From dfe6349c76fa46218c3a5544218ed40fb7108d3e Mon Sep 17 00:00:00 2001
From: Sara <sara@saragerretsen.nl>
Date: Mon, 25 Mar 2024 21:58:48 +0100
Subject: [PATCH] feat: outlined planner, started implementation

---
 src/planner.cpp | 95 +++++++++++++++++++++++++++++++++++++++++++++++++
 src/planner.hpp | 93 +++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 188 insertions(+)
 create mode 100644 src/planner.cpp
 create mode 100644 src/planner.hpp

diff --git a/src/planner.cpp b/src/planner.cpp
new file mode 100644
index 0000000..3ad233c
--- /dev/null
+++ b/src/planner.cpp
@@ -0,0 +1,95 @@
+#include "planner.hpp"
+#include "action.hpp"
+#include "global_world_state.hpp"
+#include "godot_cpp/templates/pair.hpp"
+#include "utils/godot_macros.h"
+#include <godot_cpp/templates/hash_set.hpp>
+#include <godot_cpp/templates/hashfuncs.hpp>
+#include <godot_cpp/variant/vector3.hpp>
+
+namespace godot::goap {
+void Planner::_bind_methods() {
+#define CLASSNAME Planner
+    GDPROPERTY_HINTED(actions, Variant::OBJECT, PROPERTY_HINT_ARRAY_TYPE, "Action");
+}
+
+void Planner::_ready() {
+    this->global_world_state = GlobalWorldState::get_singleton();
+}
+
+void Planner::_process(double delta_time) {
+    this->cached_world_state.clear();
+}
+
+Vector<State> Planner::make_plan(Goal *goal) {
+    HashMap<PlannerNode, int, PlannerNodeHasher> open{};
+    open.insert(PlannerNode{{}, goal->goal_state, nullptr}, 0);
+    HashMap<PlannerNode, Ref<Action>, PlannerNodeHasher> from{};
+    HashMap<PlannerNode, float, PlannerNodeHasher> score_to_start{};
+    HashMap<PlannerNode, float, PlannerNodeHasher> heuristic_score{};
+
+    PlannerNode current;
+    while(!open.is_empty()) {
+        int current_weight = 0;
+        for(KeyValue<PlannerNode, int> &kvp : open) {
+            if(kvp.value > current_weight) {
+                current = kvp.key;
+                current_weight = kvp.value;
+            }
+        }
+    }
+}
+
+Variant Planner::get_world_property(StringName prop_key) {
+    if(world_state_override.has(prop_key))
+        return world_state_override.get(prop_key);
+    if(prop_key.begins_with("g_"))
+        return this->global_world_state->get_world_property(prop_key);
+    if(this->cached_world_state.has(prop_key))
+        return this->cached_world_state[prop_key];
+    if(this->has_method("get_" + prop_key)) {
+        Variant val = this->call(prop_key);
+        this->cached_world_state[prop_key] = val;
+        return val;
+    }
+    return nullptr;
+}
+
+bool Planner::can_do(Ref<Action> action) {
+    for(WorldProperty &prop : action->context_prerequisites) {
+        if(this->get_world_property(prop.key) != prop.value)
+            return false;
+    }
+    return true;
+}
+
+Vector<Ref<Action>> Planner::find_actions_satisfying(WorldState requirements) {
+    Vector<Ref<Action>> found_actions{};
+    for(Ref<Action> &act : this->actions) {
+        for(WorldProperty &prop : requirements) {
+            if(act->effects.has(prop.key)
+            && act->effects.get(prop.key) == prop.value
+            && this->can_do(act))
+                found_actions.push_back(act);
+        }
+    }
+    return found_actions;
+}
+
+void Planner::set_actions(Array value) {
+    this->actions.clear();
+    for(size_t i{0}; i < value.size(); ++i) {
+        Ref<Action> act = value[i];
+        if(act.is_valid())
+            this->actions.push_back(value[i]);
+    }
+}
+
+Array Planner::get_actions() const {
+    Array array{};
+    for(Ref<Action> const &act : this->actions) {
+        array.push_back(act);
+    }
+    return array;
+}
+}
diff --git a/src/planner.hpp b/src/planner.hpp
new file mode 100644
index 0000000..13b6c23
--- /dev/null
+++ b/src/planner.hpp
@@ -0,0 +1,93 @@
+#ifndef GOAP_PLANNER_HPP
+#define GOAP_PLANNER_HPP
+
+#include "action.hpp"
+#include "godot_cpp/classes/object.hpp"
+#include "godot_cpp/variant/variant.hpp"
+#include <godot_cpp/classes/node.hpp>
+#include <godot_cpp/classes/resource.hpp>
+#include <godot_cpp/templates/vector.hpp>
+#include <godot_cpp/variant/string_name.hpp>
+
+namespace godot {
+class CharacterActor;
+
+namespace goap {
+class GlobalWorldState;
+
+struct State {
+    static State new_move_to(Vector3 location);
+    static State new_animate(StringName animation);
+    static State new_activate(Node *node);
+    enum Type {
+        STATE_MOVE_TO,
+        STATE_ANIMATE,
+        STATE_ACTIVATE
+    };
+    State::Type type;
+    union {
+        Vector3 move_to;
+        StringName animate;
+        Node *activate;
+    };
+};
+
+class Goal : public Resource {
+    GDCLASS(Goal, Resource);
+    static void _bind_methods();
+public:
+    WorldState goal_state{};
+};
+
+class Planner : public Node {
+    GDCLASS(Planner, Node);
+    static void _bind_methods();
+public:
+    virtual void _ready() override;
+    virtual void _process(double delta_time) override;
+
+    Vector<State> make_plan(Goal *goal);
+
+    Variant get_world_property(StringName prop_key);
+
+    bool can_do(Ref<Action> action);
+    Vector<Ref<Action>> find_actions_satisfying(WorldState requirements);
+
+    void set_actions(Array actions);
+    Array get_actions() const;
+private:
+    CharacterActor *actor{nullptr};
+    WorldState world_state_override{};
+    WorldState cached_world_state{};
+    GlobalWorldState *global_world_state{nullptr};
+
+    Vector<Ref<Action>> actions{};
+};
+
+struct PlannerNode {
+    WorldState state;
+    WorldState open_requirements;
+    Ref<Action> last_edge;
+
+    int heuristic_score(Ref<Action> action) {
+        int score{0};
+        return score;
+    }
+};
+
+struct PlannerNodeHasher {
+    static _FORCE_INLINE_ uint32_t hash(godot::goap::PlannerNode const &node) {
+        VariantHasher variant_hasher{};
+        Variant a{1};
+        variant_hasher.hash(a);
+    }
+};
+
+static _FORCE_INLINE_ bool operator==(PlannerNode const& lhs, PlannerNode const& rhs) {
+    return true;
+}
+}
+}
+
+
+#endif // !GOAP_PLANNER_HPP