A* heuristic based on distance to the goal

README.md

@@ -174,10 +174,7 @@ GOAP needs to be benchmarked and monitored regularly because of exponential risk
 Though if well scoped you can manage hundred of Actions for 200µs per Agent.
 
 ## What's next?
-- The simulateActionState functions, to check the effect of an action on a node, takes up to 40% of CPU and 40% of memory.
-We need to refactorize this part, or find another logical path.
-- Heuristic calculation in A* is done poorly, we need a better algorithm to improve performances.
-- Benchmark a backward implementation like D*, to improve performances.
+- Benchmark a backward implementation like D*. It might improve performances.
 
 ## Sources
 - https://web.archive.org/web/20230912145018/http://alumni.media.mit.edu/~jorkin/goap.html

action.go

@@ -15,15 +15,30 @@ const (
 	DIVIDE
 )
 
+// Action represents a single action that an agent can perform to modify the world state.
+//
+// An action has preconditions (conditions) that must be met before it can be executed,
+// and postconditions (effects) that describe how it modifies the world state.
+// Actions have a cost that is used by the A* algorithm to find the optimal plan.
 type Action struct {
 	name       string
 	cost       float32
 	repeatable bool
 	conditions Conditions
 	effects    Effects
 }
+
+// Actions is a collection of Action pointers.
 type Actions []*Action
 
+// AddAction creates a new Action and appends it to the Actions collection.
+//
+// Parameters:
+//   - name: unique identifier for the action
+//   - cost: numeric cost used by pathfinding (lower costs are preferred)
+//   - repeatable: if false, the action can only be used once per plan
+//   - conditions: preconditions that must be satisfied before the action can be executed
+//   - effects: postconditions that describe how the action modifies the world state
 func (actions *Actions) AddAction(name string, cost float32, repeatable bool, conditions Conditions, effects Effects) {
 	action := Action{
 		name:       name,
@@ -36,36 +51,50 @@ func (actions *Actions) AddAction(name string, cost float32, repeatable bool, co
 	*actions = append(*actions, &action)
 }
 
+// GetName returns the action's name identifier.
 func (action *Action) GetName() string {
 	return action.name
 }
 
+// GetEffects returns the action's effects (postconditions).
 func (action *Action) GetEffects() Effects {
 	return action.effects
 }
 
+// EffectInterface defines the interface that all effect types must implement.
+// Effects describe how an action modifies the world state.
 type EffectInterface interface {
-	check(states states) bool
-	apply(data statesData) error
+	GetKey() StateKey
+	check(w world) bool
+	apply(w *world) error
 }
 
+// Effect represents a numeric state modification for types constrained by Numeric.
+//
+// It supports arithmetic operators (SET, ADD, SUBTRACT, MULTIPLY, DIVIDE) to modify
+// numeric state values. The effect is applied when an action is executed during planning.
 type Effect[T Numeric] struct {
-	Key      StateKey
-	Operator arithmetic
-	Value    T
+	Key      StateKey   // State key to modify
+	Operator arithmetic // Arithmetic operation to perform
+	Value    T          // Value to use in the operation
+}
+
+// GetKey returns the state key that this effect modifies.
+func (effect Effect[T]) GetKey() StateKey {
+	return effect.Key
 }
 
-func (effect Effect[T]) check(states states) bool {
-	// Other operators than '=' mean the effect will have an impact of the states
+func (effect Effect[T]) check(w world) bool {
+	// Other operators than '=' mean the effect will have an impact of the world
 	if effect.Operator != SET {
 		return false
 	}
 
-	k := states.data.GetIndex(effect.Key)
+	k := w.states.GetIndex(effect.Key)
 	if k < 0 {
 		return false
 	}
-	s := states.data[k]
+	s := w.states[k]
 
 	if _, ok := s.(State[T]); !ok {
 		return false
@@ -74,23 +103,23 @@ func (effect Effect[T]) check(states states) bool {
 	return s.(State[T]).Value == effect.Value
 }
 
-func (effect Effect[T]) apply(data statesData) error {
-	k := data.GetIndex(effect.Key)
+func (effect Effect[T]) apply(w *world) error {
+	k := w.states.GetIndex(effect.Key)
 	if k < 0 {
 		if slices.Contains([]arithmetic{SET, ADD}, effect.Operator) {
-			data = append(data, State[T]{Value: effect.Value})
+			w.states = append(w.states, State[T]{Key: effect.Key, Value: effect.Value})
 			return nil
 		} else if slices.Contains([]arithmetic{SUBSTRACT}, effect.Operator) {
-			data = append(data, State[T]{Value: -effect.Value})
+			w.states = append(w.states, State[T]{Key: effect.Key, Value: -effect.Value})
 			return nil
 		}
-		return fmt.Errorf("data does not exist")
+		return fmt.Errorf("w does not exist")
 	}
-	if _, ok := data[k].(State[T]); !ok {
+	if _, ok := w.states[k].(State[T]); !ok {
 		return fmt.Errorf("type does not match")
 	}
 
-	state := data[k].(State[T])
+	state := w.states[k].(State[T])
 	switch effect.Operator {
 	case SET:
 		state.Value = effect.Value
@@ -104,129 +133,151 @@ func (effect Effect[T]) apply(data statesData) error {
 		state.Value /= effect.Value
 	}
 
-	data[k] = state
+	state.Store(w)
 
 	return nil
 }
 
+// EffectBool represents a boolean state modification.
+//
+// Only the SET operator is allowed for boolean effects. Attempting to use other
+// operators (ADD, SUBTRACT, etc.) will result in an error when the effect is applied.
 type EffectBool struct {
-	Key      StateKey
-	Value    bool
-	Operator arithmetic
+	Key      StateKey   // State key to modify
+	Value    bool       // Boolean value to set
+	Operator arithmetic // Must be SET
 }
 
-func (effectBool EffectBool) check(states states) bool {
+// GetKey returns the state key that this effect modifies.
+func (effectBool EffectBool) GetKey() StateKey {
+	return effectBool.Key
+}
+
+func (effectBool EffectBool) check(w world) bool {
 	// Other operators than '=' is not allowed
 	if effectBool.Operator != SET {
 		return false
 	}
 
-	k := states.data.GetIndex(effectBool.Key)
+	k := w.states.GetIndex(effectBool.Key)
 	if k < 0 {
 		return false
 	}
-	if _, ok := states.data[k].(State[bool]); !ok {
+	if _, ok := w.states[k].(State[bool]); !ok {
 		return false
 	}
 
-	s := states.data[k].(State[bool])
+	s := w.states[k].(State[bool])
 
 	return s.Value == effectBool.Value
 }
 
-func (effectBool EffectBool) apply(data statesData) error {
+func (effectBool EffectBool) apply(w *world) error {
 	if effectBool.Operator != SET {
 		return fmt.Errorf("operation %v not allowed on bool type", effectBool.Operator)
 	}
 
-	k := data.GetIndex(effectBool.Key)
+	k := w.states.GetIndex(effectBool.Key)
 	if k < 0 {
-		data = append(data, State[bool]{Value: effectBool.Value})
+		w.states = append(w.states, State[bool]{Key: effectBool.Key, Value: effectBool.Value})
 		return nil
 	}
-	if _, ok := data[k].(State[bool]); !ok {
+	if _, ok := w.states[k].(State[bool]); !ok {
 		return fmt.Errorf("type does not match")
 	}
 
-	state := data[k].(State[bool])
+	state := w.states[k].(State[bool])
 	state.Value = effectBool.Value
-	data[k] = state
+
+	state.Store(w)
 
 	return nil
 }
 
+// EffectString represents a string state modification.
+//
+// Supports SET (replace string) and ADD (concatenate) operators. Other operators
+// (SUBTRACT, MULTIPLY, DIVIDE) are not allowed and will result in an error.
 type EffectString struct {
-	Key      StateKey
-	Value    string
-	Operator arithmetic
+	Key      StateKey   // State key to modify
+	Value    string     // String value to use
+	Operator arithmetic // Allowed: SET, ADD
 }
 
-func (effectString EffectString) check(states states) bool {
-	k := states.data.GetIndex(effectString.Key)
+// GetKey returns the state key that this effect modifies.
+func (effectString EffectString) GetKey() StateKey {
+	return effectString.Key
+}
+
+func (effectString EffectString) check(w world) bool {
+	k := w.states.GetIndex(effectString.Key)
 	if k < 0 {
 		return false
 	}
-	if _, ok := states.data[k].(State[string]); !ok {
+	if _, ok := w.states[k].(State[string]); !ok {
 		return false
 	}
 
-	s := states.data[k].(State[string])
+	s := w.states[k].(State[string])
 
 	return s.Value == effectString.Value
 }
 
-func (effectString EffectString) apply(data statesData) error {
+func (effectString EffectString) apply(w *world) error {
 	if !slices.Contains([]arithmetic{SET, ADD}, effectString.Operator) {
 		return fmt.Errorf("arithmetic operation %v not allowed on string type", effectString.Operator)
 	}
 
-	k := data.GetIndex(effectString.Key)
+	k := w.states.GetIndex(effectString.Key)
 	if k < 0 {
-		data = append(data, State[string]{Value: effectString.Value})
+		w.states = append(w.states, State[string]{Key: effectString.Key, Value: effectString.Value})
 		return nil
 	}
-	if _, ok := data[k].(State[string]); !ok {
+	if _, ok := w.states[k].(State[string]); !ok {
 		return fmt.Errorf("type does not match")
 	}
 
-	state := data[k].(State[string])
+	state := w.states[k].(State[string])
 	switch effectString.Operator {
 	case SET:
 		state.Value = effectString.Value
 	case ADD:
 		state.Value = fmt.Sprint(state.Value, effectString.Value)
 	}
-	data[k] = state
+
+	state.Store(w)
 
 	return nil
 }
 
+// EffectFn is a function type for custom procedural effects that directly modify the agent.
+// This allows for effects that cannot be expressed through simple state modifications.
 type EffectFn func(agent *Agent)
 
+// Effects is a collection of EffectInterface implementations that describe how
+// an action modifies the world state.
 type Effects []EffectInterface
 
-// If all the effects already exist in states,
+// If all the effects already exist in world,
 // it is probably not a good path
-func (effects Effects) satisfyStates(states states) bool {
+func (effects Effects) satisfyStates(w world) bool {
 	for _, effect := range effects {
-		if !effect.check(states) {
+		if !effect.check(w) {
 			return false
 		}
 	}
 
 	return true
 }
 
-func (effects Effects) apply(states states) (statesData, error) {
-	data := slices.Clone(states.data)
-
+func (effects Effects) apply(w *world) error {
 	for _, effect := range effects {
-		err := effect.apply(data)
+		err := effect.apply(w)
 
 		if err != nil {
-			return nil, err
+			return err
 		}
 	}
 
-	return data, nil
+	return nil
 }