public bool CyclesControl(WorldDynamic currentState,
PlanAction action,
StoryGraph currentGraph,
KeyValuePair <AgentStateStatic, AgentStateDynamic> agent,
StoryNode currentNode,
bool duplicated,
int globalNodeNumber,
bool succsessControl)
{
bool result = false;
// We create a test node similar to the one we are going to add to the graph as a result of the current action.
StoryNode testNode = currentGraph.CreateTestNode(currentState, action, agent, currentNode, !duplicated, globalNodeNumber, succsessControl);
StoryNode duplicatedNode = null;
Edge testEdge = new Edge();
if (!duplicated)
{
duplicatedNode = currentGraph.GetNode(testNode);
if (currentNode.Equals(duplicatedNode))
{
return(false);
}
testEdge.SetUpperNode(ref currentNode);
testEdge.SetLowerNode(ref duplicatedNode);
currentNode.AddEdge(testEdge);
duplicatedNode.AddEdge(testEdge);
currentNode.AddLinkToNode(ref duplicatedNode);
duplicatedNode.AddLinkToNode(ref currentNode);
}
string[] colors = new string[currentGraph.GetNodes().Count + 2];
for (int i = 0; i < currentGraph.GetNodes().Count + 2; i++)
{
colors[i] = "white";
}
result = TarjanAlgStep(currentGraph.GetRoot(), ref colors, !duplicated, duplicatedNode);
if (!duplicated)
{
currentNode.RemoveEdge(testEdge);
currentNode.DeleteLink(duplicatedNode);
duplicatedNode.RemoveEdge(testEdge);
duplicatedNode.DeleteLink(currentNode);
testEdge.ClearUpperNode();
testEdge.ClearLowerNode();
testEdge = null;
}
// We delete the test node and mark the loop test as passed.
currentGraph.DeleteTestNode(ref testNode);
return(result);
}
/// <summary>
/// A method in which we sequentially create a story graph, node by node, starting at the root, using the concept of Breadth First Search.
/// </summary>
public void BFSTraversing(StoryNode rootNode, bool root = true)
{
// We create a queue and a list of visited nodes.
Queue <StoryNode> queue = new Queue <StoryNode>();
HashSet <StoryNode> visitedNodes = new HashSet <StoryNode>();
// Добавляем узел в очередь и список посещённых узлов.
queue.Enqueue(rootNode);
visitedNodes.Add(rootNode);
// We initialize numeric variables storing the number of the current agent and the number of the last node in the sequence.
int actualAgentNumber = 0;
int globalNodeNumber = -1;
// We will perform the action in a loop until the queue becomes empty.
while (queue.Count > 0 && newStoryGraph.GetNodes().Count <= maxNodes)
{
// We take the node in question from the queue.
StoryNode currentNode = queue.Dequeue();
// If we come across a node with a target state, then we do not expand it.
if (storyworldConvergence.ControlToAchieveGoalState(ref currentNode))
{
//currentNode.goalState = true;
continue;
}
else
{
// If the node in question is a root.
if (currentNode.Equals(rootNode) && root)
{
// We call the method for creating a new node.
Step(newStoryGraph.GetRoot(), actualAgentNumber, root, ref globalNodeNumber, ref queue);
// Add the considered node back to the queue (in the case of the root, we only changed it and will consider it again),
// and also to the list of visited nodes. We remove the flag indicating that we are considering the root node.
queue.Enqueue(currentNode);
visitedNodes.Add(currentNode);
root = false;
}
// If the node in question IS NOT a root.
else
{
// We determine the index of the agent, which will have to act when creating a new node.
actualAgentNumber = GetActualAgentNumber(currentNode.GetWorldState().GetIndexOfAgent(currentNode.GetActiveAgent()), ref currentNode);
// We call the method to create a new node.
Step(newStoryGraph.GetNode(currentNode), actualAgentNumber, root, ref globalNodeNumber, ref queue);
}
}
// We go through the nodes associated with the considered one.
foreach (StoryNode nextNode in currentNode.GetLinks())
{
// If one of them has already been visited earlier, then we continue, moving on to the next.
if (visitedNodes.Contains(nextNode))
{
continue;
}
// Otherwise, we add them to the queue and the list of visited nodes.
queue.Enqueue(nextNode);
visitedNodes.Add(nextNode);
}
// We clear the link pointing to the node in question.
currentNode = null;
}
}