// Parse experience graph for shortcuts and
private void CalculateShortcuts()
{
var timer = new ResettableStopwatchExecutionTimer();
// Floyd-Warshall
// Initialize Matrix
var size = experienceGraph.Count;
var graph = new double[size, size];
var actionList = new List <ExperienceAction> [size, size];
for (var i = 0; i < size; i++)
{
for (var j = 0; j < size; j++)
{
var initialAction = InitializeExperienceGraphMatrixNode(i, j);
var initialActionList = new List <ExperienceAction>();
double initialCost;
if (initialAction != null)
{
initialActionList.Add(initialAction);
initialCost = initialAction.Cost;
}
else
{
initialCost = double.PositiveInfinity;
}
graph[i, j] = initialCost;
actionList[i, j] = initialActionList;
}
}
// Calculate shortcuts
for (var k = 0; k < size; k++)
{
for (var i = 0; i < size; i++)
{
for (var j = 0; j < size; j++)
{
if (graph[i, k] + graph[k, j] < graph[i, j])
{
graph[i, j] = graph[i, k] + graph[k, j];
actionList[i, j] = actionList[i, k];
actionList[i, j].AddRange(new List <ExperienceAction>(actionList[k, j]));
}
}
}
}
for (var i = 0; i < size; i++)
{
for (var j = 0; j < size; j++)
{
if (graph[i, j] < double.PositiveInfinity)
{
var nextAct = actionList[i, j];
var baseActionList = new List <PlanningAction>();
foreach (var expAction in nextAct)
{
baseActionList.AddRange(expAction.Actions);
}
var shortcut = new ExperienceAction(nextAct.First().StartState,
baseActionList.ToArray());
// if (experienceActions.Add(shortcut))
// UnityEngine.Debug.LogWarning("New shortcut action: " + shortcut);
experienceActions.Add(shortcut);
}
}
}
UnityEngine.Debug.Log($"Time calculating shortcuts: {timer.ElapsedSeconds}");
}
protected static void RunTests(IPlanner planner)
{
try
{
var currentWorldState = GetInitialWorldState();
var availableActions = GetAvailableActions();
var buildHouseGoal = new Goal(
"BuildHouse",
new List <IPrecondition>
{
new IsTrue(new SymbolId("HouseBuilt"))
}
);
var buildHousePlusGoal = new Goal(
"BuildHousePlus",
new List <IPrecondition>
{
new IsTrue(new SymbolId("HouseBuilt")),
new IsNotSmaller(new SymbolId("Iron"), 5),
new IsNotSmaller(new SymbolId("Wood"), 2)
}
);
var getRichGoal = new Goal(
"GetRich",
new List <IPrecondition>
{
new IsNotSmaller(new SymbolId("Money"), 10),
new IsNotSmaller(new SymbolId("Iron"), 15),
}
);
var farGoal = new Goal(
"FarGoal",
new List <IPrecondition>
{
new IsTrue(new SymbolId("HouseBuilt")),
new IsNotSmaller(new SymbolId("Iron"), 50),
new IsNotSmaller(new SymbolId("Money"), 200)
}
);
var timer = new ResettableStopwatchExecutionTimer();
SingleRun("DEFAULT PLAN", planner, currentWorldState, availableActions, buildHouseGoal, timer);
SingleRun("IDENTICAL PLAN", planner, currentWorldState, availableActions, buildHouseGoal, timer);
SingleRun("PARTIAL REUSE PLAN", planner, currentWorldState, availableActions, buildHousePlusGoal, timer);
SingleRun("COMPLETELY DIFFERENT PLAN", planner, currentWorldState, availableActions, getRichGoal, timer);
SingleRun("COMPLETELY DIFFERENT PLAN FRESH", planner, currentWorldState, availableActions, getRichGoal,
timer, true);
SingleRun("PARTIAL REUSE PLAN FRESH", planner, currentWorldState, availableActions, buildHousePlusGoal,
timer, true);
SingleRun("DEEP PLAN", planner, currentWorldState, availableActions, farGoal, timer);
SingleRun("DEEP PLAN AGAIN", planner, currentWorldState, availableActions, farGoal, timer);
availableActions.UnionWith(GetManyActions());
SingleRun("WIDE PLAN", planner, currentWorldState, availableActions, getRichGoal, timer, true);
SingleRun("WIDE PLAN AGAIN", planner, currentWorldState, availableActions, getRichGoal, timer);
SingleRun("DEEP WIDE PLAN", planner, currentWorldState, availableActions, farGoal, timer, true);
SingleRun("DEEP WIDE PLAN AGAIN", planner, currentWorldState, availableActions, farGoal, timer);
}
catch (PlanNotFoundException e)
{
Debug.LogWarningFormat("{0}: {1}", e.Message, e.InnerException?.Message);
}
}
