public static void WritePlansWithBest(List <List <IGOAPReadOnlyAction> > plans, IGOAPCostComparer comparer)
{
Console.WriteLine();
var bestCost = comparer.BadCost;
foreach (var plan in plans)
{
IGOAPCost fullCost = comparer.ZeroCost;
foreach (var action in plan)
{
fullCost = fullCost.GetSumWith(action.Cost);
}
int value = comparer.Compare(bestCost, fullCost);
if (value < 1)
{
bestCost = fullCost;
}
}
foreach (var plan in plans)
{
IGOAPCost fullCost = comparer.ZeroCost;
foreach (var action in plan)
{
fullCost = fullCost.GetSumWith(action.Cost);
}
int value = comparer.Compare(bestCost, fullCost);
if (value > 0)
{
WritePlan(plan);
}
}
Console.ForegroundColor = ConsoleColor.Green;
foreach (var plan in plans)
{
IGOAPCost fullCost = comparer.ZeroCost;
foreach (var action in plan)
{
fullCost = fullCost.GetSumWith(action.Cost);
}
int value = comparer.Compare(bestCost, fullCost);
if (value == 0)
{
WritePlan(plan);
}
}
Console.ResetColor();
}
private List <List <IGOAPReadOnlyAction> > GetAllBestPlans(TreeDecision <IGOAPReadOnlyAction> plans)
{
var bestCost = _comparer.BadCost;
var currentPlan = new List <IGOAPReadOnlyAction>();
var bestPlans = new List <List <IGOAPReadOnlyAction> >();
foreach (var child in plans.Root.Children)
{
Iterate(_comparer.ZeroCost, child);
}
void Iterate(IGOAPCost previusCost, TreeElement <IGOAPReadOnlyAction> element)
{
var newCost = previusCost.GetSumWith(element.Content.Cost);
currentPlan.Add(element.Content);
if (!element.HasChildren)
{
int value = _comparer.Compare(bestCost, newCost);
if (value <= 0)
{
if (value < 0)
{
bestCost = newCost;
bestPlans = new List <List <IGOAPReadOnlyAction> >();
}
bestPlans.Add(new List <IGOAPReadOnlyAction>(currentPlan.Where(x => !x.IsConnector)));
}
currentPlan.RemoveAt(currentPlan.Count - 1);
return;
}
foreach (var child in element.Children)
{
Iterate(newCost, child);
}
while (currentPlan[currentPlan.Count - 1] != element.Content)
{
currentPlan.RemoveAt(currentPlan.Count - 1);
}
currentPlan.RemoveAt(currentPlan.Count - 1);
}
return(bestPlans);
}
private List <GOAPAction> GetBestPlan(TreeDecision <GOAPAction> plans)
{
var bestCost = _comparer.BadCost;
var bestPlan = new List <GOAPAction>();
var stack = new Stack <GOAPAction>();
foreach (var child in plans.Root.Children)
{
Iterate(_comparer.ZeroCost, child);
}
void Iterate(IGOAPCost previusCost, TreeElement <GOAPAction> element)
{
var newCost = previusCost.GetSumWith(element.Content.Cost);
stack.Push(element.Content);
if (!element.HasChildren)
{
int value = _comparer.Compare(bestCost, newCost);
if (value < 0 || (value == 0 && BaseMath.Probability(0.5f)))
{
bestCost = newCost;
bestPlan = stack.Where(x => !x.IsConnector).ToList();
}
return;
}
foreach (var child in element.Children)
{
Iterate(newCost, child);
}
while (stack.Pop() != element.Content)
{
;
}
}
return(bestPlan);
}