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45 lines
1.2 KiB
45 lines
1.2 KiB
%%%-------------------------------------------------------------------
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%%% @author DY
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%%% @copyright (C) 2020, <COMPANY>
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%%% @doc
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%%% 收集巡逻路径
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%%% 返回：SUCCESS
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%%% @end
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%%% Created : 07. 10月 2020 15:13
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%%%-------------------------------------------------------------------
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-module(action_collect_path).
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-include("eBhv3.hrl").
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-include("example.hrl").
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%% API
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-export([tick/2, get_grid_path/1]).
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tick(_BTree, #{cur_grid := CurGrid} = State) ->
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State1 = State#{grid_list := get_grid_path(CurGrid)},
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{?BT_SUCCESS, State1}.
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get_grid_path(CurGrid) ->
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List = [{1, 0}, {-1, 0}, {0, 1}, {0, -1}],
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Max = length(List),
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List1 = [E || {_, E} <- lists:sort([{?RAND(1, Max), E} || E <- List])],
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case get_grid_path_1(List1, CurGrid, []) of
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[] ->
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get_grid_path(CurGrid);
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Result ->
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Result
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end.
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get_grid_path_1([{X, Y} | T], {CurX, CurY}, Result) ->
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X1 = CurX + X,
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Y1 = CurY + Y,
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Grid = {X1, Y1},
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case X1 >= 0 andalso X1 =< ?MAX_X andalso Y1 >= 0 andalso Y1 =< ?MAX_Y of
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true ->
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get_grid_path_1(T, Grid, [Grid | Result]);
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false ->
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[]
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end;
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get_grid_path_1([], _, Result) ->
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Result.
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