void moveAgent()
{
if (startState.state != goalState.state)
{
if (!moving && plan.Count > 0)
{
action = plan.Pop() as ADAstarAction;
moving = true;
}
else if (moving && plan.Count > 0)
{
startObject.transform.Translate(-action.direction);
startState.state = startObject.transform.position;
//_moveAgent((-action.direction)/10);
iteration++;
if (iteration == 10)
{
iteration = 0; moving = false;
}
}
}
else
{
moving = false;
planExecuted = true;
can_i_plan = true;
plan.Clear();
}
}
public override void generatePredecesors(ref DefaultState currentState, ref DefaultState previousState, ref DefaultState idealGoalState, ref List <DefaultAction> transitions)
{
List <Vector3> moves = new List <Vector3>();
moves.Add(new Vector3(1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(0.0f, 0.0f, 1.0f));
moves.Add(new Vector3(0.0f, 0.0f, -1.0f));
moves.Add(new Vector3(1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(1.0f, 0.0f, -1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, -1.0f));
ADAstarState curState = currentState as ADAstarState;
Vector3 obs = new Vector3(3.0f, 0.5f, 0.0f);
foreach (Vector3 move in moves)
{
if (!(curState.state - move).Equals(obs))
{
ADAstarAction action = new ADAstarAction();
action.cost = 1;
action.direction = -move;
ADAstarState st = new ADAstarState(curState.state - move);
action.state = st;
transitions.Add(action);
}
}
}
void moveAgent()
{
if(startState.state!=goalState.state)
{
if(!moving && plan.Count > 0){
action = plan.Pop() as ADAstarAction;
moving = true;
}
else if(moving && plan.Count > 0)
{
startObject.transform.Translate(-action.direction);
startState.state = startObject.transform.position;
//_moveAgent((-action.direction)/10);
iteration++;
if(iteration==10)
{ iteration=0; moving=false;}
}
}
else
{
moving = false;
planExecuted=true;
can_i_plan = true;
plan.Clear();
}
}
public override void generateTransitions(ref DefaultState currentState, ref DefaultState previousState, ref DefaultState idealGoalState, ref List<DefaultAction> transitions)
{
List<Vector3> moves = new List<Vector3>();
moves.Add(new Vector3(1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 0.0f));
moves.Add(new Vector3(0.0f, 0.0f, 1.0f));
moves.Add(new Vector3(0.0f, 0.0f, -1.0f));
moves.Add(new Vector3(1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, 1.0f));
moves.Add(new Vector3(1.0f, 0.0f, -1.0f));
moves.Add(new Vector3(-1.0f, 0.0f, -1.0f));
ADAstarState curState = currentState as ADAstarState;
Vector3 obs = new Vector3(3.0f, 0.5f, 0.0f);
foreach(Vector3 move in moves)
{
if(!(curState.state+move).Equals(obs))
{
ADAstarAction action = new ADAstarAction();
action.cost = 1;
action.direction = move;
ADAstarState st = new ADAstarState(curState.state + move);
action.state = st;
transitions.Add(action);
}
}
}