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Fix HTN task ordering bug (#32909)

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* first, bad ordering

* fix

* Revert "first, bad ordering", recording artifacts

This reverts commit 22307675d79b417371775a0558c39781f59423d6.
This commit is contained in:
osjarw
2025-04-17 15:42:31 +03:00
committed by GitHub
parent 7be3811413
commit 700cb02d5e
1 changed files with 8 additions and 8 deletions
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16
Content.Server/NPC/HTN/HTNPlanJob.cs
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@@ -56,16 +56,16 @@ public sealed class HTNPlanJob : Job<HTNPlan>
// hence we'll store it here. // hence we'll store it here.
var appliedStates = new List<Dictionary<string, object>?>(); var appliedStates = new List<Dictionary<string, object>?>();
var tasksToProcess = new Queue<HTNTask>(); var tasksToProcess = new Stack<HTNTask>();
var finalPlan = new List<HTNPrimitiveTask>(); var finalPlan = new List<HTNPrimitiveTask>();
tasksToProcess.Enqueue(_rootTask); tasksToProcess.Push(_rootTask);
// How many primitive tasks we've added since last record. // How many primitive tasks we've added since last record.
var primitiveCount = 0; var primitiveCount = 0;
int tasksProcessed = 0; int tasksProcessed = 0;
while (tasksToProcess.TryDequeue(out var currentTask)) while (tasksToProcess.TryPop(out var currentTask))
{ {
if (tasksProcessed++ > _rootTask.MaximumTasks) if (tasksProcessed++ > _rootTask.MaximumTasks)
throw new Exception("HTN Planner exceeded maximum tasks"); throw new Exception("HTN Planner exceeded maximum tasks");
@@ -161,7 +161,7 @@ public sealed class HTNPlanJob : Job<HTNPlan>
/// <summary> /// <summary>
/// Goes through each compound task branch and tries to find an appropriate one. /// Goes through each compound task branch and tries to find an appropriate one.
/// </summary> /// </summary>
private bool TryFindSatisfiedMethod(HTNCompoundTask compoundId, Queue<HTNTask> tasksToProcess, NPCBlackboard blackboard, ref int mtrIndex) private bool TryFindSatisfiedMethod(HTNCompoundTask compoundId, Stack<HTNTask> tasksToProcess, NPCBlackboard blackboard, ref int mtrIndex)
{ {
var compound = _protoManager.Index<HTNCompoundPrototype>(compoundId.Task); var compound = _protoManager.Index<HTNCompoundPrototype>(compoundId.Task);
@@ -182,9 +182,9 @@ public sealed class HTNPlanJob : Job<HTNPlan>
if (!isValid) if (!isValid)
continue; continue;
foreach (var task in branch.Tasks) foreach (var task in branch.Tasks.AsEnumerable().Reverse())
{ {
tasksToProcess.Enqueue(task); tasksToProcess.Push(task);
} }
return true; return true;
@@ -198,7 +198,7 @@ public sealed class HTNPlanJob : Job<HTNPlan>
/// </summary> /// </summary>
private void RestoreTolastDecomposedTask( private void RestoreTolastDecomposedTask(
Stack<DecompositionState> decompHistory, Stack<DecompositionState> decompHistory,
Queue<HTNTask> tasksToProcess, Stack<HTNTask> tasksToProcess,
List<Dictionary<string, object>?> appliedStates, List<Dictionary<string, object>?> appliedStates,
List<HTNPrimitiveTask> finalPlan, List<HTNPrimitiveTask> finalPlan,
ref int primitiveCount, ref int primitiveCount,
@@ -223,7 +223,7 @@ public sealed class HTNPlanJob : Job<HTNPlan>
primitiveCount = lastDecomp.PrimitiveCount; primitiveCount = lastDecomp.PrimitiveCount;
blackboard = lastDecomp.Blackboard; blackboard = lastDecomp.Blackboard;
tasksToProcess.Enqueue(lastDecomp.CompoundTask); tasksToProcess.Push(lastDecomp.CompoundTask);
} }
/// <summary> /// <summary>