public void Recycle()
{
state.Recycle();
state = null;
goal.Recycle();
goal = null;
cachedNodes.Push(this);
}
public void Recycle()
{
state.Recycle();
state = null;
Goal.Recycle();
Goal = null;
lock (cachedNodes)
{
cachedNodes.Push(this);
}
}
protected virtual void OnDestroy()
{
goal.Recycle();
}
private void Init(IGoapPlanner <T, W> planner, ReGoapState <T, W> newGoal, ReGoapNode <T, W> parent, IReGoapAction <T, W> action)
{
expandList.Clear();
this.planner = planner;
this.parent = parent;
this.action = action;
if (action != null)
{
actionSettings = action.GetSettings(planner.GetCurrentAgent(), newGoal);
}
if (this.parent != null)
{
state = this.parent.GetState();
// g(node)
g = parent.GetPathCost();
}
else
{
state = (ReGoapState <T, W>)planner.GetCurrentAgent().GetMemory().GetWorldState().Clone();
}
var nextAction = parent == null ? null : parent.action;
if (action != null)
{
// since in backward search we relax the problem all preconditions are valid but are added to the current goal
var preconditions = action.GetPreconditions(newGoal, nextAction);
goal = newGoal + preconditions;
var effects = action.GetEffects(newGoal, nextAction);
state += effects;
g += action.GetCost(newGoal, nextAction);
// removing current action effects from goal, no need to do with to the whole state
// since the state is the sum of all the previous actions's effects.
var missingState = ReGoapState <T, W> .Instantiate();
goal.MissingDifference(effects, ref missingState);
goal.Recycle();
goal = missingState;
// this is needed every step to make sure that any precondition is not already satisfied
// by the world state
var worldMissingState = ReGoapState <T, W> .Instantiate();
goal.MissingDifference(planner.GetCurrentAgent().GetMemory().GetWorldState(), ref worldMissingState);
goal.Recycle();
goal = worldMissingState;
}
else
{
var diff = ReGoapState <T, W> .Instantiate();
newGoal.MissingDifference(state, ref diff);
goal = diff;
}
h = goal.Count;
// f(node) = g(node) + h(node)
cost = g + h * heuristicMultiplier;
}
void OnDestroy()
{
goal.Recycle();
}
void OnDestroy()
{
state.Recycle();
}
protected virtual void OnDestroy()
{
state.Recycle();
}
