public bool BuildGraph(Node parent, List <Node> leaves, List <Action> usableActions, string goal)
{
var foundPath = false;
foreach (var usableAction in usableActions)
{
var usable = usableAction.IsPreconditionsMet(parent.States);
if (!usable)
{
if (GenerateFailedPlansReport)
{
AddError(parent, usableAction, parent.States);
}
continue;
}
if (!usableAction.IsProceduralPreconditionMet(parent.States))
{
continue;
}
var currentState = DictionaryPool <string, float> .Get();
var node = Pool <Node> .Get();
_usedNodes.Push(node);
node.States = currentState;
node.Action = usableAction;
node.ActionName = usableAction.Name;
node.Parent = parent;
node.Cost = parent.Cost + usableAction.Cost;
node.Cost += usableAction.DynamicallyEvaluateCost(parent.States);
foreach (var parentState in parent.States)
{
if (!currentState.ContainsKey(parentState.Key))
{
currentState.Add(parentState.Key, parentState.Value);
}
}
foreach (var effect in usableAction.AfterEffects)
{
if (!currentState.ContainsKey(effect.Key))
{
currentState.Add(effect.Key, effect.Value);
}
}
usableAction.ProceduralEffect(currentState);
// Goal Achieved
if (currentState.ContainsKey(goal))
{
leaves.Add(node);
foundPath = true;
}
else
{
var subsetActions = ListPool <Action> .Get();
_usedActions.Push(subsetActions);
foreach (var action in usableActions)
{
subsetActions.Add(action);
}
subsetActions.Remove(usableAction);
foundPath = BuildGraph(node, leaves, subsetActions, goal);
}
}
return(foundPath);
}