eBhv3/examples/action/action_collect_dest_path.erl

%%%-------------------------------------------------------------------
%%% @author DY
%%% @copyright (C) 2020, <COMPANY>
%%% @doc
%%% 收集终点路径
%%% 返回：SUCCESS
%%% @end
%%% Created : 07. 10月 2020 15:13
%%%-------------------------------------------------------------------
-module(action_collect_dest_path).
-include("behavior3.hrl").
-include("example.hrl").

%% API
-export([tick/2]).

tick(_BTree, #{cur_grid := CurGrid, grid_list := GirdList} = State) ->
   case GirdList of
      [] ->
         EndGrid = get_end_grid(CurGrid),
         State1 = State#{grid_list := get_grid_path(CurGrid, EndGrid)},
         ?INFO("~ts：找到穿传说中的“大蒜”的位置，要尽快到达那里！", [maps:get(uid, State1)]),
         {?BT_SUCCESS, State1};
      _ ->
         ?INFO("~ts：天要黑了，要尽快到达那里！", [maps:get(uid, State)]),
         {?BT_SUCCESS, State}
   end.

get_end_grid(CurGrid) ->
   EndGridList = [{0, 0}, {0, ?MAX_X}, {?MAX_Y, ?MAX_X}, {?MAX_Y, 0}],
   {_, EndGrid} = hd(lists:sort([{calc_distance(CurGrid, Grid), Grid} || Grid <- EndGridList])),
   EndGrid.

calc_distance({X1, Y1}, {X2, Y2}) ->
   math:sqrt(math:pow(X1 - X2, 2) + math:pow(Y1 - Y2, 2)).

get_grid_path(CurGrid, EndGrid) ->
   case EndGrid of
      {0, 0} ->
         get_grid_path(CurGrid, [EndGrid], 1, 1);
      {0, ?MAX_X} ->
         get_grid_path(CurGrid, [EndGrid], 1, -1);
      {?MAX_Y, ?MAX_X} ->
         get_grid_path(CurGrid, [EndGrid], -1, -1);
      {?MAX_Y, 0} ->
         get_grid_path(CurGrid, [EndGrid], -1, 1)
   end.

get_grid_path(CurGrid, GridPath, XInc, YInc) ->
   case GridPath of
      [CurGrid | _] ->
         GridPath;
      [{X, Y} | _] ->
         case Y + YInc of
            Y1 when Y1 == 0 orelse Y1 == ?MAX_X ->
               get_grid_path(CurGrid, [{X + XInc, Y1}, {X, Y1} | GridPath], XInc, bnot YInc + 1);
            Y1 ->
               get_grid_path(CurGrid, [{X, Y1} | GridPath], XInc, YInc)
         end
   end.