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>()));
}
