GOAP now uses only bit operations to do its thing.

Makefile

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

goap.cpp

@@ -8,22 +8,12 @@ namespace ailol {
   }
 
   bool Action::can_effect(GOAPState& state) {
-    for(auto [name, setting] : preconds) {
-      if(state[name] != setting) return false;
-    }
-
-    return true;
+    return ((state & positive_preconds) == positive_preconds) &&
+      ((state & negative_preconds) == ALL_ZERO);
   }
 
   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;
+    return (state | positive_effects) & ~negative_effects;
   }
 
   int distance_to_goal(GOAPState& from, GOAPState& to) {

goap.hpp

@@ -7,19 +7,41 @@
 
 namespace ailol {
   constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
-  constexpr const size_t STATE_MAX = 16;
+  constexpr const size_t STATE_MAX = 93;
 
   using GOAPState = std::bitset<STATE_MAX>;
 
+  const GOAPState ALL_ZERO;
+  const GOAPState ALL_ONES = ~ALL_ZERO;
+
   struct Action {
     std::string name;
     int cost = 0;
 
-    std::unordered_map<int, bool> preconds;
-    std::unordered_map<int, bool> effects;
+    GOAPState positive_preconds;
+    GOAPState negative_preconds;
+
+    GOAPState positive_effects;
+    GOAPState negative_effects;
 
     Action(std::string name, int cost) :
-      name(name), cost(cost) {}
+      name(name), cost(cost) { }
+
+    void set_precond(int name, bool val) {
+      if(val) {
+        positive_preconds[name] = true;
+      } else {
+        negative_preconds[name] = true;
+      }
+    }
+
+    void set_effect(int name, bool val) {
+      if(val) {
+        positive_effects[name] = true;
+      } else {
+        negative_effects[name] = true;
+      }
+    }
 
     bool can_effect(GOAPState& state);
     GOAPState apply_effect(GOAPState& state);

tests/goap.cpp

@@ -1,6 +1,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include "dbc.hpp"
 #include "goap.hpp"
+#include <iostream>
 
 using namespace dbc;
 using namespace ailol;
@@ -23,8 +24,8 @@ TEST_CASE("worldstate works", "[goap]") {
   goal[ENEMY_DEAD] = true;
 
   Action move_closer("move_closer", 10);
-  move_closer.preconds[ENEMY_IN_RANGE] = false;
-  move_closer.effects[ENEMY_IN_RANGE] = true;
+  move_closer.set_precond(ENEMY_IN_RANGE, false);
+  move_closer.set_effect(ENEMY_IN_RANGE, true);
 
   REQUIRE(move_closer.can_effect(start));
   auto after_move_state = move_closer.apply_effect(start);
@@ -37,9 +38,9 @@ TEST_CASE("worldstate works", "[goap]") {
   REQUIRE(distance_to_goal(start, after_move_state) == 1);
 
   Action kill_it("kill_it", 10);
-  kill_it.preconds[ENEMY_IN_RANGE] = true;
-  kill_it.preconds[ENEMY_DEAD] = false;
-  kill_it.effects[ENEMY_DEAD] = true;
+  kill_it.set_precond(ENEMY_IN_RANGE, true);
+  kill_it.set_precond(ENEMY_DEAD, false);
+  kill_it.set_effect(ENEMY_DEAD, true);
 
   REQUIRE(!kill_it.can_effect(start));
   REQUIRE(kill_it.can_effect(after_move_state));
@@ -72,13 +73,13 @@ TEST_CASE("basic feature tests", "[goap]") {
   goal[ENEMY_DEAD] = true;
 
   Action move_closer("move_closer", 10);
-  move_closer.preconds[ENEMY_IN_RANGE] = false;
-  move_closer.effects[ENEMY_IN_RANGE] = true;
+  move_closer.set_precond(ENEMY_IN_RANGE, false);
+  move_closer.set_effect(ENEMY_IN_RANGE, true);
 
   Action kill_it("kill_it", 10);
-  kill_it.preconds[ENEMY_IN_RANGE] = true;
-  kill_it.preconds[ENEMY_DEAD] = false;
-  kill_it.effects[ENEMY_DEAD] = true;
+  kill_it.set_precond(ENEMY_IN_RANGE, true);
+  kill_it.set_precond(ENEMY_DEAD, false);
+  kill_it.set_effect(ENEMY_DEAD, true);
 
   // order seems to matter which is wrong
   actions.push_back(kill_it);
@@ -112,28 +113,28 @@ TEST_CASE("wargame test from cppGOAP", "[goap]") {
   // 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;
+  spiral.set_precond(target_acquired, false);
+  spiral.set_precond(target_lost, true);
+  spiral.set_effect(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;
+  serpentine.set_precond(target_acquired, false);
+  serpentine.set_precond(target_lost, false);
+  serpentine.set_effect(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;
+  intercept.set_precond(target_acquired, true);
+  intercept.set_precond(target_dead, false);
+  intercept.set_effect(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;
+  detonateNearTarget.set_precond(target_in_warhead_range, true);
+  detonateNearTarget.set_precond(target_acquired, true);
+  detonateNearTarget.set_precond(target_dead, false);
+  detonateNearTarget.set_effect(target_dead, true);
   actions.push_back(detonateNearTarget);
 
   // Here's the initial state...