public void Effect(Ws world)
{ // apply effects wot the worldstate passed in
foreach (Wstates W in Enum.GetValues(typeof(Wstates)))
{
if (world.states[W].Value)
{
states[W].Value = true;
}
}
}
private Node GetMatchingNodeInVisited(Ws ws)
{
foreach (Node n in visitedNodes)
{
if (n.world.Equal(ws))
{
return(n);
}
}
return(null);
}
private Node GetMatchingNodeInConsidered(Ws ws)
{
foreach (Node n in considerNodes)
{
if (n.world.Equal(ws))
{
return(n);
}
}
return(null);
}
public bool Equal(Ws WS)
{
foreach (Wstates w in Enum.GetValues(typeof(Wstates)))
{
if (states[w].Value != WS.states[w].Value)// cheack that the world state value is equal to its orginal value
{
return(false);
}
}
return(true);
}
private List <Action> GetPossibleTransitions(Ws from, ref List <Ws> tos)
{
List <Action> transitions = new List <Action>();
foreach (Action a in actions)
{
if (from.PreConditionsMeet(a.preConditions))
{
transitions.Add(a);
tos.Add(from.GetWSEffected(a.effects));
}
}
return(transitions);
}
public bool EnabledEqual(Ws WS)
{
foreach (Wstates w in Enum.GetValues(typeof(Wstates)))
{
if (WS.states[w].IsEnabled)// cheak that the world state is enabled variable is equal to is orginal value
{
if (states[w].Value != WS.states[w].Value)
{
return(false);
}
}
}
return(true);
}
public int GetNumMisMatchStates(Ws world)
{
int mis = 0;
foreach (Wstates w in Enum.GetValues(typeof(Wstates)))
{
if (world.states[w].IsEnabled) // gain the number of states that do not match their original value
{
if (states[w].Value != world.states[w].Value)
{
mis++;
}
}
}
return(mis);
}
public Ws GetWSEffected(Ws effects)
{
Ws worldstate = new Ws();
foreach (Wstates w in Enum.GetValues(typeof(Wstates))) // for each of the worldstates assign the effed world states
{
worldstate.states[w].Value = states[w].Value;
worldstate.states[w].IsEnabled = states[w].IsEnabled;
}
foreach (Wstates w in Enum.GetValues(typeof(Wstates)))
{
if (effects.states[w].Value) // if the world state value is true assign the variables for the worldstate to true
{
worldstate.states[w].Value = true;
worldstate.states[w].IsEnabled = true;
}
}
return(worldstate);
}
public Stack <Action> GetPlan(Ws start, Goal currentGoal)
{
considerNodes.Clear();
visitedNodes.Clear();
Ws goal = currentGoal.condition;
// Create a Node to encapsualte the start World State
Node n0 = new Node();
n0.world = start;
n0.parentWorlds = start;
// Cost to get to this node from start
n0.g = 0;
// A guess as to how far we are from the goal
n0.h = start.GetNumMisMatchStates(goal);
// Guess of overall cost from start to goal
n0.f = n0.g + n0.h;
// The Action associated with the Node
n0.action = null;
// Add the Node to consider
considerNodes.Add(n0);
do
{
if (considerNodes.Count == 0)
{
Debug.Log("Did not find a path");
return(null);
}
// Search Open List for Node with the lowest guested cost (closest to Goal).
int lowestVal = 100000;
Node lowestNode = null;
foreach (Node n in considerNodes)
{
if (n.f < lowestVal)
{
lowestVal = n.f;
lowestNode = n;
}
}
// Set the lowest cost Node as the current Node
Node currentNode = lowestNode;
// Remove Node
considerNodes.Remove(lowestNode);
// If the current Node's World State match the Goal we are finished
if (currentNode.world.HasAchived(goal))
{
return(ReconstructPlan(currentNode));
}
// Add Current Node to visited List
visitedNodes.Add(currentNode);
List <Ws> tos = new List <Ws>();
List <Action> transitionActions = GetPossibleTransitions(currentNode.world, ref tos);
int index = 0;
// For each of currents Node's adjacent Actions
foreach (Action a in transitionActions)
{
// Get the Actions World State after effects have been applied
Ws to = tos[index];
index++;
// Calcuate the cost from current to the completed adjacent Action
int cost = currentNode.g + a.Cost;
// The Node may already be under consideration
Node openNode = GetMatchingNodeInConsidered(to);
// The Node may already have been processed
Node closedNode = GetMatchingNodeInVisited(to);
// If already under consideration check the cost as it may be cheaper coming via this route
if (openNode != null && cost < openNode.g)
{
considerNodes.Remove(openNode);
// Force the Node to be created
openNode = null;
}
// if the Node has been visited check the cost as it may be cheaper coming via this route
if (closedNode != null && cost < closedNode.g)
{
visitedNodes.Remove(closedNode);
}
// If adjacent Action not in visited or considered Lists
if (openNode == null && closedNode == null)
{
// Ecapsulate the adjacent Action in a Node
Node nb = new Node();
// The World State after Action effects are applied
nb.world = to;
nb.g = cost;
// Number of mismatched Atoms between goal and current Node.
// A heuristic (guess) measure to how close we are to Goal.
nb.h = nb.world.GetNumMisMatchStates(goal);
nb.f = nb.g + nb.h;
nb.action = a;
// The World State before Action effects were applied
// This allows us to trace our way back to the start
nb.parentWorlds = currentNode.world;
// Add Node to List for consideration
considerNodes.Add(nb);
}
}
} while (true);
}
public Goal(int priority)
{
m_priority = priority;
condition = new Ws();
}
public bool PreConditionsMeet(Ws cond)
{
return(EnabledEqual(cond)); //return if the world state is equal
}
public bool HasAchived(Ws GL)
{
return(EnabledEqual(GL)); // return if the world state is equal
}
