GOAP is now working in a basic way, time to clean it up.

goap.hpp

@@ -0,0 +1,65 @@
+#pragma once
+#include <vector>
+#include "matrix.hpp"
+#include <bitset>
+#include <limits>
+#include <optional>
+
+namespace ailol {
+  constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
+  constexpr const size_t STATE_MAX = 16;
+
+  using GOAPState = std::bitset<STATE_MAX>;
+
+  struct Action {
+    std::string name;
+    int cost = 0;
+
+    std::unordered_map<int, bool> preconds;
+    std::unordered_map<int, bool> effects;
+
+    Action(std::string name, int cost) :
+      name(name), cost(cost) {}
+
+    bool can_effect(GOAPState& state);
+    GOAPState apply_effect(GOAPState& state);
+
+    bool operator==(const Action& other) const {
+      return other.name == name;
+    }
+  };
+
+  using AStarPath = std::deque<Action>;
+
+  const Action FINAL_ACTION("END", SCORE_MAX);
+
+  struct ActionState {
+    Action action;
+    GOAPState state;
+
+    ActionState(Action action, GOAPState state) :
+      action(action), state(state) {}
+
+    bool operator==(const ActionState& other) const {
+      return other.action == action && other.state == state;
+    }
+  };
+
+  bool is_subset(GOAPState& source, GOAPState& target);
+
+  int distance_to_goal(GOAPState& from, GOAPState& to);
+
+  std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal);
+}
+
+template<> struct std::hash<ailol::Action> {
+  size_t operator()(const ailol::Action& p) const {
+    return std::hash<std::string>{}(p.name);
+  }
+};
+
+template<> struct std::hash<ailol::ActionState> {
+  size_t operator()(const ailol::ActionState& p) const {
+    return std::hash<ailol::Action>{}(p.action) ^ std::hash<ailol::GOAPState>{}(p.state);
+  }
+};