public Plan MakePlan(
World current, IGoal goal,
RefreshActionsCallback actionRefresh, RefreshWorldCallback worldRefresh)
{
worldRefresh(current);
PlanTree tree = new PlanTree(start: current);
while (!tree.IsEmpty())
{
// Select the endpoint of the easiest plan we have
// This is bredth-first, try "closest" for A*like
PlanTree.Node n = tree.PopCheapestLeaf();
if (goal.MeetsGoal(n.Expected))
{
Debug.Log("Plan found!");
return(tree.GetPlan(n));
}
IList <Step> actions = actionRefresh(n.Expected);
Debug.Log("Found " + actions.Count + " actions.");
foreach (Step a in actions)
{
tree.AddStep(n, a);
}
}
Debug.Log("No plan exists!");
return(new Plan(new List <Step>()));
}
public void DoPlanning()
{
// If we're currently planning, stop it.
if (currentlyPlanning)
{
Debug.Log("Canceling current plan...");
StopCoroutine("DoPlanningHelper");
currentlyPlanning = false;
}
Debug.Log("Starting Planning . . .");
// Update the things we can do
RefreshPossibleActions();
// Reset our planning tree
tree = new PlanTree(world);
// Store visited nodes in an unsorted list
visited = new List <PlanTree.Node>();
// Start a coroutine that looks at nodes every frame
StartCoroutine(DoPlanningHelper());
}
