private float DecomposeTask(DomainSelector domain, ITask parent, ITask task, IHTNContext context, ref List <PrimitiveTaskSelector> plan, ref int score, int scoreThreshold, out int localCost)
{
localCost = 0;
float single = TaskQualifier.TestPreconditions(task, context);
if (single <= 0f)
{
this.GetFullDecompositionCost(ref localCost);
return(single);
}
return(task.Decompose(domain, parent, context, ref plan, ref score, scoreThreshold, out localCost));
}
public float Decompose(DomainSelector domain, ITask parent, IHTNContext context, ref List <PrimitiveTaskSelector> plan, ref int score, int scoreThreshold, out int localCost)
{
localCost = 0;
if (this._task == null)
{
this.FindTaskOfQualifier();
}
if (this._task == null)
{
this._lastScore = -1f;
return(this._lastScore);
}
this._lastScore = this.DecomposeTask(domain, parent, this._task, context, ref plan, ref score, scoreThreshold, out localCost);
score += localCost;
return(this._lastScore);
}
public float Decompose(DomainSelector domain, ITask parent, IHTNContext context, ref List <PrimitiveTaskSelector> plan, ref int score, int scoreThreshold, out int localCost)
{
int num;
localCost = 0;
if (parent != null && !this.Parents.Contains(parent))
{
this.Parents.Clear();
this.Parents.Add(parent);
}
if (!this._UpdateTasksQualifiers())
{
return(0f);
}
localCost++;
for (int i = 0; i < this._taskQualifiers.Count; i++)
{
TaskQualifier item = this._taskQualifiers[i];
if (!item.isDisabled)
{
int num1 = score + localCost;
if (num1 >= scoreThreshold)
{
this.RemovalAtFailedDecomposition(context, ref plan);
return(0f);
}
float single = item.Decompose(domain, this, context, ref plan, ref num1, scoreThreshold, out num);
if (this._decomposition == DecompositionType.One && single > 0f)
{
localCost += num;
return(1f);
}
if (this._decomposition == DecompositionType.All && single <= 0f)
{
this.RemovalAtFailedDecomposition(context, ref plan);
this.GetDecompositionCostFromIndex(ref localCost, i);
return(0f);
}
localCost += num;
}
}
if (this._decomposition == DecompositionType.All)
{
return(1f);
}
return(0f);
}
public float Decompose(DomainSelector domain, ITask parent, IHTNContext context, ref List <PrimitiveTaskSelector> plan, ref int score, int scoreThreshold, out int localCost)
{
localCost = 0;
if (this._id == Guid.Empty)
{
return(0f);
}
if (parent != null && !this.Parents.Contains(parent))
{
this.Parents.Clear();
this.Parents.Add(parent);
}
plan.Add(this);
Stack <IEffect> effects = Pool.Get <Stack <IEffect> >();
Stack <IEffect> effects1 = Pool.Get <Stack <IEffect> >();
for (int i = 0; i < this._effects.Count; i++)
{
IEffect item = this._effects[i];
item.Apply(context, true, false);
effects.Push(item);
}
for (int j = 0; j < this._expectedEffects.Count; j++)
{
IEffect effect = this._expectedEffects[j];
effect.Apply(context, true, true);
effects1.Push(effect);
}
if (effects.Count <= 0)
{
Pool.Free <Stack <IEffect> >(ref effects);
}
else if (!context.AppliedEffects.ContainsKey(base.id))
{
context.AppliedEffects.Add(base.id, effects);
}
else
{
Stack <IEffect> item1 = context.AppliedEffects[base.id];
if (item1 != null)
{
Pool.Free <Stack <IEffect> >(ref item1);
}
context.AppliedEffects[base.id] = effects;
}
if (effects1.Count <= 0)
{
Pool.Free <Stack <IEffect> >(ref effects1);
}
else if (!context.AppliedExpectedEffects.ContainsKey(base.id))
{
context.AppliedExpectedEffects.Add(base.id, effects1);
}
else
{
Stack <IEffect> item2 = context.AppliedExpectedEffects[base.id];
if (item2 != null)
{
Pool.Free <Stack <IEffect> >(ref item2);
}
context.AppliedExpectedEffects[base.id] = effects1;
}
return(1f);
}
