// Done!
#region .Ctor
public IDAStar(T start, T goal, AgentCharacter agentCharacter)
{
this.start = new CognitiveState <T>(start, agentCharacter);
this.goal = new CognitiveState <T>(goal, agentCharacter);
this.agentCharacter = agentCharacter;
// Vamos definir um nivel de corte!
cutOff = (int)Math.Ceiling(start.GetHeuristic(start, goal));
}
// Done!
public float GetCost(MapNode destination, AgentCharacter ac)
{
var c = destination.Exits[0].Constraints;
const float factor = 4.0f;
var d = GetCost(destination);
var m = (c.Memory.Value * ac.Memory * d / factor); // Apply Time!
var t = (r.NextDouble() * ac.Temperamental * d / factor); // Apply Time!
var e = -(Math.Abs(c.Memory.Value) * ac.Explore * d / (2 * (c.Memory.Value > 0 ? 2 : 1.3))); // Apply Time!
var g = (c.Speed.Value * ac.Greedy * d / factor); // Apply Time!
var p = ((1 - c.Transitable.Value) * ac.Bold * d / factor); // Apply Time!
var nd = d - m - t - e - p - g;
return((float)nd);
}
// Done!
#region ICognitiveLayout<MapNode> Members
// Done!
public IList <MapNode> Children(AgentCharacter ac)
{
if (this.NodeType == NodeType.Exit)
{
return(this.Exits[0].Children());
}
IList <MapNode> data = new List <MapNode>();
for (int i = 0; i < this.Exits.Count; ++i)
{
//var x = this.Character.Bold*this.Exits[i].Exits[0].Passable;
data.Add(this.Exits[i]);
}
return(data);
}
// Done!
public static void FilterAdd <T>(this PriorityQueue <CognitiveState <T> > list, IDictionary <int, CognitiveState <T> > other, CognitiveState <T> node, CognitiveState <T> goal, AgentCharacter agentCharacter) where T : class, ICognitiveLayout <T>
{
// Expandir o estado actual!
IList <T> childreen = node.Children(node, agentCharacter);
int count = childreen.Count;
for (int i = 0; i < count; ++i)
{
T c = childreen[i];
// Adicionar à lista somente se não existir na lista de fechados.
if (other.ContainsKey(c.GetHashCode()))
{
continue;
}
CognitiveState <T> s = new CognitiveState <T>(c, node, agentCharacter);
list.Enqueue(s.Cost + CognitiveState <T> .Estimate(node, c, goal), s);
}
}
// Done!
#region .Ctor
public CognitiveAStar(T start, T goal, AgentCharacter agentCharacter)
{
this.start = new CognitiveState <T>(start, agentCharacter);
this.goal = new CognitiveState <T>(goal, agentCharacter);
this.agentCharacter = agentCharacter;
}
public IList <T> Children(CognitiveState <T> node, AgentCharacter ac)
{
return(Layout.Children(ac));
}
// State without a parent
public CognitiveState(T layout, AgentCharacter agentCharacter)
: this(layout, null, agentCharacter)
{
}
} // Custo Real
#endregion
// Done!
#region .Ctor
// Normal and most used ctor
public CognitiveState(T layout, CognitiveState <T> parent, AgentCharacter agentCharacter)
{
Parent = parent;
Layout = layout;
Cost = parent == null ? 0 : parent.Cost + parent.Layout.GetCost(layout, agentCharacter);
}
