private void RecursiveGraphBuilder(ActionGraph.Node lastNode)
{
foreach (Condition precondition in lastNode.Action.Preconditions)
{
foreach (Action action in usableActionPool)
{
// if an action solves our current need add it to our graph
if (action.Effects.Contains(precondition))
{
var currentNode = new ActionGraph.Node(lastNode, action);
// recurse a level deeper if this new action has preconditions to solve
if (action.Preconditions != null)
{
RecursiveGraphBuilder(currentNode);
}
}
}
}
}
private Plan SolveGraphs()
{
var plan = new Plan();
foreach (var graph in actionGraphs)
{
var nullNode = new ActionGraph.Node(null);
nullNode.Children = graph.RootNodes;
openNodes.Add(nullNode);
ActionGraph.Node currentNode = null;
int currentIndex = 0;
while (openNodes.Count != 0)
{
// set current node to the lowest cost node
for (int i = 0; i < openNodes.Count; i++)
{
if (openNodes[i].Cost + openNodes[i].PathCost < currentNode.PathCost + currentNode.Cost)
{
currentNode = openNodes[i];
currentIndex = i;
}
}
currentNode = openNodes[currentIndex];
openNodes.RemoveAt(currentIndex);
closedNodes.Add(currentNode);
// if we've found a solution we're done
if (currentNode.IsLeaf())
{
finalNode = currentNode;
break;
}
else // process the nodes
{
foreach (var child in currentNode.Children)
{
if (closedNodes.Contains(child))
{
continue;
}
if (openNodes.Contains(child))
{
if (child.Cost > currentNode.Cost)
{
continue;
}
else
{
openNodes.Add(child);
}
}
}
}
}
// append our found path onto the plan
while (currentNode.IsRoot() == false)
{
plan.Actions.Push(currentNode.Action);
currentNode = currentNode.Parent;
}
}
return(plan);
}