feat: implemented heal action and goal

src/goap/action.cpp

@@ -29,6 +29,10 @@ ActionID Action::get_id() const {
     return this->id;
 }
 
+bool Action::get_require_state_complete() const {
+    return this->require_state_complete;
+}
+
 bool Action::procedural_is_possible(ActorWorldState *context) const {
     return true;
 }

src/goap/action.hpp

@@ -43,6 +43,7 @@ public:
     WorldState const &get_effects() const;
 
     ActionID get_id() const;
+    bool get_require_state_complete() const;
 protected:
     Action() = default;
     template<class TState>
@@ -54,6 +55,7 @@ protected:
     WorldState required{};
     WorldState effects{};
     bool only_proc_is_completed{false};
+    bool require_state_complete{true};
 private:
     ActionID id{-1};
 };

src/goap/state.cpp

@@ -16,8 +16,8 @@ void State::_enter_tree() {
 }
 
 void State::_process(double delta_time) {
-    if(this->is_action_done())
-        this->state_finished();
+    if(this->is_action_done() && this->get_action()->get_require_state_complete())
+        this->state_ended();
 }
 
 Action const *State::get_action() const {
@@ -26,20 +26,19 @@ Action const *State::get_action() const {
 
 void State::_end_state() {}
 
-void State::state_finished() {
+void State::state_ended() {
     this->end_state();
-    this->emit_signal("state_finished");
-}
-
-void State::state_failed() {
-    this->end_state();
-    this->emit_signal("state_failed");
+    this->emit_signal(this->is_action_done() ? "state_finished" : "state_failed");
 }
 
 bool State::is_action_done() const {
     return this->action->is_completed(this->world_state);
 }
 
+bool State::is_action_done_interrupt() const {
+    return this->is_action_done() && !this->action->get_require_state_complete();
+}
+
 void State::end_state() {
     this->_end_state();
     this->queue_free();

src/goap/state.hpp

@@ -19,10 +19,12 @@ public:
     virtual void _process(double delta_time) override;
 protected:
     Action const *get_action() const;
+    // \returns True if the Action's requirements are complete. Without evaluating Action::require_state_complete.
     bool is_action_done() const;
+    // \returns True if the Action's requirements are complete. Including Action::require_state_complete.
+    bool is_action_done_interrupt() const;
     virtual void _end_state();
-    void state_finished();
-    void state_failed();
+    void state_ended();
 private:
     void end_state();
 private: