::can_effect(GOAPState& state) {
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for(auto [name, setting] : preconds) {
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if(state[name] != setting) return false;
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}
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return true;
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}
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GOAPState Action::apply_effect(GOAPState& state) {
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// RCR SUGGEST: state = (state & ~write_mask) | effect
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auto state_cp = state;
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for(auto [name, setting] : effects) {
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state_cp[name] = setting;
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}
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return state_cp;
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}
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int distance_to_goal(GOAPState& from, GOAPState& to) {
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auto result = from ^ to;
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return result.count();
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}
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AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
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AStarPath total_path{current};
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int count = 0;
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while(came_from.contains(current) && count++ < 10) {
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current = came_from.at(current);
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if(current != FINAL_ACTION) {
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total_path.push_front(current);
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}
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}
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return total_path;
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}
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inline int h(GOAPState& start, GOAPState& goal) {
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return distance_to_goal(start, goal);
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}
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inline int d(GOAPState& start, GOAPState& goal) {
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return distance_to_goal(start, goal);
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}
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ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
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dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
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const ActionState *result = nullptr;
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int lowest_score = SCORE_MAX;
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for(auto& kv : open_set) {
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if(kv.second < lowest_score) {
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lowest_score = kv.second;
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result = &kv.first;
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}
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}
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return *result;
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}
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std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal) {
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std::unordered_map<ActionState, int> open_set;
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std::unordered_map<Action, Action> came_from;
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std::unordered_map<GOAPState, int> g_score;
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ActionState start_state{FINAL_ACTION, start};
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g_score[start] = 0;
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open_set[start_state] = g_score[start] + h(start, goal);
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while(!open_set.empty()) {
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auto current = find_lowest(open_set);
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if(is_subset(current.state, goal)) {
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return std::make_optional<AStarPath>(reconstruct_path(came_from, current.action));
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}
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open_set.erase(current);
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for(auto& neighbor_action : actions) {
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// calculate the GOAPState being current/neighbor
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if(!neighbor_action.can_effect(current.state)) {
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continue;
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}
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auto neighbor = neighbor_action.apply_effect(current.state);
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int d_score = d(current.state, neighbor);
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int tentative_g_score = g_score[current.state] + d_score;
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int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
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if(tentative_g_score < neighbor_g_score) {
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came_from.insert_or_assign(neighbor_action, current.action);
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g_score[neighbor] = tentative_g_score;
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// open_set gets the fScore
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ActionState neighbor_as{neighbor_action, neighbor};
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open_set[neighbor_as] = tentative_g_score + h(neighbor, goal);
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}
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}
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}
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return std::nullopt;
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}
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}
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65
goap.hpp
Normal file
65
goap.hpp
Normal file
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@ -0,0 +1,65 @@
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#pragma once
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#include <vector>
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#include "matrix.hpp"
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#include <bitset>
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#include <limits>
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#include <optional>
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namespace ailol {
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constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
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constexpr const size_t STATE_MAX = 16;
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using GOAPState = std::bitset<STATE_MAX>;
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struct Action {
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std::string name;
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int cost = 0;
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std::unordered_map<int, bool> preconds;
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std::unordered_map<int, bool> effects;
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Action(std::string name, int cost) :
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name(name), cost(cost) {}
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bool can_effect(GOAPState& state);
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GOAPState apply_effect(GOAPState& state);
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bool operator==(const Action& other) const {
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return other.name == name;
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}
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};
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using AStarPath = std::deque<Action>;
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const Action FINAL_ACTION("END", SCORE_MAX);
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struct ActionState {
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Action action;
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GOAPState state;
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ActionState(Action action, GOAPState state) :
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action(action), state(state) {}
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bool operator==(const ActionState& other) const {
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return other.action == action && other.state == state;
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}
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};
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bool is_subset(GOAPState& source, GOAPState& target);
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int distance_to_goal(GOAPState& from, GOAPState& to);
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std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal);
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}
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template<> struct std::hash<ailol::Action> {
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size_t operator()(const ailol::Action& p) const {
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return std::hash<std::string>{}(p.name);
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}
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};
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template<> struct std::hash<ailol::ActionState> {
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size_t operator()(const ailol::ActionState& p) const {
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return std::hash<ailol::Action>{}(p.action) ^ std::hash<ailol::GOAPState>{}(p.state);
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}
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};
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@ -93,6 +93,7 @@ sources = [
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'config.cpp',
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'dbc.cpp',
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'devices.cpp',
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'goap.cpp',
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'guecs.cpp',
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'gui_fsm.cpp',
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'inventory.cpp',
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@ -120,14 +121,6 @@ sources = [
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'textures.cpp',
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'tilemap.cpp',
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'worldbuilder.cpp',
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'goap2/Action.cpp',
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'goap2/Action.h',
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'goap2/Node.cpp',
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'goap2/Node.h',
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'goap2/Planner.cpp',
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'goap2/Planner.h',
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'goap2/WorldState.cpp',
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'goap2/WorldState.h',
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]
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executable('runtests', sources + [
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172
tests/goap.cpp
172
tests/goap.cpp
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@ -1,177 +1,9 @@
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#include <catch2/catch_test_macros.hpp>
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#include "dbc.hpp"
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#include <iostream>
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#include <vector>
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#include "levelmanager.hpp"
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#include "matrix.hpp"
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#include "components.hpp"
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#include <bitset>
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#include <limits>
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#include "goap.hpp"
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using namespace dbc;
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using namespace components;
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constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
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constexpr const size_t STATE_MAX = 16;
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using GOAPState = std::bitset<STATE_MAX>;
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bool is_subset(GOAPState& source, GOAPState& target) {
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GOAPState result = source & target;
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return result == target;
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}
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struct Action {
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std::string name;
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int cost = 0;
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std::unordered_map<int, bool> preconds;
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std::unordered_map<int, bool> effects;
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Action(std::string name, int cost) :
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name(name), cost(cost) {}
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bool can_effect(GOAPState& state) {
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for(auto [name, setting] : preconds) {
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if(state[name] != setting) return false;
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}
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return true;
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}
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GOAPState apply_effect(GOAPState& state) {
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// RCR SUGGEST: state = (state & ~write_mask) | effect
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auto state_cp = state;
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for(auto [name, setting] : effects) {
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state_cp[name] = setting;
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}
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return state_cp;
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}
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bool operator==(const Action& other) const {
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return other.name == name;
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}
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};
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template<> struct std::hash<Action> {
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size_t operator()(const Action& p) const {
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return std::hash<std::string>{}(p.name);
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}
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};
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const Action FINAL_ACTION("END", SCORE_MAX);
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struct ActionState {
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Action action;
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GOAPState state;
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ActionState(Action action, GOAPState state) :
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action(action), state(state) {}
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bool operator==(const ActionState& other) const {
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return other.action == action && other.state == state;
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}
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};
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template<> struct std::hash<ActionState> {
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size_t operator()(const ActionState& p) const {
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return std::hash<Action>{}(p.action) ^ std::hash<GOAPState>{}(p.state);
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}
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};
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using AStarPath = std::deque<Action>;
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int distance_to_goal(GOAPState& from, GOAPState& to) {
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auto result = from ^ to;
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return result.count();
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}
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AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
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AStarPath total_path{current};
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int count = 0;
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while(came_from.contains(current) && count++ < 10) {
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current = came_from.at(current);
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if(current != FINAL_ACTION) {
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total_path.push_front(current);
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}
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}
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return total_path;
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}
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inline int h(GOAPState& start, GOAPState& goal) {
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return distance_to_goal(start, goal);
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}
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inline int d(GOAPState& start, GOAPState& goal) {
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return distance_to_goal(start, goal);
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}
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inline ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
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dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
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const ActionState *result = nullptr;
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int lowest_score = SCORE_MAX;
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for(auto& kv : open_set) {
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if(kv.second < lowest_score) {
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lowest_score = kv.second;
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result = &kv.first;
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}
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}
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return *result;
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}
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// map is the list of possible actions
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// start and goal are two world states
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std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal) {
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std::unordered_map<ActionState, int> open_set;
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std::unordered_map<Action, Action> came_from;
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std::unordered_map<GOAPState, int> g_score;
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ActionState start_state{FINAL_ACTION, start};
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g_score[start] = 0;
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open_set[start_state] = g_score[start] + h(start, goal);
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while(!open_set.empty()) {
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auto current = find_lowest(open_set);
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if(is_subset(current.state, goal)) {
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return std::make_optional<AStarPath>(reconstruct_path(came_from, current.action));
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}
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open_set.erase(current);
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for(auto& neighbor_action : actions) {
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// calculate the GOAPState being current/neighbor
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if(!neighbor_action.can_effect(current.state)) {
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continue;
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}
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auto neighbor = neighbor_action.apply_effect(current.state);
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int d_score = d(current.state, neighbor);
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int tentative_g_score = g_score[current.state] + d_score;
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int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
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if(tentative_g_score < neighbor_g_score) {
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came_from.insert_or_assign(neighbor_action, current.action);
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g_score[neighbor] = tentative_g_score;
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// open_set gets the fScore
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ActionState neighbor_as{neighbor_action, neighbor};
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open_set[neighbor_as] = tentative_g_score + h(neighbor, goal);
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}
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}
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}
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return std::nullopt;
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}
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using namespace ailol;
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TEST_CASE("worldstate works", "[goap]") {
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enum StateNames {
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@ -4,6 +4,7 @@
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#include <fstream>
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#include "pathing.hpp"
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#include "matrix.hpp"
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#include "goap.hpp"
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using namespace fmt;
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using namespace nlohmann;
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