Pre-condition is ignored when multiple actions have the same pre-condition about goap HOT 4 CLOSED

changed the example above to a simpler implementation.

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After digging in for a bit, the issue seems to be the heapop() in the PriorityQueue class. heappop() removes the first("smallest") element. Replacing the heappop() with the List pop() seemed to fix the issue. Needs more testing though.

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Thanks for raising the issue. The bug here I believe lies in the planning algorithm itself. We're performing a regressive plan, which you can see visualised on p. 33 of this PDF. Note that there is a mistake in the future for step 9 - targetIsDead should remain True.

What is happening is that the planner finds that Action1 solves one of the preconditions, and so the working plan becomes

graph LR

Action1 --> GOAL

Then we update our working current and goal states, so that the working state has {"FIRST": True}. This means that, as far as the planner is concerned, the final solution

graph LR

Action2 --> Action1 --> GOAL

is valid. At one point, I did as FEAR did, and validated the plan in the forwards direction: https://github.com/xfw5/Fear-SDK-1.08/blob/2fc3557b0037d5fe01ac607b907d4b8511b9e4b2/Game/ObjectDLL/AIAStarPlanner.cpp#L246

I note that other implementations do not do this, but I think that's a mistake on their part rather than a sign that they're doing something different.

I think we need to make two changes here:

• validate plan rather than just relying on state equality in is_finished
• revisit how we handle neighbours
  • right now, a unique neighbour is created for each action, whereas I think we only really want to do this for service actions.

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Fixed in main.

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