Updated planner code

src/gamedata/CharacterAIModule.cpp

@@ -407,6 +407,28 @@ void CharacterAIModule::buildPlans(flecs::entity town, const TownNPCs &npcs,
 {
     OgreAssert(town.is_valid(), "Bad town entity");
     std::lock_guard<std::mutex> lock(*ai.mutex);
+    auto planner = ai.planner;
+    auto buildPlan = [planner](Blackboard &blackboard,
+                   const TownAI::goal_t &goal,
+                   TownAI::Plan &plan) -> bool {
+        if (goal.is_reached(blackboard))
+            return false;
+        plan.goal = &goal;
+        std::vector<goap::BaseAction<Blackboard> *> path;
+        int actionCount = blackboard.getActionsCount();
+        auto actionsData = blackboard.getActionsData();
+        path.resize(actionCount * actionCount);
+        int path_length = planner->plan(blackboard, goal, actionsData,
+                        actionCount, path.data(),
+                        path.size());
+        if (path_length > 0) {
+            plan.goal = &goal;
+            plan.plan.insert(plan.plan.end(), path.begin(),
+                     path.begin() + path_length);
+            return true;
+        }
+        return false;
+    };
     for (auto it = npcs.npcs.begin(); it != npcs.npcs.end(); it++) {
         if (ai.blackboards.find(it->first) == ai.blackboards.end())
             continue;
@@ -419,10 +441,8 @@ void CharacterAIModule::buildPlans(flecs::entity town, const TownNPCs &npcs,
         int index = it->first;
         ai.plans[index] = {};
         for (const auto &goal : ai.goals) {
-            if (goal.is_reached(bb))
-                continue;
             struct TownAI::Plan plan;
-            plan.goal = &goal;
+            bool created = buildPlan(bb, goal, plan);
 #if 0
                     std::cout << "blackboard: "
                           << bb.stats.dump(4)
@@ -431,15 +451,6 @@ void CharacterAIModule::buildPlans(flecs::entity town, const TownNPCs &npcs,
                           << goal.goal.stats.dump(4)
                           << std::endl;
 #endif
-            std::vector<goap::BaseAction<Blackboard> *> path;
-            int actionCount =
-                ai.blackboards.at(it->first).getActionsCount();
-            auto actionsData =
-                ai.blackboards.at(it->first).getActionsData();
-            path.resize(actionCount * actionCount);
-            int path_length = ai.planner->plan(
-                bb, goal, actionsData, actionCount, path.data(),
-                path.size());
 #if 0
                     std::cout << "Actions: " << std::endl;
                     for (auto &action : actions) {
@@ -459,38 +470,21 @@ void CharacterAIModule::buildPlans(flecs::entity town, const TownNPCs &npcs,
                     }
 #endif
 #if 1
-            std::cout << bb.index << " ";
-            std::cout << "Goal: " << goal.get_name();
-            std::cout << std::endl;
-            std::cout << "Path: ";
-            int count = 0;
-            if (path_length < 0) {
-                std::cout << "Bad plan " << path_length
+            if (created) {
+                std::cout << bb.index << " ";
+                std::cout << "Goal: " << goal.get_name();
+                std::cout << std::endl;
+                std::cout << "Path: ";
+                for (auto &action : plan.plan) {
+                    OgreAssert(action, "No action");
+                    std::cout << action->get_name() + " ";
+                }
+                std::cout << " size: " << plan.plan.size()
                       << std::endl;
-            }
-            for (auto &action : path) {
-                if (count >= path_length)
-                    break;
-                OgreAssert(action, "No action");
-                std::cout << action->get_name();
-                if (count < path_length - 1)
-                    std::cout << ", ";
-                count++;
-            }
-            std::cout << std::endl;
-            std::cout << path_length << std::endl;
-            //                    OgreAssert(path_length == 0,
-            //                           "planning");
-#endif
-            if (path_length > 0) {
-                plan.goal = &goal;
-                plan.plan.insert(plan.plan.end(), path.begin(),
-                         path.begin() + path_length);
                 ai.plans[it->first].push_back(plan);
-                break;
-            }
-            if (path_length > 0)
                 OgreAssert(false, "plan");
+            }
+#endif
         }
     }
 }

src/gamedata/CharacterAIModule.h

@@ -78,9 +78,9 @@ struct TownAI {
         goap::BasePlanner<Blackboard, goap::BaseAction<Blackboard> > >
         planner;
     std::unordered_map<int, Blackboard> blackboards;
+    typedef goap::BasePlanner<Blackboard, goap::BaseAction<Blackboard> >::BaseGoal goal_t;
     struct Plan {
-        const goap::BasePlanner<Blackboard,
-                  goap::BaseAction<Blackboard> >::BaseGoal *goal;
+        const goal_t *goal;
         std::vector<goap::BaseAction<Blackboard> *> plan;
     };
     std::unordered_map<int, std::vector<struct Plan> > plans;