// Base Constructor
public Node(Node parent, float cost, List <State> allStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new List <State>(allStates);
this.action = action;
}
/// <summary>
/// Load next action in the queue.
/// </summary>
private void LoadNextAction()
{
// ------- HAS AN ACTION QUEUE CONTAINING ACTIONS -------
if (actionQueue != null && actionQueue.Count > 0)
{
// --------- SET CURRENT ACTION TO NEXT ACTION ----------
currentAction = actionQueue.Dequeue();
// ----------- CHECKS PRE PERFORM CONDITIONS ------------
if (currentAction.PrePerform(this))
{
Debug.Log($"Pre perform successful for {currentAction.name}.");
// ------------------ ACTIVATE ACTION -------------------
isRunningAction = true;
currentAction.RunMainAction(this);
}
else
{
// ----------------- FORCE A NEW PLAN -----------------
actionQueue = null;
}
}
}
/// <summary>
/// Returns a new list that doesn't contain the removed action.
/// </summary>
private List <GAction> ActionSubset(List <GAction> actions, GAction removeMe)
{
List <GAction> subset = new List <GAction>();
foreach (GAction a in actions)
{
if (!a.Equals(removeMe))
{
subset.Add(a);
}
}
return(subset);
}
// Overloaded Constructor
public Node(Node parent, float cost, List <State> allStates, List <State> beliefStates, GAction action)
{
this.parent = parent;
this.cost = cost;
this.state = new List <State>(allStates);
this.action = action;
// Merge beliefs into all states dictionary
foreach (var b in beliefStates)
{
if (!this.state.Contains(b))
{
this.state.Add(b);
}
}
}