/// <summary>
/// 创建行为列表
/// </summary>
/// <param name="root">空节点</param>
/// <param name="cWorldState">世界状态.</param>
/// <param name="goalState">当前目的(想要的最终改变)</param>
/// <param name="allActions">当前目标牵涉到的行为</param>
/// <param name="matchNodes">Match nodes.</param>
/// <param name="minCostPlanSoFar">Minimum cost plan so far.</param>
private void CreateActionTree(Node root, StateDictionary cWorldState, StateDictionary goalState, List <AIAction> allActions, List <Node> matchNodes, ref float minCostPlanSoFar)
{
foreach (AIAction action in allActions)
{
//当前行为的产生的消耗必须小于低于minCostPlanSoFar && 当前世界状态必须满足当前行为的前提条件
if (root.cost + action.Cost < minCostPlanSoFar && action.CanApplyToWorld(cWorldState))
{
//创建一个世界状态的拷贝
StateDictionary newWorldState = new StateDictionary(cWorldState.conditions);
//把当前行为抛出的事件 合并(更新)到 世界状态里去
StateDictionary.OverrideCombine(action.postEffects, newWorldState);
//创建一个新的节点
Node newNode = new Node(/*letter++ + "",*/ root.cost + action.Cost, root, action);
// check to see if goal is satisfied
//如果newWorldState包含所有的goalstate
if (StateDictionary.ConditionsMatch(goalState, newWorldState))
{
matchNodes.Add(newNode);
minCostPlanSoFar = newNode.cost;
minCostPlan.Clear();
Node tempNode = newNode;
while (tempNode.parent != null)
{
//为什么要插入到第一个位置 ? 压入队列 从新到旧
minCostPlan.Insert(0, tempNode.upperAction);
tempNode = tempNode.parent;
}
continue;
}
else
{
//丢弃当前的行为
List <AIAction> newActionsList = new List <AIAction>(allActions);
newActionsList.Remove(action);
CreateActionTree(newNode, newWorldState, goalState, newActionsList, matchNodes, ref minCostPlanSoFar);
}
}
else
{
continue;
}
}
return;
}
private void CreateActionTree(Node root, StateDictionary cWorldState, StateDictionary goalState, List <AIAction> allActions, List <Node> matchNodes, ref float minCostPlanSoFar)
{
foreach (AIAction action in allActions)
{
if (root.cost + action.Cost < minCostPlanSoFar && action.CanApplyToWorld(cWorldState))
{
StateDictionary newWorldState = new StateDictionary(cWorldState.conditions);
StateDictionary.OverrideCombine(action.postEffects, newWorldState);
Node newNode = new Node(/*letter++ + "",*/ root.cost + action.Cost, root, action);
// check to see if goal is satisfied
if (StateDictionary.ConditionsMatch(goalState, newWorldState))
{
matchNodes.Add(newNode);
minCostPlanSoFar = newNode.cost;
minCostPlan.Clear();
Node tempNode = newNode;
while (tempNode.parent != null)
{
minCostPlan.Insert(0, tempNode.upperAction);
tempNode = tempNode.parent;
}
continue;
}
else
{
List <AIAction> newActionsList = new List <AIAction>(allActions);
newActionsList.Remove(action);
CreateActionTree(newNode, newWorldState, goalState, newActionsList, matchNodes, ref minCostPlanSoFar);
}
}
else
{
continue;
}
}
return;
}
