[12293] | 1 | #include "core/CoreIncludes.h" |
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| 2 | #include "core/XMLPort.h" |
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| 3 | #include "getShortestPath.h" |
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| 4 | |
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| 5 | |
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| 6 | #include "worldentities/ControllableEntity.h" |
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| 7 | using namespace std; |
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| 8 | |
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| 9 | namespace orxonox{ |
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| 10 | |
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| 11 | //Check if there is a collision |
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| 12 | bool jeanfindpos(Vector3 one, Vector3 other){ |
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| 13 | 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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| 14 | return false; |
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| 15 | } |
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| 16 | |
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| 17 | struct graphVertex; |
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| 18 | void findNeighboorVertices(Vector3 actuelposition, graphVertex adjacentVertices[]); |
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| 19 | void updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor); |
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| 20 | graphVertex findNextVertexToConsider(graphVertex[]); |
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| 21 | struct graphVertex { |
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| 22 | |
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| 23 | Vector3 position; |
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| 24 | graphVertex *adjacentVertices[4]; //neighbooring vertices |
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| 25 | |
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| 26 | //would a vector of vector storing the neighboors not be more suitable ? |
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| 27 | |
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| 28 | int shortestDistanceToStart; //actual shortest distance to start point |
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| 29 | graphVertex* actuelPredecessor; //the predecessor giving the for now shortest |
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| 30 | //path to start |
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| 31 | graphVertex* currentNearestNonVisitedNeighboor; |
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| 32 | bool alreadyVisited; |
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| 33 | graphVertex(){ //default constructor |
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| 34 | position=0; |
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| 35 | shortestDistanceToStart= std::numeric_limits<int>::max(); |
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| 36 | actuelPredecessor=NULL; |
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| 37 | alreadyVisited=false; |
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| 38 | for(int kl =0; kl <4;kl++){ |
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| 39 | adjacentVertices[kl]=NULL; //first put all position in array listing neighboors to 0 |
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| 40 | } |
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| 41 | } |
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| 42 | graphVertex(Vector3 wantedPosition){ //normal constructor |
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| 43 | position=wantedPosition; |
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| 44 | shortestDistanceToStart= std::numeric_limits<int>::max(); //default distance is infinity |
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| 45 | actuelPredecessor=NULL; |
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| 46 | alreadyVisited=false; |
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| 47 | for(int kl =0; kl <4;kl++){ |
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| 48 | adjacentVertices[kl]=NULL; //first put all position in array listing neighboors to 0 |
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| 49 | } |
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| 50 | } |
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| 51 | graphVertex* operator = (graphVertex *rightSide){ |
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| 52 | this->position=rightSide->position; |
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| 53 | this->actuelPredecessor=rightSide->actuelPredecessor; |
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| 54 | return this; |
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| 55 | } |
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| 56 | |
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| 57 | }; |
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| 58 | |
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| 59 | |
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| 60 | Vector3 getShortestPath(Vector3 start, Vector3 goal){ |
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| 61 | //this function should then somehow produce the algorithm and call all other functions |
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| 62 | //and finally return the best neighboor of the actual position of the pacman |
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| 63 | |
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| 64 | |
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| 65 | if(start==goal){ // basic case |
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| 66 | return start; |
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| 67 | } |
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| 68 | |
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| 69 | //All positions in the map, see documentation |
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| 70 | Vector3 possibleposition[] = {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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| 71 | 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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| 72 | 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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| 73 | 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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| 74 | 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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| 75 | 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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| 76 | 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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| 77 | 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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| 78 | 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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| 79 | 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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| 80 | 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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| 81 | 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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| 82 | 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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| 83 | Vector3(-215,10,-195),Vector3(0,10,-35)}; //65-66 |
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| 84 | |
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| 85 | graphVertex listOfVertices[67]= { graphVertex()}; //list of all vertices in the map. // We need graphVertex() |
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| 86 | |
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| 87 | |
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| 88 | for(int an=0; an < 67; an++){ |
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| 89 | listOfVertices[an]= graphVertex(possibleposition[an]); //same position order as in other file |
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| 90 | } |
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| 91 | |
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| 92 | graphVertex actualVertex; |
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| 93 | |
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| 94 | actualVertex.alreadyVisited=true; |
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| 95 | actualVertex.shortestDistanceToStart=0; |
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| 96 | findNeighboorVertices(actualVertex.position, *actualVertex.adjacentVertices); |
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| 97 | // second parameter is an array ! |
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| 98 | |
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| 99 | while(actualVertex.position!=goal){ |
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| 100 | for(int h=0;h < 4; h++){ |
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| 101 | if(actualVertex.adjacentVertices[h]!=NULL){ |
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| 102 | updateShortestDistanceToStart(actualVertex, *actualVertex.adjacentVertices[h]); |
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| 103 | } //we "update" the neighboors of our new visited vertex |
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| 104 | } |
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| 105 | |
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| 106 | |
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| 107 | actualVertex=findNextVertexToConsider(listOfVertices); |
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| 108 | actualVertex.alreadyVisited=true; |
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| 109 | if(actualVertex.position!=goal){ |
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| 110 | findNeighboorVertices(actualVertex.position,*actualVertex.adjacentVertices); |
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| 111 | //we find the neighboors of our new visited vertex |
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| 112 | } |
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| 113 | } |
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| 114 | |
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| 115 | //we should have reached our goal at this point |
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| 116 | |
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| 117 | while(actualVertex.actuelPredecessor->actuelPredecessor!=NULL){ |
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| 118 | actualVertex=actualVertex.actuelPredecessor; |
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| 119 | } |
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| 120 | // the predecessor is our starting point, in other words we are now on an |
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| 121 | //adjacent vertex of the start |
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| 122 | |
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| 123 | return actualVertex.position; //we return the position of this adjacent vertex |
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| 124 | } |
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| 125 | |
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| 126 | int graphDistance(Vector3 start, Vector3 goal){ |
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| 127 | |
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| 128 | Vector3 differenceVector= Vector3(abs(goal.x-start.x), 0,abs(goal.z-start.z)); |
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| 129 | |
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| 130 | return differenceVector.x+differenceVector.z; |
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| 131 | } |
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| 132 | |
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| 133 | void updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor){ |
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| 134 | //apply this method to all non visited neighboors of a vertex. |
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| 135 | // This method should always be run on a vertex after we marked it as visited. |
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| 136 | if(neighboor.alreadyVisited==false){ //we only consider non visited neighboors. |
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| 137 | if(neighboor.shortestDistanceToStart > vertex.shortestDistanceToStart + |
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| 138 | graphDistance(vertex.position, neighboor.position)){ |
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| 139 | |
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| 140 | neighboor.shortestDistanceToStart= vertex.shortestDistanceToStart + |
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| 141 | graphDistance(vertex.position, neighboor.position); |
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| 142 | neighboor.actuelPredecessor = &vertex; |
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| 143 | } |
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| 144 | } |
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| 145 | |
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| 146 | } |
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| 147 | |
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| 148 | void findNearestNonVisitedNeighboor (graphVertex &vertex){ |
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| 149 | //find nearest non visited neighboor of a given already visited vertex |
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| 150 | int shortestDistance = -1; |
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| 151 | graphVertex nearestNonVisitedNeighboor=graphVertex(); //by default there is not any. |
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| 152 | //Also, if all neighboors are already visited, we return NULL, i.e. there is no |
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| 153 | //nearest non visited neighboor. |
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| 154 | for(int i=0; i < 4; i++){ |
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| 155 | if((vertex.adjacentVertices[i]!=NULL)&&(vertex.adjacentVertices[i]->alreadyVisited==false)){ |
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| 156 | if(shortestDistance==-1){ //(concerns line above) we want a non visited neighboor |
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| 157 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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| 158 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; |
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| 159 | } |
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| 160 | else if(graphDistance(vertex.position, vertex.adjacentVertices[i]->position)<shortestDistance){ |
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| 161 | shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position); |
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| 162 | nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; |
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| 163 | } |
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| 164 | } |
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| 165 | } |
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| 166 | vertex.currentNearestNonVisitedNeighboor = &nearestNonVisitedNeighboor; |
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| 167 | } |
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| 168 | |
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| 169 | |
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| 170 | graphVertex findNextVertexToConsider(graphVertex listOfVertices[]){ //find next, nearest from start, non visited vertex |
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| 171 | |
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| 172 | int shortestDistance = -1; |
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| 173 | graphVertex nextVertexToConsider; |
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| 174 | |
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| 175 | for(int i=0; i < 67; i++){ //we loop over all possible positions |
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| 176 | |
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| 177 | if(listOfVertices[i].alreadyVisited==true){ //vertex should already be visited |
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| 178 | |
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| 179 | findNearestNonVisitedNeighboor(listOfVertices[i]); //we update nearest neighboor |
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| 180 | //of all visited vertices given that one of the nearest neighboor of a visited |
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| 181 | // vertex is now also visited because it was chosen as next optimal vertex |
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| 182 | |
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| 183 | if(listOfVertices[i].currentNearestNonVisitedNeighboor!=NULL){ //we want a candidate! |
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| 184 | if(shortestDistance==-1){ //our first possible candidate |
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| 185 | |
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| 186 | shortestDistance=graphDistance(listOfVertices[i].position, |
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| 187 | listOfVertices[i].currentNearestNonVisitedNeighboor->position) + |
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| 188 | listOfVertices[i].shortestDistanceToStart; |
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| 189 | |
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| 190 | nextVertexToConsider=listOfVertices[i].currentNearestNonVisitedNeighboor; |
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| 191 | |
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| 192 | } |
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| 193 | else if(shortestDistance > graphDistance(listOfVertices[i].position, |
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| 194 | listOfVertices[i].currentNearestNonVisitedNeighboor->position) + |
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| 195 | listOfVertices[i].shortestDistanceToStart){ |
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| 196 | |
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| 197 | shortestDistance=graphDistance(listOfVertices[i].position, |
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| 198 | listOfVertices[i].currentNearestNonVisitedNeighboor->position) + |
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| 199 | listOfVertices[i].shortestDistanceToStart; |
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| 200 | |
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| 201 | nextVertexToConsider=listOfVertices[i].currentNearestNonVisitedNeighboor; |
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| 202 | } |
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| 203 | } |
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| 204 | } |
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| 205 | //we want after all to return the nearest non visited neighboor |
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| 206 | } |
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| 207 | |
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| 208 | return nextVertexToConsider; |
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| 209 | } |
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| 210 | |
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| 211 | ////////////////////////////////////////////////////////////////////////////////////////////// |
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| 212 | |
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| 213 | //if vertex already visited, call function on it and reapeat until you reach non visited vertex |
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| 214 | // ---> not sure if a good idea because we risk infinite loop |
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| 215 | |
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| 216 | //-215 -185 -135 -70 -20 0 20 70 135 185 215 |
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| 217 | |
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| 218 | //-195 -135 -85 -35 15 60 105 150 195 245 |
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| 219 | |
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| 220 | void findNeighboorVertices(Vector3 actuelposition, graphVertex adjacentVertices[]){ |
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| 221 | |
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| 222 | //All positions in the map, see documentation |
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| 223 | Vector3 possibleposition[] = {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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| 224 | 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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| 225 | 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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| 226 | 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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| 227 | 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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| 228 | 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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| 229 | 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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| 230 | 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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| 231 | 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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| 232 | 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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| 233 | 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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| 234 | 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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| 235 | 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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| 236 | Vector3(-215,10,-195),Vector3(0,10,-35)}; //65-66 |
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| 237 | |
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| 238 | |
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| 239 | |
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| 240 | |
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| 241 | if(jeanfindpos(actuelposition,possibleposition[0])){ |
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| 242 | // we should use listOfVertices[i] instead of possibleposition[i] I think |
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| 243 | // so that all neighboors are "the same" |
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| 244 | adjacentVertices[0]=graphVertex(possibleposition[1]); //need to do it everywhere !!! |
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| 245 | adjacentVertices[1]=graphVertex(possibleposition[17]); |
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| 246 | adjacentVertices[2]=possibleposition[19]; //maybe a vector would be more suitable ? |
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| 247 | } |
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| 248 | else if(jeanfindpos(actuelposition,possibleposition[1])){ |
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| 249 | adjacentVertices[0]=possibleposition[0]; |
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| 250 | adjacentVertices[1]=possibleposition[2]; |
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| 251 | } |
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| 252 | else if(jeanfindpos(actuelposition,possibleposition[2])){ |
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| 253 | adjacentVertices[0]=possibleposition[1]; |
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| 254 | adjacentVertices[1]=possibleposition[3]; |
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| 255 | } |
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| 256 | else if(jeanfindpos(actuelposition,possibleposition[3])){ |
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| 257 | adjacentVertices[0]=possibleposition[2]; |
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| 258 | adjacentVertices[1]=possibleposition[4]; |
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| 259 | adjacentVertices[2]=possibleposition[5]; |
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| 260 | } |
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| 261 | else if(jeanfindpos(actuelposition,possibleposition[4])){ |
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| 262 | adjacentVertices[0]=possibleposition[3]; |
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| 263 | adjacentVertices[1]=possibleposition[6]; |
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| 264 | } |
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| 265 | else if(jeanfindpos(actuelposition,possibleposition[5])){ |
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| 266 | adjacentVertices[0]=possibleposition[3]; |
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| 267 | adjacentVertices[1]=possibleposition[7]; |
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| 268 | } |
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| 269 | else if(jeanfindpos(actuelposition,possibleposition[6])){ |
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| 270 | adjacentVertices[0]=possibleposition[4]; |
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| 271 | adjacentVertices[1]=possibleposition[9]; |
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| 272 | adjacentVertices[2]=possibleposition[26]; |
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| 273 | } |
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| 274 | else if(jeanfindpos(actuelposition,possibleposition[7])){ |
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| 275 | adjacentVertices[0]=possibleposition[5]; |
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| 276 | adjacentVertices[1]=possibleposition[8]; |
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| 277 | } |
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| 278 | else if(jeanfindpos(actuelposition,possibleposition[8])){ |
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| 279 | adjacentVertices[0]=possibleposition[7]; |
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| 280 | adjacentVertices[1]=possibleposition[9]; |
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| 281 | } |
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| 282 | else if(jeanfindpos(actuelposition,possibleposition[9])){ |
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| 283 | adjacentVertices[0]=possibleposition[6]; |
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| 284 | adjacentVertices[1]=possibleposition[8]; |
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| 285 | adjacentVertices[2]=possibleposition[10]; |
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| 286 | adjacentVertices[3]=possibleposition[38]; |
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| 287 | } |
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| 288 | else if(jeanfindpos(actuelposition,possibleposition[10])){ |
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| 289 | adjacentVertices[0]=possibleposition[9]; |
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| 290 | adjacentVertices[1]=possibleposition[11]; |
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| 291 | adjacentVertices[2]=possibleposition[45]; |
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| 292 | } |
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| 293 | else if(jeanfindpos(actuelposition,possibleposition[11])){ |
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| 294 | adjacentVertices[0]=possibleposition[10]; |
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| 295 | adjacentVertices[1]=possibleposition[12]; |
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| 296 | adjacentVertices[2]=possibleposition[13]; |
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| 297 | } |
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| 298 | else if(jeanfindpos(actuelposition,possibleposition[12])){ |
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| 299 | adjacentVertices[0]=possibleposition[11]; |
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| 300 | adjacentVertices[1]=possibleposition[14]; |
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| 301 | } |
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| 302 | else if(jeanfindpos(actuelposition,possibleposition[13])){ |
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| 303 | adjacentVertices[0]=possibleposition[11]; |
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| 304 | adjacentVertices[1]=possibleposition[14]; |
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| 305 | adjacentVertices[2]=possibleposition[16]; |
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| 306 | adjacentVertices[3]=possibleposition[61]; |
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| 307 | } |
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| 308 | else if(jeanfindpos(actuelposition,possibleposition[14])){ |
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| 309 | adjacentVertices[0]=possibleposition[12]; |
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| 310 | adjacentVertices[1]=possibleposition[13]; |
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| 311 | adjacentVertices[2]=possibleposition[15]; |
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| 312 | } |
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| 313 | else if(jeanfindpos(actuelposition,possibleposition[15])){ |
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| 314 | adjacentVertices[0]=possibleposition[14]; |
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| 315 | adjacentVertices[1]=possibleposition[16]; |
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| 316 | } |
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| 317 | else if(jeanfindpos(actuelposition,possibleposition[16])){ |
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| 318 | adjacentVertices[0]=possibleposition[13]; |
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| 319 | adjacentVertices[1]=possibleposition[15]; |
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| 320 | adjacentVertices[2]=possibleposition[62]; |
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| 321 | } |
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| 322 | else if(jeanfindpos(actuelposition,possibleposition[17])){ |
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| 323 | adjacentVertices[0]=possibleposition[0]; |
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| 324 | adjacentVertices[1]=possibleposition[25]; |
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| 325 | } |
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| 326 | else if(jeanfindpos(actuelposition,possibleposition[18])){ |
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| 327 | adjacentVertices[0]=possibleposition[19]; |
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| 328 | adjacentVertices[1]=possibleposition[24]; |
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| 329 | } |
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| 330 | else if(jeanfindpos(actuelposition,possibleposition[19])){ |
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| 331 | adjacentVertices[0]=possibleposition[0]; |
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| 332 | adjacentVertices[1]=possibleposition[18]; |
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| 333 | adjacentVertices[2]=possibleposition[20]; |
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| 334 | } |
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| 335 | else if(jeanfindpos(actuelposition,possibleposition[20])){ |
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| 336 | adjacentVertices[0]=possibleposition[19]; |
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| 337 | adjacentVertices[1]=possibleposition[21]; |
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| 338 | } |
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| 339 | else if(jeanfindpos(actuelposition,possibleposition[21])){ |
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| 340 | adjacentVertices[0]=possibleposition[20]; |
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| 341 | adjacentVertices[1]=possibleposition[22]; |
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| 342 | } |
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| 343 | else if(jeanfindpos(actuelposition,possibleposition[22])){ |
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| 344 | adjacentVertices[0]=possibleposition[21]; |
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| 345 | adjacentVertices[1]=possibleposition[23]; |
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| 346 | adjacentVertices[2]=possibleposition[31]; |
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| 347 | } |
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| 348 | else if(jeanfindpos(actuelposition,possibleposition[23])){ |
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| 349 | adjacentVertices[0]=possibleposition[22]; |
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| 350 | adjacentVertices[1]=possibleposition[30]; |
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| 351 | } |
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| 352 | else if(jeanfindpos(actuelposition,possibleposition[24])){ |
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| 353 | adjacentVertices[0]=possibleposition[18]; |
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| 354 | adjacentVertices[1]=possibleposition[29]; |
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| 355 | } |
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| 356 | else if(jeanfindpos(actuelposition,possibleposition[25])){ |
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| 357 | adjacentVertices[0]=possibleposition[17]; |
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| 358 | adjacentVertices[1]=possibleposition[26]; |
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| 359 | } |
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| 360 | else if(jeanfindpos(actuelposition,possibleposition[26])){ |
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| 361 | adjacentVertices[0]=possibleposition[6]; |
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| 362 | adjacentVertices[1]=possibleposition[25]; |
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| 363 | adjacentVertices[2]=possibleposition[27]; |
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| 364 | } |
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| 365 | else if(jeanfindpos(actuelposition,possibleposition[27])){ |
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| 366 | adjacentVertices[0]=possibleposition[26]; |
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| 367 | adjacentVertices[1]=possibleposition[28]; |
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| 368 | adjacentVertices[2]=possibleposition[37]; |
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| 369 | } |
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| 370 | else if(jeanfindpos(actuelposition,possibleposition[28])){ |
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| 371 | adjacentVertices[0]=possibleposition[27]; |
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| 372 | adjacentVertices[1]=possibleposition[29]; |
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| 373 | adjacentVertices[2]=possibleposition[36]; |
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| 374 | } |
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| 375 | else if(jeanfindpos(actuelposition,possibleposition[29])){ |
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| 376 | adjacentVertices[0]=possibleposition[24]; |
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| 377 | adjacentVertices[1]=possibleposition[28]; |
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| 378 | adjacentVertices[2]=possibleposition[30]; |
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| 379 | } |
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| 380 | else if(jeanfindpos(actuelposition,possibleposition[30])){ |
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| 381 | adjacentVertices[0]=possibleposition[23]; |
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| 382 | adjacentVertices[1]=possibleposition[29]; |
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| 383 | adjacentVertices[2]=possibleposition[34]; |
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| 384 | } |
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| 385 | else if(jeanfindpos(actuelposition,possibleposition[31])){ |
---|
| 386 | adjacentVertices[0]=possibleposition[22]; |
---|
| 387 | adjacentVertices[1]=possibleposition[32]; |
---|
| 388 | } |
---|
| 389 | else if(jeanfindpos(actuelposition,possibleposition[32])){ |
---|
| 390 | adjacentVertices[0]=possibleposition[31]; |
---|
| 391 | adjacentVertices[1]=possibleposition[33]; |
---|
| 392 | } |
---|
| 393 | else if(jeanfindpos(actuelposition,possibleposition[33])){ |
---|
| 394 | adjacentVertices[0]=possibleposition[32]; |
---|
| 395 | adjacentVertices[1]=possibleposition[34]; |
---|
| 396 | } |
---|
| 397 | else if(jeanfindpos(actuelposition,possibleposition[34])){ |
---|
| 398 | adjacentVertices[0]=possibleposition[30]; |
---|
| 399 | adjacentVertices[1]=possibleposition[33]; |
---|
| 400 | adjacentVertices[2]=possibleposition[35]; |
---|
| 401 | adjacentVertices[3]=possibleposition[42]; |
---|
| 402 | |
---|
| 403 | } |
---|
| 404 | else if(jeanfindpos(actuelposition,possibleposition[35])){ |
---|
| 405 | adjacentVertices[0]=possibleposition[34]; |
---|
| 406 | adjacentVertices[1]=possibleposition[36]; |
---|
| 407 | adjacentVertices[2]=possibleposition[41]; |
---|
| 408 | } |
---|
| 409 | else if(jeanfindpos(actuelposition,possibleposition[36])){ |
---|
| 410 | adjacentVertices[0]=possibleposition[28]; |
---|
| 411 | adjacentVertices[1]=possibleposition[35]; |
---|
| 412 | } |
---|
| 413 | else if(jeanfindpos(actuelposition,possibleposition[37])){ |
---|
| 414 | adjacentVertices[0]=possibleposition[27]; |
---|
| 415 | adjacentVertices[1]=possibleposition[38]; |
---|
| 416 | } |
---|
| 417 | else if(jeanfindpos(actuelposition,possibleposition[38])){ |
---|
| 418 | adjacentVertices[0]=possibleposition[9]; |
---|
| 419 | adjacentVertices[1]=possibleposition[37]; |
---|
| 420 | adjacentVertices[2]=possibleposition[39]; |
---|
| 421 | } |
---|
| 422 | else if(jeanfindpos(actuelposition,possibleposition[39])){ |
---|
| 423 | adjacentVertices[0]=possibleposition[38]; |
---|
| 424 | adjacentVertices[1]=possibleposition[40]; |
---|
| 425 | adjacentVertices[2]=possibleposition[45]; |
---|
| 426 | } |
---|
| 427 | else if(jeanfindpos(actuelposition,possibleposition[40])){ |
---|
| 428 | adjacentVertices[0]=possibleposition[39]; |
---|
| 429 | adjacentVertices[1]=possibleposition[41]; |
---|
| 430 | } |
---|
| 431 | else if(jeanfindpos(actuelposition,possibleposition[41])){ |
---|
| 432 | adjacentVertices[0]=possibleposition[35]; |
---|
| 433 | adjacentVertices[1]=possibleposition[43]; |
---|
| 434 | } |
---|
| 435 | else if(jeanfindpos(actuelposition,possibleposition[42])){ |
---|
| 436 | adjacentVertices[0]=possibleposition[34]; |
---|
| 437 | adjacentVertices[1]=possibleposition[43]; |
---|
| 438 | adjacentVertices[2]=possibleposition[54]; |
---|
| 439 | } |
---|
| 440 | else if(jeanfindpos(actuelposition,possibleposition[43])){ |
---|
| 441 | adjacentVertices[0]=possibleposition[41]; |
---|
| 442 | adjacentVertices[1]=possibleposition[46]; |
---|
| 443 | } |
---|
| 444 | else if(jeanfindpos(actuelposition,possibleposition[44])){ |
---|
| 445 | adjacentVertices[0]=possibleposition[40]; |
---|
| 446 | adjacentVertices[1]=possibleposition[66]; |
---|
| 447 | } |
---|
| 448 | else if(jeanfindpos(actuelposition,possibleposition[45])){ |
---|
| 449 | adjacentVertices[0]=possibleposition[10]; |
---|
| 450 | adjacentVertices[1]=possibleposition[39]; |
---|
| 451 | adjacentVertices[2]=possibleposition[49]; |
---|
| 452 | } |
---|
| 453 | else if(jeanfindpos(actuelposition,possibleposition[46])){ |
---|
| 454 | adjacentVertices[0]=possibleposition[43]; |
---|
| 455 | adjacentVertices[1]=possibleposition[47]; |
---|
| 456 | } |
---|
| 457 | else if(jeanfindpos(actuelposition,possibleposition[47])){ |
---|
| 458 | adjacentVertices[0]=possibleposition[46]; |
---|
| 459 | adjacentVertices[1]=possibleposition[52]; |
---|
| 460 | adjacentVertices[2]=possibleposition[66]; |
---|
| 461 | } |
---|
| 462 | else if(jeanfindpos(actuelposition,possibleposition[48])){ |
---|
| 463 | adjacentVertices[0]=possibleposition[49]; |
---|
| 464 | adjacentVertices[1]=possibleposition[51]; |
---|
| 465 | adjacentVertices[2]=possibleposition[66]; |
---|
| 466 | } |
---|
| 467 | else if(jeanfindpos(actuelposition,possibleposition[49])){ |
---|
| 468 | adjacentVertices[0]=possibleposition[45]; |
---|
| 469 | adjacentVertices[1]=possibleposition[48]; |
---|
| 470 | } |
---|
| 471 | else if(jeanfindpos(actuelposition,possibleposition[50])){ |
---|
| 472 | adjacentVertices[0]=possibleposition[51]; |
---|
| 473 | adjacentVertices[1]=possibleposition[61]; |
---|
| 474 | } |
---|
| 475 | else if(jeanfindpos(actuelposition,possibleposition[51])){ |
---|
| 476 | adjacentVertices[0]=possibleposition[48]; |
---|
| 477 | adjacentVertices[1]=possibleposition[50]; |
---|
| 478 | } |
---|
| 479 | else if(jeanfindpos(actuelposition,possibleposition[52])){ |
---|
| 480 | adjacentVertices[0]=possibleposition[47]; |
---|
| 481 | adjacentVertices[1]=possibleposition[53]; |
---|
| 482 | } |
---|
| 483 | else if(jeanfindpos(actuelposition,possibleposition[53])){ |
---|
| 484 | adjacentVertices[0]=possibleposition[52]; |
---|
| 485 | adjacentVertices[1]=possibleposition[58]; |
---|
| 486 | } |
---|
| 487 | else if(jeanfindpos(actuelposition,possibleposition[54])){ |
---|
| 488 | adjacentVertices[0]=possibleposition[42]; |
---|
| 489 | adjacentVertices[1]=possibleposition[55]; |
---|
| 490 | adjacentVertices[2]=possibleposition[57]; |
---|
| 491 | } |
---|
| 492 | else if(jeanfindpos(actuelposition,possibleposition[55])){ |
---|
| 493 | adjacentVertices[0]=possibleposition[54]; |
---|
| 494 | adjacentVertices[1]=possibleposition[56]; |
---|
| 495 | } |
---|
| 496 | else if(jeanfindpos(actuelposition,possibleposition[56])){ |
---|
| 497 | adjacentVertices[0]=possibleposition[55]; |
---|
| 498 | adjacentVertices[1]=possibleposition[57]; |
---|
| 499 | adjacentVertices[2]=possibleposition[65]; |
---|
| 500 | } |
---|
| 501 | else if(jeanfindpos(actuelposition,possibleposition[57])){ |
---|
| 502 | adjacentVertices[0]=possibleposition[54]; |
---|
| 503 | adjacentVertices[1]=possibleposition[56]; |
---|
| 504 | adjacentVertices[2]=possibleposition[58]; |
---|
| 505 | adjacentVertices[3]=possibleposition[64]; |
---|
| 506 | |
---|
| 507 | } |
---|
| 508 | else if(jeanfindpos(actuelposition,possibleposition[58])){ |
---|
| 509 | adjacentVertices[0]=possibleposition[53]; |
---|
| 510 | adjacentVertices[1]=possibleposition[57]; |
---|
| 511 | adjacentVertices[2]=possibleposition[59]; |
---|
| 512 | } |
---|
| 513 | else if(jeanfindpos(actuelposition,possibleposition[59])){ |
---|
| 514 | adjacentVertices[0]=possibleposition[58]; |
---|
| 515 | adjacentVertices[1]=possibleposition[59]; |
---|
| 516 | adjacentVertices[2]=possibleposition[63]; |
---|
| 517 | } |
---|
| 518 | else if(jeanfindpos(actuelposition,possibleposition[60])){ |
---|
| 519 | adjacentVertices[0]=possibleposition[59]; |
---|
| 520 | adjacentVertices[1]=possibleposition[61]; |
---|
| 521 | adjacentVertices[2]=possibleposition[62]; |
---|
| 522 | } |
---|
| 523 | else if(jeanfindpos(actuelposition,possibleposition[61])){ |
---|
| 524 | adjacentVertices[0]=possibleposition[13]; |
---|
| 525 | adjacentVertices[1]=possibleposition[50]; |
---|
| 526 | adjacentVertices[2]=possibleposition[60]; |
---|
| 527 | } |
---|
| 528 | else if(jeanfindpos(actuelposition,possibleposition[62])){ |
---|
| 529 | adjacentVertices[0]=possibleposition[16]; |
---|
| 530 | adjacentVertices[1]=possibleposition[60]; |
---|
| 531 | } |
---|
| 532 | else if(jeanfindpos(actuelposition,possibleposition[63])){ |
---|
| 533 | adjacentVertices[0]=possibleposition[59]; |
---|
| 534 | adjacentVertices[1]=possibleposition[64]; |
---|
| 535 | } |
---|
| 536 | else if(jeanfindpos(actuelposition,possibleposition[64])){ |
---|
| 537 | adjacentVertices[0]=possibleposition[57]; |
---|
| 538 | adjacentVertices[1]=possibleposition[63]; |
---|
| 539 | adjacentVertices[2]=possibleposition[65]; |
---|
| 540 | } |
---|
| 541 | else if(jeanfindpos(actuelposition,possibleposition[65])){ |
---|
| 542 | adjacentVertices[0]=possibleposition[56]; |
---|
| 543 | adjacentVertices[1]=possibleposition[64]; |
---|
| 544 | } |
---|
| 545 | else if(jeanfindpos(actuelposition,possibleposition[66])){ |
---|
| 546 | adjacentVertices[0]=possibleposition[47]; |
---|
| 547 | adjacentVertices[1]=possibleposition[48]; |
---|
| 548 | } |
---|
| 549 | } |
---|
| 550 | |
---|
| 551 | } |
---|