public int GetInt32(WorldStateId id)
{
return(GetInt32(WorldStates.GetState(id).Index));
}
public void SetUInt32(WorldStateId id, uint value)
{
SetUInt32(WorldStates.GetState(id), value);
}
public uint GetUInt32(WorldStateId id)
{
return(this.GetUInt32(WorldStates.GetState(id).Index));
}
public Queue <GAction> plan(List <GAction> actions, Dictionary <string, int> goal, WorldStates beliefStates)
{
List <GAction> usableActions = new List <GAction>();
foreach (GAction a in actions)
{
if (a.IsAchievable())
{
usableActions.Add(a);
}
}
List <Node> leaves = new List <Node>();
Node start = new Node(null, 0, GWorld.Instance.GetWorld().GetState(), beliefStates.GetState(), null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
// Debug.Log("NO PLAN");
return(null);
}
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
}
List <GAction> result = new List <GAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
Queue <GAction> queue = new Queue <GAction>();
foreach (GAction a in result)
{
queue.Enqueue(a);
}
//Debug.Log("The Plan is: ");
//foreach (GAction a in queue)
//{
// Debug.Log("Q: " + a.actionName);
//}
return(queue);
}
public void SetInt32(WorldStateId id, int value)
{
this.SetInt32(WorldStates.GetState(id), value);
}