/// <summary>
/// 能力差距计算函数
/// </summary>
/// <returns>返回能力差距</returns>
public ablity coaRequireCheck(List <CoaMembers> coaGroup)
{
float x, y;
x = y = 0;
ablity a;
a = new ablity();
for (int i = 0; i < coaGroup.Count; i++)
{
x += coaGroup[i].agent.abilityA.ablityX;
y += coaGroup[i].agent.abilityA.ablityY;
}
if (x < requirement.ablityX || y < requirement.ablityY)
{
a.ablityX = requirement.ablityX - x;
a.ablityY = requirement.ablityY - y;
}
else
{
a.ablityX = 0;
a.ablityY = 0;
}
return(a);
}
/// <summary>
/// 联盟组队优化选择
/// 考虑移动成本和到达时间进行选择
/// </summary>
public bool CoalitionOptimization(Task task, int step)
{
bool flag = false;
CoaMembers newCoalitionAgent = new CoaMembers();
coaMembers = new List <CoaMembers>(0);
//当备选智能体
if (CoaAbilityCheck(task.pre_members))
{
do
{
//获取新添加的智能体的ID
newCoalitionAgent = AddAgent(coaMembers, task.pre_members);
if (newCoalitionAgent == null)
{
return(false);
}
if (newCoalitionAgent.agent == null)
{
return(false);
}
if (!IsAgentInCoalition(coaMembers, newCoalitionAgent.agent))
{
newCoalitionAgent.agent.taskTaken = task;
coaMembers.Add(newCoalitionAgent);
pre_members.Remove(newCoalitionAgent);
flag = CoaAbilityCheck(coaMembers);
//如果联盟能力超过了要求，则进行联盟分解
if (!flag)
{
ablity ab = coaRequireCheck(coaMembers);
if (pre_members.Count != 0 && (ab.ablityX > requirement.ablityX || ab.ablityY > requirement.ablityY))
{
newCoalitionAgent = Split(coaMembers);
coaMembers.Remove(newCoalitionAgent);
}
//else
// start_time = step + period_time;
}
}
} while (!flag);
}
else
{
call_time = step + 1;
}
return(true);
}