public Queue <Action> Plan(List <Action> actions, Dictionary <string, int> goal, WorldStates states)
{
var usableActions = actions.Where(x => x.IsAchievable()).ToList();
var leaves = new List <Node>();
var start = new Node(null, 0, World.Instance.GetWorldStates().GetStates(), null);
var success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
Debug.Log("No plan found");
return(null);
}
Node cheapest = null;
foreach (var leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.Cost < cheapest.Cost)
{
cheapest = leaf;
}
}
}
var result = new List <Action>();
var n = cheapest;
while (n != null)
{
if (n.Action != null)
{
result.Insert(0, n.Action);
}
n = n.Parent;
}
var queue = new Queue <Action>();
foreach (var action in result)
{
queue.Enqueue(action);
}
Debug.Log("The plan is:");
foreach (var action in queue)
{
Debug.Log($"{action.Name}");
}
return(queue);
}
