GOAP is now matching cppGOAP but needs a serious cleanup.
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Zed A. Shaw
parent
15c2efc415
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2992193447
1 changed files with 102 additions and 55 deletions
157
tests/goap.cpp
157
tests/goap.cpp
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@ -12,20 +12,12 @@ 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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enum StateNames {
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ENEMY_IN_RANGE,
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ENEMY_DEAD,
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STATE_MAX
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};
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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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std::cout << "IS_SUBSET: source: " << source << " target: " << target << " result: " << result << " is it? " << (result == target) << std::endl;
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return result == target;
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}
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@ -33,8 +25,11 @@ struct Action {
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std::string name;
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int cost = 0;
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std::unordered_map<StateNames, bool> preconds;
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std::unordered_map<StateNames, bool> effects;
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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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@ -66,12 +61,15 @@ template<> struct std::hash<Action> {
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}
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};
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const Action FINAL_ACTION{"END", SCORE_MAX, {}, {}};
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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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@ -92,50 +90,40 @@ int distance_to_goal(GOAPState& from, GOAPState& to) {
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AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
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fmt::println(">> reconstruct path: {}", current.name);
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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[current];
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current = came_from.at(current);
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if(current != FINAL_ACTION) {
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fmt::println("adding next action: {}", current.name);
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total_path.push_front(current);
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}
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}
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fmt::println("Exited reconstruct path.");
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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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int result = distance_to_goal(start, goal);
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std::cout << "h on " << start << " and " << goal << " gives distance " << result << "\n";
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return result;
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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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int result = distance_to_goal(start, goal);
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std::cout << "d on " << start << " and " << goal << " gives distance " << result << "\n";
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return result;
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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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ActionState result;
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const ActionState *result = nullptr;
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int lowest_score = SCORE_MAX;
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for(auto [as, score] : open_set) {
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fmt::println("### find_lowest: action={}, score={}", as.action.name, score);
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if(score < lowest_score) {
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lowest_score = score;
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result = as;
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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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fmt::println("<<< found lowest: action={}, score={}", result.action.name, lowest_score);
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return result;
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return *result;
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}
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@ -152,7 +140,6 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
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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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fmt::println(">>>>>>>>>>>>>>>>>>>>>> TOP OF WHILE");
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auto current = find_lowest(open_set);
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if(is_subset(current.state, goal)) {
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@ -162,11 +149,8 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
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open_set.erase(current);
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for(auto& neighbor_action : actions) {
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fmt::println("^^^ NEXT ACTION {}", neighbor_action.name);
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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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fmt::println("^^^ SKIP action {}", neighbor_action.name);
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continue;
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}
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@ -175,21 +159,14 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
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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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fmt::println("!!! NEW LOW SCORE::: SETTING {} with PARENT {}, tg_score={}, ng_score={}",
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neighbor_action.name, current.action.name,
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tentative_g_score, neighbor_g_score);
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came_from[neighbor_action] = current.action;
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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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fmt::println("^^^ END ACTION LOOP");
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}
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fmt::println("<<<<<<<<<<<<<<<<< END OF WHILE");
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}
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return std::nullopt;
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@ -197,6 +174,11 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
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TEST_CASE("worldstate works", "[goap]") {
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enum StateNames {
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ENEMY_IN_RANGE,
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ENEMY_DEAD
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};
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GOAPState goal;
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GOAPState start;
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std::vector<Action> actions;
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@ -208,9 +190,7 @@ TEST_CASE("worldstate works", "[goap]") {
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// end goal is enemy is dead
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goal[ENEMY_DEAD] = true;
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Action move_closer;
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move_closer.name = "move_closer";
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move_closer.cost = 10;
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Action move_closer("move_closer", 10);
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move_closer.preconds[ENEMY_IN_RANGE] = false;
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move_closer.effects[ENEMY_IN_RANGE] = true;
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@ -224,9 +204,7 @@ TEST_CASE("worldstate works", "[goap]") {
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REQUIRE(!move_closer.can_effect(after_move_state));
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REQUIRE(distance_to_goal(start, after_move_state) == 1);
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Action kill_it;
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kill_it.name = "kill_it";
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kill_it.cost = 10;
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Action kill_it("kill_it", 10);
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kill_it.preconds[ENEMY_IN_RANGE] = true;
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kill_it.preconds[ENEMY_DEAD] = false;
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kill_it.effects[ENEMY_DEAD] = true;
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@ -245,6 +223,11 @@ TEST_CASE("worldstate works", "[goap]") {
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}
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TEST_CASE("basic feature tests", "[goap]") {
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enum StateNames {
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ENEMY_IN_RANGE,
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ENEMY_DEAD
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};
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GOAPState goal;
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GOAPState start;
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std::vector<Action> actions;
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@ -256,15 +239,11 @@ TEST_CASE("basic feature tests", "[goap]") {
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// end goal is enemy is dead
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goal[ENEMY_DEAD] = true;
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Action move_closer;
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move_closer.name = "move_closer";
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move_closer.cost = 10;
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Action move_closer("move_closer", 10);
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move_closer.preconds[ENEMY_IN_RANGE] = false;
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move_closer.effects[ENEMY_IN_RANGE] = true;
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Action kill_it;
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kill_it.name = "kill_it";
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kill_it.cost = 10;
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Action kill_it("kill_it", 10);
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kill_it.preconds[ENEMY_IN_RANGE] = true;
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kill_it.preconds[ENEMY_DEAD] = false;
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kill_it.effects[ENEMY_DEAD] = true;
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@ -276,7 +255,75 @@ TEST_CASE("basic feature tests", "[goap]") {
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auto result = plan_actions(actions, start, goal);
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REQUIRE(result != std::nullopt);
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auto state = start;
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for(auto& action : *result) {
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fmt::println("ACTION: {}", action.name);
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state = action.apply_effect(state);
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}
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REQUIRE(state[ENEMY_DEAD]);
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}
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TEST_CASE("wargame test from cppGOAP", "[goap]") {
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std::vector<Action> actions;
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// Constants for the various states are helpful to keep us from
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// accidentally mistyping a state name.
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enum WarGameStates {
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target_acquired,
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target_lost,
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target_in_warhead_range,
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target_dead
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};
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// Now establish all the possible actions for the action pool
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// In this example we're providing the AI some different FPS actions
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Action spiral("searchSpiral", 5);
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spiral.preconds[target_acquired] = false;
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spiral.preconds[target_lost] = true;
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spiral.effects[target_acquired] = true;
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actions.push_back(spiral);
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Action serpentine("searchSerpentine", 5);
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serpentine.preconds[target_acquired] = false;
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serpentine.preconds[target_lost] = false;
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serpentine.effects[target_acquired] = true;
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actions.push_back(serpentine);
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Action intercept("interceptTarget", 5);
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intercept.preconds[target_acquired] = true;
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intercept.preconds[target_dead] = false;
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intercept.effects[target_in_warhead_range] = true;
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actions.push_back(intercept);
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Action detonateNearTarget("detonateNearTarget", 5);
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detonateNearTarget.preconds[target_in_warhead_range] = true;
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detonateNearTarget.preconds[target_acquired] = true;
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detonateNearTarget.preconds[target_dead] = false;
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detonateNearTarget.effects[target_dead] = true;
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actions.push_back(detonateNearTarget);
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// Here's the initial state...
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GOAPState initial_state;
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initial_state[target_acquired] = false;
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initial_state[target_lost] = true;
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initial_state[target_in_warhead_range] = false;
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initial_state[target_dead] = false;
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// ...and the goal state
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GOAPState goal_target_dead;
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goal_target_dead[target_dead] = true;
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auto result = plan_actions(actions, initial_state, goal_target_dead);
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REQUIRE(result != std::nullopt);
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auto state = initial_state;
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for(auto& action : *result) {
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fmt::println("ACTION: {}", action.name);
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state = action.apply_effect(state);
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}
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REQUIRE(state[target_dead]);
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}
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