Reclaim unused states

Author: eelstork

Documentation/Design notes.md

@@ -0,0 +1,9 @@
+# XGOAP design notes
+
+## The `Clonable` interface
+
+This interface is for users to provide their own clone implementation; necessary because deep clones via serialization are very slow.
+
+`Clone()` receives an instance of the model; **user must override all fields** because the instance (by design) may contain dirty state (To avoid allocation overheads, instances of the model are reused whenever possible - even when pooling is disabled)
+
+When implementing `Allocate()`, call a no-arg constructor or similar. This interface is required because `new`ing generic types directly is (in the author's experience) surprisingly slow (also read [here](http://www.philosophicalgeek.com/2012/04/02/activator-createinstance-slow-vs-less-slow/))

Documentation/Design notes.md.meta

@@ -1,7 +1,8 @@
 namespace Activ.GOAP{
-public interface Clonable{
+public interface Clonable<T>{
 
-    object Clone();
+    T Allocate ();
 
-}
-}
+    T Clone    (T storage);
+
+}}

Runtime/Clonable.cs

@@ -1,6 +1,6 @@
 namespace Activ.GOAP{
 public interface ActionHandler{
 
-    void Effect<T>(object action, GameAI<T> client);
+    void Effect<T>(object action, GameAI<T> client) where T: class;
 
 }}

Runtime/Details/ActionHandler.cs

@@ -23,7 +23,9 @@ int frameCount{get{
     void ActionHandler.Effect<T>(object action, GameAI<T> client){
         switch(action){
         case string noArg:
-            if(noArg == Solver<Agent>.INIT) return;
+            // TODO should be Solver.INIT but move that constant
+            // somewhere else first
+            if(noArg == "%init") return;
             Print($"No-arg: {noArg} @{frameCount}");
             Map(noArg, client).Invoke(client, NoArg);
             return;
@@ -39,7 +41,7 @@ void ActionHandler.Effect<T>(object action, GameAI<T> client){
         }
     }
 
-    MethodInfo Map<T>(string name, GameAI<T> client){
+    MethodInfo Map<T>(string name, GameAI<T> client) where T: class{
         map = map ?? new Dictionary<string, MethodInfo>();
         MethodInfo method;
         map.TryGetValue(name, out method);

Runtime/Details/ActionMap.cs

@@ -19,7 +19,8 @@ public NodeSet(T x, Func<T, float> h, bool sorted  = true,
         this.capacity  = capacity;
         this.precision = precision;
         states.Add(Assert(x, "Initial state"));
-        list.Add(new Node<T>(Solver<T>.INIT, x));
+        // TODO INIT const
+        list.Add(new Node<T>("%init", x));
     }
 
     public bool capacityExceeded => count > capacity;
@@ -29,8 +30,8 @@ public static implicit operator bool(NodeSet<T> self)
 
     internal int count => list.Count;
 
-    public void Insert(Node<T> n){
-        if(!states.Add(n.state)) return;
+    public bool Insert(Node<T> n){
+        if(!states.Add(n.state)) return false;
         if(sorted){
             n.value = n.cost + (h != null ? h(n.state) : 0);
             if(precision > 0) n.value = (int)(n.value / precision);
@@ -47,10 +48,10 @@ public void Insert(Node<T> n){
             for(int i = list.Count-1; i >= 0; i--){
                 if(n.value <= list[i].value){
                     list.Insert(i + 1, n);
-                    return;
+                    return true;
                 }
             }
-        } list.Insert(0, n);
+        } list.Insert(0, n); return true;
     }
 
     public Node<T> Pop(){

Runtime/Details/NodeSet.cs

@@ -15,7 +15,8 @@ one component.
 namespace Activ.GOAP{
 // NOTE: derives from MonoBehaviour when used with Unity3D
 // (see Runtime/Unity/GameAI.cs)
-public abstract partial class GameAI<T> : SolverOwner{
+public abstract partial class GameAI<T> : SolverOwner
+                                                  where T : class {
 
     public bool          verbose;
     public Solver<T>     solver;

Runtime/GameAI.cs

@@ -5,7 +5,7 @@
 using S       = Activ.GOAP.PlanningState;
 
 namespace Activ.GOAP{
-public class Solver<T> : SolverStats{
+public class Solver<T> : SolverStats where T : class{
 
     public const string INIT   = "%init";
     const string ZERO_COST_ERR = "Zero cost op is not allowed",
@@ -19,6 +19,7 @@ public class Solver<T> : SolverStats{
     public int  fxMaxNodes     { get; private set; }
     public int  I              { get; private set; }
     //
+    T          storage;
     T          initialState;
     Goal<T>    goal;
     NodeSet<T> avail = null;
@@ -71,7 +72,8 @@ void ExpandActions(Node<T> x, NodeSet<T> @out){
                 if(!brfs && (r.cost <= 0))
                     throw new Ex(ZERO_COST_ERR);
                 var name = p.Actions()[i].Method.Name;
-                @out.Insert(new Node<T>(name, y, x, r.cost));
+                if(@out.Insert(new Node<T>(name, y, x, r.cost)))
+                    storage = null;
             }
         }
     }
@@ -87,12 +89,14 @@ void ExpandMethods(Node<T> x, NodeSet<T> @out){
                 if(!brfs && r.cost <= 0)
                     throw new Ex(ZERO_COST_ERR);
                 var effect = p.Functions()[i].effect;
-                @out.Insert(new Node<T>(effect, y, x, r.cost));
+                if(@out.Insert(new Node<T>(effect, y, x, r.cost)))
+                    storage = null;
             }
         }
     }
 
-    internal static T Clone(T x)
-    => (x is Clonable c) ? (T)c.Clone() : CloneUtil.DeepClone(x);
+    internal T Clone(T x) => (x is Clonable<T> c)
+        ? c.Clone(storage = storage ?? c.Allocate())
+        : CloneUtil.DeepClone(x);
 
 }}

Runtime/Solver.cs

@@ -11,7 +11,7 @@ public class ActionMapTest : TestBase{
     [Test] public void Effect_with_invalid_type()
     => Assert.Throws<ArgumentException>(
         () => ((ActionHandler)x).Effect(
-                                          0, (GameAI<Agent>)null) );
+                                          0, (GameAI<T>)null) );
 
     [Test] public void Print_verbose(){
         x.verbose = true;
@@ -23,4 +23,6 @@ [Test] public void Print_non_verbose(){
         x.Print("");
     }
 
+    class T{ public T(){} }
+
 }}

Tests/Editor/ActionMapTest.cs

@@ -1,42 +1,48 @@
 using System; using NUnit.Framework;
-using static Activ.GOAP.Solver<Activ.GOAP.Agent>;
+using static Activ.GOAP.Solver<Activ.GOAP.Idler>;
 
 namespace Activ.GOAP{
 public class NodeSetTest : TestBase{
 
-    NodeSet<Agent> x;
+    NodeSet<Idler> x;
     Idler idler = new Idler();
 
     [SetUp] public void Setup()
-    => x = new NodeSet<Agent>(idler, null);
+    => x = new NodeSet<Idler>(idler, null);
 
     [Test] public void InitStateMustExist ()
     => Assert.Throws<NullReferenceException>(
-                    () => new NodeSet<Agent>(null, null));
+                    () => new NodeSet<Idler>(null, null));
 
     [Test] public void TrueWithinCapacity()
     { if(x){ } else Assert.Fail(); }
 
     [Test] public void FalseOverCapacity()
-    { o((bool)new NodeSet<Agent>(idler, null, capacity: 0), false); }
+    { o((bool)new NodeSet<Idler>(idler, null, capacity: 0), false); }
 
     [Test] public void FalseWhenEmpty()
     { x.Pop(); o( (bool)x, false); }
 
     [Test] public void InsertAndSkipExisting()
-    { x.Insert(new Node<Agent>("x", idler)); o( x.count, 1); }
+    { x.Insert(new Node<Idler>("x", idler)); o( x.count, 1); }
 
     [Test] public void InsertUnsorted(){
-        x.sorted = false;
-        x.Insert(new Node<Agent>("x", new Inc())); o( x.count, 2);
+        var z = new NodeSet<T>(new T(), null);
+        z.sorted = false;
+        z.Insert(new Node<T>("x", new T())); o( z.count, 2);
     }
 
-    [Test] public void InsertAndSort()
-    { x.Insert(new Node<Agent>("x", new Inc())); o( x.count, 2); }
+    [Test] public void InsertAndSort(){
+        var z = new NodeSet<T>(new T(), null);
+        z.Insert(new Node<T>("x", new T())); o( z.count, 2); }
 
     [Test] public void Pop(){
         var z = x.Pop(); o( x.count, 0 ); o( z.state is Idler );
         o( z.action, INIT);
     }
 
+    class T{
+        int x = 0; public T() {} public T(int x){ this.x = x; }
+    }
+
 }}