public static Path4 <T> GetPlanning(List <ActionBase4 <T> > actions, T agent, ActionBase4 <T> goal, int minValue)
{
if (goal.CheckCondition(agent))
{
Path4 <T> path = pathPool.New();
path.Reset();
path.Append(goal);
return(path);
}
else
{
int maxValue = -99999;
ActionBase4 <T> bestAction = null;
Path4 <T> bestSubPath = null;
foreach (ActionBase4 <T> action in actions)
{
if (action.CheckCondition(agent))
{
if (action.GetValue() >= minValue)
{
T newAgent = action.PerformEffect(agent);
Path4 <T> subPath = GetPlanning(actions, newAgent, goal, minValue - action.GetValue());
if (subPath != null)
{
int value = action.GetValue() + subPath.Value;
if (value > maxValue)
{
if (bestSubPath != null)
{
pathPool.Recycle(bestSubPath);
}
maxValue = value;
bestAction = action;
bestSubPath = subPath;
}
else
{
pathPool.Recycle(subPath);
}
}
}
}
}
if (bestAction != null)
{
bestSubPath.AddHead(bestAction);
return(bestSubPath);
}
}
return(null);
}
public void AddHead(ActionBase4 <T> action)
{
actions.Insert(0, action);
value += action.GetValue();
}
public void Append(ActionBase4 <T> action)
{
actions.Add(action);
value += action.GetValue();
}