add penalty to useless actions

s2ga.hpp

@@ -231,6 +231,7 @@ namespace s2ga
             auto state = initial_state;
 
             int valid_actions = 0;
+            int useless_actions = 0;
 
             int d = 99999;
 
@@ -248,7 +249,15 @@ namespace s2ga
                     continue;
                 }
 
-                state = actions[aid].apply(state);
+                auto new_state = actions[aid].apply(state);
+
+                if(state == new_state)
+                {
+                    useless_actions++;
+                }
+                
+                state = new_state;
+
                 d = final_goal.distance(state);
                 cost += actions[aid].cost;
                 valid_actions++;
@@ -265,7 +274,12 @@ namespace s2ga
                 return;
             }
 
-            g.fitness = 9999.0f * d * float(valid_actions) + cost;
+            constexpr float DISTANCE_WEIGHT = 100.0f;
+            constexpr float USELESS_ACTION_WEIGHT = DISTANCE_WEIGHT * 0.5f;
+            constexpr float COST_WEIGHT = 1.0f;
+
+            g.fitness = DISTANCE_WEIGHT * d + 
+                USELESS_ACTION_WEIGHT * useless_actions + COST_WEIGHT * cost;
             //std::cout << std::format("{}({})", g.fitness, cost) << std::endl;
         }
 
@@ -405,11 +419,16 @@ namespace s2ga
             return result;
         }
 
-        void mutate(genotype& g)
+        void mutate(genotype& g, int max_m = 3)
+        {
+            int mutations = rng.random(1, max_m);
+
+            for(int i = 0; i < mutations; ++i)
             {
                 int index = rng.random(0, MaxDepth - 1);
                 g.action_ids[index] = rng.random(-1, int(actions.size() - 1));
             }
+        }
     public:
         action_list<E> plan(int population_size, int max_attempts)
         {
@@ -417,7 +436,6 @@ namespace s2ga
 
             int attempts = 0;
 
-
             float last_f = 9999999.0f;
 
             while(attempts < max_attempts)

tests/test.cpp

@@ -118,8 +118,8 @@ TEST_CASE("(dummy)", "[test]")
     BENCHMARK("GOAPERS")
     {
         goal<State> goal;
-        goal.negative_goals = bm<State>(HUNGRY);
-        goal.positive_goals = bm<State>(HAS_HOUSE);
+        goal.negative_goals = bm<State>(HUNGRY, IS_WET);
+        goal.positive_goals = bm<State>(HAS_HOUSE, HAS_CLOTHES);
 
         genetic_goap<State> goap;
         goap.set_initial_state(bm<State>(HUNGRY, IS_WET, IS_RAINING));
@@ -128,20 +128,22 @@ TEST_CASE("(dummy)", "[test]")
 
         for(int i = 0; i < 32; ++i)
         {
-            auto plan = goap.plan(100, 5);
+            auto plan = goap.plan(100, 4);
             (void)plan;
         }
     };
 
     goal<State> goal;
-    goal.negative_goals = bm<State>(HUNGRY);
-    goal.positive_goals = bm<State>(HAS_HOUSE);
+    goal.negative_goals = bm<State>(HUNGRY, IS_WET);
+    goal.positive_goals = bm<State>(HAS_HOUSE, HAS_CLOTHES);
 
     genetic_goap<State> goap;
     goap.set_initial_state(bm<State>(HUNGRY, IS_WET, IS_RAINING));
     goap.set_possible_actions(actions);
     goap.set_goal(goal);
-    auto plan = goap.plan(100, 5);
+    auto plan = goap.plan(100, 4);
+
+    std::cout << "\n" << std::endl;
 
     float cost = 0.0f;
     for(auto& i: plan)
@@ -152,10 +154,76 @@ TEST_CASE("(dummy)", "[test]")
 
     std::cout << std::format("[Total Cost: {}]", cost) << std::endl;
 
-    if(plan.size() == 0)
+    if(plan.empty())
     {
         std::cout << "SAD" << std::endl;
     }
+
+    /*
+    [WAIT OUT RAIN, 5]
+    Effects:
+     -IS_RAINING
+    Preconditions:
+     +IS_RAINING
+    [COLLECT WOOD, 2]
+    Effects:
+     +HAS_WOOD
+    Preconditions:
+     -IS_RAINING
+    [CRAFT TOOLS, 5]
+    Effects:
+     -HAS_WOOD
+     +HAS_TOOLS
+    Preconditions:
+     +HAS_WOOD
+    [COLLECT WOOD, 2]
+    Effects:
+     +HAS_WOOD
+    Preconditions:
+     -IS_RAINING
+    [HUNT ANIMAL, 6]
+    Effects:
+     +HAS_ANIMAL_SKIN
+     +HAS_RAW_FOOD
+    Preconditions:
+     +HAS_TOOLS
+     -IS_RAINING
+    [PROCESS ANIMAL SKIN, 6]
+    Effects:
+     +HAS_FABRIC
+     -HAS_ANIMAL_SKIN
+    Preconditions:
+     +HAS_ANIMAL_SKIN
+    [BUILD HOUSE, 8]
+    Effects:
+     +HAS_HOUSE
+     -HAS_WOOD
+     -IS_WET
+    Preconditions:
+     -HAS_HOUSE
+     +HAS_WOOD
+     +HAS_TOOLS
+    [MAKE CLOTHES, 4]
+    Effects:
+     +HAS_CLOTHES
+     -HAS_FABRIC
+    Preconditions:
+     +HAS_FABRIC
+     -IS_WET
+    [COOK, 0.25]
+    Effects:
+     +HAS_FOOD
+     -HAS_RAW_FOOD
+    Preconditions:
+     +HAS_RAW_FOOD
+    [EAT, 0.1]
+    Effects:
+     -HUNGRY
+     -HAS_FOOD
+    Preconditions:
+     +HAS_FOOD
+    [Total Cost: 38.35]
+    */
 }
 
 TEST_CASE("lehmer64 rng", "[test]")