Class BaseAction<TPermutation>

Abstract base class for a planner action (counterpart of IOperationalAction).

Inheritance

System.Object

BaseAction<TPermutation>

Namespace: Unity.AI.Planner.DomainLanguage.TraitBased

Syntax

public abstract class BaseAction<TPermutation> : ComponentSystem, IActionSystem where TPermutation : struct

Type Parameters

Name	Description
TPermutation	Argument permutation type (see generated code or tests for an example)

Fields

m_ArgumentPermutations

Local storage (cache) for argument permutations generated in GenerateArgumentPermutations(Entity)

Declaration

protected List<TPermutation> m_ArgumentPermutations

Field Value

Type	Description
System.Collections.Generic.List<TPermutation>

m_ExpansionList

List of states marked for expansion

Declaration

protected EntityQuery m_ExpansionList

Field Value

Type	Description
EntityQuery

m_FilterTuples

Filtered tuples of entities and indexes in the domain object reference buffer

Declaration

protected (NativeArray<ComponentType>, List<(Entity, int)>)[] m_FilterTuples

Field Value

Type	Description
System.ValueTuple<NativeArray<ComponentType>, System.Collections.Generic.List<System.ValueTuple<Entity, System.Int32>>>[]

Properties

ActionSystemGuid

Globally unique ID for the action system

Declaration

public Guid ActionSystemGuid { get; }

Property Value

Type	Description
System.Guid

Name

Name for the action system

Declaration

public string Name { get; }

Property Value

Type	Description
System.String

Methods

ApplyEffects(TPermutation, Entity, Entity, Int32)

Apply effects of this action to a copy of the original state using the arguments (i.e. permutation)

Declaration

protected abstract void ApplyEffects(TPermutation permutation, Entity parentPolicyGraphNodeEntity, Entity originalStateEntity, int horizon)

Parameters

Type	Name	Description
TPermutation	permutation	Permutation of arguments for this action
Entity	parentPolicyGraphNodeEntity	Entity for the policy graph node that is being expanded
Entity	originalStateEntity	Entity for the state of the policy graph node that is being expanded
System.Int32	horizon	Horizon of the parent policy graph node

CopyState(Entity)

Create a copy of the specified state

Declaration

protected Entity CopyState(Entity parentStateEntity)

Parameters

Type	Name	Description
Entity	parentStateEntity	Entity for the parent state to be copied

Returns

Type	Description
Entity	Entity for the copied state

CreateActionNode(Entity)

Create an action node in the policy graph for the expansion

Declaration

protected Entity CreateActionNode(Entity parentPolicyGraphNodeEntity)

Parameters

Type	Name	Description
Entity	parentPolicyGraphNodeEntity	Entity for the policy graph node that is being expanded

Returns

Type	Description
Entity	Entity for the newly created action node

FilterObjects(Entity)

Create tuples of filtered objects based on parameters specified in the Plan Definition

Declaration

protected void FilterObjects(Entity stateEntity)

Parameters

Type	Name	Description
Entity	stateEntity

GenerateArgumentPermutations(Entity)

Method for generating argument permutations (that match preconditions) in order to apply effects later

Declaration

protected abstract void GenerateArgumentPermutations(Entity stateEntity)

Parameters

Type	Name	Description
Entity	stateEntity	Entity for the state of the policy graph node that is being expanded

GetEntity(DynamicBuffer<DomainObjectReference>, Int32, Entity)

Get the entity at specified index of the state

Declaration

protected Entity GetEntity(DynamicBuffer<DomainObjectReference> domainObjectBuffer, int index, Entity stateEntity)

Parameters

Type	Name	Description
DynamicBuffer<DomainObjectReference>	domainObjectBuffer	State buffer of domain object references
System.Int32	index	Index of domain object in buffer
Entity	stateEntity	Entity for the state

Returns

Type	Description
Entity	Entity for the specified domain object

GetEntityByDomainObjectID(DomainObjectID, Entity)

Look up the domain object entity by DomainObjectID

Declaration

public Entity GetEntityByDomainObjectID(DomainObjectID id, Entity stateEntity)

Parameters

Type	Name	Description
DomainObjectID	id	ID of the domain object
Entity	stateEntity	Entity for the state

Returns

Type	Description
Entity	Entity that matches the DomainObjectID

GetTrait<T>(Entity)

Return the trait for a specified domain object entity

Declaration

public T GetTrait<T>(Entity entity)
    where T : struct, IComponentData

Parameters

Type	Name	Description
Entity	entity	Entity for the domain object

Returns

Type	Description
T	The specified trait data

Type Parameters

Name	Description
T	Trait type

GetTrait<T>(Entity, Entity, Int32)

Return the trait for a specific argument (i.e. Entity) that was specified with the action

Declaration

public T GetTrait<T>(Entity actionEntity, Entity stateEntity, int argumentIndex)
    where T : struct, IComponentData

Parameters

Type	Name	Description
Entity	actionEntity	Entity for the planner action node
Entity	stateEntity	Entity for the state in which the action is performed
System.Int32	argumentIndex	Index of the argument (corresponds with the parameter index in the Plan Definition)

Returns

Type	Description
T	The specified trait data

Type Parameters

Name	Description
T	Trait type

OnCreateManager()

Declaration

protected override void OnCreateManager()

OnUpdate()

Process:

Input - Entities for policy graph nodes (state) to be expanded

Iterate over various combinations of parameters by evaluating preconditions
For every valid combination apply effects (must copy state in the process)

Output - Resulting states + action node information

Declaration

protected override void OnUpdate()

SetActionData(Entity, Entity, Entity, Int32, Entity, Single, Single)

Update the newly created state with additional action information

Declaration

protected void SetActionData(Entity stateCopyEntity, Entity parentStateEntity, Entity parentPolicyGraphNode, int horizon, Entity actionNodeEntity, float value, float probability = 1F)

Parameters

Type	Name	Description
Entity	stateCopyEntity	Entity for the copied state for this action permutation
Entity	parentStateEntity	Entity for the state of the policy graph node that is being expanded
Entity	parentPolicyGraphNode	Entity for the policy graph node that is being expanded
System.Int32	horizon	Horizon of the newly created policy graph node
Entity	actionNodeEntity	Entity for the action node in the policy graph
System.Single	value	Transition utility value for following this action
System.Single	probability	Probability of this action occuring

SetTrait<T>(WriteTrait<T>, Entity)

Write back a trait for a specific domain object entity

Declaration

protected void SetTrait<T>(WriteTrait<T> setter, Entity entity)
    where T : struct, ITrait

Parameters

Type	Name	Description
WriteTrait<T>	setter	Delegate for modifying trait values (uses ref)
Entity	entity	Entity for the domain object

Type Parameters

Name	Description
T	Trait type