public Node(Node parent, float cost, Dictionary <string, int> states, GAction action)
{
this.parent = parent;
this.cost = cost;
this.states = new Dictionary <string, int>(states);
this.action = action;
}
private List <GAction> ActionSubset(List <GAction> actions, GAction targetRemoval)
{
List <GAction> subset = new List <GAction>();
foreach (GAction a in actions)
{
if (!a.Equals(targetRemoval))
{
subset.Add(a);
}
}
return(subset);
}
private void UpdateActionQueue()
{
// If no more actions, remove goal and planner
if (actionQueue != null && actionQueue.Count == 0)
{
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
planner = null;
}
// If there are more actions to take, send the next one
if (actionQueue != null && actionQueue.Count > 0)
{
currentAction = actionQueue.Dequeue();
if (currentAction.PrePerform())
{
if (currentAction.target == null && currentAction.targetTag != "")
{
currentAction.target = GameObject.FindWithTag(currentAction.targetTag);
}
if (currentAction.target != null)
{
currentAction.running = true;
destination = currentAction.target.transform.position;
Transform dest = currentAction.target.transform.Find("Destination");
if (dest != null)
{
destination = dest.position;
}
currentAction.agent.SetDestination(destination);
}
}
else
{
actionQueue = null;
}
}
}
public Node(Node parent, float cost, Dictionary <string, int> states, Dictionary <string, int> beliefStates, GAction action) : this(parent, cost, states, action)
{
foreach (KeyValuePair <string, int> b in beliefStates)
{
if (!this.states.ContainsKey(b.Key))
{
this.states.Add(b.Key, b.Value);
}
}
}
