AI Planner: Multiple questions regarding a "spider kills and eats prey" scenario +Burst Error BC1025

Greetings!

I've been looking for a GOAP solution for an upcoming Unity ECS project, and your AI Planner seems like it could be a nice fit for it!

In order to better understand the AI Planner, see how stable/polished it is, and if it's a good match for the project, I'm trying to make a simulated "spider kills and then eats prey" scenario.

I used the Step-by-Step guide and video from this thread as a starting point, and I was able to make the spider eat food that it finds lying around, using these traits and an action:

Spoiler: Eatable Trait

Spoiler: Eater Trait

Spoiler: Eat Action

However, I also wanted the Spider to understand that it could obtain food by killing. So I created these Attacker and Damageable traits, as well as an Attack action:

Spoiler: Attacker Trait

Spoiler: Damageable Trait

Spoiler: Attack Action

I haven't yet figured out how to make the target object only get destroyed and spawn food after its Health reaches 0. I suppose I could do it with an ICustomActionEffect<IStateData>, but I'm still in the process of understanding those. The Match3 sample project has a CustomSwapEffect class that implements ICustomActionEffect<StateData>, but then it starts doing some stuff with GetTraitBasedObjectId, GetTraitBasedObject and newState.GetTraitOnObject<Cell>, and I don't know what ID or object I should use (if any). And what is the #if PLANNER_DOMAINS_GENERATED line for?
I would also like to use custom effects to add upper and lower bounds when increasing/decreasing values. For now I'm ignoring all of that and making every attack a 1-hit kill, but if anyone could point me in the right direction, that would be much appreciated!

I'm not sure if the way I set up my Attack action to create a deadBody object with Eatable and Location traits is enough, or if I also need a custom effect or callback that spawns a prefab that contains those traits (perhaps using deadBody as a parameter).

Another concern of mine is how the Attack agent's position has to be exactly the same as its target. In most games, that wouldn't really work, and you would need at least a nearby operator, and preferably a collision checker or line trace. The operators we can use now are very limited, and I think this would be a great place to use a visual scripting language similar to Unreal's Blueprints, allowing for more complex conditions without leaving the Editor, but that's a whole 'nother project. Hopefully Unity has something like that planned.

----

But going back to my setup... I added the Attack action to my SpiderAgentPlan. Does the order of the actions matter when setting up a plan? From what I understood, in this context a Plan contains a list of Actions that an agent can perform, so it kinda contradicts the usual definition of plan - a sequence of actions that an agent intends to perform. The real plan will only be determined while the game is running by the Planner, so it's strange to call this list of available actions a "plan", unless I'm misunderstanding something. I suggest changing the name to something like "Agent Profile".

Spoiler: SpiderAgentPlan

I've been having some recurring problems with Unity and Visual Studio freezing when trying to run or reload the project, and then having to force close them. Yesterday I was getting a "Couldn't create compiled assemblies folder" error that only stopped happening after closing Visual Studio, because VS had given itself exclusive access to that folder and I couldn't even open it in Windows Explorer with my Admin account.

Today I'm having a different problem. In my simulation, I have one SpiderAgent, 3 pieces of food lying around, and a stationary Prey. The Spider eats all the food, but ignores the Prey. It's probably related to this error I'm getting in the generated Attack.cs file:

I've tried disabling Burst compilation, and it makes the error go away, but the spider doesn't change its behavior. I have a feeling that I'm missing something silly. I checked Attack.cs, and the error is happening in the ApplyEffects function. Line 95 only contains a "{", so I imagine it's actually referring to the line before it:

using (var deadBodyTypes =  new NativeArray<ComponentType>(2, Allocator.Temp) {[0] = typeof(Eatable), [1] = typeof(Location), })

Spoiler: Full Attack.cs code

Code (CSharp):

1. using System;
2. using Unity.Collections;
3. using Unity.Entities;
4. using Unity.Jobs;
5. using Unity.AI.Planner;
6. using Unity.AI.Planner.DomainLanguage.TraitBased;
7. using Unity.Burst;
8. using AI.Planner.Domains;
9. using AI.Planner.Domains.Enums;
10.  
11. namespace AI.Planner.Actions.SpiderAgentPlan
12. {
13.     [BurstCompile]
14.     struct Attack : IJobParallelForDefer
15.     {
16.         public Guid ActionGuid;
17.        
18.         const int k_agentIndex = 0;
19.         const int k_targetIndex = 1;
20.         const int k_MaxArguments = 2;
21.  
22.         [ReadOnly] NativeArray<StateEntityKey> m_StatesToExpand;
23.         StateDataContext m_StateDataContext;
24.  
25.         internal Attack(Guid guid, NativeList<StateEntityKey> statesToExpand, StateDataContext stateDataContext)
26.         {
27.             ActionGuid = guid;
28.             m_StatesToExpand = statesToExpand.AsDeferredJobArray();
29.             m_StateDataContext = stateDataContext;
30.         }
31.  
32.         public static int GetIndexForParameterName(string parameterName)
33.         {
34.            
35.             if (string.Equals(parameterName, "agent", StringComparison.OrdinalIgnoreCase))
36.                  return k_agentIndex;
37.             if (string.Equals(parameterName, "target", StringComparison.OrdinalIgnoreCase))
38.                  return k_targetIndex;
39.  
40.             return -1;
41.         }
42.  
43.         void GenerateArgumentPermutations(StateData stateData, NativeList<ActionKey> argumentPermutations)
44.         {
45.             var agentFilter = new NativeArray<ComponentType>(3, Allocator.Temp){[0] = ComponentType.ReadWrite<Unity.AI.Planner.DomainLanguage.TraitBased.Location>(),[1] = ComponentType.ReadWrite<AI.Planner.Domains.Moveable>(),[2] = ComponentType.ReadWrite<AI.Planner.Domains.Attacker>(),  };
46.             var targetFilter = new NativeArray<ComponentType>(2, Allocator.Temp){[0] = ComponentType.ReadWrite<Unity.AI.Planner.DomainLanguage.TraitBased.Location>(),[1] = ComponentType.ReadWrite<AI.Planner.Domains.Damageable>(),  };
47.             var agentObjectIndices = new NativeList<int>(2, Allocator.Temp);
48.             stateData.GetTraitBasedObjectIndices(agentObjectIndices, agentFilter);
49.             var targetObjectIndices = new NativeList<int>(2, Allocator.Temp);
50.             stateData.GetTraitBasedObjectIndices(targetObjectIndices, targetFilter);
51.             var LocationBuffer = stateData.LocationBuffer;
52.            
53.             for (int i0 = 0; i0 < agentObjectIndices.Length; i0++)
54.             {
55.                 var agentIndex = agentObjectIndices[i0];
56.                 var agentObject = stateData.TraitBasedObjects[agentIndex];
57.                
58.            
59.             for (int i1 = 0; i1 < targetObjectIndices.Length; i1++)
60.             {
61.                 var targetIndex = targetObjectIndices[i1];
62.                 var targetObject = stateData.TraitBasedObjects[targetIndex];
63.                
64.                 if (!(LocationBuffer[agentObject.LocationIndex].Position == LocationBuffer[targetObject.LocationIndex].Position))
65.                     continue;
66.  
67.                 var actionKey = new ActionKey(k_MaxArguments) {
68.                                                         ActionGuid = ActionGuid,
69.                                                        [k_agentIndex] = agentIndex,
70.                                                        [k_targetIndex] = targetIndex,
71.                                                     };
72.                 argumentPermutations.Add(actionKey);
73.             }
74.             }
75.             agentObjectIndices.Dispose();
76.             targetObjectIndices.Dispose();
77.             agentFilter.Dispose();
78.             targetFilter.Dispose();
79.         }
80.  
81.         StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo> ApplyEffects(ActionKey action, StateEntityKey originalStateEntityKey)
82.         {
83.             var originalState = m_StateDataContext.GetStateData(originalStateEntityKey);
84.             var originalStateObjectBuffer = originalState.TraitBasedObjects;
85.             var originaltargetObject = originalStateObjectBuffer[action[k_targetIndex]];
86.             var originalagentObject = originalStateObjectBuffer[action[k_agentIndex]];
87.  
88.             var newState = m_StateDataContext.CopyStateData(originalState);
89.             var newDamageableBuffer = newState.DamageableBuffer;
90.             var newAttackerBuffer = newState.AttackerBuffer;
91.             var newLocationBuffer = newState.LocationBuffer;
92.             TraitBasedObject newdeadBodyObject;
93.             TraitBasedObjectId newdeadBodyObjectId;
94.             using (var deadBodyTypes =  new NativeArray<ComponentType>(2, Allocator.Temp) {[0] = typeof(Eatable), [1] = typeof(Location), })
95.             {
96.                 newState.AddObject(deadBodyTypes, out newdeadBodyObject, out newdeadBodyObjectId);
97.             }
98.             {
99.                     var @Damageable = newDamageableBuffer[originaltargetObject.DamageableIndex];
100.                     @Damageable.Health -= newAttackerBuffer[originalagentObject.AttackerIndex].AttackDamage;
101.                     newDamageableBuffer[originaltargetObject.DamageableIndex] = @Damageable;
102.             }
103.             {
104.                     newState.SetTraitOnObject<UnderAttack>(default(UnderAttack), ref originaltargetObject);
105.             }
106.             {
107.                     var @Location = newLocationBuffer[newdeadBodyObject.LocationIndex];
108.                     @Location.Position = newLocationBuffer[originaltargetObject.LocationIndex].Position;
109.                     newLocationBuffer[newdeadBodyObject.LocationIndex] = @Location;
110.             }
111.  
112.            
113.             newState.RemoveTraitBasedObjectAtIndex(action[k_targetIndex]);
114.  
115.             var reward = Reward(originalState, action, newState);
116.             var StateTransitionInfo = new StateTransitionInfo { Probability = 1f, TransitionUtilityValue = reward };
117.             var resultingStateKey = m_StateDataContext.GetStateDataKey(newState);
118.  
119.             return new StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo>(originalStateEntityKey, action, resultingStateKey, StateTransitionInfo);
120.         }
121.  
122.         float Reward(StateData originalState, ActionKey action, StateData newState)
123.         {
124.             var reward = -1f;
125.  
126.             return reward;
127.         }
128.  
129.         public void Execute(int jobIndex)
130.         {
131.             m_StateDataContext.JobIndex = jobIndex; //todo check that all actions set the job index
132.  
133.             var stateEntityKey = m_StatesToExpand[jobIndex];
134.             var stateData = m_StateDataContext.GetStateData(stateEntityKey);
135.  
136.             var argumentPermutations = new NativeList<ActionKey>(4, Allocator.Temp);
137.             GenerateArgumentPermutations(stateData, argumentPermutations);
138.  
139.             var transitionInfo = new NativeArray<AttackFixupReference>(argumentPermutations.Length, Allocator.Temp);
140.             for (var i = 0; i < argumentPermutations.Length; i++)
141.             {
142.                 transitionInfo[i] = new AttackFixupReference { TransitionInfo = ApplyEffects(argumentPermutations[i], stateEntityKey) };
143.             }
144.  
145.             // fixups
146.             var stateEntity = stateEntityKey.Entity;
147.             var fixupBuffer = m_StateDataContext.EntityCommandBuffer.AddBuffer<AttackFixupReference>(jobIndex, stateEntity);
148.             fixupBuffer.CopyFrom(transitionInfo);
149.  
150.             transitionInfo.Dispose();
151.             argumentPermutations.Dispose();
152.         }
153.  
154.        
155.         public static T GetAgentTrait<T>(StateData state, ActionKey action) where T : struct, ITrait
156.         {
157.             return state.GetTraitOnObjectAtIndex<T>(action[k_agentIndex]);
158.         }
159.        
160.         public static T GetTargetTrait<T>(StateData state, ActionKey action) where T : struct, ITrait
161.         {
162.             return state.GetTraitOnObjectAtIndex<T>(action[k_targetIndex]);
163.         }
164.        
165.     }
166.  
167.     public struct AttackFixupReference : IBufferElementData
168.     {
169.         internal StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo> TransitionInfo;
170.     }
171. }
172.  

Does anyone have an idea how to fix this? I am stuck. =\

These are my GameObject setups for the Decision and Trait components, if it helps:

Spoiler: SpiderAgent

(The GoapAgent/Attack Callback Method is empty for now, and the GoapAgent/Eat callback destroys the eatable GameObject, as instructed by the Step-by-step guide)

Spoiler: Prey

Thanks in advance!

 

Since my original post ended up very long and intimidating, I've decided to make a TL;DR version, separating my questions from my suggestions:

If anyone could reply to any of these, that would be much appreciated:

Questions:
1) What is the correct way of spawning an Entity with certain traits as the result of an action? Did I do it correctly in the "Effects>Objects Created" section of my Attack Action? (you can see it in the 6th spoiler of my previous post)
2) Is it possible to access a Trait based object created by an Action Effect and "attach" it to a GameObject or Entity in an Action callback?
3) Regarding the function GetTraitBasedObjectId, what is the int traitBasedObjectIndex parameter supposed to be?
4) What is the #if PLANNER_DOMAINS_GENERATED line for in the Match3 sample project's CustomSwapEffect?
5) Does action order matter when setting up a Plan Definition?
6) Based on the images I shared in the previous post, do you see anything that could be stopping my SpiderAgent from using the Attack action on Prey? The SpiderAgent should understand that attacking Prey spawns an Eatable object, allowing it to Eat.

Suggestions:
A) Min and Max values for Trait fields
B) A way to define more complex Preconditions in our Actions, making it possible to use vector distance, collisions, line traces, and other things that a game might need to use as a condition.
C) Conditional effects. For example: If health is greater than zero, decrease health. If health equals zero, destroy target.
D) Change the name "Plan Definition" to something less ambiguous, like "Agent Profiles".

As for the Burst error BC1025 I shared earlier, a friend of mine suggested that this line indicated by the error in the generated file...

using (var deadBodyTypes =  new NativeArray<ComponentType>(2, Allocator.Temp) {[0] = typeof(Eatable), [1] = typeof(Location), })

... should be like this:

using (var deadBodyTypes =  new NativeArray<ComponentType>(2, Allocator.Temp, NativeArrayOptions.UninitializedMemory) {[0] = ComponentType.ReadWrite<Eatable>(), [1] = ComponentType.ReadWrite<Location>(), })

By disabling "Reload Domain" in the Enter Play Mode Options, I was able to keep that code instead of it being regenerated, and that made the error go away! It didn't fix the Spider's non-attacking behavior, though, so that must be related to something else.

 

Thanks for reading and replying, @amirebrahimi_unity! It was very helpful! I wanted to share an update on my progress. Hopefully it'll help others who are interested in the AI Planner and might be struggling with it.

It turns out that the reason why my SpiderAgent wasn't moving towards any Prey was because the Prey prefab had a Moveable trait, which the Navigate action does not allow in its Destination parameter. Once I removed the Moveable trait, the spider was able to move to them. It would be nice if Navigate didn't have that restriction, but I already knew that one point I would have to make my own Navigator, anyway.

After reading your explanation of traitBasedObjectIndex and realizing that I could access an ActionKey with an indexer (e.g. action[0] and action[1]), I was able to make a custom effect for my Attack action that decreases a target's health while respecting the minimum value of 0. It also destroys the target once its health equals zero.

I was also modifying the TraitBasedObject that I got from newState.GetTraitBasedObject at first, but then I noticed that it's a struct and switched to newState.SetOnObject.

Here's the code for my Custom Action Effect, if you'd like to see it:

Code (CSharp):

1. public class DamagePreyEffect : ICustomActionEffect<StateData>
2. {
3. #if PLANNER_DOMAINS_GENERATED
4.     public void ApplyCustomActionEffectsToState(StateData originalState, ActionKey action, StateData newState)
5.     {
6.         TraitBasedObject originalAgentObject = originalState.GetTraitBasedObject(originalState.GetTraitBasedObjectId(action[0]));
7.         TraitBasedObject originalTargetObject = originalState.GetTraitBasedObject(originalState.GetTraitBasedObjectId(action[1]));
8.  
9.         TraitBasedObject newTargetObject = newState.GetTraitBasedObject(newState.GetTraitBasedObjectId(action[1]));
10.  
11.         float attackDamage = originalState.GetTraitOnObject<Attacker>(originalAgentObject).AttackDamage;
12.  
13.         Damageable damageable = originalState.GetTraitOnObject<Damageable>(originalTargetObject);
14.  
15.         damageable.Health = Mathf.Max(0, damageable.Health - attackDamage);
16.  
17.         newState.SetTraitOnObject(damageable, ref newTargetObject);
18.  
19.         if (damageable.Health == 0)
20.         {
21.             newState.RemoveObject(newTargetObject);
22.  
23.             newState.AddObject(
24.                 new NativeArray<ComponentType>(2, Allocator.Temp)
25.                 {
26.                     [0] = ComponentType.ReadWrite<Eatable>(),
27.                     [1] = ComponentType.ReadWrite<Location>()
28.                 },
29.                 out TraitBasedObject deadBody,
30.                 out _
31.             );
32.  
33.             Location targetLocation = newState.GetTraitOnObject<Location>(originalTargetObject);
34.             newState.SetTraitOnObject(targetLocation, ref deadBody);
35.         }
36.     }
37. #endif
38. }

The last thing that I needed to do for my system to work was create the attack callback. I thought that by modifying newState with SetTraitOnObject, RemoveObject or AddObject on my ApplyCustomActionEffectsToState function, my object would have its traits updated automatically after the Action was performed, and that I only needed callbacks for additional behavior. But that's not the case, so I added the callback below, and then the spider started acting correctly:

Code (CSharp):

1.  
2. // In my SpiderAgent class:
3.     public void Attack(GameObject damageable, float previousHealth, float attackDamage)
4.     {
5. #if PLANNER_DOMAINS_GENERATED
6.         ITraitData damageableTrait = damageable.GetComponent<ITraitBasedObjectData>().TraitData.FirstOrDefault(t => t.TraitDefinitionName == nameof(Damageable));
7.         float newHealth = Mathf.Max(0, previousHealth - attackDamage);
8.         damageableTrait.SetValue("Health", newHealth);
9.  
10.         if (newHealth <= 0)
11.         {
12.             damageable.GetComponent<PreyAgent>().DieAndSpawnFood();
13.         }
14. #endif
15.     }
16.  
17. // In my PreyAgent class:
18.     public GameObject eatablePrefab;
19.  
20.     public void DieAndSpawnFood()
21.     {
22.         Instantiate(eatablePrefab, transform.position + Vector3.right * -2, transform.rotation); // The offset is so that the Spider has to move a little bit and the Eat action doesn't finish instantly
23.         Destroy(gameObject);
24.     }
25.  

Now I am dealing with two new problems:
1) The spider is a total psychopath! I wanted to test if it was attacking prey for the right reason (to spawn food, so that it could Eat), but even after removing the part of the effect that spawns food from the Attack action (in the ActionEffect itself AND in the callback), it kept attacking all prey in the scene. Attacking has a cost (-1), and Eating has a Reward (999). It's not gaining anything by just attacking, so I don't get why the spider keeps doing it. I suspect that it might be related to my Plan Definition's search settings. What are the Heuristic, Bounds and Discount Factor parameters supposed to be?
2) If I have a single spider in my scene, it always moves towards the closest target. However, If I add multiple spiders to my scene, they all go to the same target (and then all except one of them fail and freeze). How can I make it so that each spider thinks independently?

If you could help me with any of those two problems, that would be much appreciated!

Thanks again and have a great weekend!

 

@TrevorUnity: Thank you so much for the detailed reply!

Interesting! I added the "From GameObject" filter to my SpiderAgent prefab, pointing to itself. I don't have any other objects with a DecisionController, so I didn't change any other queries. But all of my spiders stopped moving now, so I must be missing something. Any ideas?

 

Sure!



I think I see the problem now. The query isn't just used when the spider needs to find itself. It's also used to find all the other objects used in the spider's actions.

Since I replaced "All world objects" with the spider's own GameObject, it can't find any object to attack or eat.

I think this is the query that I need: "All world objects, except spiders that aren't this one". Is it possible to write a custom query in C# and use it in the Decision Controller? It seems like it's not possible to define such a query using only the editor.

 

@mplantady_unity: That worked! Thank you!

I also removed the "With Traits Attacker" part of the query, and it still worked.

I guess this concludes my experiment for now. Thank you all of your patience and replies. I really like where this tool is going. I'm looking forward to the next releases! Keep it up!

 

When do you think a DOTS workflow will be released? And when it does, would it support the ability for a Precondition to depend on the execution of a system? For example, right now the only way that a precondition can "call" a system is for it to, frame by frame,
1. Create a message entity
2. The system queries the entity and performs expensive computations and writes to an entity
3. The AI Planner reads from the written entity and fetches that to compute the precondition
This would currently take 3 frames, which does not fit into the AI Planner's single-frame heuristics calculations. If this workflow is not recommended, are there any other ways to spread a heuristic run across a single frame?

 

Thank you, guess I'll continue using a behavior tree implementation. The AI Planner looks really great nonetheless

Some of the conditions depend on logic that need a system to execute - logic that requires querying for entities. For example, the major compatibility breaker in my codebase are the systems that calculate paths - they need to query for entities which requires segueing into a system. These entities could be "enemy markers", which influences which areas of the map are considered safe, "destination reservations", which denote an area already occupied by an ally, and so forth. I guess those entities could be converted to GameObjects with traits, and the AI Planner will "query" those instead. Does the AI Planner acknowledge Trait-owning GameObjects that have been converted to Entities via Convert and Inject?

Sorry, I miscommunicated what part of the AI Planner I need to get around. It's the challenge of spreading computation across multiple frames, and having the AI Planner be aware of this and wait accordingly that I want to solve. Right now all my ECS systems can be divided into two categories: message and ongoing. Message systems query for a message entity, which upon being created triggers those systems into action. These require synchronization on the AI Planner's part, since the AI Planner has to execute the action that creates the message entity, wait one frame for the system to process that message, and finally query from an entity the result of the computation. Meanwhile ongoing systems execute continuously and are often used to calculate things like vision and ally proximity, and can be queried whenever. Maybe the message systems can be converted into IJobs and the system queries into GameObjects with traits so that my code will fit into AI Planner.

As for running over multiple frames, how can I get the AI Planner to run the heuristic across the duration of a frame? Something like returning a JobHandle to the AI Planner

 

StateTransitionInfoPair error "inaccesible due to protection level"
I have looked everywhere to get some insight to what this function is about to no avail.
where did you find this?
Help!






StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo> ApplyEffects(ActionKey action, StateEntityKey originalStateEntityKey)
{
var originalState = m_StateDataContext.GetStateData(originalStateEntityKey);
var originalStateObjectBuffer = originalState.TraitBasedObjects;
var originaltargetObject = originalStateObjectBuffer[action[k_targetIndex]];
var originalagentObject = originalStateObjectBuffer[action[k_agentIndex]];

var newState = m_StateDataContext.CopyStateData(originalState);
var newDamageableBuffer = newState.DamageableBuffer;
var newAttackerBuffer = newState.AttackerBuffer;
var newLocationBuffer = newState.LocationBuffer;
TraitBasedObject newdeadBodyObject;
TraitBasedObjectId newdeadBodyObjectId;
using (var deadBodyTypes = new NativeArray<ComponentType>(2, Allocator.Temp) {[0] = typeof(Eatable), [1] = typeof(Location), })
{
newState.AddObject(deadBodyTypes, out newdeadBodyObject, out newdeadBodyObjectId);
}
{
var @Damageable = newDamageableBuffer[originaltargetObject.DamageableIndex];
@Damageable.Health -= newAttackerBuffer[originalagentObject.AttackerIndex].AttackDamage;
newDamageableBuffer[originaltargetObject.DamageableIndex] = @Damageable;
}
{
newState.SetTraitOnObject<UnderAttack>(default(UnderAttack), ref originaltargetObject);
}
{
var @location = newLocationBuffer[newdeadBodyObject.LocationIndex];
@Location.Position = newLocationBuffer[originaltargetObject.LocationIndex].Position;
newLocationBuffer[newdeadBodyObject.LocationIndex] = @location;
}


newState.RemoveTraitBasedObjectAtIndex(action[k_targetIndex]);

var reward = Reward(originalState, action, newState);
var StateTransitionInfo = new StateTransitionInfo { Probability = 1f, TransitionUtilityValue = reward };
var resultingStateKey = m_StateDataContext.GetStateDataKey(newState);

return new StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo>(originalStateEntityKey, action, resultingStateKey, StateTransitionInfo);
}

float Reward(StateData originalState, ActionKey action, StateData newState)
{
var reward = -1f;

return reward;
}

...

public struct AttackFixupReference : IBufferElementData
{
internal StateTransitionInfoPair<StateEntityKey, ActionKey, StateTransitionInfo> TransitionInfo;
}
}

 

In the first post, "Full Attack.cs". I was trying to follow what the OP had done. Also trying to duplicate the Otto example but much has changed and not enough documentation. Otto has a lot of good info in it even if it will not compile. stuck on the foreach loops but their seems to be no equivalent "that I comprehend... yet"