public override List <Action> Think(IEnumerable <Percept> percepts)
{
/* Actions (that we can decide):
* move to target block (Inherit from seekerMind?)
* pick target block (based on what?)
* Clean area ()
*/
var actions = base.Think(percepts);
/* We clean when we have a tile that is dirt and it has certain amount of dirt */
if (ChooseCleanTile(percepts))
{
var cleanAction
= new CleanAction
{
cleaningEfficiency = this.desiredCleaningEfficiency,
desiredCleanliness = this.desiredCleanliness,
completionStatus = CompletionsStates.InProgress,
timeToLive = moveTimeToLive * 1000
};
actions.Add(cleanAction);
}
return(actions);
}
public Cat ChangeClean(CleanAction action)
{
_cat.ApplyAction(action);
return(_cat);
}
protected void ToggleTurbo(float preDirtiness, float postDirtiness, float dirtCleaned, CleanAction cleanAction)
{
if (postDirtiness <= cleanAction.desiredCleanliness)
{
cleanAction.completionStatus = CompletionsStates.Complete;
turbo = false;
}
else
{
cleanAction.completionStatus = CompletionsStates.InProgress;
}
/* TODO: find a better cutoff point for going turbo */
/* Go turbo when we know we have dirt but we didn't collect any dirt */
if (dirtCleaned == minDirtPerSecond || preDirtiness > postDirtiness)
{
if (!turbo)
{
Debug.LogWarning("Going Turbo !!!!!!!!!");
}
turbo = true;
}
}