void addChildrenToOpenSet(TreeDictionary<double, StateNode> dict,
StateNode parent, GameState state, CombinedHeuristic heuristic)
{
var parentScore = stateNodeScorer (heuristic, parent);
foreach (var input in Input.All.CartesianProduct(Input.All)) {
var stateNode = new StateNode (parent, input, state);
// var target1 = state.Goal;
// var target2 = state.Goal;
var targets = heuristic.cpas.NextPlatform (state.P1, state.P2, state.Goal, state.Goal);
var target1 = targets.Item1;
var target2 = targets.Item2;
var score = parentScore +
heuristic.EstimateScore (state, input.Item1, input.Item2,
target1.Target, target2.Target);
var noiseyScore = AStar.addNoise (score);
dict.Add (noiseyScore, stateNode);
}
}
public CombinedAi(GameState state)
{
this.heuristic = new CombinedHeuristic (state);
this.forwardModel = new ForwardModel(state);
this.allPaths = new TreeDictionary<double, StateNode> ();
}
protected static double stateNodeScorer(CombinedHeuristic heuristic, StateNode node)
{
double h = heuristic.Score (node.Value);
h += pathScore (node);
// h += .1f * node.Depth(); // discourage long paths
return (float)h;
}