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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23 | * Marc Dreher |
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24 | * Co-authors: |
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25 | * .. |
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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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36 | |
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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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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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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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119 | //this->pathAlgorithm = new GetShortestPathAlgorithm; |
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120 | |
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121 | |
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122 | this->velocity = Vector3(0, 0, 0); |
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123 | |
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124 | this->setCollisionType(CollisionType::Dynamic); |
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125 | |
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126 | this->actuelposition = this->getPosition(); |
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127 | |
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128 | if(findpos(actuelposition, Vector3(0,-20,0))) |
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129 | dontmove = true; |
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130 | |
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131 | this->target_x = actuelposition.x; |
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132 | this->target_z = actuelposition.z; |
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133 | |
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134 | //this->lastPlayerPassedPoint=Vector3(185,10,150); //no idea what to put |
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135 | |
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136 | } |
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137 | |
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138 | /** |
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139 | @brief |
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140 | Destructor. Destroys ghost, if present. |
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141 | */ |
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142 | PacmanGhost::~PacmanGhost() |
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143 | { |
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144 | // Deletes the controller if the object was initialized and the pointer to the controller is not nullptr. |
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145 | } |
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146 | |
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147 | /** |
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148 | @brief |
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149 | Method for creating a ghost through XML. |
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150 | */ |
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151 | void PacmanGhost::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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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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156 | //Change this with other ghost |
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157 | void PacmanGhost::changewith(PacmanGhost* otherghost){ |
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158 | |
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159 | while(lockmove){}; |
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160 | lockmove = true; //Prevent change of target while ghost is changed |
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161 | |
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162 | otherghost->setPosition(this->getPosition()); |
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163 | this->setPosition(0,-20,0); |
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164 | otherghost->target_x = this->target_x; |
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165 | otherghost->target_z = this->target_z; |
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166 | otherghost->ismoving = this->ismoving; |
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167 | |
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168 | this->dontmove = true; |
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169 | otherghost->dontmove = false; |
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170 | |
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171 | lockmove = false; |
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172 | } |
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173 | |
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174 | //Move ghost with rotation |
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175 | void PacmanGhost::move(float dt, Vector3 actuelposition, Vector3 velocity){ |
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176 | if(!dontmove){ |
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177 | this->setPosition(Vector3(actuelposition.x+speed*velocity.x*dt,10,actuelposition.z+speed*velocity.z*dt)); |
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178 | |
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179 | //Rotate ghost in the direction of movement |
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180 | if((abs(abs(velocity.x)-1)<0.1) && (abs(velocity.z-0)<0.1)){ |
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181 | if(velocity.x<0){ |
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182 | this->setOrientation(Quaternion(Radian(-1.57), Vector3(0, 1, 0))); |
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183 | } |
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184 | else{ |
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185 | this->setOrientation(Quaternion(Radian(1.57), Vector3(0, 1, 0))); |
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186 | } |
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187 | } |
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188 | if((abs(abs(velocity.z)-1)<0.1) && (abs(velocity.x-0)<0.1)){ |
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189 | if(velocity.z<0){ |
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190 | this->setOrientation(Quaternion(Radian(3.14), Vector3(0, 1, 0))); |
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191 | } |
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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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195 | } |
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196 | |
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197 | } |
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198 | } |
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199 | |
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200 | //Change ability to move |
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201 | void PacmanGhost::changemovability(){ |
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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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209 | //ResetGhost |
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210 | void PacmanGhost::resetGhost(){ |
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211 | |
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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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218 | |
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219 | } |
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220 | |
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221 | //Increase speed of ghosts |
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222 | void PacmanGhost::levelupvelo(){ |
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223 | speed ++; |
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224 | } |
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225 | |
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226 | /*Vector3 PacmanGhost::setPureArrayPos(Vector3 &posToSet){ |
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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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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 | //std::cout<<"bug ??"<<endl; |
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244 | return Vector3(0,0,0); //default, should not be used |
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245 | |
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246 | } |
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247 | |
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248 | |
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249 | bool PacmanGhost::jeanfindpos(Vector3 one, Vector3 other){ |
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250 | if((abs(one.x - other.x)<15) && (abs(one.y - other.y)<15) && (abs(one.z - other.z)<15)) return true; |
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251 | return false; |
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252 | } |
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253 | |
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254 | void PacmanGhost::setNewTargetGhost(Vector3 goalToGo){ |
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255 | |
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256 | this->target_x = goalToGo.x; |
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257 | this->target_z = goalToGo.z; |
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258 | this->ismoving = true; |
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259 | } |
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260 | |
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261 | |
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262 | /// |
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263 | //// getShortestPath ///////// |
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264 | /// |
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265 | |
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266 | |
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267 | |
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268 | Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal, Vector3 pointToAvoidP1){ |
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269 | //this function should then somehow produce the algorithm and call all other functions |
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270 | //and finally return the best neighboor of the actual position of the pacman |
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271 | |
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272 | //(optional parameter) pointToAvoidP1 is a point that cannot be considered |
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273 | |
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274 | |
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275 | graphVertex listOfVerticesM[67]; //our list of all possible graphs |
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276 | graphVertex* actualVertex; //we will walk through the array with a pointer |
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277 | |
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278 | if(start==goal){ // basic case |
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279 | return start; |
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280 | } |
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281 | |
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282 | for(int an=0; an < 67; an++){ |
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283 | listOfVerticesM[an]= graphVertex(possibleposition[an]); //same position order as in other file |
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284 | if(start==possibleposition[an]){ |
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285 | actualVertex= &listOfVerticesM[an]; //our pointer points to the graph with position start in array |
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286 | //cout<<an<<endl; |
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287 | } |
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288 | } |
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289 | |
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290 | //graphVertex actualVertex= listOfVerticesM[an]; |
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291 | |
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292 | actualVertex->alreadyVisited=true; //our start point is now visited |
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293 | actualVertex->shortestDistanceToStart=0; //At our start point, distance from start is 0 |
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294 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
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295 | // second parameter is an array ! //third is our global array |
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296 | |
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297 | while(actualVertex->position!=goal){ |
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298 | for(int h=0;h < 4; h++){ |
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299 | if(actualVertex->adjacentVertices[h]!=nullptr){ //check all neighboors of our current graphVertex |
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300 | |
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301 | //h=2 and 3 never reached |
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302 | updateShortestDistanceToStart(*actualVertex, *actualVertex->adjacentVertices[h]); |
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303 | } //we "update" the neighboors of our new visited vertex |
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304 | |
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305 | } |
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306 | |
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307 | actualVertex=findNextVertexToConsider(listOfVerticesM, pointToAvoidP1); |
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308 | actualVertex->alreadyVisited=true; |
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309 | //cout<<actualVertex->position<<endl; |
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310 | if(actualVertex->position!=goal){ |
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311 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
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312 | //we find the neighboors of our new visited vertex |
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313 | } |
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314 | } |
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315 | |
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316 | //cout<<"meuejeeke"<<endl; never reached |
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317 | |
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318 | //we should have reached our goal at this point |
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319 | |
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320 | while(actualVertex->actuelPredecessor->actuelPredecessor!=nullptr){ //the predecessor of our predecessor |
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321 | actualVertex=actualVertex->actuelPredecessor; |
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322 | } |
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323 | // the predecessor is our starting point, in other words we are now on an |
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324 | //adjacent vertex of the start |
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325 | |
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326 | return actualVertex->position; //we return the position of this - adjacent to start - vertex |
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327 | } |
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328 | |
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329 | //end of getShortestPath |
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330 | |
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331 | |
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332 | int PacmanGhost::graphDistance(Vector3 start, Vector3 goal){ |
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333 | //cout<<hgj++<<endl; |
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334 | Vector3 differenceVector= Vector3(abs(goal.x-start.x), 0,abs(goal.z-start.z)); |
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335 | |
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336 | return differenceVector.x+differenceVector.z; |
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337 | } |
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338 | |
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339 | void PacmanGhost::updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor){ |
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340 | //apply this method to all non visited neighboors of a vertex. |
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341 | // This method should always be run on a vertex after we marked it as visited. |
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342 | if(neighboor.alreadyVisited==false){ //we only consider non visited neighboors. |
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343 | if((vertex.shortestDistanceToStart!=std::numeric_limits<int>::max())&& |
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344 | (neighboor.shortestDistanceToStart > vertex.shortestDistanceToStart + |
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345 | graphDistance(vertex.position, neighboor.position))){ //need to consider overflow case ! |
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346 | |
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347 | neighboor.shortestDistanceToStart= vertex.shortestDistanceToStart + |
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348 | graphDistance(vertex.position, neighboor.position); |
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349 | neighboor.actuelPredecessor = &vertex; |
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350 | } |
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351 | } |
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352 | } |
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353 | |
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354 | void PacmanGhost::findNearestNonVisitedNeighboor (graphVertex &vertex, Vector3 pointToAvoidP3){ |
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355 | //find nearest non visited neighboor of a given already visited vertex |
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356 | //(optional parameter) pointToAvoidP3 is a point that cannot be considered |
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357 | int shortestDistance = -1; |
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358 | graphVertex* nearestNonVisitedNeighboor=nullptr;//=graphVertex(); //by default there is not any. |
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359 | //Also, if all neighboors are already visited, we return NULL, i.e. there is no |
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360 | //nearest non visited neighboor. |
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361 | for(int i=0; i < 4; i++){ |
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362 | if((vertex.adjacentVertices[i]!=nullptr)&&(vertex.adjacentVertices[i]->alreadyVisited==false)&&(vertex.adjacentVertices[i]->position!=pointToAvoidP3)){ |
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363 | if(shortestDistance==-1){ //(concerns line above) we want a non visited neighboor //(optional) if the position of the neighboor is the one we want |
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364 | //to avoid, then we ignore it |
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365 | |
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366 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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367 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
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368 | //cout<<shortestDistance<<endl; |
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369 | } |
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370 | else if(graphDistance(vertex.position, vertex.adjacentVertices[i]->position)<shortestDistance){ |
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371 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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372 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
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373 | //cout<<(hgj++)%4<<endl; |
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374 | } |
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375 | } |
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376 | } |
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377 | vertex.currentNearestNonVisitedNeighboor = nearestNonVisitedNeighboor; //warning, both sides are pointer adresses ! |
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378 | //cout<<hgj++<<endl; |
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379 | } |
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380 | |
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381 | |
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382 | PacmanGhost::graphVertex* PacmanGhost::findNextVertexToConsider(graphVertex listOfVerticesP[], Vector3 pointToAvoidP2){ //find next, nearest from start, non visited vertex in our listOfVertices array |
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383 | //(optional parameter) pointToAvoidP2 is a point that cannot be considered |
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384 | |
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385 | int shortestDistance = -1; |
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386 | graphVertex* nextVertexToConsider; |
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387 | |
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388 | for(int i=0; i < 67; i++){ //we loop over all possible positions |
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389 | |
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390 | if(listOfVerticesP[i].alreadyVisited==true){ //vertex should already be visited |
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391 | |
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392 | findNearestNonVisitedNeighboor(listOfVerticesP[i], pointToAvoidP2); //we update nearest neighboor |
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393 | //of all visited vertices given that one of the nearest neighboor of a visited |
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394 | // vertex is now also visited because it was chosen as next optimal vertex |
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395 | |
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396 | if(listOfVerticesP[i].currentNearestNonVisitedNeighboor!=nullptr){ //we want a candidate! |
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397 | if(shortestDistance==-1){ //our first possible candidate |
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398 | |
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399 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
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400 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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401 | listOfVerticesP[i].shortestDistanceToStart; |
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402 | |
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403 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
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404 | //adress of nextVertexToConsider is that of pointer currentNearestNonVisitedNeighboor |
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405 | |
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406 | } |
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407 | else if(shortestDistance > graphDistance(listOfVerticesP[i].position, |
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408 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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409 | listOfVerticesP[i].shortestDistanceToStart){//if better candidate than our first candidate available |
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410 | |
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411 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
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412 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
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413 | listOfVerticesP[i].shortestDistanceToStart; |
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414 | |
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415 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
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416 | //we dont need the & because we are not giving the adress of the array element |
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417 | //listOfVerticesP[i] but that of the pointer currentNearestNonVisitedNeighboor |
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418 | } |
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419 | } |
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420 | } |
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421 | //we want after all to return the nearest non visited neighboor |
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422 | } |
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423 | |
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424 | return nextVertexToConsider; //returns adress nextVertexToConsider is pointing to in array |
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425 | } |
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426 | |
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427 | ////////////////////////////////////////////////////////////////////////////////////////////// |
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428 | |
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429 | //if vertex already visited, call function on it and reapeat until you reach non visited vertex |
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430 | // ---> not sure if a good idea because we risk infinite loop |
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431 | |
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432 | //-215 -185 -135 -70 -20 0 20 70 135 185 215 |
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433 | |
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434 | //-195 -135 -85 -35 15 60 105 150 195 245 |
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435 | |
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436 | void PacmanGhost::findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]){ |
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437 | |
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438 | |
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439 | if(findpos(actuelposition,possibleposition[0])){ |
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440 | // we should use listOfVerticesP2[i] instead of possibleposition[i] I think |
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441 | // so that all neighboors are "the same" |
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442 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); //need to do it everywhere !!! |
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443 | adjacentVertices[1]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
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444 | adjacentVertices[2]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); //maybe a vector would be more suitable ? |
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445 | } |
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446 | else if(findpos(actuelposition,possibleposition[1])){ |
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447 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
448 | adjacentVertices[1]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
---|
449 | } |
---|
450 | else if(findpos(actuelposition,possibleposition[2])){ |
---|
451 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); |
---|
452 | adjacentVertices[1]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
453 | } |
---|
454 | else if(findpos(actuelposition,possibleposition[3])){ |
---|
455 | adjacentVertices[0]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
---|
456 | adjacentVertices[1]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
---|
457 | adjacentVertices[2]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
---|
458 | } |
---|
459 | else if(findpos(actuelposition,possibleposition[4])){ |
---|
460 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
461 | adjacentVertices[1]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
462 | } |
---|
463 | else if(findpos(actuelposition,possibleposition[5])){ |
---|
464 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
465 | adjacentVertices[1]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
---|
466 | } |
---|
467 | else if(findpos(actuelposition,possibleposition[6])){ |
---|
468 | adjacentVertices[0]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
---|
469 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
470 | adjacentVertices[2]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
471 | } |
---|
472 | else if(findpos(actuelposition,possibleposition[7])){ |
---|
473 | adjacentVertices[0]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
---|
474 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
---|
475 | } |
---|
476 | else if(findpos(actuelposition,possibleposition[8])){ |
---|
477 | adjacentVertices[0]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
---|
478 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
479 | } |
---|
480 | else if(findpos(actuelposition,possibleposition[9])){ |
---|
481 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
482 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
---|
483 | adjacentVertices[2]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
484 | adjacentVertices[3]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
485 | } |
---|
486 | else if(findpos(actuelposition,possibleposition[10])){ |
---|
487 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
488 | adjacentVertices[1]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
489 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
490 | } |
---|
491 | else if(findpos(actuelposition,possibleposition[11])){ |
---|
492 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
493 | adjacentVertices[1]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
---|
494 | adjacentVertices[2]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
495 | } |
---|
496 | else if(findpos(actuelposition,possibleposition[12])){ |
---|
497 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
498 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
499 | } |
---|
500 | else if(findpos(actuelposition,possibleposition[13])){ |
---|
501 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
502 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
503 | adjacentVertices[2]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
504 | adjacentVertices[3]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
505 | } |
---|
506 | else if(findpos(actuelposition,possibleposition[14])){ |
---|
507 | adjacentVertices[0]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
---|
508 | adjacentVertices[1]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
509 | adjacentVertices[2]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
---|
510 | } |
---|
511 | else if(findpos(actuelposition,possibleposition[15])){ |
---|
512 | adjacentVertices[0]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
513 | adjacentVertices[1]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
514 | } |
---|
515 | else if(findpos(actuelposition,possibleposition[16])){ |
---|
516 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
517 | adjacentVertices[1]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
---|
518 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
---|
519 | } |
---|
520 | else if(findpos(actuelposition,possibleposition[17])){ |
---|
521 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
522 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
---|
523 | } |
---|
524 | else if(findpos(actuelposition,possibleposition[18])){ |
---|
525 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
---|
526 | adjacentVertices[1]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
---|
527 | } |
---|
528 | else if(findpos(actuelposition,possibleposition[19])){ |
---|
529 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
530 | adjacentVertices[1]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
---|
531 | adjacentVertices[2]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
---|
532 | } |
---|
533 | else if(findpos(actuelposition,possibleposition[20])){ |
---|
534 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
---|
535 | adjacentVertices[1]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
---|
536 | } |
---|
537 | else if(findpos(actuelposition,possibleposition[21])){ |
---|
538 | adjacentVertices[0]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
---|
539 | adjacentVertices[1]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
540 | } |
---|
541 | else if(findpos(actuelposition,possibleposition[22])){ |
---|
542 | adjacentVertices[0]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
---|
543 | adjacentVertices[1]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
---|
544 | adjacentVertices[2]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
---|
545 | } |
---|
546 | else if(findpos(actuelposition,possibleposition[23])){ |
---|
547 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
548 | adjacentVertices[1]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
549 | } |
---|
550 | else if(findpos(actuelposition,possibleposition[24])){ |
---|
551 | adjacentVertices[0]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
---|
552 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
553 | } |
---|
554 | else if(findpos(actuelposition,possibleposition[25])){ |
---|
555 | adjacentVertices[0]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
---|
556 | adjacentVertices[1]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
557 | } |
---|
558 | else if(findpos(actuelposition,possibleposition[26])){ |
---|
559 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
560 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
---|
561 | adjacentVertices[2]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
562 | } |
---|
563 | else if(findpos(actuelposition,possibleposition[27])){ |
---|
564 | adjacentVertices[0]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
565 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
566 | adjacentVertices[2]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
---|
567 | } |
---|
568 | else if(findpos(actuelposition,possibleposition[28])){ |
---|
569 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
570 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
571 | adjacentVertices[2]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
---|
572 | } |
---|
573 | else if(findpos(actuelposition,possibleposition[29])){ |
---|
574 | adjacentVertices[0]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
---|
575 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
576 | adjacentVertices[2]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
577 | } |
---|
578 | else if(findpos(actuelposition,possibleposition[30])){ |
---|
579 | adjacentVertices[0]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
---|
580 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
581 | adjacentVertices[2]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
582 | } |
---|
583 | else if(findpos(actuelposition,possibleposition[31])){ |
---|
584 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
585 | adjacentVertices[1]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
---|
586 | } |
---|
587 | else if(findpos(actuelposition,possibleposition[32])){ |
---|
588 | adjacentVertices[0]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
---|
589 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
---|
590 | } |
---|
591 | else if(findpos(actuelposition,possibleposition[33])){ |
---|
592 | adjacentVertices[0]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
---|
593 | adjacentVertices[1]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
594 | } |
---|
595 | else if(findpos(actuelposition,possibleposition[34])){ |
---|
596 | adjacentVertices[0]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
597 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
---|
598 | adjacentVertices[2]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
599 | adjacentVertices[3]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
---|
600 | |
---|
601 | } |
---|
602 | else if(findpos(actuelposition,possibleposition[35])){ |
---|
603 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
604 | adjacentVertices[1]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
---|
605 | adjacentVertices[2]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
606 | } |
---|
607 | else if(findpos(actuelposition,possibleposition[36])){ |
---|
608 | adjacentVertices[0]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
609 | adjacentVertices[1]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
610 | } |
---|
611 | else if(findpos(actuelposition,possibleposition[37])){ |
---|
612 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
613 | adjacentVertices[1]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
614 | } |
---|
615 | else if(findpos(actuelposition,possibleposition[38])){ |
---|
616 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
617 | adjacentVertices[1]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
---|
618 | adjacentVertices[2]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
619 | } |
---|
620 | else if(findpos(actuelposition,possibleposition[39])){ |
---|
621 | adjacentVertices[0]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
622 | adjacentVertices[1]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
---|
623 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
624 | } |
---|
625 | else if(findpos(actuelposition,possibleposition[40])){ |
---|
626 | adjacentVertices[0]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
627 | adjacentVertices[1]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
628 | } |
---|
629 | else if(findpos(actuelposition,possibleposition[41])){ |
---|
630 | adjacentVertices[0]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
631 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
632 | } |
---|
633 | else if(findpos(actuelposition,possibleposition[42])){ |
---|
634 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
635 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
636 | adjacentVertices[2]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
637 | } |
---|
638 | else if(findpos(actuelposition,possibleposition[43])){ |
---|
639 | adjacentVertices[0]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
640 | adjacentVertices[1]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
---|
641 | } |
---|
642 | else if(findpos(actuelposition,possibleposition[44])){ |
---|
643 | adjacentVertices[0]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
---|
644 | adjacentVertices[1]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
645 | } |
---|
646 | else if(findpos(actuelposition,possibleposition[45])){ |
---|
647 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
648 | adjacentVertices[1]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
649 | adjacentVertices[2]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
---|
650 | } |
---|
651 | else if(findpos(actuelposition,possibleposition[46])){ |
---|
652 | adjacentVertices[0]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
653 | adjacentVertices[1]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
654 | } |
---|
655 | else if(findpos(actuelposition,possibleposition[47])){ |
---|
656 | adjacentVertices[0]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
---|
657 | adjacentVertices[1]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
---|
658 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
659 | } |
---|
660 | else if(findpos(actuelposition,possibleposition[48])){ |
---|
661 | adjacentVertices[0]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
---|
662 | adjacentVertices[1]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
---|
663 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
664 | } |
---|
665 | else if(findpos(actuelposition,possibleposition[49])){ |
---|
666 | adjacentVertices[0]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
667 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
668 | } |
---|
669 | else if(findpos(actuelposition,possibleposition[50])){ |
---|
670 | adjacentVertices[0]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
---|
671 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
672 | } |
---|
673 | else if(findpos(actuelposition,possibleposition[51])){ |
---|
674 | adjacentVertices[0]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
675 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
---|
676 | } |
---|
677 | else if(findpos(actuelposition,possibleposition[52])){ |
---|
678 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
679 | adjacentVertices[1]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
---|
680 | } |
---|
681 | else if(findpos(actuelposition,possibleposition[53])){ |
---|
682 | adjacentVertices[0]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
---|
683 | adjacentVertices[1]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
684 | } |
---|
685 | else if(findpos(actuelposition,possibleposition[54])){ |
---|
686 | adjacentVertices[0]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
---|
687 | adjacentVertices[1]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
---|
688 | adjacentVertices[2]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
689 | } |
---|
690 | else if(findpos(actuelposition,possibleposition[55])){ |
---|
691 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
692 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
693 | } |
---|
694 | else if(findpos(actuelposition,possibleposition[56])){ |
---|
695 | adjacentVertices[0]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
---|
696 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
697 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
698 | } |
---|
699 | else if(findpos(actuelposition,possibleposition[57])){ |
---|
700 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
701 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
702 | adjacentVertices[2]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
703 | adjacentVertices[3]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
704 | |
---|
705 | } |
---|
706 | else if(findpos(actuelposition,possibleposition[58])){ |
---|
707 | adjacentVertices[0]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
---|
708 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
709 | adjacentVertices[2]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
710 | } |
---|
711 | else if(findpos(actuelposition,possibleposition[59])){ |
---|
712 | adjacentVertices[0]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
713 | adjacentVertices[1]=&listOfVerticesP2[60]; //graphVertex(possibleposition[59]); |
---|
714 | adjacentVertices[2]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
715 | } |
---|
716 | else if(findpos(actuelposition,possibleposition[60])){ |
---|
717 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
718 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
719 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
---|
720 | } |
---|
721 | else if(findpos(actuelposition,possibleposition[61])){ |
---|
722 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
723 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
---|
724 | adjacentVertices[2]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
725 | } |
---|
726 | else if(findpos(actuelposition,possibleposition[62])){ |
---|
727 | adjacentVertices[0]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
728 | adjacentVertices[1]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
729 | } |
---|
730 | else if(findpos(actuelposition,possibleposition[63])){ |
---|
731 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
732 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
733 | } |
---|
734 | else if(findpos(actuelposition,possibleposition[64])){ |
---|
735 | adjacentVertices[0]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
736 | adjacentVertices[1]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
737 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
738 | } |
---|
739 | else if(findpos(actuelposition,possibleposition[65])){ |
---|
740 | adjacentVertices[0]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
741 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
742 | } |
---|
743 | else if(findpos(actuelposition,possibleposition[66])){ |
---|
744 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
745 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
746 | } |
---|
747 | } |
---|
748 | |
---|
749 | |
---|
750 | |
---|
751 | |
---|
752 | |
---|
753 | /*Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal){ |
---|
754 | //this function should then somehow produce the algorithm and call all other functions |
---|
755 | //and finally return the best neighboor of the actual position of the pacman |
---|
756 | |
---|
757 | |
---|
758 | graphVertex listOfVerticesM[67]; //our list of all possible graphs |
---|
759 | graphVertex* actualVertex;// = new graphVertex(); //we will walk through the array with a pointer |
---|
760 | |
---|
761 | if(start==goal){ // basic case |
---|
762 | return start; |
---|
763 | } |
---|
764 | |
---|
765 | for(int an=0; an < 67; an++){ |
---|
766 | listOfVerticesM[an]= graphVertex(possibleposition[an]); //same position order as in other file |
---|
767 | if(start==possibleposition[an]){ |
---|
768 | actualVertex= &listOfVerticesM[an]; //our pointer points to the graph with position start in array |
---|
769 | //cout<<an<<endl; |
---|
770 | } |
---|
771 | } |
---|
772 | |
---|
773 | actualVertex->alreadyVisited=true; //our start point is now visited |
---|
774 | actualVertex->shortestDistanceToStart=0; //At our start point, distance from start is 0 |
---|
775 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
---|
776 | // second parameter is an array ! //third is our global array |
---|
777 | |
---|
778 | while(actualVertex->position!=goal){ |
---|
779 | for(int h=0;h < 4; h++){ |
---|
780 | if(actualVertex->adjacentVertices[h]!=nullptr){ //check all neighboors of our current graphVertex |
---|
781 | |
---|
782 | //h=2 and 3 never reached |
---|
783 | updateShortestDistanceToStart(*actualVertex, *actualVertex->adjacentVertices[h]); |
---|
784 | } //we "update" the neighboors of our new visited vertex |
---|
785 | |
---|
786 | } |
---|
787 | |
---|
788 | actualVertex=findNextVertexToConsider(listOfVerticesM); |
---|
789 | actualVertex->alreadyVisited=true; |
---|
790 | //cout<<actualVertex->position<<endl; |
---|
791 | if(actualVertex->position!=goal){ |
---|
792 | findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); |
---|
793 | //we find the neighboors of our new visited vertex |
---|
794 | } |
---|
795 | } |
---|
796 | |
---|
797 | //cout<<"meuejeeke"<<endl; never reached |
---|
798 | |
---|
799 | //we should have reached our goal at this point |
---|
800 | |
---|
801 | while(actualVertex->actuelPredecessor->actuelPredecessor!=nullptr){ //the predecessor of our predecessor |
---|
802 | actualVertex=actualVertex->actuelPredecessor; |
---|
803 | } |
---|
804 | // the predecessor is our starting point, in other words we are now on an |
---|
805 | //adjacent vertex of the start |
---|
806 | |
---|
807 | return actualVertex->position; //we return the position of this - adjacent to start - vertex |
---|
808 | } |
---|
809 | |
---|
810 | //end of getShortestPath |
---|
811 | |
---|
812 | |
---|
813 | int PacmanGhost::graphDistance(Vector3 start, Vector3 goal){ |
---|
814 | //cout<<hgj++<<endl; |
---|
815 | Vector3 differenceVector= Vector3(abs(goal.x-start.x), 0,abs(goal.z-start.z)); |
---|
816 | |
---|
817 | return differenceVector.x+differenceVector.z; |
---|
818 | } |
---|
819 | |
---|
820 | void PacmanGhost::updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor){ |
---|
821 | //apply this method to all non visited neighboors of a vertex. |
---|
822 | // This method should always be run on a vertex after we marked it as visited. |
---|
823 | if(neighboor.alreadyVisited==false){ //we only consider non visited neighboors. |
---|
824 | if((vertex.shortestDistanceToStart!=std::numeric_limits<int>::max())&& |
---|
825 | (neighboor.shortestDistanceToStart > vertex.shortestDistanceToStart + |
---|
826 | graphDistance(vertex.position, neighboor.position))){ //need to consider overflow case ! |
---|
827 | |
---|
828 | neighboor.shortestDistanceToStart= vertex.shortestDistanceToStart + |
---|
829 | graphDistance(vertex.position, neighboor.position); |
---|
830 | neighboor.actuelPredecessor = &vertex; |
---|
831 | } |
---|
832 | } |
---|
833 | } |
---|
834 | |
---|
835 | void PacmanGhost::findNearestNonVisitedNeighboor (graphVertex &vertex){ |
---|
836 | //find nearest non visited neighboor of a given already visited vertex |
---|
837 | int shortestDistance = -1; |
---|
838 | graphVertex* nearestNonVisitedNeighboor=nullptr;//=graphVertex(); //by default there is not any. |
---|
839 | //Also, if all neighboors are already visited, we return nullptr, i.e. there is no |
---|
840 | //nearest non visited neighboor. |
---|
841 | for(int i=0; i < 4; i++){ |
---|
842 | if((vertex.adjacentVertices[i]!=nullptr)&&(vertex.adjacentVertices[i]->alreadyVisited==false)){ |
---|
843 | if(shortestDistance==-1){ //(concerns line above) we want a non visited neighboor |
---|
844 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
---|
845 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
---|
846 | //cout<<shortestDistance<<endl; |
---|
847 | } |
---|
848 | else if(graphDistance(vertex.position, vertex.adjacentVertices[i]->position)<shortestDistance){ |
---|
849 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
---|
850 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses ! |
---|
851 | //cout<<(hgj++)%4<<endl; |
---|
852 | } |
---|
853 | } |
---|
854 | } |
---|
855 | vertex.currentNearestNonVisitedNeighboor = nearestNonVisitedNeighboor; //warning, both sides are pointer adresses ! |
---|
856 | //cout<<hgj++<<endl; |
---|
857 | } |
---|
858 | |
---|
859 | |
---|
860 | PacmanGhost::graphVertex* PacmanGhost::findNextVertexToConsider(graphVertex listOfVerticesP[]){ //find next, nearest from start, non visited vertex in our listOfVertices array |
---|
861 | |
---|
862 | int shortestDistance = -1; |
---|
863 | graphVertex* nextVertexToConsider; |
---|
864 | |
---|
865 | for(int i=0; i < 67; i++){ //we loop over all possible positions |
---|
866 | |
---|
867 | if(listOfVerticesP[i].alreadyVisited==true){ //vertex should already be visited |
---|
868 | |
---|
869 | findNearestNonVisitedNeighboor(listOfVerticesP[i]); //we update nearest neighboor |
---|
870 | //of all visited vertices given that one of the nearest neighboor of a visited |
---|
871 | // vertex is now also visited because it was chosen as next optimal vertex |
---|
872 | |
---|
873 | if(listOfVerticesP[i].currentNearestNonVisitedNeighboor!=nullptr){ //we want a candidate! |
---|
874 | if(shortestDistance==-1){ //our first possible candidate |
---|
875 | |
---|
876 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
---|
877 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
---|
878 | listOfVerticesP[i].shortestDistanceToStart; |
---|
879 | |
---|
880 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
---|
881 | //adress of nextVertexToConsider is that of pointer currentNearestNonVisitedNeighboor |
---|
882 | |
---|
883 | } |
---|
884 | else if(shortestDistance > graphDistance(listOfVerticesP[i].position, |
---|
885 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
---|
886 | listOfVerticesP[i].shortestDistanceToStart){//if better candidate than our first candidate available |
---|
887 | |
---|
888 | shortestDistance=graphDistance(listOfVerticesP[i].position, |
---|
889 | listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + |
---|
890 | listOfVerticesP[i].shortestDistanceToStart; |
---|
891 | |
---|
892 | nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor; |
---|
893 | //we dont need the & because we are not giving the adress of the array element |
---|
894 | //listOfVerticesP[i] but that of the pointer currentNearestNonVisitedNeighboor |
---|
895 | } |
---|
896 | } |
---|
897 | } |
---|
898 | //we want after all to return the nearest non visited neighboor |
---|
899 | } |
---|
900 | |
---|
901 | return nextVertexToConsider; //returns adress nextVertexToConsider is pointing to in array |
---|
902 | } |
---|
903 | |
---|
904 | ////////////////////////////////////////////////////////////////////////////////////////////// |
---|
905 | |
---|
906 | //if vertex already visited, call function on it and reapeat until you reach non visited vertex |
---|
907 | // ---> not sure if a good idea because we risk infinite loop |
---|
908 | |
---|
909 | //-215 -185 -135 -70 -20 0 20 70 135 185 215 |
---|
910 | |
---|
911 | //-195 -135 -85 -35 15 60 105 150 195 245 |
---|
912 | |
---|
913 | void PacmanGhost::findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]){ |
---|
914 | |
---|
915 | |
---|
916 | if(findpos(actuelposition,possibleposition[0])){ |
---|
917 | // we should use listOfVerticesP2[i] instead of possibleposition[i] I think |
---|
918 | // so that all neighboors are "the same" |
---|
919 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); //need to do it everywhere !!! |
---|
920 | adjacentVertices[1]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
---|
921 | adjacentVertices[2]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); //maybe a vector would be more suitable ? |
---|
922 | } |
---|
923 | else if(findpos(actuelposition,possibleposition[1])){ |
---|
924 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
925 | adjacentVertices[1]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
---|
926 | } |
---|
927 | else if(findpos(actuelposition,possibleposition[2])){ |
---|
928 | adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]); |
---|
929 | adjacentVertices[1]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
930 | } |
---|
931 | else if(findpos(actuelposition,possibleposition[3])){ |
---|
932 | adjacentVertices[0]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]); |
---|
933 | adjacentVertices[1]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
---|
934 | adjacentVertices[2]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
---|
935 | } |
---|
936 | else if(findpos(actuelposition,possibleposition[4])){ |
---|
937 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
938 | adjacentVertices[1]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
939 | } |
---|
940 | else if(findpos(actuelposition,possibleposition[5])){ |
---|
941 | adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]); |
---|
942 | adjacentVertices[1]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
---|
943 | } |
---|
944 | else if(findpos(actuelposition,possibleposition[6])){ |
---|
945 | adjacentVertices[0]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]); |
---|
946 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
947 | adjacentVertices[2]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
948 | } |
---|
949 | else if(findpos(actuelposition,possibleposition[7])){ |
---|
950 | adjacentVertices[0]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]); |
---|
951 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
---|
952 | } |
---|
953 | else if(findpos(actuelposition,possibleposition[8])){ |
---|
954 | adjacentVertices[0]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]); |
---|
955 | adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
956 | } |
---|
957 | else if(findpos(actuelposition,possibleposition[9])){ |
---|
958 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
959 | adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]); |
---|
960 | adjacentVertices[2]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
961 | adjacentVertices[3]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
962 | } |
---|
963 | else if(findpos(actuelposition,possibleposition[10])){ |
---|
964 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
965 | adjacentVertices[1]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
966 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
967 | } |
---|
968 | else if(findpos(actuelposition,possibleposition[11])){ |
---|
969 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
970 | adjacentVertices[1]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
---|
971 | adjacentVertices[2]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
972 | } |
---|
973 | else if(findpos(actuelposition,possibleposition[12])){ |
---|
974 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
975 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
976 | } |
---|
977 | else if(findpos(actuelposition,possibleposition[13])){ |
---|
978 | adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]); |
---|
979 | adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
980 | adjacentVertices[2]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
981 | adjacentVertices[3]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
982 | } |
---|
983 | else if(findpos(actuelposition,possibleposition[14])){ |
---|
984 | adjacentVertices[0]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]); |
---|
985 | adjacentVertices[1]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
986 | adjacentVertices[2]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
---|
987 | } |
---|
988 | else if(findpos(actuelposition,possibleposition[15])){ |
---|
989 | adjacentVertices[0]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]); |
---|
990 | adjacentVertices[1]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
991 | } |
---|
992 | else if(findpos(actuelposition,possibleposition[16])){ |
---|
993 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
994 | adjacentVertices[1]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]); |
---|
995 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
---|
996 | } |
---|
997 | else if(findpos(actuelposition,possibleposition[17])){ |
---|
998 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
999 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
---|
1000 | } |
---|
1001 | else if(findpos(actuelposition,possibleposition[18])){ |
---|
1002 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
---|
1003 | adjacentVertices[1]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
---|
1004 | } |
---|
1005 | else if(findpos(actuelposition,possibleposition[19])){ |
---|
1006 | adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]); |
---|
1007 | adjacentVertices[1]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
---|
1008 | adjacentVertices[2]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
---|
1009 | } |
---|
1010 | else if(findpos(actuelposition,possibleposition[20])){ |
---|
1011 | adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); |
---|
1012 | adjacentVertices[1]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
---|
1013 | } |
---|
1014 | else if(findpos(actuelposition,possibleposition[21])){ |
---|
1015 | adjacentVertices[0]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]); |
---|
1016 | adjacentVertices[1]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
1017 | } |
---|
1018 | else if(findpos(actuelposition,possibleposition[22])){ |
---|
1019 | adjacentVertices[0]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]); |
---|
1020 | adjacentVertices[1]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
---|
1021 | adjacentVertices[2]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
---|
1022 | } |
---|
1023 | else if(findpos(actuelposition,possibleposition[23])){ |
---|
1024 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
1025 | adjacentVertices[1]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
1026 | } |
---|
1027 | else if(findpos(actuelposition,possibleposition[24])){ |
---|
1028 | adjacentVertices[0]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]); |
---|
1029 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
1030 | } |
---|
1031 | else if(findpos(actuelposition,possibleposition[25])){ |
---|
1032 | adjacentVertices[0]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]); |
---|
1033 | adjacentVertices[1]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
1034 | } |
---|
1035 | else if(findpos(actuelposition,possibleposition[26])){ |
---|
1036 | adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]); |
---|
1037 | adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]); |
---|
1038 | adjacentVertices[2]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
1039 | } |
---|
1040 | else if(findpos(actuelposition,possibleposition[27])){ |
---|
1041 | adjacentVertices[0]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]); |
---|
1042 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
1043 | adjacentVertices[2]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
---|
1044 | } |
---|
1045 | else if(findpos(actuelposition,possibleposition[28])){ |
---|
1046 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
1047 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
1048 | adjacentVertices[2]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
---|
1049 | } |
---|
1050 | else if(findpos(actuelposition,possibleposition[29])){ |
---|
1051 | adjacentVertices[0]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]); |
---|
1052 | adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
1053 | adjacentVertices[2]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
1054 | } |
---|
1055 | else if(findpos(actuelposition,possibleposition[30])){ |
---|
1056 | adjacentVertices[0]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]); |
---|
1057 | adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]); |
---|
1058 | adjacentVertices[2]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
1059 | } |
---|
1060 | else if(findpos(actuelposition,possibleposition[31])){ |
---|
1061 | adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]); |
---|
1062 | adjacentVertices[1]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
---|
1063 | } |
---|
1064 | else if(findpos(actuelposition,possibleposition[32])){ |
---|
1065 | adjacentVertices[0]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]); |
---|
1066 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
---|
1067 | } |
---|
1068 | else if(findpos(actuelposition,possibleposition[33])){ |
---|
1069 | adjacentVertices[0]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]); |
---|
1070 | adjacentVertices[1]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
1071 | } |
---|
1072 | else if(findpos(actuelposition,possibleposition[34])){ |
---|
1073 | adjacentVertices[0]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]); |
---|
1074 | adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]); |
---|
1075 | adjacentVertices[2]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
1076 | adjacentVertices[3]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
---|
1077 | |
---|
1078 | } |
---|
1079 | else if(findpos(actuelposition,possibleposition[35])){ |
---|
1080 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
1081 | adjacentVertices[1]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]); |
---|
1082 | adjacentVertices[2]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
1083 | } |
---|
1084 | else if(findpos(actuelposition,possibleposition[36])){ |
---|
1085 | adjacentVertices[0]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]); |
---|
1086 | adjacentVertices[1]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
1087 | } |
---|
1088 | else if(findpos(actuelposition,possibleposition[37])){ |
---|
1089 | adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]); |
---|
1090 | adjacentVertices[1]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
1091 | } |
---|
1092 | else if(findpos(actuelposition,possibleposition[38])){ |
---|
1093 | adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]); |
---|
1094 | adjacentVertices[1]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]); |
---|
1095 | adjacentVertices[2]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
1096 | } |
---|
1097 | else if(findpos(actuelposition,possibleposition[39])){ |
---|
1098 | adjacentVertices[0]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]); |
---|
1099 | adjacentVertices[1]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
---|
1100 | adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
1101 | } |
---|
1102 | else if(findpos(actuelposition,possibleposition[40])){ |
---|
1103 | adjacentVertices[0]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
1104 | adjacentVertices[1]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
1105 | } |
---|
1106 | else if(findpos(actuelposition,possibleposition[41])){ |
---|
1107 | adjacentVertices[0]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]); |
---|
1108 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
1109 | } |
---|
1110 | else if(findpos(actuelposition,possibleposition[42])){ |
---|
1111 | adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]); |
---|
1112 | adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
1113 | adjacentVertices[2]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
1114 | } |
---|
1115 | else if(findpos(actuelposition,possibleposition[43])){ |
---|
1116 | adjacentVertices[0]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]); |
---|
1117 | adjacentVertices[1]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
---|
1118 | } |
---|
1119 | else if(findpos(actuelposition,possibleposition[44])){ |
---|
1120 | adjacentVertices[0]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]); |
---|
1121 | adjacentVertices[1]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
1122 | } |
---|
1123 | else if(findpos(actuelposition,possibleposition[45])){ |
---|
1124 | adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]); |
---|
1125 | adjacentVertices[1]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]); |
---|
1126 | adjacentVertices[2]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
---|
1127 | } |
---|
1128 | else if(findpos(actuelposition,possibleposition[46])){ |
---|
1129 | adjacentVertices[0]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]); |
---|
1130 | adjacentVertices[1]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
1131 | } |
---|
1132 | else if(findpos(actuelposition,possibleposition[47])){ |
---|
1133 | adjacentVertices[0]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]); |
---|
1134 | adjacentVertices[1]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
---|
1135 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
1136 | } |
---|
1137 | else if(findpos(actuelposition,possibleposition[48])){ |
---|
1138 | adjacentVertices[0]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]); |
---|
1139 | adjacentVertices[1]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
---|
1140 | adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]); |
---|
1141 | } |
---|
1142 | else if(findpos(actuelposition,possibleposition[49])){ |
---|
1143 | adjacentVertices[0]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]); |
---|
1144 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
1145 | } |
---|
1146 | else if(findpos(actuelposition,possibleposition[50])){ |
---|
1147 | adjacentVertices[0]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]); |
---|
1148 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
1149 | } |
---|
1150 | else if(findpos(actuelposition,possibleposition[51])){ |
---|
1151 | adjacentVertices[0]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
1152 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
---|
1153 | } |
---|
1154 | else if(findpos(actuelposition,possibleposition[52])){ |
---|
1155 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
1156 | adjacentVertices[1]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
---|
1157 | } |
---|
1158 | else if(findpos(actuelposition,possibleposition[53])){ |
---|
1159 | adjacentVertices[0]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]); |
---|
1160 | adjacentVertices[1]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
1161 | } |
---|
1162 | else if(findpos(actuelposition,possibleposition[54])){ |
---|
1163 | adjacentVertices[0]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]); |
---|
1164 | adjacentVertices[1]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
---|
1165 | adjacentVertices[2]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
1166 | } |
---|
1167 | else if(findpos(actuelposition,possibleposition[55])){ |
---|
1168 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
1169 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
1170 | } |
---|
1171 | else if(findpos(actuelposition,possibleposition[56])){ |
---|
1172 | adjacentVertices[0]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]); |
---|
1173 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
1174 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
1175 | } |
---|
1176 | else if(findpos(actuelposition,possibleposition[57])){ |
---|
1177 | adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]); |
---|
1178 | adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
1179 | adjacentVertices[2]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
1180 | adjacentVertices[3]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
1181 | |
---|
1182 | } |
---|
1183 | else if(findpos(actuelposition,possibleposition[58])){ |
---|
1184 | adjacentVertices[0]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]); |
---|
1185 | adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
1186 | adjacentVertices[2]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
1187 | } |
---|
1188 | else if(findpos(actuelposition,possibleposition[59])){ |
---|
1189 | adjacentVertices[0]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]); |
---|
1190 | adjacentVertices[1]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
1191 | adjacentVertices[2]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
1192 | } |
---|
1193 | else if(findpos(actuelposition,possibleposition[60])){ |
---|
1194 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
1195 | adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]); |
---|
1196 | adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]); |
---|
1197 | } |
---|
1198 | else if(findpos(actuelposition,possibleposition[61])){ |
---|
1199 | adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]); |
---|
1200 | adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]); |
---|
1201 | adjacentVertices[2]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
1202 | } |
---|
1203 | else if(findpos(actuelposition,possibleposition[62])){ |
---|
1204 | adjacentVertices[0]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]); |
---|
1205 | adjacentVertices[1]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]); |
---|
1206 | } |
---|
1207 | else if(findpos(actuelposition,possibleposition[63])){ |
---|
1208 | adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]); |
---|
1209 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
1210 | } |
---|
1211 | else if(findpos(actuelposition,possibleposition[64])){ |
---|
1212 | adjacentVertices[0]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]); |
---|
1213 | adjacentVertices[1]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]); |
---|
1214 | adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]); |
---|
1215 | } |
---|
1216 | else if(findpos(actuelposition,possibleposition[65])){ |
---|
1217 | adjacentVertices[0]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]); |
---|
1218 | adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]); |
---|
1219 | } |
---|
1220 | else if(findpos(actuelposition,possibleposition[66])){ |
---|
1221 | adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]); |
---|
1222 | adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]); |
---|
1223 | } |
---|
1224 | }*/ |
---|
1225 | |
---|
1226 | |
---|
1227 | |
---|
1228 | |
---|
1229 | //functions taken from PacmanPink |
---|
1230 | |
---|
1231 | |
---|
1232 | |
---|
1233 | |
---|
1234 | |
---|
1235 | Vector3 PacmanGhost::diffVector (Vector3 start, Vector3 goal){ |
---|
1236 | |
---|
1237 | Vector3 result; |
---|
1238 | result.x=goal.x-start.x; |
---|
1239 | result.z=goal.z-start.z; |
---|
1240 | return result; |
---|
1241 | } |
---|
1242 | |
---|
1243 | |
---|
1244 | bool PacmanGhost::playerFindPos(Vector3 one, Vector3 other){ |
---|
1245 | if((abs(one.x - other.x)<15) && (abs(one.z - other.z)<15)) return true; |
---|
1246 | return false; |
---|
1247 | } |
---|
1248 | |
---|
1249 | |
---|
1250 | |
---|
1251 | |
---|
1252 | int PacmanGhost::findPlayerTravDir (Vector3 playerPosBefore, Vector3 playerPos){ |
---|
1253 | //return 0 for south, 1 for west, 2 for north, 3 for east |
---|
1254 | |
---|
1255 | |
---|
1256 | if(playerFindPos(playerPosBefore, playerPos)){ |
---|
1257 | //if player is still near last crossed point |
---|
1258 | |
---|
1259 | return 4; //return the last crossed point for simplicity |
---|
1260 | } |
---|
1261 | |
---|
1262 | |
---|
1263 | if(abs(playerPos.x-playerPosBefore.x)<14){ //player is moving vertically |
---|
1264 | if((playerPos.z-playerPosBefore.z)<0){//move west |
---|
1265 | return 0; |
---|
1266 | } |
---|
1267 | if((playerPos.z-playerPosBefore.z)>0){//move east |
---|
1268 | return 2; |
---|
1269 | } |
---|
1270 | } |
---|
1271 | |
---|
1272 | if(abs(playerPos.z-playerPosBefore.z)<14){ //player is moving horizontally |
---|
1273 | if((playerPos.x-playerPosBefore.x)<0){//move south |
---|
1274 | return 1; |
---|
1275 | } |
---|
1276 | if((playerPos.x-playerPosBefore.x)>0){//move north |
---|
1277 | return 3; |
---|
1278 | } |
---|
1279 | } |
---|
1280 | |
---|
1281 | |
---|
1282 | /*Vector3 difference = diffVector(playerPosBefore, playerPos); |
---|
1283 | if((difference.z < 0)&&(difference.z>difference.x)){ //move south |
---|
1284 | |
---|
1285 | return 0; |
---|
1286 | } |
---|
1287 | else if((difference.z>0)&&(difference.z>difference.x)){ //mouve north |
---|
1288 | |
---|
1289 | return 2; |
---|
1290 | } |
---|
1291 | else if((difference.x < 0)&&(difference.x > difference.z )){//move west |
---|
1292 | |
---|
1293 | return 1; |
---|
1294 | } |
---|
1295 | |
---|
1296 | else if((difference.x>0)&&(difference.x>difference.z)){ //move east |
---|
1297 | return 3; |
---|
1298 | |
---|
1299 | } |
---|
1300 | |
---|
1301 | else { //default move west Can still be changed |
---|
1302 | |
---|
1303 | return 1; |
---|
1304 | }*/ |
---|
1305 | |
---|
1306 | } |
---|
1307 | |
---|
1308 | Vector3 PacmanGhost::getPointInFrontOfPacman(Vector3 pacLasVisPos,int indexForSWNE){ |
---|
1309 | //return the Vector3 point that Pinky should target to |
---|
1310 | //be in front of pacman |
---|
1311 | |
---|
1312 | if(indexForSWNE==4){ |
---|
1313 | //std::cout<<"Ryukyu"<<endl; |
---|
1314 | return pacLasVisPos; |
---|
1315 | } |
---|
1316 | |
---|
1317 | Vector3 listOfNeighboors[4]; |
---|
1318 | //first element is south, 2nd west, 3d north, 4th east |
---|
1319 | |
---|
1320 | if(findpos(pacLasVisPos,possibleposition[0])){ |
---|
1321 | //no south neighbor |
---|
1322 | listOfNeighboors[1]=possibleposition[19]; // west neighbor |
---|
1323 | listOfNeighboors[2]=possibleposition[17]; //north |
---|
1324 | listOfNeighboors[3]=possibleposition[1]; //east |
---|
1325 | return listOfNeighboors[indexForSWNE]; |
---|
1326 | } |
---|
1327 | else if(findpos(pacLasVisPos,possibleposition[1])){ |
---|
1328 | listOfNeighboors[1]=possibleposition[0]; // west neighbor |
---|
1329 | listOfNeighboors[2]=possibleposition[2]; //north |
---|
1330 | return listOfNeighboors[indexForSWNE]; |
---|
1331 | } |
---|
1332 | else if(findpos(pacLasVisPos,possibleposition[2])){ |
---|
1333 | listOfNeighboors[0]=possibleposition[1]; //south |
---|
1334 | listOfNeighboors[1]=possibleposition[3]; //west |
---|
1335 | return listOfNeighboors[indexForSWNE]; |
---|
1336 | } |
---|
1337 | else if(findpos(pacLasVisPos,possibleposition[3])){ |
---|
1338 | listOfNeighboors[1]=possibleposition[4]; //west |
---|
1339 | listOfNeighboors[2]=possibleposition[5]; //north |
---|
1340 | listOfNeighboors[3]=possibleposition[2]; //east |
---|
1341 | return listOfNeighboors[indexForSWNE]; |
---|
1342 | } |
---|
1343 | else if(findpos(pacLasVisPos,possibleposition[4])){ |
---|
1344 | listOfNeighboors[2]=possibleposition[6]; //north |
---|
1345 | listOfNeighboors[3]=possibleposition[3]; //east |
---|
1346 | return listOfNeighboors[indexForSWNE]; |
---|
1347 | } |
---|
1348 | else if(findpos(pacLasVisPos,possibleposition[5])){ |
---|
1349 | listOfNeighboors[0]=possibleposition[3]; //south |
---|
1350 | listOfNeighboors[3]=possibleposition[7]; //east |
---|
1351 | return listOfNeighboors[indexForSWNE]; |
---|
1352 | } |
---|
1353 | else if(findpos(pacLasVisPos,possibleposition[6])){ |
---|
1354 | listOfNeighboors[0]=possibleposition[4]; //south |
---|
1355 | listOfNeighboors[1]=possibleposition[26]; //west |
---|
1356 | listOfNeighboors[2]=possibleposition[9]; //north |
---|
1357 | return listOfNeighboors[indexForSWNE]; |
---|
1358 | } |
---|
1359 | else if(findpos(pacLasVisPos,possibleposition[7])){ |
---|
1360 | listOfNeighboors[1]=possibleposition[5]; //west |
---|
1361 | listOfNeighboors[2]=possibleposition[8]; //north |
---|
1362 | return listOfNeighboors[indexForSWNE]; |
---|
1363 | } |
---|
1364 | else if(findpos(pacLasVisPos,possibleposition[8])){ |
---|
1365 | listOfNeighboors[0]=possibleposition[7]; //south |
---|
1366 | listOfNeighboors[1]=possibleposition[9]; //west |
---|
1367 | return listOfNeighboors[indexForSWNE]; |
---|
1368 | } |
---|
1369 | else if(findpos(pacLasVisPos,possibleposition[9])){ |
---|
1370 | listOfNeighboors[0]=possibleposition[6]; //south |
---|
1371 | listOfNeighboors[1]=possibleposition[38]; //west |
---|
1372 | listOfNeighboors[2]=possibleposition[10]; //north |
---|
1373 | listOfNeighboors[3]=possibleposition[8]; //east |
---|
1374 | return listOfNeighboors[indexForSWNE]; |
---|
1375 | } |
---|
1376 | else if(findpos(pacLasVisPos,possibleposition[10])){ |
---|
1377 | |
---|
1378 | if(indexForSWNE==3){ //nothing eastward |
---|
1379 | return pacLasVisPos; |
---|
1380 | } |
---|
1381 | |
---|
1382 | listOfNeighboors[0]=possibleposition[9]; //south |
---|
1383 | listOfNeighboors[1]=possibleposition[45]; //west |
---|
1384 | listOfNeighboors[2]=possibleposition[11]; //north |
---|
1385 | return listOfNeighboors[indexForSWNE]; |
---|
1386 | } |
---|
1387 | else if(findpos(pacLasVisPos,possibleposition[11])){ |
---|
1388 | listOfNeighboors[0]=possibleposition[10]; //south |
---|
1389 | listOfNeighboors[2]=possibleposition[13]; //north |
---|
1390 | listOfNeighboors[3]=possibleposition[12]; //east |
---|
1391 | return listOfNeighboors[indexForSWNE]; |
---|
1392 | } |
---|
1393 | else if(findpos(pacLasVisPos,possibleposition[12])){ |
---|
1394 | listOfNeighboors[1]=possibleposition[11]; //west |
---|
1395 | listOfNeighboors[2]=possibleposition[14]; //north |
---|
1396 | return listOfNeighboors[indexForSWNE]; |
---|
1397 | } |
---|
1398 | else if(findpos(pacLasVisPos,possibleposition[13])){ |
---|
1399 | listOfNeighboors[0]=possibleposition[11]; //south |
---|
1400 | listOfNeighboors[1]=possibleposition[61]; //west |
---|
1401 | listOfNeighboors[2]=possibleposition[16]; //north |
---|
1402 | listOfNeighboors[3]=possibleposition[14]; //east |
---|
1403 | return listOfNeighboors[indexForSWNE]; |
---|
1404 | } |
---|
1405 | else if(findpos(pacLasVisPos,possibleposition[14])){ |
---|
1406 | listOfNeighboors[0]=possibleposition[12]; //south |
---|
1407 | listOfNeighboors[1]=possibleposition[13]; //west |
---|
1408 | listOfNeighboors[2]=possibleposition[15]; //north |
---|
1409 | return listOfNeighboors[indexForSWNE]; |
---|
1410 | } |
---|
1411 | else if(findpos(pacLasVisPos,possibleposition[15])){ |
---|
1412 | listOfNeighboors[0]=possibleposition[14]; //south |
---|
1413 | listOfNeighboors[1]=possibleposition[16]; //west |
---|
1414 | return listOfNeighboors[indexForSWNE]; |
---|
1415 | } |
---|
1416 | else if(findpos(pacLasVisPos,possibleposition[16])){ |
---|
1417 | listOfNeighboors[0]=possibleposition[13]; //south |
---|
1418 | listOfNeighboors[1]=possibleposition[62]; //west |
---|
1419 | listOfNeighboors[2]=possibleposition[15]; //north |
---|
1420 | return listOfNeighboors[indexForSWNE]; |
---|
1421 | } |
---|
1422 | else if(findpos(pacLasVisPos,possibleposition[17])){ |
---|
1423 | listOfNeighboors[0]=possibleposition[0]; //south |
---|
1424 | listOfNeighboors[3]=possibleposition[25]; //east |
---|
1425 | return listOfNeighboors[indexForSWNE]; |
---|
1426 | } |
---|
1427 | else if(findpos(pacLasVisPos,possibleposition[18])){ |
---|
1428 | listOfNeighboors[0]=possibleposition[19]; //south |
---|
1429 | listOfNeighboors[1]=possibleposition[24]; //west |
---|
1430 | return listOfNeighboors[indexForSWNE]; |
---|
1431 | } |
---|
1432 | else if(findpos(pacLasVisPos,possibleposition[19])){ |
---|
1433 | listOfNeighboors[1]=possibleposition[20]; //west |
---|
1434 | listOfNeighboors[2]=possibleposition[18]; //north |
---|
1435 | listOfNeighboors[3]=possibleposition[0]; //east |
---|
1436 | return listOfNeighboors[indexForSWNE]; |
---|
1437 | } |
---|
1438 | else if(findpos(pacLasVisPos,possibleposition[20])){ |
---|
1439 | listOfNeighboors[2]=possibleposition[21]; //north |
---|
1440 | listOfNeighboors[3]=possibleposition[19]; //east |
---|
1441 | return listOfNeighboors[indexForSWNE]; |
---|
1442 | } |
---|
1443 | else if(findpos(pacLasVisPos,possibleposition[21])){ |
---|
1444 | listOfNeighboors[0]=possibleposition[20]; //south |
---|
1445 | listOfNeighboors[3]=possibleposition[22]; //east |
---|
1446 | return listOfNeighboors[indexForSWNE]; |
---|
1447 | } |
---|
1448 | else if(findpos(pacLasVisPos,possibleposition[22])){ |
---|
1449 | listOfNeighboors[1]=possibleposition[21]; //west |
---|
1450 | listOfNeighboors[2]=possibleposition[31]; //north |
---|
1451 | listOfNeighboors[3]=possibleposition[23]; //east |
---|
1452 | return listOfNeighboors[indexForSWNE]; |
---|
1453 | } |
---|
1454 | else if(findpos(pacLasVisPos,possibleposition[23])){ |
---|
1455 | listOfNeighboors[1]=possibleposition[22]; //west |
---|
1456 | listOfNeighboors[2]=possibleposition[30]; //north |
---|
1457 | return listOfNeighboors[indexForSWNE]; |
---|
1458 | } |
---|
1459 | else if(findpos(pacLasVisPos,possibleposition[24])){ |
---|
1460 | listOfNeighboors[2]=possibleposition[29]; //north |
---|
1461 | listOfNeighboors[3]=possibleposition[18]; //east |
---|
1462 | return listOfNeighboors[indexForSWNE]; |
---|
1463 | } |
---|
1464 | else if(findpos(pacLasVisPos,possibleposition[25])){ |
---|
1465 | listOfNeighboors[1]=possibleposition[17]; //west |
---|
1466 | listOfNeighboors[2]=possibleposition[26]; //north |
---|
1467 | return listOfNeighboors[indexForSWNE]; |
---|
1468 | } |
---|
1469 | else if(findpos(pacLasVisPos,possibleposition[26])){ |
---|
1470 | listOfNeighboors[0]=possibleposition[25]; //south |
---|
1471 | listOfNeighboors[1]=possibleposition[27]; //west |
---|
1472 | listOfNeighboors[3]=possibleposition[6]; //east |
---|
1473 | return listOfNeighboors[indexForSWNE]; |
---|
1474 | } |
---|
1475 | else if(findpos(pacLasVisPos,possibleposition[27])){ |
---|
1476 | listOfNeighboors[1]=possibleposition[28]; //west |
---|
1477 | listOfNeighboors[2]=possibleposition[37]; //north |
---|
1478 | listOfNeighboors[3]=possibleposition[26]; //east |
---|
1479 | return listOfNeighboors[indexForSWNE]; |
---|
1480 | } |
---|
1481 | else if(findpos(pacLasVisPos,possibleposition[28])){ |
---|
1482 | listOfNeighboors[1]=possibleposition[29]; //west |
---|
1483 | listOfNeighboors[2]=possibleposition[36]; //north |
---|
1484 | listOfNeighboors[3]=possibleposition[27]; //east |
---|
1485 | return listOfNeighboors[indexForSWNE]; |
---|
1486 | } |
---|
1487 | else if(findpos(pacLasVisPos,possibleposition[29])){ |
---|
1488 | listOfNeighboors[0]=possibleposition[24]; //south |
---|
1489 | listOfNeighboors[1]=possibleposition[30]; //west |
---|
1490 | listOfNeighboors[3]=possibleposition[28]; //east |
---|
1491 | return listOfNeighboors[indexForSWNE]; |
---|
1492 | } |
---|
1493 | else if(findpos(pacLasVisPos,possibleposition[30])){ |
---|
1494 | listOfNeighboors[0]=possibleposition[23]; //south |
---|
1495 | listOfNeighboors[2]=possibleposition[34]; //north |
---|
1496 | listOfNeighboors[3]=possibleposition[29]; //east |
---|
1497 | return listOfNeighboors[indexForSWNE]; |
---|
1498 | } |
---|
1499 | else if(findpos(pacLasVisPos,possibleposition[31])){ |
---|
1500 | listOfNeighboors[0]=possibleposition[22]; //south |
---|
1501 | listOfNeighboors[1]=possibleposition[32]; //west |
---|
1502 | return listOfNeighboors[indexForSWNE]; |
---|
1503 | } |
---|
1504 | else if(findpos(pacLasVisPos,possibleposition[32])){ |
---|
1505 | listOfNeighboors[2]=possibleposition[33]; //north |
---|
1506 | listOfNeighboors[3]=possibleposition[31]; //east |
---|
1507 | return listOfNeighboors[indexForSWNE]; |
---|
1508 | } |
---|
1509 | else if(findpos(pacLasVisPos,possibleposition[33])){ |
---|
1510 | listOfNeighboors[0]=possibleposition[32]; //south |
---|
1511 | listOfNeighboors[3]=possibleposition[34]; //east |
---|
1512 | return listOfNeighboors[indexForSWNE]; |
---|
1513 | } |
---|
1514 | else if(findpos(pacLasVisPos,possibleposition[34])){ |
---|
1515 | listOfNeighboors[0]=possibleposition[30]; //south |
---|
1516 | listOfNeighboors[1]=possibleposition[33]; //west |
---|
1517 | listOfNeighboors[2]=possibleposition[92]; //north |
---|
1518 | listOfNeighboors[3]=possibleposition[35]; //east |
---|
1519 | return listOfNeighboors[indexForSWNE]; |
---|
1520 | } |
---|
1521 | else if(findpos(pacLasVisPos,possibleposition[35])){ |
---|
1522 | listOfNeighboors[1]=possibleposition[34]; //west |
---|
1523 | listOfNeighboors[2]=possibleposition[91]; //north |
---|
1524 | listOfNeighboors[3]=possibleposition[36]; //east |
---|
1525 | return listOfNeighboors[indexForSWNE]; |
---|
1526 | } |
---|
1527 | else if(findpos(pacLasVisPos,possibleposition[36])){ |
---|
1528 | listOfNeighboors[0]=possibleposition[28]; //south |
---|
1529 | listOfNeighboors[1]=possibleposition[35]; //west |
---|
1530 | return listOfNeighboors[indexForSWNE]; |
---|
1531 | } |
---|
1532 | else if(findpos(pacLasVisPos,possibleposition[37])){ |
---|
1533 | listOfNeighboors[0]=possibleposition[27]; //south |
---|
1534 | listOfNeighboors[3]=possibleposition[38]; //east |
---|
1535 | return listOfNeighboors[indexForSWNE]; |
---|
1536 | } |
---|
1537 | else if(findpos(pacLasVisPos,possibleposition[38])){ |
---|
1538 | listOfNeighboors[1]=possibleposition[37]; //west |
---|
1539 | listOfNeighboors[2]=possibleposition[39]; //north |
---|
1540 | listOfNeighboors[3]=possibleposition[9]; //east |
---|
1541 | return listOfNeighboors[indexForSWNE]; |
---|
1542 | } |
---|
1543 | else if(findpos(pacLasVisPos,possibleposition[39])){ |
---|
1544 | listOfNeighboors[0]=possibleposition[38]; //south |
---|
1545 | listOfNeighboors[1]=possibleposition[40]; //west |
---|
1546 | listOfNeighboors[2]=possibleposition[45]; //north |
---|
1547 | return listOfNeighboors[indexForSWNE]; |
---|
1548 | } |
---|
1549 | else if(findpos(pacLasVisPos,possibleposition[40])){ |
---|
1550 | listOfNeighboors[1]=possibleposition[41]; //west |
---|
1551 | //Not return in center |
---|
1552 | listOfNeighboors[3]=possibleposition[39]; //east |
---|
1553 | return listOfNeighboors[indexForSWNE]; |
---|
1554 | } |
---|
1555 | else if(findpos(pacLasVisPos,possibleposition[41])){ |
---|
1556 | listOfNeighboors[0]=possibleposition[35]; //south |
---|
1557 | listOfNeighboors[2]=possibleposition[43]; //north |
---|
1558 | listOfNeighboors[3]=possibleposition[40]; //east |
---|
1559 | return listOfNeighboors[indexForSWNE]; |
---|
1560 | } |
---|
1561 | else if(findpos(pacLasVisPos,possibleposition[42])){ |
---|
1562 | |
---|
1563 | if(indexForSWNE==1){//nothing westward |
---|
1564 | return pacLasVisPos; |
---|
1565 | } |
---|
1566 | |
---|
1567 | listOfNeighboors[0]=possibleposition[39]; //south |
---|
1568 | listOfNeighboors[2]=possibleposition[59]; //north |
---|
1569 | listOfNeighboors[3]=possibleposition[43]; //east |
---|
1570 | return listOfNeighboors[indexForSWNE]; |
---|
1571 | } |
---|
1572 | else if(findpos(pacLasVisPos,possibleposition[43])){ |
---|
1573 | listOfNeighboors[0]=possibleposition[41]; //south |
---|
1574 | listOfNeighboors[1]=possibleposition[42]; //west |
---|
1575 | listOfNeighboors[2]=possibleposition[46]; //north |
---|
1576 | return listOfNeighboors[indexForSWNE]; |
---|
1577 | } |
---|
1578 | else if(findpos(pacLasVisPos,possibleposition[44])){ |
---|
1579 | listOfNeighboors[0]=possibleposition[40]; //south |
---|
1580 | listOfNeighboors[2]=possibleposition[66]; //north |
---|
1581 | return listOfNeighboors[indexForSWNE]; |
---|
1582 | } |
---|
1583 | else if(findpos(pacLasVisPos,possibleposition[45])){ |
---|
1584 | listOfNeighboors[0]=possibleposition[39]; //south |
---|
1585 | listOfNeighboors[2]=possibleposition[49]; //north |
---|
1586 | listOfNeighboors[3]=possibleposition[10]; //east |
---|
1587 | return listOfNeighboors[indexForSWNE]; |
---|
1588 | } |
---|
1589 | else if(findpos(pacLasVisPos,possibleposition[46])){ |
---|
1590 | listOfNeighboors[0]=possibleposition[43]; //south |
---|
1591 | listOfNeighboors[3]=possibleposition[47]; //east |
---|
1592 | return listOfNeighboors[indexForSWNE]; |
---|
1593 | } |
---|
1594 | else if(findpos(pacLasVisPos,possibleposition[47])){ |
---|
1595 | listOfNeighboors[1]=possibleposition[46]; //west |
---|
1596 | listOfNeighboors[2]=possibleposition[52]; //north |
---|
1597 | listOfNeighboors[3]=possibleposition[66]; //east |
---|
1598 | return listOfNeighboors[indexForSWNE]; |
---|
1599 | } |
---|
1600 | else if(findpos(pacLasVisPos,possibleposition[48])){ |
---|
1601 | listOfNeighboors[1]=possibleposition[66]; //west |
---|
1602 | listOfNeighboors[2]=possibleposition[51]; //north |
---|
1603 | listOfNeighboors[3]=possibleposition[49]; //east |
---|
1604 | return listOfNeighboors[indexForSWNE]; |
---|
1605 | } |
---|
1606 | else if(findpos(pacLasVisPos,possibleposition[49])){ |
---|
1607 | listOfNeighboors[0]=possibleposition[45]; //south |
---|
1608 | listOfNeighboors[1]=possibleposition[48]; //west |
---|
1609 | return listOfNeighboors[indexForSWNE]; |
---|
1610 | } |
---|
1611 | else if(findpos(pacLasVisPos,possibleposition[50])){ |
---|
1612 | listOfNeighboors[1]=possibleposition[51]; //west |
---|
1613 | listOfNeighboors[2]=possibleposition[61]; //north |
---|
1614 | return listOfNeighboors[indexForSWNE]; |
---|
1615 | } |
---|
1616 | else if(findpos(pacLasVisPos,possibleposition[51])){ |
---|
1617 | listOfNeighboors[0]=possibleposition[48]; //south |
---|
1618 | listOfNeighboors[3]=possibleposition[50]; //east |
---|
1619 | return listOfNeighboors[indexForSWNE]; |
---|
1620 | } |
---|
1621 | else if(findpos(pacLasVisPos,possibleposition[52])){ |
---|
1622 | listOfNeighboors[0]=possibleposition[47]; //south |
---|
1623 | listOfNeighboors[1]=possibleposition[53]; //west |
---|
1624 | return listOfNeighboors[indexForSWNE]; |
---|
1625 | } |
---|
1626 | else if(findpos(pacLasVisPos,possibleposition[53])){ |
---|
1627 | listOfNeighboors[2]=possibleposition[58]; //north |
---|
1628 | listOfNeighboors[3]=possibleposition[52]; //east |
---|
1629 | return listOfNeighboors[indexForSWNE]; |
---|
1630 | } |
---|
1631 | else if(findpos(pacLasVisPos,possibleposition[54])){ |
---|
1632 | listOfNeighboors[0]=possibleposition[42]; //south |
---|
1633 | listOfNeighboors[1]=possibleposition[55]; //west |
---|
1634 | listOfNeighboors[2]=possibleposition[57]; //north |
---|
1635 | return listOfNeighboors[indexForSWNE]; |
---|
1636 | } |
---|
1637 | else if(findpos(pacLasVisPos,possibleposition[55])){ |
---|
1638 | listOfNeighboors[2]=possibleposition[56]; //north |
---|
1639 | listOfNeighboors[3]=possibleposition[54]; //east |
---|
1640 | return listOfNeighboors[indexForSWNE]; |
---|
1641 | } |
---|
1642 | else if(findpos(pacLasVisPos,possibleposition[56])){ |
---|
1643 | listOfNeighboors[0]=possibleposition[55]; //south |
---|
1644 | listOfNeighboors[2]=possibleposition[65]; //north |
---|
1645 | listOfNeighboors[3]=possibleposition[57]; //east |
---|
1646 | return listOfNeighboors[indexForSWNE]; |
---|
1647 | } |
---|
1648 | else if(findpos(pacLasVisPos,possibleposition[57])){ |
---|
1649 | listOfNeighboors[0]=possibleposition[54]; //south |
---|
1650 | listOfNeighboors[1]=possibleposition[56]; //west |
---|
1651 | listOfNeighboors[2]=possibleposition[64]; //north |
---|
1652 | listOfNeighboors[3]=possibleposition[58]; //east |
---|
1653 | return listOfNeighboors[indexForSWNE]; |
---|
1654 | } |
---|
1655 | else if(findpos(pacLasVisPos,possibleposition[58])){ |
---|
1656 | listOfNeighboors[0]=possibleposition[53]; //south |
---|
1657 | listOfNeighboors[1]=possibleposition[57]; //west |
---|
1658 | listOfNeighboors[3]=possibleposition[59]; //east |
---|
1659 | return listOfNeighboors[indexForSWNE]; |
---|
1660 | } |
---|
1661 | else if(findpos(pacLasVisPos,possibleposition[59])){ |
---|
1662 | listOfNeighboors[1]=possibleposition[58]; //west |
---|
1663 | listOfNeighboors[2]=possibleposition[63]; //north |
---|
1664 | listOfNeighboors[3]=possibleposition[60]; //east |
---|
1665 | return listOfNeighboors[indexForSWNE]; |
---|
1666 | } |
---|
1667 | else if(findpos(pacLasVisPos,possibleposition[60])){ |
---|
1668 | listOfNeighboors[1]=possibleposition[59]; //west |
---|
1669 | listOfNeighboors[2]=possibleposition[62]; //north |
---|
1670 | listOfNeighboors[3]=possibleposition[61]; //east |
---|
1671 | return listOfNeighboors[indexForSWNE]; |
---|
1672 | } |
---|
1673 | else if(findpos(pacLasVisPos,possibleposition[61])){ |
---|
1674 | listOfNeighboors[0]=possibleposition[50]; //south |
---|
1675 | listOfNeighboors[1]=possibleposition[60]; //west |
---|
1676 | listOfNeighboors[3]=possibleposition[13]; //east |
---|
1677 | return listOfNeighboors[indexForSWNE]; |
---|
1678 | } |
---|
1679 | else if(findpos(pacLasVisPos,possibleposition[62])){ |
---|
1680 | listOfNeighboors[0]=possibleposition[60]; //south |
---|
1681 | listOfNeighboors[3]=possibleposition[16]; //east |
---|
1682 | return listOfNeighboors[indexForSWNE]; |
---|
1683 | } |
---|
1684 | else if(findpos(pacLasVisPos,possibleposition[63])){ |
---|
1685 | listOfNeighboors[0]=possibleposition[59]; //south |
---|
1686 | listOfNeighboors[1]=possibleposition[64]; //west |
---|
1687 | return listOfNeighboors[indexForSWNE]; |
---|
1688 | } |
---|
1689 | else if(findpos(pacLasVisPos,possibleposition[64])){ |
---|
1690 | listOfNeighboors[0]=possibleposition[57]; //south |
---|
1691 | listOfNeighboors[1]=possibleposition[65]; //west |
---|
1692 | listOfNeighboors[3]=possibleposition[63]; //east |
---|
1693 | return listOfNeighboors[indexForSWNE]; |
---|
1694 | } |
---|
1695 | else if(findpos(pacLasVisPos,possibleposition[65])){ |
---|
1696 | listOfNeighboors[0]=possibleposition[56]; //south |
---|
1697 | listOfNeighboors[3]=possibleposition[64]; //east |
---|
1698 | return listOfNeighboors[indexForSWNE]; |
---|
1699 | } |
---|
1700 | else if(findpos(pacLasVisPos,possibleposition[66])){ |
---|
1701 | //Not back in center |
---|
1702 | listOfNeighboors[1]=possibleposition[47]; //west |
---|
1703 | listOfNeighboors[3]=possibleposition[48]; //east |
---|
1704 | return listOfNeighboors[indexForSWNE]; |
---|
1705 | } |
---|
1706 | |
---|
1707 | } |
---|
1708 | |
---|
1709 | |
---|
1710 | } |
---|