public override bool isAGoalState(ref DefaultState state, ref DefaultState idealGoalState)
{
ADAstarState currentState = state as ADAstarState;
ADAstarState goalState = idealGoalState as ADAstarState;
return(Vector3.Distance(currentState.state, goalState.state) < 1);
}
public override void generatePredecesors(ref DefaultState currentState, ref DefaultState previousState, ref DefaultState idealGoalState, ref List <DefaultAction> transitions)
{
List <Vector3> moves = new List <Vector3>();
moves.Add(new Vector3(1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(0.0f, 0.0f, 1.0f));
moves.Add(new Vector3(0.0f, 0.0f, -1.0f));
moves.Add(new Vector3(1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(1.0f, 0.0f, -1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, -1.0f));
ADAstarState curState = currentState as ADAstarState;
Vector3 obs = new Vector3(3.0f, 0.5f, 0.0f);
foreach (Vector3 move in moves)
{
if (!(curState.state - move).Equals(obs))
{
ADAstarAction action = new ADAstarAction();
action.cost = 1;
action.direction = -move;
ADAstarState st = new ADAstarState(curState.state - move);
action.state = st;
transitions.Add(action);
}
}
}
// Use this for initialization
void Start()
{
startState = new ADAstarState(startObject.transform.position);
goalState = new ADAstarState(goalObject.transform.position);
plan = new Stack <DefaultAction>();
}
// Use this for initialization
void Start()
{
startState = new ADAstarState(startObject.transform.position);
goalState = new ADAstarState(goalObject.transform.position);
plan = new Stack<DefaultAction>();
}
public override void generateTransitions(ref DefaultState currentState, ref DefaultState previousState, ref DefaultState idealGoalState, ref List<DefaultAction> transitions)
{
List<Vector3> moves = new List<Vector3>();
moves.Add(new Vector3(1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(0.0f, 0.0f, 1.0f));
moves.Add(new Vector3(0.0f, 0.0f, -1.0f));
moves.Add(new Vector3(1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(1.0f, 0.0f, -1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, -1.0f));
ADAstarState curState = currentState as ADAstarState;
Vector3 obs = new Vector3(3.0f, 0.5f, 0.0f);
foreach(Vector3 move in moves)
{
if(!(curState.state+move).Equals(obs))
{
ADAstarAction action = new ADAstarAction();
action.cost = 1;
action.direction = move;
ADAstarState st = new ADAstarState(curState.state + move);
action.state = st;
transitions.Add(action);
}
}
}
