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60 linhas
2.0 KiB
60 linhas
2.0 KiB
%%%-------------------------------------------------------------------
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%%% @author DY
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%%% @copyright (C) 2020, <COMPANY>
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%%% @doc
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%%% 收集终点路径
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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_dest_path).
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-include("behavior3.hrl").
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-include("example.hrl").
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%% API
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-export([tick/2]).
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tick(_BTree, #{cur_grid := CurGrid, grid_list := GirdList} = State) ->
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case GirdList of
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[] ->
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EndGrid = get_end_grid(CurGrid),
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State1 = State#{grid_list := get_grid_path(CurGrid, EndGrid)},
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?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)]),
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{?BT_SUCCESS, State1};
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_ ->
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?INFO("~ts：天要黑了，要尽快到达那里！", [maps:get(uid, State)]),
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{?BT_SUCCESS, State}
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end.
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get_end_grid(CurGrid) ->
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EndGridList = [{0, 0}, {0, ?MAX_X}, {?MAX_Y, ?MAX_X}, {?MAX_Y, 0}],
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{_, EndGrid} = hd(lists:sort([{calc_distance(CurGrid, Grid), Grid} || Grid <- EndGridList])),
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EndGrid.
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calc_distance({X1, Y1}, {X2, Y2}) ->
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math:sqrt(math:pow(X1 - X2, 2) + math:pow(Y1 - Y2, 2)).
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get_grid_path(CurGrid, EndGrid) ->
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case EndGrid of
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{0, 0} ->
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get_grid_path(CurGrid, [EndGrid], 1, 1);
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{0, ?MAX_X} ->
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get_grid_path(CurGrid, [EndGrid], 1, -1);
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{?MAX_Y, ?MAX_X} ->
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get_grid_path(CurGrid, [EndGrid], -1, -1);
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{?MAX_Y, 0} ->
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get_grid_path(CurGrid, [EndGrid], -1, 1)
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end.
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get_grid_path(CurGrid, GridPath, XInc, YInc) ->
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case GridPath of
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[CurGrid | _] ->
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GridPath;
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[{X, Y} | _] ->
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case Y + YInc of
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Y1 when Y1 == 0 orelse Y1 == ?MAX_X ->
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get_grid_path(CurGrid, [{X + XInc, Y1}, {X, Y1} | GridPath], XInc, bnot YInc + 1);
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Y1 ->
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get_grid_path(CurGrid, [{X, Y1} | GridPath], XInc, YInc)
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end
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end.
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