選択できるのは25トピックまでです。
トピックは、先頭が英数字で、英数字とダッシュ('-')を使用した35文字以内のものにしてください。
60 行
1.9 KiB
60 行
1.9 KiB
%%%-------------------------------------------------------------------
|
|
%%% @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("eBhv3.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.
|