// My method for generating HTN tree
void initializeHTN()
{
beAMonster = new HTNTask("beAMonster", true, new List <HTNTask>());
// Idle tasks
idle = new HTNTask("idle", true, new List <HTNTask>());
moveToLeft = new HTNTask("moveToLeft", false, new List <HTNTask>());
moveToRight = new HTNTask("moveToRight", false, new List <HTNTask>());
// Attack tasks
attack = new HTNTask("attack", true, new List <HTNTask>());
moveToObstacle = new HTNTask("moveToObstacle", false, new List <HTNTask>());
throwObstacle = new HTNTask("throwObstacle", false, new List <HTNTask>());
//recover = new HTNTask("recover", false, new List<HTNTask>());
beAMonster.subtasks.Add(idle);
idle.subtasks.Add(moveToLeft);
idle.subtasks.Add(moveToRight);
beAMonster.subtasks.Add(attack);
attack.subtasks.Add(moveToObstacle);
attack.subtasks.Add(throwObstacle);
moveToLeft.precondition.playerInRange = PlayerInRange.no;
moveToLeft.precondition.playerDead = PlayerDead.noCare;
moveToLeft.precondition.hasObstacle = HasObstacle.noCare;
moveToLeft.precondition.atObstacle = AtObstacle.noCare;
moveToRight.precondition.playerInRange = PlayerInRange.no;
moveToRight.precondition.playerDead = PlayerDead.noCare;
moveToRight.precondition.hasObstacle = HasObstacle.noCare;
moveToRight.precondition.atObstacle = AtObstacle.noCare;
moveToObstacle.precondition.playerInRange = PlayerInRange.yes;
moveToObstacle.precondition.playerDead = PlayerDead.no;
moveToObstacle.precondition.hasObstacle = HasObstacle.yes;
moveToObstacle.precondition.atObstacle = AtObstacle.no;
throwObstacle.precondition.playerInRange = PlayerInRange.yes;
throwObstacle.precondition.playerDead = PlayerDead.no;
throwObstacle.precondition.hasObstacle = HasObstacle.yes;
throwObstacle.precondition.atObstacle = AtObstacle.yes;
SimperForwardPlanner();
}
// My methof for main planner
// basically followed by what Clark taught in class
void SimperForwardPlanner()
{
plan = new List <HTNTask>();
pickup = false;
findPlayer = false;
throwFinished = false;
HTNTasks = new Stack <HTNTask>();
HTNTasks.Push(beAMonster);
while (HTNTasks.Count != 0)
{
HTNTask hTNTask = HTNTasks.Pop();
if (hTNTask.isCompound)
{
List <HTNTask> foundTasks = hTNTask.addSubtasks();
if (foundTasks.Count > 0)
{
for (int i = foundTasks.Count - 1; i >= 0; i--)
{
HTNTasks.Push(foundTasks[i]);
}
}
else
{
resotreWorldState();
}
}
else
{
if (hTNTask.checkPre(worldState))
{
plan.Add(hTNTask);
}
else
{
resotreWorldState();
}
}
}
}
