Fixed issues with DomainBuilder

Author: kthecoder

extension/src/Agents/AgentDomainBuilder.h

@@ -33,10 +33,10 @@ class AgentDomainBuilder final : public BaseDomainBuilder
     }
     AgentDomainBuilder(StringType n) : BaseDomainBuilder(n) {}
 
-    // TODO Implement Extra HasState, SetState
-
     //======================================================//
+    //
     // Encapsulated HTN Tasks
+    //
     //======================================================//
     // TODO Implement Encapsulated HTN Tasks
 
@@ -51,9 +51,10 @@ class AgentDomainBuilder final : public BaseDomainBuilder
         {
             if (agentNode->has_method("moveTo"))
             {
+                // Call the
                 Variant result = agentNode->call("moveTo");
-                // Variant result = agent->call("moveTo");
-                // UtilityFunctions::print(result);
+
+                //? Can print output using: UtilityFunctions::print(result);
                 if (result)
                 {
                     return TaskStatus::Success;
@@ -65,18 +66,24 @@ class AgentDomainBuilder final : public BaseDomainBuilder
             }
             else
             {
-                // UtilityFunctions::print("AgentDomainBuilder : No Function moveTo");
+                //? Can print output using:UtilityFunctions::print("AgentDomainBuilder : No Function moveTo");
                 return TaskStatus::Failure;
             }
         }
     }
 
     void MoveTo()
     {
+        AddCondition("AgentNewPos", [=](IContext &ctx)
+                     { return static_cast<AgentContext &>(ctx).HasState(WsAgent::wsAgentMovement, (int)(AgentMovement::NewPosition)); });
         AddAction("MoveTo");
 
         AddOperator(std::bind(&AgentDomainBuilder::MoveToOperator, this, std::placeholders::_1));
 
-        // UtilityFunctions::print("Added MoveTo Operator");
+        AddEffect("ArrivedAtNewPos", FluidEffectType::Permanent, [=](IContext &ctx, FluidEffectType effectType)
+                  { return static_cast<AgentContext &>(ctx).SetState(
+                        WsAgent::wsAgentMovement, (int)(AgentMovement::Arrived), true, effectType); });
+
+        End();
     }
 };

extension/src/Agents/Domains/AgentXDomainDefinition.h

@@ -37,10 +37,10 @@ class AgentXDomainDefinition
         /*
             Tasks are encapsulated and defined in AgentDomainBuilder.h
         */
+        // TODO : Add all your needed encapsulated HTN tasks here
 
         builder.AddSelector("MoveTo");
         builder.MoveTo();
-        builder.End(); // End the MoveTO
         builder.End(); // End the Selector
 
         return *builder.Build();

extension/src/Agents/Knowledge/AgentWorldState.h

@@ -6,6 +6,7 @@ using namespace std;
 enum class WsAgent
 {
     wsEnemyRange,
+    wsAgentMovement,
     wsHealth,
 };
 
@@ -15,19 +16,27 @@ enum class EnemyRange
     OutOfRange,
 };
 
+enum class AgentMovement
+{
+    NewPosition,
+    Arrived,
+};
+
 typedef uint8_t EnemyRangeTy;
+typedef uint8_t MovementTy;
 
 class AgentWorldState : public IWorldState<WsAgent, uint8_t, AgentWorldState>
 {
-    uint8_t CurrentWorldState[2];
+    uint8_t CurrentWorldState[3];
     EnemyRange currentRange;
 
 public:
     AgentWorldState()
     {
-        // TODO This initial setup could be incorrect in the end
+        // TODO : Initial States for the Agent are setup here
         currentRange = static_cast<EnemyRange>(CurrentWorldState[static_cast<int>(WsAgent::wsEnemyRange)]);
         CurrentWorldState[(int)(WsAgent::wsEnemyRange)] = (int)(EnemyRange::InViewRange);
+        CurrentWorldState[(int)(WsAgent::wsEnemyRange)] = (int)(AgentMovement::Arrived);
     }
 
     bool HasState(WsAgent state, uint8_t value)
@@ -39,6 +48,6 @@ class AgentWorldState : public IWorldState<WsAgent, uint8_t, AgentWorldState>
 
     void SetState(WsAgent state, uint8_t value) { CurrentWorldState[(int)state] = value; }
 
-    //! Size must match the Enums length
-    int GetMaxPropertyCount() { return 2; }
+    //! Size must match the CurrentWorldState length
+    int GetMaxPropertyCount() { return 3; }
 };

extension/src/ai_blue_agent.cpp

@@ -61,10 +61,15 @@ void AIBlueAgent::planner_tick()
  *  Note : Sensors go here
  */
 
-// TODO You will need to Bind Sensors so that they can be called in Godot
-void AIBlueAgent::vision_sensor()
+// TODO Update this to meet your Knowledge Definitions
+void AIBlueAgent::vision_sensor(int state, int value)
 {
-    // Vision Sensor Code
+    // Get Agent Movement State in the Agents Knowledge
+    WsAgent wsAgentState = static_cast<WsAgent>(state);
+    // Get the value to assign to that agents Knowledge State
+    AgentMovement movementValue = static_cast<AgentMovement>(value);
+
+    _context.SetStateAgent(wsAgentState, MovementTy(movementValue), true, FluidEffectType::PlanAndExecute);
 }
 
 /**
@@ -73,9 +78,10 @@ void AIBlueAgent::vision_sensor()
  *  Note : All class Functions to be exposed to GDScript need to be setup here
  */
 
+// TODO : You will need to Bind Sensors so that they can be called in Godot
 void AIBlueAgent::_bind_methods()
 {
     ClassDB::bind_method(D_METHOD("agent_setup", "node"), &AIBlueAgent::agent_setup);
     ClassDB::bind_method(D_METHOD("planner_tick"), &AIBlueAgent::planner_tick);
-    ClassDB::bind_method(D_METHOD("vision_sensor"), &AIBlueAgent::vision_sensor);
+    ClassDB::bind_method(D_METHOD("vision_sensor", "state", "value"), &AIBlueAgent::vision_sensor);
 }

extension/src/ai_blue_agent.h

@@ -38,11 +38,13 @@ class AIBlueAgent : public Node3D
 
     void _physics_process(double delta) override;
 
-    /**
+    /*
      *  Sensors
-     *
      */
-    void vision_sensor();
+
+    // TODO : Add all your sensors to the top level class here
+
+    void vision_sensor(int state, int value);
 };
 
 #endif // AIBlueAgent_CLASS_H