public void Init(IGoapPlanner planner, GoapState goalState, GoapNode <T> parent, IGoapAction action)
{
m_expandList.Clear();
m_planner = planner;
m_parent = parent;
m_action = action;
if (m_parent != null)
{
m_currentState = parent.GetState().Clone();
m_gCost = parent.GetCost();
}
else
{
m_currentState = m_planner.GetAgent().GetMemory().GetWorldState().Clone();
}
if (action != null)
{
m_gCost += action.GetCost();
GoapState preconditions = action.GetPreConditions(goalState);
m_targetState = goalState + preconditions;
GoapState effects = action.GetPostEffects(goalState);
m_currentState.AddFromState(effects);
//Did this action's effect fulfill any of the goals?
m_targetState.RemoveCompletedConditions(effects);
//Did the world fulfill any of the goals?
m_targetState.RemoveCompletedConditions(m_planner.GetAgent().GetMemory().GetWorldState());
}
else
{
var diff = GoapState.Instantiate();
goalState.CreateStateWithMissingDifferences(m_currentState, ref diff);
m_targetState = diff;
}
//Cost is equal to the amount of extra actions
m_hCost = m_targetState.Count;
}
