/// Checks if goalState is a subset of curState
static public bool compareStates(iThinkState curState, iThinkState goalState)
{
int counter = 0;
if (curState != null)
{
foreach (iThinkFact fact in goalState.getFactList())
{
foreach (iThinkFact check in curState.getFactList())
{
if (check == null)
{
return(false);
}
else if (check.Equals(fact))
{
counter++;
}
}
}
}
if (counter == goalState.getFactList().Count)
{
return(true);
}
return(false);
}
public void writeInitState(iThinkState st)
{
// create a writer and open the file
TextWriter tw = new StreamWriter("initState.txt");
foreach (iThinkFact f in st.getFactList())
{
// write a line of text to the file
tw.WriteLine(f.ToString());
}
// close the stream
tw.Close();
}
/*public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
* {
* return base.hFunction(nextState, GoalState);
* }*/
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i = 0; i < depth; i++)
{
List <int> areas = new List <int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
{
return(i);
}
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List <iThinkAction> allApplicableActions = new List <iThinkAction>();
foreach (int k in areas)
{
List <iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k));
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return(-1);
}
public virtual int hFunction(iThinkState nextState, iThinkState GoalState)
{
int counter = 0;
foreach (iThinkFact fact in nextState.getFactList())
{
foreach (iThinkFact goalFact in GoalState.getFactList())
{
if (fact.Equals(goalFact))
{
counter++;
break;
}
}
}
return(counter);
}
/*!
* Checks whether the action can be applied on iThinkState \a curState
* @param curState The state to be checked
* @returns A boolean value
*/
public bool isApplicable( iThinkState curState )
{
int counter = 0;
foreach ( iThinkFact fact in preconditions )
{
//! TODO Get facts of wanted type/name only
foreach ( iThinkFact checkFact in curState.getFactList() )
{
if ( fact.Equals(checkFact) )
counter++;
}
}
if ( counter == preconditions.Count ){
//Debug.LogError("Found applicable! " + this.ToString());
return true;
}
//if ( this.name.StartsWith("SFPSPlace") )
// Debug.Log("Unequal: " + counter + " of " + preconditions.Count + " - act: " + this.ToString());
return false;
}
/*!
* Checks whether the action can be applied on iThinkState \a curState
* @param curState The state to be checked
* @returns A boolean value
*/
public bool isApplicable(iThinkState curState)
{
int counter = 0;
foreach (iThinkFact fact in preconditions)
{
//! TODO Get facts of wanted type/name only
foreach (iThinkFact checkFact in curState.getFactList())
{
if (fact.Equals(checkFact))
{
counter++;
}
}
}
if (counter == preconditions.Count)
{
//Debug.LogError("Found applicable! " + this.ToString());
return(true);
}
//if ( this.name.StartsWith("SFPSPlace") )
// Debug.Log("Unequal: " + counter + " of " + preconditions.Count + " - act: " + this.ToString());
return(false);
}
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i=0 ; i<depth ; i++)
{
List<int> areas = new List<int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
return i;
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List<iThinkAction> allApplicableActions = new List<iThinkAction>();
foreach (int k in areas)
{
List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k) );
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return -1;
}
/// Checks if goalState is a subset of curState
static public bool compareStates( iThinkState curState, iThinkState goalState )
{
int counter = 0;
if (curState != null) {
foreach ( iThinkFact fact in goalState.getFactList() )
{
foreach ( iThinkFact check in curState.getFactList() )
{
if ( check == null )
return false;
else if ( check.Equals(fact) )
counter++;
}
}
}
if ( counter == goalState.getFactList().Count )
return true;
return false;
}
public virtual int hFunction( iThinkState nextState, iThinkState GoalState )
{
int counter = 0;
foreach ( iThinkFact fact in nextState.getFactList() )
{
foreach ( iThinkFact goalFact in GoalState.getFactList() )
{
if ( fact.Equals( goalFact) )
{
counter++;
break;
}
}
}
return counter;
}