This commit is contained in:
aozhiwei 2022-12-06 11:01:30 +08:00
parent bd56f2c193
commit 5b36619f6a

View File

@ -35,15 +35,17 @@ behaviac::EBTStatus AndroidAgent::DoIdle(int min_time, int max_time)
&GetOwner()->xtimer_attacher.timer_list_);
std::weak_ptr<a8::XTimerPtr> timer_ptr = GetOwner()->room->xtimer.GetTimerPtr(timer);
status_runing_cb_ =
[timer_ptr] ()
[this, timer_ptr] ()
{
if (timer_ptr.lock()) {
return behaviac::BT_RUNNING;
} else {
status_ = behaviac::BT_SUCCESS;
return behaviac::BT_SUCCESS;
}
};
return behaviac::BT_RUNNING;
status_ = behaviac::BT_RUNNING;
return status_;
}
behaviac::EBTStatus AndroidAgent::DoRandomWalk()
@ -56,12 +58,21 @@ behaviac::EBTStatus AndroidAgent::DoRandomWalk()
dir.Rotate((10 + rand() % 360)/ 180.0f);
dir.Normalize();
GetOwner()->GetMoveHelper()->CalcTargetPos(500);
if (GetOwner()->GetMoveHelper()->GetPathSize() <= 0) {
return behaviac::BT_FAILURE;
}
status_runing_cb_ =
[] ()
[this] ()
{
return behaviac::BT_SUCCESS;
if (GetOwner()->GetMoveHelper()->GetPathSize() <= 0) {
status_ = behaviac::BT_SUCCESS;
return behaviac::BT_SUCCESS;
} else {
return behaviac::BT_RUNNING;
}
};
return behaviac::BT_SUCCESS;
status_ = behaviac::BT_RUNNING;
return status_;
}
behaviac::EBTStatus AndroidAgent::DoRandomShot()