GOAP is now matching cppGOAP but needs a serious cleanup.

tests/goap.cpp

@@ -12,20 +12,12 @@ using namespace dbc;
 using namespace components;
 
 constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
-
+constexpr const size_t STATE_MAX = 16;
-enum StateNames {
-  ENEMY_IN_RANGE,
-  ENEMY_DEAD,
-  STATE_MAX
-};
 
 using GOAPState = std::bitset<STATE_MAX>;
 
 bool is_subset(GOAPState& source, GOAPState& target) {
-
   GOAPState result = source & target;
-
-  std::cout << "IS_SUBSET: source: " << source << " target: " << target << " result: " << result << " is it? " << (result == target) << std::endl;
   return result == target;
 }
 
@@ -33,8 +25,11 @@ struct Action {
   std::string name;
   int cost = 0;
 
-  std::unordered_map<StateNames, bool> preconds;
+  std::unordered_map<int, bool> preconds;
-  std::unordered_map<StateNames, bool> effects;
+  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) {
@@ -66,12 +61,15 @@ template<> struct std::hash<Action> {
   }
 };
 
-const Action FINAL_ACTION{"END", SCORE_MAX, {}, {}};
+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;
   }
@@ -92,50 +90,40 @@ int distance_to_goal(GOAPState& from, GOAPState& to) {
 
 
 AStarPath reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
-  fmt::println(">> reconstruct path: {}", current.name);
   AStarPath total_path{current};
   int count = 0;
 
   while(came_from.contains(current) && count++ < 10) {
-    current = came_from[current];
+    current = came_from.at(current);
     if(current != FINAL_ACTION) {
-      fmt::println("adding next action: {}", current.name);
       total_path.push_front(current);
     }
   }
 
-  fmt::println("Exited reconstruct path.");
   return total_path;
 }
 
 inline int h(GOAPState& start, GOAPState& goal) {
-  int result = distance_to_goal(start, goal);
+  return distance_to_goal(start, goal);
-  std::cout << "h on " << start << " and " << goal << " gives distance " << result << "\n";
-  return result;
 }
 
 inline int d(GOAPState& start, GOAPState& goal) {
-  int result = distance_to_goal(start, goal);
+  return distance_to_goal(start, goal);
-  std::cout << "d on " << start << " and " << goal << " gives distance " << result << "\n";
-  return result;
 }
 
 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");
-  ActionState result;
+  const ActionState *result = nullptr;
   int lowest_score = SCORE_MAX;
 
-  for(auto [as, score] : open_set) {
+  for(auto& kv : open_set) {
-    fmt::println("### find_lowest: action={}, score={}", as.action.name, score);
+    if(kv.second < lowest_score) {
-
+      lowest_score = kv.second;
-    if(score < lowest_score) {
+      result = &kv.first;
-      lowest_score = score;
-      result = as;
     }
   }
 
-  fmt::println("<<< found lowest: action={}, score={}", result.action.name, lowest_score);
+  return *result;
-  return result;
 }
 
 
@@ -152,7 +140,6 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
   open_set[start_state] = g_score[start] + h(start, goal);
 
   while(!open_set.empty()) {
-    fmt::println(">>>>>>>>>>>>>>>>>>>>>> TOP OF WHILE");
     auto current = find_lowest(open_set);
 
     if(is_subset(current.state, goal)) {
@@ -162,11 +149,8 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
     open_set.erase(current);
 
     for(auto& neighbor_action : actions) {
-      fmt::println("^^^ NEXT ACTION {}", neighbor_action.name);
-
       // calculate the GOAPState being current/neighbor
       if(!neighbor_action.can_effect(current.state)) {
-        fmt::println("^^^ SKIP action {}", neighbor_action.name);
         continue;
       }
 
@@ -175,21 +159,14 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
       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) {
-        fmt::println("!!! NEW LOW SCORE::: SETTING {} with PARENT {}, tg_score={}, ng_score={}",
+        came_from.insert_or_assign(neighbor_action, current.action);
-            neighbor_action.name, current.action.name,
-            tentative_g_score, neighbor_g_score);
-
-        came_from[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);
       }
-      fmt::println("^^^ END ACTION LOOP");
     }
-
-    fmt::println("<<<<<<<<<<<<<<<<< END OF WHILE");
   }
 
   return std::nullopt;
@@ -197,6 +174,11 @@ std::optional<AStarPath> plan_actions(std::vector<Action>& actions, GOAPState& s
 
 
 TEST_CASE("worldstate works", "[goap]") {
+  enum StateNames {
+    ENEMY_IN_RANGE,
+    ENEMY_DEAD
+  };
+
   GOAPState goal;
   GOAPState start;
   std::vector<Action> actions;
@@ -208,9 +190,7 @@ TEST_CASE("worldstate works", "[goap]") {
   // end goal is enemy is dead
   goal[ENEMY_DEAD] = true;
 
-  Action move_closer;
+  Action move_closer("move_closer", 10);
-  move_closer.name = "move_closer";
-  move_closer.cost = 10;
   move_closer.preconds[ENEMY_IN_RANGE] = false;
   move_closer.effects[ENEMY_IN_RANGE] = true;
 
@@ -224,9 +204,7 @@ TEST_CASE("worldstate works", "[goap]") {
   REQUIRE(!move_closer.can_effect(after_move_state));
   REQUIRE(distance_to_goal(start, after_move_state) == 1);
 
-  Action kill_it;
+  Action kill_it("kill_it", 10);
-  kill_it.name = "kill_it";
-  kill_it.cost = 10;
   kill_it.preconds[ENEMY_IN_RANGE] = true;
   kill_it.preconds[ENEMY_DEAD] = false;
   kill_it.effects[ENEMY_DEAD] = true;
@@ -245,6 +223,11 @@ TEST_CASE("worldstate works", "[goap]") {
 }
 
 TEST_CASE("basic feature tests", "[goap]") {
+  enum StateNames {
+    ENEMY_IN_RANGE,
+    ENEMY_DEAD
+  };
+
   GOAPState goal;
   GOAPState start;
   std::vector<Action> actions;
@@ -256,15 +239,11 @@ TEST_CASE("basic feature tests", "[goap]") {
   // end goal is enemy is dead
   goal[ENEMY_DEAD] = true;
 
-  Action move_closer;
+  Action move_closer("move_closer", 10);
-  move_closer.name = "move_closer";
-  move_closer.cost = 10;
   move_closer.preconds[ENEMY_IN_RANGE] = false;
   move_closer.effects[ENEMY_IN_RANGE] = true;
 
-  Action kill_it;
+  Action kill_it("kill_it", 10);
-  kill_it.name = "kill_it";
-  kill_it.cost = 10;
   kill_it.preconds[ENEMY_IN_RANGE] = true;
   kill_it.preconds[ENEMY_DEAD] = false;
   kill_it.effects[ENEMY_DEAD] = true;
@@ -276,7 +255,75 @@ TEST_CASE("basic feature tests", "[goap]") {
   auto result = plan_actions(actions, start, goal);
   REQUIRE(result != std::nullopt);
 
+  auto state = start;
+
   for(auto& action : *result) {
     fmt::println("ACTION: {}", action.name);
+    state = action.apply_effect(state);
   }
+
+  REQUIRE(state[ENEMY_DEAD]);
+}
+
+TEST_CASE("wargame test from cppGOAP", "[goap]") {
+  std::vector<Action> actions;
+
+  // Constants for the various states are helpful to keep us from
+  // accidentally mistyping a state name.
+  enum WarGameStates {
+    target_acquired,
+    target_lost,
+    target_in_warhead_range,
+    target_dead
+  };
+
+  // Now establish all the possible actions for the action pool
+  // In this example we're providing the AI some different FPS actions
+  Action spiral("searchSpiral", 5);
+  spiral.preconds[target_acquired] = false;
+  spiral.preconds[target_lost] = true;
+  spiral.effects[target_acquired] = true;
+  actions.push_back(spiral);
+
+  Action serpentine("searchSerpentine", 5);
+  serpentine.preconds[target_acquired] = false;
+  serpentine.preconds[target_lost] = false;
+  serpentine.effects[target_acquired] = true;
+  actions.push_back(serpentine);
+
+  Action intercept("interceptTarget", 5);
+  intercept.preconds[target_acquired] = true;
+  intercept.preconds[target_dead] = false;
+  intercept.effects[target_in_warhead_range] = true;
+  actions.push_back(intercept);
+
+  Action detonateNearTarget("detonateNearTarget", 5);
+  detonateNearTarget.preconds[target_in_warhead_range] = true;
+  detonateNearTarget.preconds[target_acquired] = true;
+  detonateNearTarget.preconds[target_dead] = false;
+  detonateNearTarget.effects[target_dead] = true;
+  actions.push_back(detonateNearTarget);
+
+  // Here's the initial state...
+  GOAPState initial_state;
+  initial_state[target_acquired] = false;
+  initial_state[target_lost] = true;
+  initial_state[target_in_warhead_range] = false;
+  initial_state[target_dead] = false;
+
+  // ...and the goal state
+  GOAPState goal_target_dead;
+  goal_target_dead[target_dead] = true;
+
+  auto result = plan_actions(actions, initial_state, goal_target_dead);
+  REQUIRE(result != std::nullopt);
+
+  auto state = initial_state;
+
+  for(auto& action : *result) {
+    fmt::println("ACTION: {}", action.name);
+    state = action.apply_effect(state);
+  }
+
+  REQUIRE(state[target_dead]);
 }