#include "core/CoreIncludes.h"
    #include "core/XMLPort.h"
    #include "PacmanGhost.h"

    #include "worldentities/ControllableEntity.h"
    using namespace std;

namespace orxonox
{

    class getShortestPath 
    {

        public:

            //Check if there is a collision
        bool jeanfindpos(Vector3 one, Vector3 other){
       if((abs(one.x - other.x)<0.5) && (abs(one.y - other.y)<0.5) && (abs(one.z - other.z)<0.5)) return true;
        return false;
        }
        

       private:

        struct graphVertex;

        void findNeighboorVertices(Vector3 actuelposition, graphVertex adjacentVertices[]);

            struct graphVertex {

            Vector3 position;
            graphVertex *adjacentVertices[4]; //neighbooring vertices

            //would a vector of vector storing the neighboors not be more suitable ?

            int shortestDistanceToStart; //actual shortest distance to start point
            graphVertex* actuelPredecessor; //the predecessor giving the for now shortest 
                                            //path to start
            graphVertex* currentNearestNonVisitedNeighboor; 
            bool alreadyVisited;
            graphVertex(){ //default constructor
                position=0;
                shortestDistanceToStart= std::numeric_limits<int>::max();
                actuelPredecessor=NULL;
                alreadyVisited=false;
                for(int kl =0; kl <4;kl++){
                    adjacentVertices[kl]=NULL;  //first put all position in array listing neighboors to 0
                }
            }
            graphVertex(Vector3 wantedPosition){  //normal constructor
                position=wantedPosition;
                shortestDistanceToStart= std::numeric_limits<int>::max(); //default distance is infinity
                actuelPredecessor=NULL;
                alreadyVisited=false;
                for(int kl =0; kl <4;kl++){
                    adjacentVertices[kl]=NULL;  //first put all position in array listing neighboors to 0
                }
            }
        };
        
    };

}