GoapPlanner

Remarks

Backwards, from goal to satisfied, which is doc 37 § D10. A node is one action chosen to serve a condition; its children are the actions that can serve its unmet conditions. The search finishes at the first node whose own conditions all hold in the projected world — that action can be run now, and the chain back up to the goal is the plan.

⚠ A plan is a chain, so an action with two unmet conditions is served one at a time — and that is correct rather than a simplification. Only the head is committed (§ D11): the head is by construction runnable now, running it changes the world, and the next resolve plans from what the world then is. A search that instead tried to satisfy every branch of a conjunction at once would be a hyper-graph search whose plans go stale before their second step.

⚠ An action may not appear twice in one chain. Without that, a domain where two actions serve each other's conditions is an infinite descent — and the budget would report exhaustion for a domain with a perfectly good two-step plan in it.

It searches a GoapSnapshot and never the world, which is what makes a resolve a job. See GoapPlanQueue.

Fields and properties (4)

• public GoapDomain Domain

  The domain being searched.

• public GoapSettings Settings

  What bounds a search.

• public int LastExpanded

  How many nodes the last search expanded.

• public List<GoapConsidered>? Traced

  Where the search writes down what it considered and rejected, when a tool asked for it.

Methods (3)

• public GoapPlanner(GoapDomain domain, GoapSettings? settings = null)

  Creates a planner over a domain.

• public PlanFailure Resolve(in AgentContext context, GoapPlan plan, int goal = -1, IActionCostModel? costs = null, GoapTargetSensors? sensors = null, GoapCapabilities capabilities = default(GoapCapabilities))

  Takes a snapshot and searches it, on the caller's thread.

• public PlanFailure Search(GoapSnapshot snapshot, GoapPlan plan)

  Searches a snapshot. Touches nothing else, so it may run anywhere.

Used by (8)

• GoapBudgetTestsVixen.Ai.Tests
• GoapCostTestsVixen.Ai.Tests
• GoapPearTestsVixen.Ai.Tests
• GoapPlanQueueVixen.Ai
• GoapReplanTestsVixen.Ai.Tests
• GoapDomainViewVixen.Editor.AssetEditors
• GoapGraphProjectionTestsVixen.Editor.AssetEditors.Tests
• LiveGoapTestsVixen.Editor.AssetEditors.Tests