public bool MeetsAdditionalPreconditions(WorldState mWorldState, PlanningAction action)
{
bool meets = false;
bool changePos = false;
Vector3 ingredientPos = new Vector3();
switch (action.mActionType)
{
case PlanningAction.ActionType.AT_GO_TO:
meets = ValidIngredient(mWorldState, action.mIngredient) && GetIngredientOfType(action.mIngredient) != null;
break;
case PlanningAction.ActionType.AT_PICK_UP:
ingredientPos = FindIngredientOfType(action.mIngredient);
//Check if you already have the ingredient to not go again for it
if (!mWorldState.ingredientsKept.Contains(action.mIngredient))
{
changePos = true;
}
break;
case PlanningAction.ActionType.AT_GO_TO_KITCHEN:
meets = RecipeCompleted(mWorldState) != null ? true : false;
break;
default:
meets = true;
break;
}
if (changePos)
{
meets = (ingredientPos - mWorldState.cPos).magnitude <= 2 ? true : false;
}
return(meets);
}
/***************************************************************************/
public NodePlanning(WorldState worldState, PlanningAction action)
{
mWorldState = new WorldState(worldState);
mAction = action;
gCost = 0.0f;
hCost = 0.0f;
mParent = null;
}
public void LimitDepthFirstPlanSearch()
{
var state = new State();
state.AddItem("Cash", 0);
var action = new PlanningAction("Get Salary").Produces("Cash",100);
state.PlanningActions.Add(action);
var g0 = new Goal("Accumulate Cash").Target("Cash", 1000);
IPlan p = new DFSPlan().SetMaxSearchDepth(3);
p.Search(state, g0);
Assert.That(p.GetPath().Count, Is.EqualTo(3));
}
public void DontPerformAnyActionWhenNoActionIsAvailable()
{
var state = new State();
state.AddItem("Cash", 99);
var action = new PlanningAction("Not affordable").Consumes("Cash", 100).Produces("Harvester");
state.PlanningActions.Add(action);
var g0 = new Goal("Build Harvester").Target("Harvester", 1);
IPlan p = new DFSPlan();
p.Search(state, g0);
Assert.That(p.GetPath().ToList().Count, Is.EqualTo(0));
}
public void LimitDepthFirstPlanSearch()
{
var state = new State();
state.AddItem("Cash", 0);
var action = new PlanningAction("Get Salary").Produces("Cash", 100);
state.PlanningActions.Add(action);
var g0 = new Goal("Accumulate Cash").Target("Cash", 1000);
IPlan p = new DFSPlan().SetMaxSearchDepth(3);
p.Search(state, g0);
Assert.That(p.GetPath().Count, Is.EqualTo(3));
}
public void DontPerformAnyActionWhenNoActionIsAvailable()
{
var state = new State();
state.AddItem("Cash", 99);
var action = new PlanningAction("Not affordable").Consumes("Cash", 100).Produces("Harvester");
state.PlanningActions.Add(action);
var g0 = new Goal("Build Harvester").Target("Harvester", 1);
IPlan p = new DFSPlan();
p.Search(state, g0);
Assert.That(p.GetPath().ToList().Count, Is.EqualTo(0));
}
public void ApplyBackwardEffects(NodePlanning node, WorldState world, PlanningAction action)
{
switch (action.mActionType)
{
case PlanningAction.ActionType.AT_PICK_UP:
world.ingredientsKept.Remove(action.mIngredient);
break;
case PlanningAction.ActionType.AT_GO_TO:
Vector3 ingredientPos = FindIngredientOfType(action.mIngredient);
node.mAction.mCost = (ingredientPos - mWorldState.cPos).magnitude;
mWorldState.cPos = ingredientPos;
world.ingredientsVisited.Remove(action.mIngredient);
break;
}
}
public bool MeetConditions(WorldState world, PlanningAction action)
{
bool meets = false;
Vector3 ingredientPos = FindIngredientOfType(action.mIngredient);
switch (action.mActionType)
{
case PlanningAction.ActionType.AT_GO_TO:
meets = (!world.ingredientsKept.Contains(action.mIngredient) && world.finalRecipe[0].ingredients.Contains(action.mIngredient));
break;
case PlanningAction.ActionType.AT_PICK_UP:
meets = (world.ingredientsKept.Contains(action.mIngredient) && (world.ingredientsVisited.Count) == world.ingredientsKept.Count);
break;
}
return(meets);
}
public RegressiveEdge(PlanningAction action, RegressiveNode sourceNode, RegressiveNode targetNode)
{
Action = PreconditionUtils.EnsureNotNull(action, "action");
SourceNode = sourceNode;
TargetNode = targetNode;
}
public ForwardEdge(PlanningAction action, ForwardNode sourceNode, ForwardNode targetNode)
{
this.Action = PreconditionUtils.EnsureNotNull(action, "action");
this.SourceNode = sourceNode;
this.TargetNode = targetNode;
}
public void ApplyAdditionalEffects(NodePlanning nodePlanning, WorldState mWorldState, PlanningAction action)
{
switch (action.mActionType)
{
case PlanningAction.ActionType.AT_GO_TO:
Vector3 ingredientPos = FindIngredientOfType(action.mIngredient);
nodePlanning.mAction.mCost = (ingredientPos - mWorldState.cPos).magnitude;
mWorldState.cPos = ingredientPos;
break;
case PlanningAction.ActionType.AT_PICK_UP:
mWorldState.ingredientsKept.Add(action.mIngredient);
break;
case PlanningAction.ActionType.AT_GO_TO_KITCHEN:
nodePlanning.mAction.mCost = (kitchen.transform.position - mWorldState.cPos).magnitude;
mWorldState.cPos = kitchen.transform.position;
mWorldState.finalRecipe.Add(RecipeCompleted(mWorldState));
break;
default:
break;
}
}
