Changelog

All notable changes to this package will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[0.2.4-preview.3] - 2020-11-12

Fixed

  • Code generation for problem definitions using the default reward estimator now emits correct code

[0.2.4-preview.2] - 2020-11-03

Added

  • List support (fixed size) in ActionDefinition: Contains, Length, Clear, =, +=, -=
  • Temporary converters for convenience to convert old assets to new assets (will be removed in a future version)
  • PlanningAgent trait to allow distinguishing between the entity the agent is on from other agents in action definitions
  • Search to Plan Visualizer for filtering state data
  • Support for a custom named "AI.Shared" AsmDef to be created to allow for additional dependencies; AI.Planner.Custom will utilize this as a dependency
  • Experimental C# API, allowing access to the planning modules

Changed

  • TraitDefinition and EnumDefinition are now part of a separate AI Traits package that the AI Planner uses
  • SemanticObject component replaces the TraitComponent (deprecated)
  • Individual traits are now separate authoring components that can be added to GameObjects
  • Minimum Unity version is now 2020.1.2f
  • Entities dependency updated to version 0.16.0-preview.21
  • World queries are now handled through a SemanticQuery component from the Traits package (assigned on the DecisionController)
  • UnityEngine.* namespaces renamed to Unity.*
  • Planning jobs now allocate less memory during execution
  • State conversions after world queries now allocate less memory
  • Instances of "Policy" in naming have been replaced by "Plan"
  • Policy and action values have been refactored to "cumulative reward"
  • Mentions of "costs" (negative rewards) have been removed, in favor of "rewards"
  • "Heuristic" has been refactored to "cumulative reward estimator"
  • Items in the namespace "Unity.AI.Planner.DomainLanguage.TraitBased" have been moved to "Unity.AI.Planner.Traits"
  • "Subgraph complete" has been refactored to "subplan is complete"
  • PlanDefinition assets are now ProblemDefinition assets

Fixed

  • The execution mode for "WaitForManualExecutionCall" will now prevent the DecisionController from automatically executing actions until DecisionController.UpdateExecutor(forceAct: true) is called.

Removed

  • Scriban removed as a package dependency (though still a dependency of Traits)
  • Removed world queries, filters, trait components, gizmos, and other items now present in the Traits package

[0.2.3-preview.1] - 2020-05-05

Added

  • *= as an ActionDefinition effect operator
  • A limit and a sorting method can be set to action parameters to reduce the search space
  • Before code generation occurs an asset validation is performed to verify serialized data
  • Display a progress bar during planner code compilation
  • Allow expanding action nodes manually in plan visualizer
  • Expert-mode setting that displays planner advanced options by default
  • Add custom criteria on termination state definition
  • Add to DecisionController public access to plan and execution information (readonly)
  • Users can cap the number of updates a plan receives
  • Additional unit tests for planning and plan execution
  • Add and remove trait methods on TraitComponent
  • Add documentation for action callbacks
  • Add documentation for world queries

Changed

  • Rename AI.Planner.Domains to Generated.AI.Planner.StateRepresentation
  • Rename AI.Planner.Actions to Generated.AI.Planner.Plans
  • Custom planner methods need to be included in a folder with an AsmDef reference that points to AI.Planner.Custom
  • Update Scriban to version 2.1.1
  • Display action's parameters in plan visualizer
  • Update trait-based state data methods to use NativeString64 for name parameters
  • Change serialization of custom methods
  • Add scrollview on trait popup selection
  • Add method to check if a trait is set on a trait object in a state representation
  • ActionComplete has been renamed PlanExecutorStateUpdateMode
  • Updated state string representation to enhance readability
  • Plan pruning has moved off of the main thread and into a job
  • Package test domain (KeyDomain) now has fully Burst-compatible jobs
  • Rename AutoUpdate to AutoExecutePlan in the DecisionController
  • Update Entities dependency to 0.9.1-preview.15
  • Plan depth on the plan visualizer now corresponds to full state transitions, not individual state and action nodes

Fixed

  • Fix JobTempAlloc console warnings by enforcing the 4-frame permitted lifetime constraint as a workaround
  • Fix NativeString namespace in trait fields
  • Fix int32 assignation on TraitComponent
  • Fix errors with custom methods during first code generation
  • Fix Burst compatibility with actions that create objects
  • Fix stripping of bool fields from state data equality and hashing.
  • Fix custom reward code generation on termination state
  • Fix custom methods namespace conflicts with generated code
  • Fix enumeration usage in termination state
  • Fix native list not disposed on termination state
  • Fix callback serialization after an action is removed from the plan
  • Fix compilation endless loop on Windows
  • Fix world query preview result when the list is reordered
  • Fix custom reward parameter serialization upon adding a new custom reward to an action
  • PlanVisualizer now correctly looks up the current state in the plan. If the current state is not found in the plan, it will display the executor state
  • Fixed state hash code calculation to new ignore state-specific object IDs
  • Fix terminal state value for non-terminal states with no valid actions
  • Fix trait gizmo when field data are not initialized
  • Fix missing traits from add/remove modifier in plan state representation
  • Fix TraitComponent default values changed after inspecting a DecisionController in edit mode
  • Fix ICustomTrait implementation using AsmRef
  • Fix error from non-existent entity when rendering the plan visualizer while a past state node is selected
  • Fix error in computation of the maximum depth of the current plan

Removed

  • stateUpdated event on DecisionController
  • IDecisionController interface, in favor of accessing DecisionController instances directly
  • Local object data on DecisionController

[0.2.2-preview] - 2020-01-16

Fixed

  • Fix filepath concatenation when generating code.
  • Fix loss of existing player loop when initializing the plan executor.

[0.2.1-preview] - 2019-12-20

Added

  • IsIdle to IDecisionController to reflect when the controller is not planning and not executing actions.
  • UpdateStateWithWorldQuery to IDecisionController to allow updating the planner outside of action complete, such as where the plan is complete.
  • BoundedValue validity checks (e.g. NaN, infinity) for when custom heuristics go awry.
  • 32-bit integer field support for traits.
  • Play back the EntityCommandBuffer (for state changes) on a separate thread instead of the main thread.
  • Documentation for custom traits.
  • Planner setting for scheduling multiple iterations of search at once.
  • Action jobs, state evaluation jobs, and graph expansion jobs are now Burst-compatible.

Changed

  • Code now generates to the Packages directory as source.
  • Expose discount factor in the PlanDefinition settings.
  • Planner search and execution settings stay open when switching to play mode.
  • Clean up public API by hiding unnecessary interfaces, structs, and fields.
  • No longer block on previously scheduled planner iteration in the frame and simply wait until the job chain is complete.

Removed

  • Moveable.cs -- trait no longer uses CustomTrait, but instead gets generated from its TraitDefinition.

Fixed

  • Custom heuristic was not always getting picked up during code generation, so now the fully qualified name is serialized.
  • Compilation upon switching to play mode is more reliable now.
  • Null reference exceptions when adding a TraitComponent initially with no traits added.
  • Exception when dragging a GameObject with a missing component to an action callback of the DecisionController.
  • Comparison of custom traits during state equality.
  • Improved performance while the plan executor waits for plan execution criteria.

[0.2.0-preview] - 2019-12-02

Added

  • Planner search and execution settings under more options in DecisionController inspector.
  • ICustomTraitReward for custom reward modifiers based on specific traits.
  • Navigation module w/ traits, custom reward modifier, and simple navigation script.
  • Help button in the inspector now links to documentation.
  • AI Planner user preferences (Edit -> Preferences...).
  • TraitGizmo for drawing gizmos on GameObjects with a given trait.
  • Bounded heuristics for better search.
  • Parallel selection and backpropagation algorithms.

Changed

  • Improve UI with re-orderable lists, better operand validation, and plan visualizer inspector.
  • Improve workflow through DecisionController, TraitComponent, UI, callbacks, and world queries.
  • Improve code compilation.
  • Rename all mentions of DomainObject to TraitBasedObject.

Removed

  • AgentDefinition, since PlanDefinition supersedes it.
  • DomainObjectProvider, since TraitComponent supersedes it.
  • BaseAgent, since it is no longer necessary to create an Agent class.
  • IOperationalAction, since DecisionController now handles this implicitly.

Fixed

  • Update template to avoid stack overflow in state data comparison.
  • Null reference exceptions on adding a TraitComponent to a GameObject.
  • Trait field renames.
  • Endless recompilation.

[0.1.1-preview] - 2019-08-29

Fixed

  • Fix incorrect state information displayed in the plan visualizer.

[0.1.0-preview] - 2019-08-28

Added

  • Add support for distributed initial state data on GameObjects in scene.
  • Auto-building of domain assemblies now occurs before entering play mode.

Changed

  • Update package dependency for entities: 0.1.1-preview.
  • Move search computation into jobs.
  • Reduce the quantity of entities generated.
  • Improve handling of cycles in plans, reducing plan memory footprint.
  • Move serialized domain specification data into assets.
  • Improve inspectors for domain specification.
  • Update code generation to use Scriban.
  • Code generation now emits code into a separate assembly.
  • Reduce managed memory allocations.

Removed

  • Remove trait aliases.

Known Issues

  • Prolonged usage of the planner can cause large allocations of native memory.

[0.0.1-preview.7] - 2019-07-16

Changed

  • Update Yamato/CI configuration.

[0.0.1-preview.6] - 2019-07-16

Fixed

  • Allow assignment of domain definition to plan definition in inspector.

[0.0.1-preview.5] - 2019-07-11

Changed

  • Update dependency for entities package to preview.30 - 0.0.12.
  • Plan definitions are no longer editable from the inspector.

Fixed

  • Correct errors from attempting to read trait properties as properties instead of fields.

[0.0.1-preview.4] - 2019-04-01

Removed

  • Property-based code generated for traits.

Changed

  • Update README.md for the package.

[0.0.1-preview.3] - 2019-03-29

Fixed

  • Correct null reference errors from reading trait mask fields from custom trait classes during domain code generation.
  • Fix index out of bounds errors during state equality due to missing domain object matches.

Changed

  • Update to latest entities package (preview.29 - 0.0.12).
  • Remove deprecated ECS method usages.

[0.0.1-preview.2] - 2019-03-18

Added

  • The first (preview) release of the AI Planner.