public Queue <GOAP_BaseAction> createPlan(List <GOAP_BaseAction> possibleActions, Dictionary <string, int> goal, GOAP_WorldStates worldStates)
{
List <Node> nodes = new List <Node>();
GOAP_WorldStates currentWorldStates = GOAP_World.getWorldInstance().getWorldStates();
Node root = new Node(null, 0, null, currentWorldStates.getStates());
// Generate tree and determine if there is a possible plan
if (createTree(root, nodes, possibleActions, goal))
{
// Get the cheapest possible path to the goal and return the last node in that branch.
Node cheapest = getCheapestPath(nodes);
// Once we have the cheapest node, work backwards on the branch to add each actions that achieve the goal
return(getPlan(cheapest));
}
else
{
Debug.Log("Planner failed to obtain plan!");
return(null);
}
}
static GOAP_World()
{
worldStates = new GOAP_WorldStates();
}
