private static void CreateMainMachine()
{
//FACTORS
// Leafs
lifeVariable1 = new LeafVariable(() => p.life, 10.0f, 0.0f);
lifeVariable2 = new LeafVariable(() => p1.life, 10.0f, 0.0f);
//ACTIONS
//Basic actions
Action a1 = new Action(() => {
Console.WriteLine("[BASICO1] Se ha entrado al estado básico 1.");
Console.WriteLine("--------------------------------");
});
//Utility Actions
utilEngine.CreateUtilityAction("basico1", a1, lifeVariable1);
utilEngine.CreateSubBehaviour("subBucket", lifeVariable2, subUtilMachine);
}
private void CreateUtilityCurves()
{
// Weights and Points
List <float> weights = new List <float>();
weights.Add(0.6f);
weights.Add(0.4f);
List <Point2D> points = new List <Point2D>();
points.Add(new Point2D(0, 1));
points.Add(new Point2D(0.2f, 0.5f));
points.Add(new Point2D(0.4f, 0.1f));
points.Add(new Point2D(0.6f, 0.4f));
points.Add(new Point2D(0.8f, 0.2f));
points.Add(new Point2D(1, 0));
// Leaf Factors
Factor pizzasVariable = new LeafVariable(() => pizzasCreated, 0, 10);
Factor pepperoniVariable = new LeafVariable(() => pepperoniCreated, 0, 4);
List <Factor> leafs = new List <Factor>();
leafs.Add(pizzasVariable);
leafs.Add(pepperoniVariable);
// Other Factors
Factor pepperoniSum = new WeightedSumFusion(leafs, weights);
Factor vegetarianLinear = new LinearPartsCurve(pizzasVariable, points);
Factor hawaiianExp = new ExpCurve(pizzasVariable, 0.7f);
// Actions
utilityCurves.CreateUtilityAction("exit_ac1", pepperoniSum, () => { CreateRecipe(1); }, IsRecipeCreated, behaviourTree);
utilityCurves.CreateUtilityAction("exit_ac2", vegetarianLinear, () => { CreateRecipe(2); }, IsRecipeCreated, behaviourTree);
utilityCurves.CreateUtilityAction("exit_ac3", hawaiianExp, () => { CreateRecipe(3); }, IsRecipeCreated, behaviourTree);
lookRecipe = behaviourTree.CreateSubBehaviour("Sub-Utility", utilityCurves);
}
private static void CreateSubmachine()
{
//FACTORS
// Leafs
positionVariable1 = new LeafVariable(() => p2.position[0], 10.0f, 0.0f);
positionVariable2 = new LeafVariable(() => p3.position[0], 10.0f, 0.0f);
//ACTIONS
// Basic actions
Action sub1 = new Action(() => {
Console.WriteLine("[BUCKET_1] Bucket. Acción 1");
Console.WriteLine("--------------------------------");
});
Action sub2 = new Action(() => {
Console.WriteLine("[BUCKET_2] Bucket. Acción 2.");
Console.WriteLine("--------------------------------");
p.life++;
});
// Utility Actions
subUtilMachine.CreateUtilityAction("bucket_1", sub1, positionVariable1);
subUtilMachine.CreateUtilityAction("bucket_2", sub2, positionVariable2);
}
