GOAP is structured but not working yet.

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 ."

README.md

@@ -127,6 +127,18 @@ I would also like statistics that show it's better, not just your word.
 
 It's early so probably a bunch of bugs.
 
+## Linux Build Notes
+
+Libraries Needed:
+
+* libxi-dev
+* libfreetype-dev
+
+It uses c++ so you may need to install a libg++ or libc++ for your system. Usually this is all you
+need:
+
+apt install build-essential
+
 ## OSX Build Notes
 
 * Quite a bad experience. Need to install Python, cmake, meson, and ninja all which are in homebrew but if you don't use homebrew then this is a problem.

assets/config.json

@@ -54,7 +54,7 @@
     "tunnel_with_rocks_stage": "assets/tunnel_with_rocks_stage.png"
   },
   "worldgen": {
-    "enemy_probability": 80,
+    "enemy_probability": 30,
     "empty_room_probability": 10,
     "device_probability": 10
   }

lel.cpp

@@ -43,18 +43,14 @@ namespace lel {
 
     for(auto& row : grid) {
       size_t columns = row.size();
+      int cell_width = grid_w / columns;
+      dbc::check(cell_width > 0, "invalid cell width calc");
+      dbc::check(cell_height > 0, "invalid cell height calc");
 
       for(auto& name : row) {
         if(name == "_") continue;
         auto& cell = cells.at(name);
 
-        int cell_width = grid_w / columns;
-        dbc::check(cell_width > 0, "invalid cell width calc");
-        dbc::check(cell_height > 0, "invalid cell height calc");
-
-        cell.x = grid_x + (cell.col * cell_width);
-        cell.y = grid_y + (cell.row * cell_height);
-
         // ZED: getting a bit hairy but this should work
         if(cell.percent) {
           // when percent mode we have to take unset to 100%
@@ -73,6 +69,9 @@ namespace lel {
         dbc::check(cell.h > 0, fmt::format("invalid height cell {}", name));
         dbc::check(cell.w > 0, fmt::format("invalid width cell {}", name));
 
+        cell.x = grid_x + (cell.col * cell_width);
+        cell.y = grid_y + (cell.row * cell_height);
+
         // keep the midpoint since it is used a lot
         cell.mid_x = std::midpoint(cell.x, cell.x + cell.w);
         cell.mid_y = std::midpoint(cell.y, cell.y + cell.h);

main.cpp

@@ -2,41 +2,49 @@
 #include "textures.hpp"
 #include "sound.hpp"
 #include "autowalker.hpp"
+#include <iostream>
 
 int main(int argc, char* argv[]) {
-  textures::init();
+  try {
-  sound::init();
+    textures::init();
-  sound::mute(false);
+    sound::init();
-  gui::FSM main;
+    sound::mute(true);
-  main.event(gui::Event::STARTED);
+    gui::FSM main;
-  Autowalker walker(main);
+    main.event(gui::Event::STARTED);
+    Autowalker walker(main);
 
-  sound::play("ambient_1", true);
+    sound::play("ambient_1", true);
 
-  if(argc > 1 && argv[1][0] == 't') {
+    if(argc > 1 && argv[1][0] == 't') {
-    walker.start_autowalk();
+      walker.start_autowalk();
-  }
+    }
 
-  while(main.active()) {
+    while(main.active()) {
-    main.render();
+      main.render();
 
-    // ZED: need to sort out how to deal with this in the FSM
+      // ZED: need to sort out how to deal with this in the FSM
-    if(main.in_state(gui::State::IDLE)
+      if(main.in_state(gui::State::IDLE)
-        || main.in_state(gui::State::NEXT_LEVEL)
+          || main.in_state(gui::State::NEXT_LEVEL)
-        || main.in_state(gui::State::MAPPING)
+          || main.in_state(gui::State::MAPPING)
-        || main.in_state(gui::State::IN_COMBAT))
+          || main.in_state(gui::State::IN_COMBAT))
-    {
+      {
-      if(main.autowalking) {
+        if(main.autowalking) {
-        walker.autowalk();
+          walker.autowalk();
-      } else {
+        } else {
-        main.keyboard_mouse();
+          main.keyboard_mouse();
+        }
+      } else{
+        main.event(gui::Event::TICK);
       }
-    } else{
+
-      main.event(gui::Event::TICK);
+      main.handle_world_events();
     }
 
-    main.handle_world_events();
+    return 0;
+  } catch(const std::system_error& e) {
+    std::cout << "WARNING: On OSX you'll get this error on shutdown.\n";
+    std::cout << "Caught system_error with code "
+                 "[" << e.code() << "] meaning "
+                 "[" << e.what() << "]\n";
   }
-
-  return 0;
 }

main_ui.cpp

@@ -128,9 +128,11 @@ namespace gui {
   std::optional<Point> MainUI::play_move() {
     if($camera.play_move($rayview)) {
       $needs_render = false;
-      return std::make_optional<Point>({
+      Point pos{
           size_t($camera.target_x),
-          size_t($camera.target_y)});
+          size_t($camera.target_y)};
+      return std::make_optional<Point>(pos);
+
     } else {
       $needs_render = true;
       return std::nullopt;

matrix.cpp

@@ -20,7 +20,7 @@ namespace matrix {
       } else if(cell == WALL_PATH_LIMIT) {
         print("# ");
       } else if(cell > 15) {
-        print("* ");
+        print("[{:x}]", cell);
       } else {
         print("{:x} ", cell);
       }

meson.build

@@ -5,19 +5,51 @@ project('raycaster', 'cpp',
     'cpp_args=-D_GLIBCXX_DEBUG=1 -D_GLIBCXX_DEBUG_PEDANTIC=1',
   ])
 
-add_global_link_arguments(
-  '-static-libgcc',
-  '-static-libstdc++',
-  '-static',
-  language: 'cpp',
-)
-
 # use this for common options only for our executables
 cpp_args=[]
+link_args=[]
 # these are passed as override_defaults
-exe_defaults = ['warning_level=2', 'werror=true']
+exe_defaults = [ 'warning_level=2' ]
 
 cc = meson.get_compiler('cpp')
+dependencies = []
+
+if build_machine.system() == 'windows'
+  add_global_link_arguments(
+    '-static-libgcc',
+    '-static-libstdc++',
+    '-static',
+    language: 'cpp',
+  )
+
+  sfml_main = dependency('sfml_main')
+  opengl32 = cc.find_library('opengl32', required: true)
+  winmm = cc.find_library('winmm', required: true)
+  gdi32 = cc.find_library('gdi32', required: true)
+
+  dependencies += [
+      opengl32, winmm, gdi32, sfml_main
+  ]
+  exe_defaults += ['werror=true']
+
+elif build_machine.system() == 'darwin'
+  add_global_link_arguments(
+    language: 'cpp',
+  )
+
+  opengl = dependency('OpenGL')
+  corefoundation = dependency('CoreFoundation')
+  carbon = dependency('Carbon')
+  cocoa = dependency('Cocoa')
+  iokit = dependency('IOKit')
+  corevideo = dependency('CoreVideo')
+
+  link_args += ['-ObjC']
+  exe_defaults += ['werror=false']
+  dependencies += [
+    opengl, corefoundation, carbon, cocoa, iokit, corevideo
+  ]
+endif
 
 catch2 = dependency('catch2-with-main')
 fmt = subproject('fmt').get_variable('fmt_dep')
@@ -33,12 +65,14 @@ sfml_audio = dependency('sfml_audio')
 sfml_graphics = dependency('sfml_graphics')
 sfml_network = dependency('sfml_network')
 sfml_system = dependency('sfml_system')
-sfml_window = dependency('sfml_window')
+sfml_window = dependency('sfml_window',
+  default_options: ['default_library=shared'])
+
 ftxui_screen = dependency('ftxui-screen')
 ftxui_dom = dependency('ftxui-dom')
 ftxui_component = dependency('ftxui-component')
 
-dependencies = [
+dependencies += [
   fmt, json, freetype2,
   flac, ogg, vorbis, vorbisfile, vorbisenc,
   sfml_audio, sfml_graphics,
@@ -46,16 +80,6 @@ dependencies = [
   sfml_window, ftxui_screen, ftxui_dom, ftxui_component
 ]
 
-if build_machine.system() == 'windows'
-  sfml_main = dependency('sfml_main')
-  opengl32 = cc.find_library('opengl32', required: true)
-  winmm = cc.find_library('winmm', required: true)
-  gdi32 = cc.find_library('gdi32', required: true)
-
-  dependencies += [
-      opengl32, winmm, gdi32, sfml_main
-  ]
-endif
 
 
 sources = [
@@ -96,6 +120,14 @@ sources = [
   'textures.cpp',
   'tilemap.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 + [
@@ -106,6 +138,7 @@ executable('runtests', sources + [
   'tests/dbc.cpp',
   'tests/dinkyecs.cpp',
   'tests/fsm.cpp',
+  'tests/goap.cpp',
   'tests/guecs.cpp',
   'tests/inventory.cpp',
   'tests/lel.cpp',
@@ -118,12 +151,16 @@ executable('runtests', sources + [
   'tests/spatialmap.cpp',
   'tests/textures.cpp',
   'tests/tilemap.cpp',
-  ], override_options: exe_defaults,
+  ],
+  cpp_args: cpp_args,
+  link_args: link_args,
+  override_options: exe_defaults,
   dependencies: dependencies + [catch2])
 
 
 executable('zedcaster',
   sources + [ 'main.cpp' ],
   cpp_args: cpp_args,
+  link_args: link_args,
   override_options: exe_defaults,
   dependencies: dependencies)

scripts/reset_build.sh

@@ -7,4 +7,4 @@ mv -f packagecache ./subprojects/ && true
 mkdir builddir
 cp wraps/*.wrap subprojects/
 # on OSX you can't do this with static
-meson setup builddir
+meson setup --default-library=static --prefer-static  builddir

tests/goap.cpp

@@ -0,0 +1,266 @@
+#include <catch2/catch_test_macros.hpp>
+#include "dbc.hpp"
+#include <iostream>
+#include <vector>
+#include "levelmanager.hpp"
+#include "matrix.hpp"
+#include "components.hpp"
+#include <bitset>
+#include <limits>
+
+using namespace dbc;
+using namespace components;
+
+constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
+
+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;
+}
+
+struct Action {
+  std::string name;
+  int cost = 0;
+
+  std::unordered_map<StateNames, bool> preconds;
+  std::unordered_map<StateNames, bool> effects;
+
+  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);
+  }
+};
+
+
+struct ActionState {
+  Action action;
+  GOAPState 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};
+
+  while(came_from.contains(current)) {
+    current = came_from[current];
+    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");
+  ActionState result;
+  int lowest_score = SCORE_MAX;
+
+  for(auto [as, score] : open_set) {
+    if(score < lowest_score) {
+      lowest_score = score;
+      result = as;
+    }
+  }
+
+  return result;
+}
+
+std::optional<Action> first_action(std::vector<Action>& actions, GOAPState& start) {
+  Action start_action;
+
+  for(auto& action : actions) {
+    if(action.can_effect(start)) {
+      return std::make_optional<Action>(action);
+    }
+  }
+
+  return std::nullopt;
+}
+
+// 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;
+
+  auto start_action = first_action(actions, start);
+  dbc::check(start_action != std::nullopt, "no action can start");
+
+  ActionState start_state{*start_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(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) {
+        // action attached?
+        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);
+      }
+    }
+  }
+
+  return std::nullopt;
+}
+
+
+TEST_CASE("worldstate works", "[goap]") {
+  GOAPState goal;
+  GOAPState start;
+  std::vector<Action> actions;
+
+  // start off enemy not dead and not in range
+  start[ENEMY_DEAD] = false;
+  start[ENEMY_IN_RANGE] = false;
+
+  // end goal is enemy is dead
+  goal[ENEMY_DEAD] = true;
+
+  Action move_closer;
+  move_closer.name = "move_closer";
+  move_closer.cost = 10;
+  move_closer.preconds[ENEMY_IN_RANGE] = false;
+  move_closer.effects[ENEMY_IN_RANGE] = true;
+
+  REQUIRE(move_closer.can_effect(start));
+  auto after_move_state = move_closer.apply_effect(start);
+  REQUIRE(start[ENEMY_IN_RANGE] == false);
+  REQUIRE(after_move_state[ENEMY_IN_RANGE] == true);
+  REQUIRE(after_move_state[ENEMY_DEAD] == false);
+  // start is clean but after move is dirty
+  REQUIRE(move_closer.can_effect(start));
+  REQUIRE(!move_closer.can_effect(after_move_state));
+  REQUIRE(distance_to_goal(start, after_move_state) == 1);
+
+  Action kill_it;
+  kill_it.name = "kill_it";
+  kill_it.cost = 10;
+  kill_it.preconds[ENEMY_DEAD] = false;
+  kill_it.effects[ENEMY_DEAD] = true;
+
+  REQUIRE(kill_it.can_effect(start));
+  REQUIRE(kill_it.can_effect(after_move_state));
+
+  auto after_kill_state = kill_it.apply_effect(after_move_state);
+  REQUIRE(!kill_it.can_effect(after_kill_state));
+  REQUIRE(distance_to_goal(after_move_state, after_kill_state) == 1);
+
+  actions.push_back(kill_it);
+  actions.push_back(move_closer);
+
+  REQUIRE(start != goal);
+}
+
+TEST_CASE("basic feature tests", "[goap]") {
+  GOAPState goal;
+  GOAPState start;
+  std::vector<Action> actions;
+
+  // start off enemy not dead and not in range
+  start[ENEMY_DEAD] = false;
+  start[ENEMY_IN_RANGE] = false;
+
+  // end goal is enemy is dead
+  goal[ENEMY_DEAD] = true;
+
+  Action move_closer;
+  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;
+  kill_it.name = "kill_it";
+  kill_it.cost = 10;
+  kill_it.preconds[ENEMY_DEAD] = false;
+  kill_it.effects[ENEMY_DEAD] = true;
+
+  actions.push_back(kill_it);
+  actions.push_back(move_closer);
+
+  auto result = plan_actions(actions, start, goal);
+  REQUIRE(result != std::nullopt);
+
+  for(auto& action : *result) {
+    fmt::println("ACTION: {}", action.name);
+  }
+}