public List <INode <ReGoapState <T, W> > > Expand()
{
expandList.Clear();
var agent = planner.GetCurrentAgent();
var actions = agent.GetActionsSet();
for (var index = actions.Count - 1; index >= 0; index--)
{
var possibleAction = actions[index];
possibleAction.Precalculations(agent, goal);
var precond = possibleAction.GetPreconditions(goal, action);
var effects = possibleAction.GetEffects(goal, action);
if (effects.HasAnyGoodForGoal(state, goal) && // any effect is the current goal
!goal.HasAnyConflictPrecond(effects, precond) && // no precondition is conflicting with the goal (non-arithmetic)
!goal.HasAnyConflictEffect(effects) && //no effect is conflicting with goal (non-arithmetic)
!goal.IsNotHelpfulAtAll(effects, precond, state) && //(arithmetic)
possibleAction.CheckProceduralCondition(agent, goal, parent != null ? parent.action : null))
{
var newGoal = goal;
var newNode = Instantiate(planner, newGoal, this, possibleAction);
expandList.Add(newNode);
Utilities.ReGoapLogger.Log(string.Format(" oooo Expanded node: action: {0}\n\t effect {1}\n\t precond {2}\n\t goal {3}", possibleAction.GetName(), effects, precond, newNode.GoalString));
}
else
{
Utilities.ReGoapLogger.Log(string.Format(" xxxx Expanded node: action: {0}\n\t effect {1}\n\t precond {2}", possibleAction.GetName(), effects, precond));
}
}
return(expandList);
}
