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));
FringePlanningState curState = currentState as FringePlanningState;
foreach (Vector3 move in moves)
{
if ((move + curState.state).x < x_max && (move + curState.state).x >= x_min &&
(move + curState.state).z < z_max && (move + curState.state).z >= z_min)
{
FringePlanningAction action = new FringePlanningAction();
action.cost = 1;
action.direction = move;
FringePlanningState st = new FringePlanningState(curState.state + move);
action.state = st;
transitions.Add(action);
}
}
}
void initCache(ref Dictionary <DefaultState, FringeSearchNode> _cache)
{
//Dummy Vector3
Vector3 statePosition = new Vector3(0.0f, start.y, 0.0f);
xmin = start.x - 10; xmax = start.x + 10;
zmin = start.z - 10; zmax = start.z + 10;
for (int i = 0; i < 20; ++i)
{
statePosition.x = (start.x - 10) + i;
for (int j = 0; j < 20; ++j)
{
statePosition.z = (start.z - 10) + j;
FringePlanningState state = new FringePlanningState(statePosition);
//DefaultState st = state as DefaultState;
_cache.Add(state, null);
}
}
}
// Use this for initialization
void Start()
{
start = startObject.transform.position;
goal = goalObject.transform.position;
startState = new FringePlanningState(start);
goalState = new FringePlanningState(goal);
outputPlan = new Stack <DefaultAction>();
planner = new FringeSearchPlanner(400);
planner.Cache = new Dictionary <DefaultState, FringeSearchNode>(planner._capacity);
initCache(ref planner.Cache);
domainList = new List <PlanningDomainBase>();
FringePlanningDomain domain = new FringePlanningDomain();
domain.setBoundaries(xmin, xmax, zmin, zmax);
domainList.Add(domain);
planner.init(ref domainList, -1);
DefaultState DcurrentState = startState as DefaultState;
DefaultState DgoalState = goalState as DefaultState;
bool planComputed = planner.computePlan(ref DcurrentState, ref DgoalState, ref outputPlan, -1);
Debug.Log(planComputed);
Debug.Log(outputPlan.Count);
st = new Stack <FringePlanningAction>();
while (outputPlan.Count != 0)
{
st.Push(outputPlan.Pop() as FringePlanningAction);
}
Debug.Log(st.Count);
}
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));
FringePlanningState curState = currentState as FringePlanningState;
foreach(Vector3 move in moves)
{
if((move + curState.state).x < x_max && (move + curState.state).x >= x_min &&
(move + curState.state).z < z_max && (move + curState.state).z >= z_min)
{
FringePlanningAction action = new FringePlanningAction();
action.cost = 1;
action.direction = move;
FringePlanningState st = new FringePlanningState(curState.state + move);
action.state = st;
transitions.Add(action);
}
}
}
// Use this for initialization
void Start()
{
start = startObject.transform.position;
goal = goalObject.transform.position;
startState = new FringePlanningState(start);
goalState = new FringePlanningState(goal);
outputPlan = new Stack<DefaultAction>();
planner = new FringeSearchPlanner(400);
planner.Cache = new Dictionary<DefaultState, FringeSearchNode>(planner._capacity);
initCache(ref planner.Cache);
domainList = new List<PlanningDomainBase>();
FringePlanningDomain domain = new FringePlanningDomain();
domain.setBoundaries(xmin,xmax,zmin,zmax);
domainList.Add(domain);
planner.init( ref domainList, -1);
DefaultState DcurrentState = startState as DefaultState;
DefaultState DgoalState = goalState as DefaultState;
bool planComputed = planner.computePlan(ref DcurrentState, ref DgoalState, ref outputPlan, -1);
Debug.Log(planComputed);
Debug.Log(outputPlan.Count);
st = new Stack<FringePlanningAction>();
while(outputPlan.Count != 0)
{
st.Push(outputPlan.Pop() as FringePlanningAction);
}
Debug.Log(st.Count);
}
void initCache(ref Dictionary<DefaultState, FringeSearchNode> _cache)
{
//Dummy Vector3
Vector3 statePosition = new Vector3(0.0f, start.y, 0.0f);
xmin = start.x-10; xmax = start.x+10;
zmin = start.z-10; zmax = start.z+10;
for(int i=0; i < 20; ++i)
{
statePosition.x = (start.x-10)+i;
for(int j=0; j < 20; ++j)
{
statePosition.z = (start.z-10)+j;
FringePlanningState state = new FringePlanningState(statePosition);
//DefaultState st = state as DefaultState;
_cache.Add(state, null);
}
}
}
