Merge branch 'master' into feature/allow-to-requeue-agent

crashkonijn · Oct 4, 2023 · b053d6a · b053d6a
2 parents 5cbea8e + 38cca16
commit b053d6a
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diff --git a/Package/Runtime/CrashKonijn.Goap.Resolver/GraphResolverJob.cs b/Package/Runtime/CrashKonijn.Goap.Resolver/GraphResolverJob.cs
@@ -97,6 +97,12 @@ public void Execute()
                 closedSet.TryAdd(currentNode.Index, currentNode);
                 openSet.Remove(currentNode.Index);
 
+                // If this node has a condition that is false and has no connections, it is unresolvable
+                if (this.HasUnresolvableCondition(currentNode.Index))
+                {
+                    continue;
+                }
+
                 foreach (var conditionIndex in this.NodeConditions.GetValuesForKey(currentNode.Index))
                 {
                     if (runData.ConditionsMet[conditionIndex])
@@ -114,6 +120,7 @@ public void Execute()
                         var newG = currentNode.G + this.RunData.Costs[neighborIndex];
                         NodeData neighbor;
 
+                        // Current neighbour is not in the open set
                         if (!openSet.TryGetValue(neighborIndex, out neighbor))
                         {
                             neighbor = new NodeData
@@ -127,6 +134,7 @@ public void Execute()
                             continue;
                         }
 
+                        // This neighbour has a lower cost
                         if (newG < neighbor.G)
                         {
                             neighbor.G = newG;
@@ -167,5 +175,23 @@ private void RetracePath(NodeData startNode, NativeHashMap<int, NodeData> closed
                 currentNode = closedSet[currentNode.ParentIndex];
             }
         }
+
+        private bool HasUnresolvableCondition(int currentIndex)
+        {
+            foreach (var conditionIndex in this.NodeConditions.GetValuesForKey(currentIndex))
+            {
+                if (this.RunData.ConditionsMet[conditionIndex])
+                {
+                    continue;
+                }
+
+                if (!this.ConditionConnections.GetValuesForKey(conditionIndex).MoveNext())
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
     }
 }
diff --git a/Package/Tests/CrashKonijn.Goap.Tests/UnitTests/GraphResolverTests.cs b/Package/Tests/CrashKonijn.Goap.Tests/UnitTests/GraphResolverTests.cs
@@ -485,5 +485,69 @@ public void Resolve_ShouldNotResolve_CompletedCondition()
             result.Should().HaveCount(2);
             result.Should().Equal(incompleteAction, rootAction);
         }
+
+        [Test]
+        public void Resolve_ShouldNotResolve_ActionWithFalseConditionWithoutConnections()
+        {
+            var rootConnection = new TestConnection("Root");
+            var availableConnection = new TestConnection("Available");
+            var unavailableConnection = new TestConnection("Unavailable");
+
+            var goal = new TestAction("goal")
+            {
+                Conditions = new ICondition[] { rootConnection }
+            };
+
+            var expensiveAction = new TestAction("expensiveAction")
+            {
+                Effects = new IEffect[] { rootConnection },
+            };
+
+            var unavailableAction = new TestAction("subAction")
+            {
+                Effects = new IEffect[] { rootConnection },
+                Conditions = new ICondition[] { unavailableConnection, availableConnection }
+            };
+
+            var shouldNotResolveAction = new TestAction("shouldNotResolveAction")
+            {
+                Effects = new IEffect[] { availableConnection },
+            };
+
+            var actions = new IAction[] { goal, expensiveAction, unavailableAction, shouldNotResolveAction };
+            var resolver = new GraphResolver(actions, new TestKeyResolver());
+
+            var executableBuilder = resolver.GetExecutableBuilder();
+            executableBuilder
+                .SetExecutable(expensiveAction, true)
+                .SetExecutable(unavailableAction, false)
+                .SetExecutable(shouldNotResolveAction, true);
+
+            var positionBuilder = resolver.GetPositionBuilder();
+            var costBuilder = resolver.GetCostBuilder();
+            costBuilder.SetCost(expensiveAction, 100f);
+
+            var conditionBuilder = resolver.GetConditionBuilder();
+
+            // Act
+            var handle = resolver.StartResolve(new RunData
+            {
+                StartIndex = 0,
+                IsExecutable = new NativeArray<bool>(executableBuilder.Build(), Allocator.TempJob),
+                Positions = new NativeArray<float3>(positionBuilder.Build(), Allocator.TempJob),
+                Costs = new NativeArray<float>(costBuilder.Build(), Allocator.TempJob),
+                ConditionsMet = new NativeArray<bool>(conditionBuilder.Build(), Allocator.TempJob),
+                DistanceMultiplier = 1f
+            });
+
+            var result = handle.Complete();
+
+            // Cleanup
+            resolver.Dispose();
+
+            // Assert
+            result.Should().HaveCount(1);
+            result.Should().Equal(expensiveAction);
+        }
     }
 }