static List <PrimitiveTask> SHOPNoBack(List <Task> tasks, List <PrimitiveTask> plan, string personality, State state, HTNAgent agent)
{
Task task = tasks [0];
if (task.GetType() == typeof(PrimitiveTask))
{
PrimitiveTask pt = (PrimitiveTask)task;
PrimitiveTask groundAction = InstantiateAction(pt, state, agent);
if (groundAction != null)
{
plan.Add(groundAction);
tasks.Remove(pt);
if (tasks.Count > 0)
{
return(SHOPNoBack(tasks, plan, personality, pt.apply(state), agent));
}
}
else
{
return(null);
}
}
else if (task.GetType() == typeof(CompoundTask))
{
CompoundTask ct = (CompoundTask)task;
List <Method> orderdedMethods = new List <Method>();
switch (agent.methodsOrdering)
{
case MethodsOrdering.NONE:
orderdedMethods = ct.methods;
break;
case MethodsOrdering.PREF:
orderdedMethods = ct.methods.OrderBy(m => m.preference != personality).ToList();
break;
case MethodsOrdering.COSTANDPREF:
orderdedMethods = ct.methods.OrderBy(m => m.leastCost()).ThenBy(m => m.preference != personality).ToList();
break;
}
foreach (Method m in orderdedMethods)
{
if (RuleMatcher.MatchCondition(m.preconditions, state, m.logicalOperator))
{
List <Task> tempTasks = new List <Task>(tasks);
tempTasks.Remove(task);
int j = 0;
foreach (Task subtask in m.subtasks)
{
tempTasks.Insert(0 + j, subtask);
j++;
}
List <PrimitiveTask> tempPlan = SHOPNoBack(tempTasks, plan, personality, state, agent);
if (tempPlan != null)
{
plan.Concat(tempPlan);
break;
}
else
{
return(null);
}
}
}
}
return(plan);
}