[11898] | 1 | /* |
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| 2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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| 3 | * > www.orxonox.net < |
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| 4 | * |
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| 5 | * |
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| 6 | * License notice: |
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| 7 | * |
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| 8 | * This program is free software; you can redistribute it and/or |
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| 9 | * modify it under the terms of the GNU General Public License |
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| 10 | * as published by the Free Software Foundation; either version 2 |
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| 11 | * of the License, or (at your option) any later version. |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, |
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| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 16 | * GNU General Public License for more details. |
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| 17 | * |
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| 18 | * You should have received a copy of the GNU General Public License |
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| 19 | * along with this program; if not, write to the Free Software |
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| 20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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| 21 | * |
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| 22 | * Author: |
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[11992] | 23 | * Marc Dreher |
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[11898] | 24 | * Co-authors: |
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[11992] | 25 | * .. |
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[11898] | 26 | * |
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| 27 | */ |
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| 28 | |
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| 29 | #include "PacmanGhost.h" |
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| 30 | |
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| 31 | #include "core/CoreIncludes.h" |
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| 32 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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| 33 | |
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| 34 | namespace orxonox |
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| 35 | { |
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[12304] | 36 | |
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[12316] | 37 | |
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| 38 | struct PacmanGhost::graphVertex { |
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| 39 | |
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| 40 | public: |
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| 41 | |
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| 42 | Vector3 position; |
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| 43 | graphVertex *adjacentVertices[4]; //neighbooring vertices |
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| 44 | |
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| 45 | //would a vector of vector storing the neighboors not be more suitable ? |
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| 46 | |
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| 47 | int shortestDistanceToStart; //actual shortest distance to start point |
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| 48 | graphVertex* actuelPredecessor; //the predecessor giving the for now shortest |
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| 49 | //path to start |
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| 50 | graphVertex* currentNearestNonVisitedNeighboor; |
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| 51 | bool alreadyVisited; |
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| 52 | graphVertex(){ //default constructor |
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| 53 | position=0; |
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| 54 | shortestDistanceToStart= std::numeric_limits<int>::max(); |
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| 55 | actuelPredecessor=nullptr; |
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| 56 | alreadyVisited=false; |
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| 57 | for(int kl =0; kl <4;kl++){ |
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| 58 | adjacentVertices[kl]=nullptr; //first put all position in array listing neighboors to 0 |
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| 59 | } |
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| 60 | } |
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| 61 | graphVertex(Vector3 wantedPosition){ //normal constructor |
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| 62 | position=wantedPosition; |
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| 63 | shortestDistanceToStart= std::numeric_limits<int>::max(); //default distance is infinity |
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| 64 | actuelPredecessor=nullptr; |
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| 65 | alreadyVisited=false; |
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| 66 | for(int kl =0; kl <4;kl++){ |
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| 67 | adjacentVertices[kl]=nullptr; //first put all position in array listing neighboors to 0 |
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| 68 | } |
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| 69 | } |
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| 70 | graphVertex& operator = (const graphVertex &rightSide){ |
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| 71 | this->position=rightSide.position; |
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| 72 | this->shortestDistanceToStart=rightSide.shortestDistanceToStart; |
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| 73 | this->actuelPredecessor=rightSide.actuelPredecessor; |
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| 74 | this->currentNearestNonVisitedNeighboor=rightSide.currentNearestNonVisitedNeighboor; |
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| 75 | this->alreadyVisited=rightSide.alreadyVisited; |
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| 76 | |
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| 77 | return *this; |
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| 78 | } |
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| 79 | |
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| 80 | }; |
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| 81 | |
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| 82 | |
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| 83 | static PacmanGhost::graphVertex listOfVertices[67]; |
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| 84 | |
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[12304] | 85 | //Check if there is a collision |
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| 86 | bool findpos(Vector3 one, Vector3 other){ |
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| 87 | if((abs(one.x - other.x)<0.5) && (abs(one.y - other.y)<0.5) && (abs(one.z - other.z)<0.5)) return true; |
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| 88 | return false; |
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| 89 | } |
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| 90 | |
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| 91 | //All positions in the map, see documentation |
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| 92 | Vector3 possibleposition[67] = {Vector3(20,10,245),Vector3(215,10,245),Vector3(215,10,195),Vector3(185,10,195),Vector3(135,10,195), //0-4 |
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| 93 | Vector3(185,10,150),Vector3(135,10,150),Vector3(215,10,150),Vector3(215,10,105),Vector3(135,10,105), //5-9 |
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| 94 | Vector3(135,10,15),Vector3(135,10,-85),Vector3(215,10,-85),Vector3(135,10,-135),Vector3(215,10,-135), //10-14 |
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| 95 | Vector3(215,10,-195),Vector3(135,10,-195),Vector3(20,10,195),Vector3(-20,10,195),Vector3(-20,10,245), //15-19 |
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| 96 | Vector3(-215,10,245),Vector3(-215,10,195),Vector3(-185,10,195),Vector3(-135,10,195),Vector3(-70,10,195), //20-24 |
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| 97 | Vector3(70,10,195),Vector3(70,10,150),Vector3(20,10,150),Vector3(-20,10,150),Vector3(-70,10,150), //25-29 |
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| 98 | Vector3(-135,10,150),Vector3(-185,10,150),Vector3(-215,10,150),Vector3(-215,10,105),Vector3(-135,10,105), //30-34 |
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| 99 | Vector3(-70,10,105),Vector3(-20,10,105),Vector3(20,10,105),Vector3(70,10,105),Vector3(70,10,60), //35-39 |
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| 100 | Vector3(0,10,60),Vector3(-70,10,60),Vector3(-135,10,15),Vector3(-70,10,60),Vector3(0,10,15), //40-44 |
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| 101 | Vector3(70,10,15),Vector3(-70,10,-35),Vector3(-20,10,-35),Vector3(20,10,-35),Vector3(70,10,-35), //45-49 |
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| 102 | Vector3(70,10,-85),Vector3(20,10,-85),Vector3(-20,10,-85),Vector3(-70,10,-85),Vector3(-135,10,-85), //50-54 |
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| 103 | Vector3(-215,10,-85),Vector3(-215,10,-135),Vector3(-135,10,-135),Vector3(-70,10,-135),Vector3(-20,10,-135), //55-59 |
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| 104 | Vector3(20,10,-135),Vector3(70,10,-135),Vector3(20,10,-195),Vector3(-20,10,-195),Vector3(-135,10,-195), //60-64 |
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| 105 | Vector3(-215,10,-195),Vector3(0,10,-35)}; //65-66 |
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| 106 | |
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[11898] | 107 | RegisterClass(PacmanGhost); |
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| 108 | |
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| 109 | /** |
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| 110 | @brief |
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| 111 | Constructor. Registers the object and initializes some default values. |
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| 112 | @param creator |
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| 113 | The creator of this object. |
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| 114 | */ |
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| 115 | PacmanGhost::PacmanGhost(Context* context) : ControllableEntity(context) |
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| 116 | { |
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| 117 | RegisterObject(PacmanGhost); |
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| 118 | |
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[12316] | 119 | //this->pathAlgorithm = new GetShortestPathAlgorithm; |
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| 120 | |
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| 121 | |
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[11927] | 122 | this->velocity = Vector3(0, 0, 0); |
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[12304] | 123 | |
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[11898] | 124 | this->setCollisionType(CollisionType::Dynamic); |
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| 125 | |
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| 126 | this->actuelposition = this->getPosition(); |
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[11945] | 127 | |
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| 128 | if(findpos(actuelposition, Vector3(0,-20,0))) |
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| 129 | dontmove = true; |
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[11898] | 130 | |
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| 131 | this->target_x = actuelposition.x; |
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[11927] | 132 | this->target_z = actuelposition.z; |
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[11898] | 133 | |
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[12316] | 134 | //this->lastPlayerPassedPoint=Vector3(185,10,150); //no idea what to put |
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| 135 | |
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[11898] | 136 | } |
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| 137 | |
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| 138 | /** |
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| 139 | @brief |
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[11992] | 140 | Destructor. Destroys ghost, if present. |
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[11898] | 141 | */ |
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| 142 | PacmanGhost::~PacmanGhost() |
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| 143 | { |
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[12316] | 144 | // Deletes the controller if the object was initialized and the pointer to the controller is not nullptr. |
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[11898] | 145 | } |
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| 146 | |
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| 147 | /** |
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| 148 | @brief |
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[11992] | 149 | Method for creating a ghost through XML. |
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[11898] | 150 | */ |
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[12304] | 151 | void PacmanGhost::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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[11898] | 152 | { |
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| 153 | SUPER(PacmanGhost, XMLPort, xmlelement, mode); |
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| 154 | } |
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| 155 | |
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[11992] | 156 | //Change this with other ghost |
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[11947] | 157 | void PacmanGhost::changewith(PacmanGhost* otherghost){ |
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[11949] | 158 | |
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[11950] | 159 | while(lockmove){}; |
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[11992] | 160 | lockmove = true; //Prevent change of target while ghost is changed |
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[11949] | 161 | |
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[11945] | 162 | otherghost->setPosition(this->getPosition()); |
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| 163 | this->setPosition(0,-20,0); |
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[11992] | 164 | otherghost->target_x = this->target_x; |
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[11948] | 165 | otherghost->target_z = this->target_z; |
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[11945] | 166 | otherghost->ismoving = this->ismoving; |
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[11903] | 167 | |
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[11945] | 168 | this->dontmove = true; |
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| 169 | otherghost->dontmove = false; |
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[11949] | 170 | |
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[11950] | 171 | lockmove = false; |
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[11945] | 172 | } |
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[11903] | 173 | |
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[11992] | 174 | //Move ghost with rotation |
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[11903] | 175 | void PacmanGhost::move(float dt, Vector3 actuelposition, Vector3 velocity){ |
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[11976] | 176 | if(!dontmove){ |
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[11979] | 177 | this->setPosition(Vector3(actuelposition.x+speed*velocity.x*dt,10,actuelposition.z+speed*velocity.z*dt)); |
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[11992] | 178 | |
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| 179 | //Rotate ghost in the direction of movement |
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[12304] | 180 | if((abs(abs(velocity.x)-1)<0.1) && (abs(velocity.z-0)<0.1)){ |
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[11978] | 181 | if(velocity.x<0){ |
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| 182 | this->setOrientation(Quaternion(Radian(-1.57), Vector3(0, 1, 0))); |
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[11976] | 183 | } |
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[11978] | 184 | else{ |
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| 185 | this->setOrientation(Quaternion(Radian(1.57), Vector3(0, 1, 0))); |
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[11976] | 186 | } |
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[12304] | 187 | } |
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| 188 | if((abs(abs(velocity.z)-1)<0.1) && (abs(velocity.x-0)<0.1)){ |
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[11978] | 189 | if(velocity.z<0){ |
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| 190 | this->setOrientation(Quaternion(Radian(3.14), Vector3(0, 1, 0))); |
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[11976] | 191 | } |
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[11978] | 192 | else{ |
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| 193 | this->setOrientation(Quaternion(Radian(0), Vector3(0, 1, 0))); |
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| 194 | } |
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[12304] | 195 | } |
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[11978] | 196 | |
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[11976] | 197 | } |
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[11903] | 198 | } |
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| 199 | |
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[11992] | 200 | //Change ability to move |
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[11944] | 201 | void PacmanGhost::changemovability(){ |
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[11933] | 202 | if(dontmove){ |
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| 203 | dontmove = false;} |
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| 204 | else{ |
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| 205 | dontmove = true; |
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| 206 | } |
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| 207 | } |
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| 208 | |
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[11992] | 209 | //ResetGhost |
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[11903] | 210 | void PacmanGhost::resetGhost(){ |
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[11927] | 211 | |
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[11915] | 212 | this->setPosition(this->resetposition); |
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| 213 | this->ismoving = false; |
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| 214 | this->actuelposition = this->getPosition(); |
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| 215 | |
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| 216 | this->target_x = actuelposition.x; |
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| 217 | this->target_z = actuelposition.z; |
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[11927] | 218 | |
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[11903] | 219 | } |
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[11958] | 220 | |
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[11992] | 221 | //Increase speed of ghosts |
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[11959] | 222 | void PacmanGhost::levelupvelo(){ |
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[11979] | 223 | speed ++; |
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[11958] | 224 | } |
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[12304] | 225 | |
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[12316] | 226 | /*Vector3 PacmanGhost::setPureArrayPos(Vector3 &posToSet){ |
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[12304] | 227 | //given that the position of a pacman is generally not "neat", |
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| 228 | //we need to set it to the nearest point on the map |
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| 229 | // if the pacman is not moving anymore, i.e. has reached a point |
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| 230 | int i=0; |
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| 231 | while(!(findpos(possibleposition[i], posToSet))){ |
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| 232 | i++; |
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| 233 | } |
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| 234 | return possibleposition[i]; |
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[12316] | 235 | }*/ |
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| 236 | |
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| 237 | Vector3 PacmanGhost::getPlayerPos() |
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| 238 | { |
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| 239 | for (PacmanGelb* player : ObjectList<PacmanGelb>()) |
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| 240 | { |
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| 241 | return player->getWorldPosition(); |
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| 242 | } |
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| 243 | return Vector3(0,0,0); //default, should not be used |
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| 244 | |
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[12304] | 245 | } |
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| 246 | |
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| 247 | |
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[12316] | 248 | |
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| 249 | |
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| 250 | /// |
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| 251 | //// getShortestPath ///////// |
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| 252 | /// |
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| 253 | |
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| 254 | |
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| 255 | |
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| 256 | |
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| 257 | Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal){ |
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| 258 | //this function should then somehow produce the algorithm and call all other functions |
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| 259 | //and finally return the best neighboor of the actual position of the pacman |
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| 260 | |
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| 261 | |
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| 262 | graphVertex listOfVerticesM[67]; //our list of all possible graphs |
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| 263 | graphVertex* actualVertex;// = new graphVertex(); //we will walk through the array with a pointer |
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| 264 | |
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| 265 | if(start==goal){ // basic case |
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| 266 | return start; |
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| 267 | } |
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| 268 | |
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| 269 | for(int an=0; an < 67; an++){ |
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| 270 | listOfVerticesM[an]= graphVertex(possibleposition[an]); //same position order as in other file |
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| 271 | if(start==possibleposition[an]){ |
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| 272 | actualVertex= &listOfVerticesM[an]; //our pointer points to the graph with position start in array |
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| 273 | //cout<<an<<endl; |
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| 274 | } |
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| 275 | } |
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| 276 | |
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| 277 | actualVertex->alreadyVisited=true; //our start point is now visited |
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| 278 | actualVertex->shortestDistanceToStart=0; //At our start point, distance from start is 0 |
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| 279 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
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| 280 | // second parameter is an array ! //third is our global array |
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| 281 | |
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| 282 | while(actualVertex->position!=goal){ |
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| 283 | for(int h=0;h < 4; h++){ |
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| 284 | if(actualVertex->adjacentVertices[h]!=nullptr){ //check all neighboors of our current graphVertex |
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| 285 | |
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| 286 | //h=2 and 3 never reached |
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| 287 | updateShortestDistanceToStart(*actualVertex, *actualVertex->adjacentVertices[h]); |
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| 288 | } //we "update" the neighboors of our new visited vertex |
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| 289 | |
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| 290 | } |
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| 291 | |
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| 292 | actualVertex=findNextVertexToConsider(listOfVerticesM); |
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| 293 | actualVertex->alreadyVisited=true; |
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| 294 | //cout<<actualVertex->position<<endl; |
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| 295 | if(actualVertex->position!=goal){ |
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| 296 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
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| 297 | //we find the neighboors of our new visited vertex |
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| 298 | } |
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| 299 | } |
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| 300 | |
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| 301 | //cout<<"meuejeeke"<<endl; never reached |
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| 302 | |
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| 303 | //we should have reached our goal at this point |
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| 304 | |
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| 305 | while(actualVertex->actuelPredecessor->actuelPredecessor!=nullptr){ //the predecessor of our predecessor |
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| 306 | actualVertex=actualVertex->actuelPredecessor; |
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| 307 | } |
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| 308 | // the predecessor is our starting point, in other words we are now on an |
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| 309 | //adjacent vertex of the start |
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| 310 | |
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| 311 | return actualVertex->position; //we return the position of this - adjacent to start - vertex |
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| 312 | } |
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| 313 | |
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| 314 | //end of getShortestPath |
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| 315 | |
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| 316 | |
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| 317 | int PacmanGhost::graphDistance(Vector3 start, Vector3 goal){ |
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| 318 | //cout<<hgj++<<endl; |
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| 319 | Vector3 differenceVector= Vector3(abs(goal.x-start.x), 0,abs(goal.z-start.z)); |
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| 320 | |
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| 321 | return differenceVector.x+differenceVector.z; |
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| 322 | } |
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| 323 | |
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| 324 | void PacmanGhost::updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor){ |
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| 325 | //apply this method to all non visited neighboors of a vertex. |
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| 326 | // This method should always be run on a vertex after we marked it as visited. |
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| 327 | if(neighboor.alreadyVisited==false){ //we only consider non visited neighboors. |
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| 328 | if((vertex.shortestDistanceToStart!=std::numeric_limits<int>::max())&& |
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| 329 | (neighboor.shortestDistanceToStart > vertex.shortestDistanceToStart + |
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| 330 | graphDistance(vertex.position, neighboor.position))){ //need to consider overflow case ! |
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| 331 | |
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| 332 | neighboor.shortestDistanceToStart= vertex.shortestDistanceToStart + |
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| 333 | graphDistance(vertex.position, neighboor.position); |
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| 334 | neighboor.actuelPredecessor = &vertex; |
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| 335 | } |
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| 336 | } |
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| 337 | } |
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| 338 | |
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| 339 | void PacmanGhost::findNearestNonVisitedNeighboor (graphVertex &vertex){ |
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| 340 | //find nearest non visited neighboor of a given already visited vertex |
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| 341 | int shortestDistance = -1; |
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| 342 | graphVertex* nearestNonVisitedNeighboor=nullptr;//=graphVertex(); //by default there is not any. |
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| 343 | //Also, if all neighboors are already visited, we return nullptr, i.e. there is no |
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| 344 | //nearest non visited neighboor. |
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| 345 | for(int i=0; i < 4; i++){ |
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| 346 | if((vertex.adjacentVertices[i]!=nullptr)&&(vertex.adjacentVertices[i]->alreadyVisited==false)){ |
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| 347 | if(shortestDistance==-1){ //(concerns line above) we want a non visited neighboor |
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| 348 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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| 349 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
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| 350 | //cout<<shortestDistance<<endl; |
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| 351 | } |
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| 352 | else if(graphDistance(vertex.position, vertex.adjacentVertices[i]->position)<shortestDistance){ |
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| 353 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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| 354 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
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| 355 | //cout<<(hgj++)%4<<endl; |
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| 356 | } |
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| 357 | } |
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| 358 | } |
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| 359 | vertex.currentNearestNonVisitedNeighboor = nearestNonVisitedNeighboor; //warning, both sides are pointer adresses ! |
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| 360 | //cout<<hgj++<<endl; |
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| 361 | } |
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| 362 | |
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| 363 | |
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| 364 | PacmanGhost::graphVertex* PacmanGhost::findNextVertexToConsider(graphVertex listOfVerticesP[]){ //find next, nearest from start, non visited vertex in our listOfVertices array |
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| 365 | |
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| 366 | int shortestDistance = -1; |
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| 367 | graphVertex* nextVertexToConsider; |
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| 368 | |
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| 369 | for(int i=0; i < 67; i++){ //we loop over all possible positions |
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| 370 | |
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| 371 | if(listOfVerticesP[i].alreadyVisited==true){ //vertex should already be visited |
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| 372 | |
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| 373 | findNearestNonVisitedNeighboor(listOfVerticesP[i]); //we update nearest neighboor |
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| 374 | //of all visited vertices given that one of the nearest neighboor of a visited |
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| 375 | // vertex is now also visited because it was chosen as next optimal vertex |
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| 376 | |
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| 377 | if(listOfVerticesP[i].currentNearestNonVisitedNeighboor!=nullptr){ //we want a candidate! |
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| 378 | if(shortestDistance==-1){ //our first possible candidate |
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| 379 | |
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| 380 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
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| 381 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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| 382 | listOfVerticesP[i].shortestDistanceToStart; |
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| 383 | |
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| 384 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
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| 385 | //adress of nextVertexToConsider is that of pointer currentNearestNonVisitedNeighboor |
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| 386 | |
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| 387 | } |
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| 388 | else if(shortestDistance > graphDistance(listOfVerticesP[i].position, |
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| 389 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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| 390 | listOfVerticesP[i].shortestDistanceToStart){//if better candidate than our first candidate available |
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| 391 | |
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| 392 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
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| 393 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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| 394 | listOfVerticesP[i].shortestDistanceToStart; |
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| 395 | |
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| 396 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
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| 397 | //we dont need the & because we are not giving the adress of the array element |
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| 398 | //listOfVerticesP[i] but that of the pointer currentNearestNonVisitedNeighboor |
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| 399 | } |
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| 400 | } |
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| 401 | } |
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| 402 | //we want after all to return the nearest non visited neighboor |
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| 403 | } |
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| 404 | |
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| 405 | return nextVertexToConsider; //returns adress nextVertexToConsider is pointing to in array |
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| 406 | } |
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| 407 | |
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| 408 | ////////////////////////////////////////////////////////////////////////////////////////////// |
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| 409 | |
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| 410 | //if vertex already visited, call function on it and reapeat until you reach non visited vertex |
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| 411 | // ---> not sure if a good idea because we risk infinite loop |
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| 412 | |
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| 413 | //-215 -185 -135 -70 -20 0 20 70 135 185 215 |
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| 414 | |
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| 415 | //-195 -135 -85 -35 15 60 105 150 195 245 |
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| 416 | |
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| 417 | void PacmanGhost::findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]){ |
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| 418 | |
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| 419 | |
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| 420 | if(findpos(actuelposition,possibleposition[0])){ |
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| 421 | // we should use listOfVerticesP2[i] instead of possibleposition[i] I think |
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| 422 | // so that all neighboors are "the same" |
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| 423 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); //need to do it everywhere !!! |
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| 424 | adjacentVertices[1]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
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| 425 | adjacentVertices[2]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); //maybe a vector would be more suitable ? |
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| 426 | } |
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| 427 | else if(findpos(actuelposition,possibleposition[1])){ |
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| 428 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
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| 429 | adjacentVertices[1]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
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| 430 | } |
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| 431 | else if(findpos(actuelposition,possibleposition[2])){ |
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| 432 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); |
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| 433 | adjacentVertices[1]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
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| 434 | } |
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| 435 | else if(findpos(actuelposition,possibleposition[3])){ |
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| 436 | adjacentVertices[0]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
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| 437 | adjacentVertices[1]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
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| 438 | adjacentVertices[2]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
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| 439 | } |
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| 440 | else if(findpos(actuelposition,possibleposition[4])){ |
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| 441 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
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| 442 | adjacentVertices[1]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
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| 443 | } |
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| 444 | else if(findpos(actuelposition,possibleposition[5])){ |
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| 445 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
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| 446 | adjacentVertices[1]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
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| 447 | } |
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| 448 | else if(findpos(actuelposition,possibleposition[6])){ |
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| 449 | adjacentVertices[0]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
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| 450 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
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| 451 | adjacentVertices[2]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
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| 452 | } |
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| 453 | else if(findpos(actuelposition,possibleposition[7])){ |
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| 454 | adjacentVertices[0]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
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| 455 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
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| 456 | } |
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| 457 | else if(findpos(actuelposition,possibleposition[8])){ |
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| 458 | adjacentVertices[0]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
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| 459 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
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| 460 | } |
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| 461 | else if(findpos(actuelposition,possibleposition[9])){ |
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| 462 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
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| 463 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
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| 464 | adjacentVertices[2]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
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| 465 | adjacentVertices[3]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
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| 466 | } |
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| 467 | else if(findpos(actuelposition,possibleposition[10])){ |
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| 468 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
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| 469 | adjacentVertices[1]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
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| 470 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
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| 471 | } |
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| 472 | else if(findpos(actuelposition,possibleposition[11])){ |
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| 473 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
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| 474 | adjacentVertices[1]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
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| 475 | adjacentVertices[2]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
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| 476 | } |
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| 477 | else if(findpos(actuelposition,possibleposition[12])){ |
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| 478 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
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| 479 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
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| 480 | } |
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| 481 | else if(findpos(actuelposition,possibleposition[13])){ |
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| 482 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
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| 483 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
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| 484 | adjacentVertices[2]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
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| 485 | adjacentVertices[3]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
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| 486 | } |
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| 487 | else if(findpos(actuelposition,possibleposition[14])){ |
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| 488 | adjacentVertices[0]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
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| 489 | adjacentVertices[1]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
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| 490 | adjacentVertices[2]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
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| 491 | } |
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| 492 | else if(findpos(actuelposition,possibleposition[15])){ |
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| 493 | adjacentVertices[0]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
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| 494 | adjacentVertices[1]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
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| 495 | } |
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| 496 | else if(findpos(actuelposition,possibleposition[16])){ |
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| 497 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
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| 498 | adjacentVertices[1]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
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| 499 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
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| 500 | } |
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| 501 | else if(findpos(actuelposition,possibleposition[17])){ |
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| 502 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
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| 503 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
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| 504 | } |
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| 505 | else if(findpos(actuelposition,possibleposition[18])){ |
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| 506 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
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| 507 | adjacentVertices[1]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
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| 508 | } |
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| 509 | else if(findpos(actuelposition,possibleposition[19])){ |
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| 510 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
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| 511 | adjacentVertices[1]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
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| 512 | adjacentVertices[2]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
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| 513 | } |
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| 514 | else if(findpos(actuelposition,possibleposition[20])){ |
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| 515 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
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| 516 | adjacentVertices[1]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
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| 517 | } |
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| 518 | else if(findpos(actuelposition,possibleposition[21])){ |
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| 519 | adjacentVertices[0]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
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| 520 | adjacentVertices[1]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
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| 521 | } |
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| 522 | else if(findpos(actuelposition,possibleposition[22])){ |
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| 523 | adjacentVertices[0]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
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| 524 | adjacentVertices[1]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
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| 525 | adjacentVertices[2]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
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| 526 | } |
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| 527 | else if(findpos(actuelposition,possibleposition[23])){ |
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| 528 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
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| 529 | adjacentVertices[1]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
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| 530 | } |
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| 531 | else if(findpos(actuelposition,possibleposition[24])){ |
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| 532 | adjacentVertices[0]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
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| 533 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
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| 534 | } |
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| 535 | else if(findpos(actuelposition,possibleposition[25])){ |
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| 536 | adjacentVertices[0]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
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| 537 | adjacentVertices[1]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
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| 538 | } |
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| 539 | else if(findpos(actuelposition,possibleposition[26])){ |
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| 540 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
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| 541 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
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| 542 | adjacentVertices[2]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
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| 543 | } |
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| 544 | else if(findpos(actuelposition,possibleposition[27])){ |
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| 545 | adjacentVertices[0]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
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| 546 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
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| 547 | adjacentVertices[2]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
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| 548 | } |
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| 549 | else if(findpos(actuelposition,possibleposition[28])){ |
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| 550 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
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| 551 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
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| 552 | adjacentVertices[2]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
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| 553 | } |
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| 554 | else if(findpos(actuelposition,possibleposition[29])){ |
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| 555 | adjacentVertices[0]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
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| 556 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
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| 557 | adjacentVertices[2]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
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| 558 | } |
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| 559 | else if(findpos(actuelposition,possibleposition[30])){ |
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| 560 | adjacentVertices[0]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
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| 561 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
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| 562 | adjacentVertices[2]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
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| 563 | } |
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| 564 | else if(findpos(actuelposition,possibleposition[31])){ |
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| 565 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
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| 566 | adjacentVertices[1]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
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| 567 | } |
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| 568 | else if(findpos(actuelposition,possibleposition[32])){ |
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| 569 | adjacentVertices[0]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
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| 570 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
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| 571 | } |
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| 572 | else if(findpos(actuelposition,possibleposition[33])){ |
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| 573 | adjacentVertices[0]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
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| 574 | adjacentVertices[1]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
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| 575 | } |
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| 576 | else if(findpos(actuelposition,possibleposition[34])){ |
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| 577 | adjacentVertices[0]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
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| 578 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
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| 579 | adjacentVertices[2]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
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| 580 | adjacentVertices[3]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
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| 581 | |
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| 582 | } |
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| 583 | else if(findpos(actuelposition,possibleposition[35])){ |
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| 584 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
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| 585 | adjacentVertices[1]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
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| 586 | adjacentVertices[2]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
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| 587 | } |
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| 588 | else if(findpos(actuelposition,possibleposition[36])){ |
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| 589 | adjacentVertices[0]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
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| 590 | adjacentVertices[1]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
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| 591 | } |
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| 592 | else if(findpos(actuelposition,possibleposition[37])){ |
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| 593 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
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| 594 | adjacentVertices[1]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
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| 595 | } |
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| 596 | else if(findpos(actuelposition,possibleposition[38])){ |
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| 597 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
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| 598 | adjacentVertices[1]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
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| 599 | adjacentVertices[2]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
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| 600 | } |
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| 601 | else if(findpos(actuelposition,possibleposition[39])){ |
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| 602 | adjacentVertices[0]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
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| 603 | adjacentVertices[1]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
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| 604 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
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| 605 | } |
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| 606 | else if(findpos(actuelposition,possibleposition[40])){ |
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| 607 | adjacentVertices[0]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
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| 608 | adjacentVertices[1]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
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| 609 | } |
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| 610 | else if(findpos(actuelposition,possibleposition[41])){ |
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| 611 | adjacentVertices[0]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
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| 612 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
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| 613 | } |
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| 614 | else if(findpos(actuelposition,possibleposition[42])){ |
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| 615 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
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| 616 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
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| 617 | adjacentVertices[2]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
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| 618 | } |
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| 619 | else if(findpos(actuelposition,possibleposition[43])){ |
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| 620 | adjacentVertices[0]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
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| 621 | adjacentVertices[1]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
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| 622 | } |
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| 623 | else if(findpos(actuelposition,possibleposition[44])){ |
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| 624 | adjacentVertices[0]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
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| 625 | adjacentVertices[1]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
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| 626 | } |
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| 627 | else if(findpos(actuelposition,possibleposition[45])){ |
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| 628 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
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| 629 | adjacentVertices[1]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
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| 630 | adjacentVertices[2]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
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| 631 | } |
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| 632 | else if(findpos(actuelposition,possibleposition[46])){ |
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| 633 | adjacentVertices[0]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
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| 634 | adjacentVertices[1]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
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| 635 | } |
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| 636 | else if(findpos(actuelposition,possibleposition[47])){ |
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| 637 | adjacentVertices[0]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
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| 638 | adjacentVertices[1]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
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| 639 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
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| 640 | } |
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| 641 | else if(findpos(actuelposition,possibleposition[48])){ |
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| 642 | adjacentVertices[0]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
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| 643 | adjacentVertices[1]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
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| 644 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
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| 645 | } |
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| 646 | else if(findpos(actuelposition,possibleposition[49])){ |
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| 647 | adjacentVertices[0]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
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| 648 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
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| 649 | } |
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| 650 | else if(findpos(actuelposition,possibleposition[50])){ |
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| 651 | adjacentVertices[0]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
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| 652 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
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| 653 | } |
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| 654 | else if(findpos(actuelposition,possibleposition[51])){ |
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| 655 | adjacentVertices[0]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
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| 656 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
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| 657 | } |
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| 658 | else if(findpos(actuelposition,possibleposition[52])){ |
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| 659 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
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| 660 | adjacentVertices[1]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
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| 661 | } |
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| 662 | else if(findpos(actuelposition,possibleposition[53])){ |
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| 663 | adjacentVertices[0]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
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| 664 | adjacentVertices[1]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
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| 665 | } |
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| 666 | else if(findpos(actuelposition,possibleposition[54])){ |
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| 667 | adjacentVertices[0]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
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| 668 | adjacentVertices[1]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
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| 669 | adjacentVertices[2]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
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| 670 | } |
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| 671 | else if(findpos(actuelposition,possibleposition[55])){ |
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| 672 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
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| 673 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
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| 674 | } |
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| 675 | else if(findpos(actuelposition,possibleposition[56])){ |
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| 676 | adjacentVertices[0]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
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| 677 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
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| 678 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
| 679 | } |
---|
| 680 | else if(findpos(actuelposition,possibleposition[57])){ |
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| 681 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
| 682 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
| 683 | adjacentVertices[2]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
| 684 | adjacentVertices[3]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
| 685 | |
---|
| 686 | } |
---|
| 687 | else if(findpos(actuelposition,possibleposition[58])){ |
---|
| 688 | adjacentVertices[0]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
---|
| 689 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
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| 690 | adjacentVertices[2]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
| 691 | } |
---|
| 692 | else if(findpos(actuelposition,possibleposition[59])){ |
---|
| 693 | adjacentVertices[0]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
| 694 | adjacentVertices[1]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
| 695 | adjacentVertices[2]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
| 696 | } |
---|
| 697 | else if(findpos(actuelposition,possibleposition[60])){ |
---|
| 698 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
| 699 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
| 700 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
---|
| 701 | } |
---|
| 702 | else if(findpos(actuelposition,possibleposition[61])){ |
---|
| 703 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
| 704 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
---|
| 705 | adjacentVertices[2]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
| 706 | } |
---|
| 707 | else if(findpos(actuelposition,possibleposition[62])){ |
---|
| 708 | adjacentVertices[0]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
| 709 | adjacentVertices[1]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
| 710 | } |
---|
| 711 | else if(findpos(actuelposition,possibleposition[63])){ |
---|
| 712 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
| 713 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
| 714 | } |
---|
| 715 | else if(findpos(actuelposition,possibleposition[64])){ |
---|
| 716 | adjacentVertices[0]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
| 717 | adjacentVertices[1]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
| 718 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
| 719 | } |
---|
| 720 | else if(findpos(actuelposition,possibleposition[65])){ |
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| 721 | adjacentVertices[0]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
| 722 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
| 723 | } |
---|
| 724 | else if(findpos(actuelposition,possibleposition[66])){ |
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| 725 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
| 726 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
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| 727 | } |
---|
| 728 | } |
---|
| 729 | |
---|
| 730 | |
---|
[11915] | 731 | } |
---|