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

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master
Zed A. Shaw 4 weeks ago
parent 2992193447
commit 01525388ec
6 changed files with 183 additions and 179 deletions
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  1. 2
      Makefile
  2. 113
      goap.cpp
  3. 65
      goap.hpp
  4. 9
      meson.build
  5. 172
      tests/goap.cpp
  6. 1
      tests/pathing.cpp

2
Makefile
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@ -22,7 +22,7 @@ tracy_build:
meson compile -j 10 -C builddir meson compile -j 10 -C builddir
test: build test: build
./builddir/runtests "[goap]" ./builddir/runtests
run: build test run: build test
powershell "cp ./builddir/zedcaster.exe ." powershell "cp ./builddir/zedcaster.exe ."

113
goap.cpp
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@ -0,0 +1,113 @@
#include "dbc.hpp"
#include "goap.hpp"
namespace ailol {
bool is_subset(GOAPState& source, GOAPState& target) {
GOAPState result = source & target;
return result == target;
}
bool Action::can_effect(GOAPState& state) {
for(auto [name, setting] : preconds) {
if(state[name] != setting) return false;
}
return true;
}
GOAPState Action::apply_effect(GOAPState& state) {
// RCR SUGGEST: state = (state & ~write_mask) | effect
auto state_cp = state;
for(auto [name, setting] : effects) {
state_cp[name] = setting;
}
return state_cp;
}
int distance_to_goal(GOAPState& from, GOAPState& to) {
auto result = from ^ to;
return result.count();
}
AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
AStarPath total_path{current};
int count = 0;
while(came_from.contains(current) && count++ < 10) {
current = came_from.at(current);
if(current != FINAL_ACTION) {
total_path.push_front(current);
}
}
return total_path;
}
inline int h(GOAPState& start, GOAPState& goal) {
return distance_to_goal(start, goal);
}
inline int d(GOAPState& start, GOAPState& goal) {
return distance_to_goal(start, goal);
}
ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
const ActionState *result = nullptr;
int lowest_score = SCORE_MAX;
for(auto& kv : open_set) {
if(kv.second < lowest_score) {
lowest_score = kv.second;
result = &kv.first;
}
}
return *result;
}
std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal) {
std::unordered_map<ActionState, int> open_set;
std::unordered_map<Action, Action> came_from;
std::unordered_map<GOAPState, int> g_score;
ActionState start_state{FINAL_ACTION, start};
g_score[start] = 0;
open_set[start_state] = g_score[start] + h(start, goal);
while(!open_set.empty()) {
auto current = find_lowest(open_set);
if(is_subset(current.state, goal)) {
return std::make_optional<AStarPath>(reconstruct_path(came_from, current.action));
}
open_set.erase(current);
for(auto& neighbor_action : actions) {
// calculate the GOAPState being current/neighbor
if(!neighbor_action.can_effect(current.state)) {
continue;
}
auto neighbor = neighbor_action.apply_effect(current.state);
int d_score = d(current.state, neighbor);
int tentative_g_score = g_score[current.state] + d_score;
int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
if(tentative_g_score < neighbor_g_score) {
came_from.insert_or_assign(neighbor_action, current.action);
g_score[neighbor] = tentative_g_score;
// open_set gets the fScore
ActionState neighbor_as{neighbor_action, neighbor};
open_set[neighbor_as] = tentative_g_score + h(neighbor, goal);
}
}
}
return std::nullopt;
}
}

65
goap.hpp
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@ -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);
}
};

9
meson.build
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@ -93,6 +93,7 @@ sources = [
'config.cpp', 'config.cpp',
'dbc.cpp', 'dbc.cpp',
'devices.cpp', 'devices.cpp',
'goap.cpp',
'guecs.cpp', 'guecs.cpp',
'gui_fsm.cpp', 'gui_fsm.cpp',
'inventory.cpp', 'inventory.cpp',
@ -120,14 +121,6 @@ sources = [
'textures.cpp', 'textures.cpp',
'tilemap.cpp', 'tilemap.cpp',
'worldbuilder.cpp', 'worldbuilder.cpp',
'goap2/Action.cpp',
'goap2/Action.h',
'goap2/Node.cpp',
'goap2/Node.h',
'goap2/Planner.cpp',
'goap2/Planner.h',
'goap2/WorldState.cpp',
'goap2/WorldState.h',
] ]
executable('runtests', sources + [ executable('runtests', sources + [

172
tests/goap.cpp
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@ -1,177 +1,9 @@
#include <catch2/catch_test_macros.hpp> #include <catch2/catch_test_macros.hpp>
#include "dbc.hpp" #include "dbc.hpp"
#include <iostream> #include "goap.hpp"
#include <vector>
#include "levelmanager.hpp"
#include "matrix.hpp"
#include "components.hpp"
#include <bitset>
#include <limits>
using namespace dbc; using namespace dbc;
using namespace components; using 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>;
bool is_subset(GOAPState& source, GOAPState& target) {
GOAPState result = source & target;
return result == target;
}
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) {
for(auto [name, setting] : preconds) {
if(state[name] != setting) return false;
}
return true;
}
GOAPState apply_effect(GOAPState& state) {
// RCR SUGGEST: state = (state & ~write_mask) | effect
auto state_cp = state;
for(auto [name, setting] : effects) {
state_cp[name] = setting;
}
return state_cp;
}
bool operator==(const Action& other) const {
return other.name == name;
}
};
template<> struct std::hash<Action> {
size_t operator()(const Action& p) const {
return std::hash<std::string>{}(p.name);
}
};
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;
}
};
template<> struct std::hash<ActionState> {
size_t operator()(const ActionState& p) const {
return std::hash<Action>{}(p.action) ^ std::hash<GOAPState>{}(p.state);
}
};
using AStarPath = std::deque<Action>;
int distance_to_goal(GOAPState& from, GOAPState& to) {
auto result = from ^ to;
return result.count();
}
AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
AStarPath total_path{current};
int count = 0;
while(came_from.contains(current) && count++ < 10) {
current = came_from.at(current);
if(current != FINAL_ACTION) {
total_path.push_front(current);
}
}
return total_path;
}
inline int h(GOAPState& start, GOAPState& goal) {
return distance_to_goal(start, goal);
}
inline int d(GOAPState& start, GOAPState& goal) {
return distance_to_goal(start, goal);
}
inline ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
const ActionState *result = nullptr;
int lowest_score = SCORE_MAX;
for(auto& kv : open_set) {
if(kv.second < lowest_score) {
lowest_score = kv.second;
result = &kv.first;
}
}
return *result;
}
// map is the list of possible actions
// start and goal are two world states
std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& start, GOAPState& goal) {
std::unordered_map<ActionState, int> open_set;
std::unordered_map<Action, Action> came_from;
std::unordered_map<GOAPState, int> g_score;
ActionState start_state{FINAL_ACTION, start};
g_score[start] = 0;
open_set[start_state] = g_score[start] + h(start, goal);
while(!open_set.empty()) {
auto current = find_lowest(open_set);
if(is_subset(current.state, goal)) {
return std::make_optional<AStarPath>(reconstruct_path(came_from, current.action));
}
open_set.erase(current);
for(auto& neighbor_action : actions) {
// calculate the GOAPState being current/neighbor
if(!neighbor_action.can_effect(current.state)) {
continue;
}
auto neighbor = neighbor_action.apply_effect(current.state);
int d_score = d(current.state, neighbor);
int tentative_g_score = g_score[current.state] + d_score;
int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
if(tentative_g_score < neighbor_g_score) {
came_from.insert_or_assign(neighbor_action, current.action);
g_score[neighbor] = tentative_g_score;
// open_set gets the fScore
ActionState neighbor_as{neighbor_action, neighbor};
open_set[neighbor_as] = tentative_g_score + h(neighbor, goal);
}
}
}
return std::nullopt;
}
TEST_CASE("worldstate works", "[goap]") { TEST_CASE("worldstate works", "[goap]") {
enum StateNames { enum StateNames {

1
tests/pathing.cpp
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@ -4,6 +4,7 @@
#include <fstream> #include <fstream>
#include "pathing.hpp" #include "pathing.hpp"
#include "matrix.hpp" #include "matrix.hpp"
#include "goap.hpp"
using namespace fmt; using namespace fmt;
using namespace nlohmann; using namespace nlohmann;

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