public Queue <GOAPAction> plan(List <GOAPAction> actions, Dictionary <string, int> goal, OfficeStates states)
{
List <GOAPAction> usableActions = new List <GOAPAction>();
foreach (GOAPAction a in actions)
{
if (a.isAchievable())
{
usableActions.Add(a);
}
}
List <Node> leaves = new List <Node>();
Node start = new Node(null, 0.0f, Office.GetInstance.GetOffice().GetStates(), null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
Debug.Log("NO PLAN");
return(null);
}
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
}
List <GOAPAction> result = new List <GOAPAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
Queue <GOAPAction> queue = new Queue <GOAPAction>();
foreach (GOAPAction a in result)
{
queue.Enqueue(a);
}
Debug.Log("The Plan is: ");
foreach (GOAPAction a in queue)
{
Debug.Log("Q: " + a.actionName);
}
return(queue);
}
static Office()
{
officeStates = new OfficeStates();
}
