// 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();
}
}
}
}
