public STRIPSNode(STRIPSNode previousAction, float actionCost, List <KeyValuePair <string, bool> > state, STRIPSAction action)
{
PreviousAction = previousAction;
ActionCost = actionCost;
State = state;
Action = action;
}
private void HandleHideInBushAction(Spy spy, STRIPSAction action)
{
if (action.Name == "HideInBush")
{
HideInBush hideAction = action as HideInBush;
action.ActionTarget = WhichBushToHide(hideAction.Hideouts, spy);
}
}
private void HandleSubplanning(List <STRIPSNode> plans, List <STRIPSAction> usableActions, List <KeyValuePair <string, bool> > goal, int level, Vector3 currentPosition, Spy spy,
STRIPSAction action, STRIPSNode planNode)
{
var actionsForSubplanning = usableActions.Except(new List <STRIPSAction>()
{
action
}).ToList();
GenerateAllPossiblePlans(planNode, plans, actionsForSubplanning, goal, level + 1, currentPosition, spy);
}
private void TryToExecuteAction(STRIPSAction action, Spy spy, FiniteStateMachine finiteStateMachine)
{
bool success = action.Execute(spy);
if (success)
{
return;
}
HandleActionExecutionFailure(finiteStateMachine);
}
private void HandleCurrentActionExecution(Spy spy, FiniteStateMachine finiteStateMachine)
{
STRIPSAction action = currentActions.Peek();
bool inRange = action.RequiresInRange ? action.IsInRange : true;
if (inRange)
{
TryToExecuteAction(action, spy, finiteStateMachine);
}
else
{
finiteStateMachine.AddStateToStack(movementState);
}
}
private void InitiateMovementState()
{
movementState = (finiteStateMachine, spy) =>
{
STRIPSAction action = currentActions.Peek();
if (SchedulePlanningIfNecessary(spy, finiteStateMachine))
{
return;
}
isSpyAwareOfBeingChasedLastValue = spy.AmIAwareOfBeingChased;
if (STRIPSInstance.MoveSpy(action))
{
finiteStateMachine.RemoveStateFromStack();
}
};
}
private static float CalculateActionCost(STRIPSNode parent, Vector3 currentPosition, STRIPSAction action)
{
var actionStartPosition = currentPosition;
if (parent != null && parent.Action != null && parent.Action.ActionTarget != null)
{
actionStartPosition = parent.Action.ActionTarget.transform.position;
}
float cost = action.CalculateCost(actionStartPosition);
return(cost);
}