/// A positive iThinkFact is added to the \a State, and a negative one is removed from it.
public void applyFact( iThinkState State )
{
if ( this.positive == false )
State.delFact( this );
else
State.addFact( this );
}
/// A positive iThinkFact is added to the \a State, and a negative one is removed from it.
public void applyFact(iThinkState State)
{
if (this.positive == false)
{
State.delFact(this);
}
else
{
State.addFact(this);
}
}
/*!
* Returns a new iThinkState, based on \a State and applies the action's effects to it
* @param State The state to be effected
* @returns A new iThinkState
*/
public virtual iThinkState applyEffects( iThinkState State )
{
iThinkState NewState = new iThinkState( State );
foreach ( iThinkFact effect in this.effects )
{
if (effect.getPositive())
NewState.addFact(effect);
else
NewState.delFact(effect);
}
return NewState;
}
/*public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
* {
* return base.hFunction(nextState, GoalState);
* }*/
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i = 0; i < depth; i++)
{
List <int> areas = new List <int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
{
return(i);
}
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List <iThinkAction> allApplicableActions = new List <iThinkAction>();
foreach (int k in areas)
{
List <iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k));
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return(-1);
}
/*!
* Returns a new iThinkState, based on \a State and applies the action's effects to it
* @param State The state to be effected
* @returns A new iThinkState
*/
public virtual iThinkState applyEffects(iThinkState State)
{
iThinkState NewState = new iThinkState(State);
foreach (iThinkFact effect in this.effects)
{
if (effect.getPositive())
{
NewState.addFact(effect);
}
else
{
NewState.delFact(effect);
}
}
return(NewState);
}
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i=0 ; i<depth ; i++)
{
List<int> areas = new List<int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
return i;
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List<iThinkAction> allApplicableActions = new List<iThinkAction>();
foreach (int k in areas)
{
List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k) );
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return -1;
}